WO2018098819A1 - 一种导盲设备和方法 - Google Patents

一种导盲设备和方法 Download PDF

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Publication number
WO2018098819A1
WO2018098819A1 PCT/CN2016/108429 CN2016108429W WO2018098819A1 WO 2018098819 A1 WO2018098819 A1 WO 2018098819A1 CN 2016108429 W CN2016108429 W CN 2016108429W WO 2018098819 A1 WO2018098819 A1 WO 2018098819A1
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WO
WIPO (PCT)
Prior art keywords
user
pressure
current direction
head
target direction
Prior art date
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Ceased
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PCT/CN2016/108429
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English (en)
French (fr)
Inventor
徐泽元
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cloudminds Shenzhen Robotics Systems Co Ltd
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Cloudminds Shenzhen Robotics Systems Co Ltd
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Application filed by Cloudminds Shenzhen Robotics Systems Co Ltd filed Critical Cloudminds Shenzhen Robotics Systems Co Ltd
Priority to CN201680006908.0A priority Critical patent/CN107223045B/zh
Priority to PCT/CN2016/108429 priority patent/WO2018098819A1/zh
Publication of WO2018098819A1 publication Critical patent/WO2018098819A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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

Definitions

  • the present invention relates to the field of guiding blind technology, and in particular, to a blind guiding device and method.
  • Blindness and visual impairment are among the world's serious social and public health problems. More than 70% of human information is obtained through vision. The dark world largely restricts the access of blind people, so blind people are the most painful and most in need of help.
  • Blind people usually need the assistance of guide blind equipment for walking independently.
  • Traditional guide blind equipment generally uses ultrasonic, infrared probe, image sensor, laser ranging and other methods to measure obstacles, and then conducts action indications to users through voice interaction.
  • the voice command output by the guide device is set to a simple voice prompt in actual use, it is difficult to give an accurate indication to the user; if the complexity of the voice command is increased, the voice interaction time is increased, and the feedback is slow.
  • the voice environment may be subject to noise in the environment.
  • Embodiments of the present invention provide a blind guide apparatus and method for improving user comfort while accurately indicating an action to a user.
  • the first aspect provides a guiding device, including: a headset device body, a sensor module, a control module, and a mechanical module disposed on the body of the headset device;
  • the sensor module is configured to acquire a current direction in real time
  • the control module is configured to receive a target direction and the current direction, and control the mechanical module to apply pressure to a user's head according to the target direction and the current direction.
  • a method of guiding blindness comprising:
  • Pressure is applied to the user's head in accordance with the target direction and the current direction.
  • a storage medium for storing computer software instructions for use in the blinding device of the first aspect, comprising program code designed to perform the blinding method of the second aspect.
  • a computer program is provided that can be directly loaded into an internal memory of a computer and contains software code that can be implemented by a computer to implement the blinding method of the first aspect.
  • the guiding device provided by the embodiment of the present invention includes: a headset device body, a sensor module, a control module, and a mechanical module disposed on the body of the headset device; wherein the sensor module is configured to acquire a current direction of the user in real time; the control module And receiving the target direction and the current direction and controlling the mechanical module to apply pressure to the user's head according to the target direction and the current direction. Since the guide device provided by the embodiment of the present invention indicates the action of the user by applying pressure to the user's head, the pressure signal in the embodiment of the present invention can avoid interference in a noisy environment compared to the voice mode. The embodiment of the invention can accurately indicate the action of the user. In addition, the pressure signal outputted by the guide device to the user in the embodiment of the present invention is more natural than the vibration, buzzer, etc., and thus the user's comfort can be improved.
  • FIG. 1 is a schematic structural diagram of a blind guiding device according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a current direction and a target direction according to an embodiment of the present invention
  • FIG. 3 is a second schematic diagram of a current direction and a target direction according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a mechanical structure according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of another mechanical structure according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of still another mechanical structure according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a working principle of a guiding device according to an embodiment of the present invention.
  • FIG. 8 is a second schematic diagram of the working principle of the guiding device according to the embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of another blind guiding device according to an embodiment of the present invention.
  • FIG. 10 is a flowchart of steps of a blind guiding method according to an embodiment of the present invention.
  • the embodiment of the present invention provides a blind guiding device.
  • the 100 includes: a headset body 10 , a sensor module 11 , a control module 12 , and a mechanical module 13 disposed on the headset body 10 . .
  • the sensor module 11 and the control module 12 in the embodiment of the present invention may be disposed on the headset device 10, or may be disposed at other locations, for example, on a handheld device such as a mobile phone; for example: Wear the device separately.
  • data transmission between the sensor module 11, the control module 12, and the mechanical module 13 may be performed by means of wireless communication, or data transmission may be performed by wired communication.
  • the position and sensor of the sensor module 11 and the control module 12 of the present invention are provided.
  • the communication manner between the module 11, the control module 12, and the mechanical module 13 is not limited.
  • the sensor module 11 is used to acquire the current direction in real time.
  • the sensor module 11 can obtain the current direction in real time through a global positioning system (Global Positioning System: GPS), an electronic compass, a geomagnetic sensor, and the like.
  • GPS Global Positioning System
  • the current direction acquired by the sensor module 11 may be: 45° east, 30° east, 15° north, and so on.
  • the sensor module 11 can also set an absolute direction, that is, a specific direction is set to 0°, and is initialized every time.
  • an absolute direction that is, a specific direction is set to 0°, and is initialized every time.
  • the user can be obtained through a device such as a gyroscope acceleration sensor.
  • the difference between the direction and the absolute direction, and the current direction is represented by the difference between the current direction and the absolute direction.
  • the current direction acquired by the sensor module 11 may be: 30°, 90°, 150°, -60°, -120°, and the like.
  • the control module 12 is configured to receive the target direction and the current direction, and control the mechanical module 13 to apply pressure to the user's head according to the target direction and the current direction.
  • the control module 12 receives the target direction that may be the target direction input by the user, for example, when the current direction is 45° east and south, the user input target direction may be 30° east and north, and 30° in the current direction. When the user inputs the target direction, it can be 90°.
  • the control module 12 receiving the target direction may also plan a action route for the user to move to the target address through the navigation software, and the control module 12 receives the target direction of the navigation software output.
  • control module 12 is further configured to adjust the direction and strength of the pressure applied by the mechanical module 13 to the user's head according to the target direction and the current direction.
  • the direction and intensity of the pressure applied by the control module 12 to the user's head according to the target direction and the current direction may be: obtaining the direction and angle that the user needs to rotate according to the target direction and the current direction, and then according to the user.
  • the current direction F1 is 45° east and south
  • the target direction F2 is 30° east and north. From the current direction F1 and the target direction F2, the user can turn to the left side by 75° to turn to the target direction, so the direction and intensity of the pressure applied to the user's head are adjusted according to the rotation to the left side by 75°.
  • the description will be made by taking an example in which the current direction F1 is 30° and the target direction F2 is -60°. It can be seen from the current direction F1 and the target direction F2 that it is possible to shift to the target direction F2 by rotating 90 degrees to the right side, and therefore the direction and intensity of the pressure applied to the user's head are adjusted according to the rotation to the right side by 90 degrees.
  • the mechanical module 13 in the above embodiment may include a plurality of pressure output devices, and the plurality of pressure output devices are respectively disposed at different positions on the headgear body 10, thereby implementing by controlling pressure output devices at different positions. Adjustment of the direction of pressure.
  • the number of the pressure output devices included in the mechanical module 13 is not limited.
  • the number of the pressure output devices may be two, three, four, or the like.
  • the mechanical module 13 in the above embodiment includes: a swing arm;
  • the first end of the swing arm is fixed to the body of the wearing device, and the second end of the swing arm is freely extended;
  • the mechanical module is used to apply pressure to the user's head by adjusting the angle between the swing arm and the body of the headgear under the control of the control module.
  • FIG. 4 is a bottom view of a blind guiding device according to an embodiment of the present invention.
  • the headgear body 10 of the above embodiment forms an accommodating space.
  • the first end 41 of the swing arm 40 is fixed to the inner wall of the headgear body, and the second end 42 of the swing arm 40 is formed to the headgear body 10.
  • the interior of the space extends.
  • the mechanical module 13 needs to apply pressure to the user's head
  • the angle between the swing arm 40 and the headgear body 10 can be adjusted and pressure applied to the head of the head through the second end 42 of the swing arm 40.
  • the strength of the pressure applied to the user's head by the mechanical module is greater.
  • FIG. 5 is a top view of another blind guiding device according to an embodiment of the present invention.
  • the wearing device body 10 forms an accommodating space, and the first end 41 of the swing arm 40 is fixed on the outer wall of the headgear body 10, and the second end of the swing arm 40 is formed to be bent inside the accommodating space formed by the wearing device body 10.
  • the bent portion 42 is provided with a through hole 11 at a position where the headgear body 10 and the bent portion 42 are opposed to each other.
  • the angle between the swing arm 40 and the headgear body 10 can be adjusted and applied to the head of the head through the bent portion 42 on the second end of the swing arm 40. pressure.
  • the smaller the angle between the swing arm 40 and the headgear body 10 the greater the strength of the pressure applied by the mechanical module to the user's head.
  • the mechanical structure in the embodiment of the present invention may also be a structure such as a telescopic rod, a spring, an elastic piece or the like.
  • the specific structure of the mechanical structure is not limited, and it is possible to apply pressure to the user's head under the control of the control module.
  • the guiding device includes: a headset device body, a sensor module, a control module, and a mechanical module disposed on the body of the headset; wherein the sensor module is used to acquire the current direction of the user in real time; the control module is used for The target direction and the current direction are received and the mechanical module is controlled to apply pressure to the user's head according to the target direction and the current direction.
  • the guide device according to the embodiment of the present invention provides an action indication to the user by applying pressure to the user's head, and thus is compared with the voice mode in the embodiment of the present invention.
  • the pressure signal can be prevented from being disturbed in a noisy environment, so the embodiment of the present invention can accurately indicate the action of the user.
  • the pressure signal outputted by the guide device to the user in the embodiment of the present invention is more natural than the vibration, buzzer, etc., and thus the user's comfort can be improved.
  • the mechanical module 13 includes: two pressure output devices (61, 62); the two pressure output devices (61, 62) are axially symmetric with a straight line L in the current direction;
  • the control module 12 is further configured to determine whether the target direction is located to the left of the current direction
  • control module 12 controls the mechanical module 13 to apply pressure to the user's head according to the target direction and the current direction, including: the control module 12 controls the pressure output device 61 located to the right of the current direction to the user's head. Apply pressure to the department.
  • control module 12 controls the mechanical module 13 to apply pressure to the user's head according to the target direction and the current direction, including: the control module 12 controls the pressure output device 62 located to the right of the current direction to the user's head. Apply pressure to the department.
  • the rotation of the user's head in a direction away from the pressure source by applying pressure can be indicated according to the fast direction.
  • control module 12 is further configured to control the pressure output device 62 located on the right side of the current direction to apply pressure to the user's head when the target direction is When located on the right side of the current direction, the control module 12 is further configured to control the pressure output device 61 located on the left side of the current direction to apply pressure to the user's head, not when the target direction is on the left side of the current direction, the control module 12 It is necessary to control the pressure output device 62 located on the right side of the current direction to apply pressure to the user's head, and also not when the target direction is on the right side of the current direction, the control module 12 must control the pressure output on the left side of the current direction.
  • the device 61 applies pressure to the user's head, and in some embodiments, may also need to satisfy some other triggers. condition. For example, you need to refer to the user's input information, whether obstacles are detected, and so on. In general, this judgment result will cause the device to enter the handover process, but this handover process does not necessarily lead to the result of the handover.
  • FIG. 7 illustrates the above embodiment by taking the current direction as 30° east and south in the current direction F1 and the target direction F2 being 60° east and north.
  • the pressure output device 61 applies pressure to the user's head, and the user feels the pressure applied by the pressure output device 61 and starts to turn left.
  • the pressure output device 61 stops applying pressure to the user's head.
  • the actual rotation may be too large, so that the current direction exceeds the target direction F2.
  • the target direction F2 is located on the right side of the current direction F1, so the pressure output device 62 applies pressure to the user's head, and the user starts to turn right after feeling the pressure applied by the pressure output device 62, and the pressure is pressed after the user rotates to the target direction F2.
  • the output device 61 stops applying pressure to the user's head.
  • the magnitude of the angle between the target direction and the current direction in the above embodiment is positively correlated with the intensity of the pressure output by the pressure output device.
  • the magnitude of the angle between the target direction and the current direction is positively correlated with the intensity of the pressure output by the pressure output device.
  • the magnitude of the angle between the target direction and the current direction may be proportional to the intensity of the pressure output by the pressure output device. .
  • the angle of deviation of the current direction from the target direction can be indicated by the intensity of the pressure applied to the user's head. Therefore, the guide device provided by the above embodiment can make the user quickly turn to the target angle.
  • the sensor module 11 is further configured to detect an obstacle in real time
  • the control module 12 is also used to control the two pressure output devices (61, 62) while applying pressure to the user's head.
  • the sensor module 11 can detect the obstacle by using an ultrasonic wave, an infrared probe, an image sensor, a laser ranging, or the like.
  • the sensor module 11 in the embodiment of the present invention can also use any other existing detection obstacle method.
  • the manner in which the sensor module 11 detects an obstacle is not limited, and the real-time detection of the obstacle is correct.
  • the guide blind device can prevent the user from avoiding the obstacle by re-planning the route when the obstacle is detected and the obstacle is located on the user's travel route, and the first step is to quickly contact the obstacle when detecting the close distance.
  • the user reminds the user to stop the move, avoids the danger of the user, and then re-plans the route so that the user avoids the obstacle and moves on. Therefore, when the detection distance of the sensor module 11 is greater than the preset distance, the control module 12 in the embodiment of the present invention should control only two when the sensor module 11 detects an obstacle within the preset distance and the obstacle is located on the user's travel route.
  • the pressure output devices (61, 62) simultaneously apply pressure to the user's head, rather than the two pressure output devices (61, 62) simultaneously applying pressure to the user's head as long as the sensor module 11 detects an obstacle.
  • the two pressure output devices (61, 62) can be controlled simultaneously as long as the sensor module 11 detects the obstacle and the obstacle is located on the user's travel route.
  • the user's head applies pressure.
  • the size of the preset distance can be dynamically adjusted according to the travel speed of the user.
  • the size of the head may be different.
  • the mechanical module applies pressure to the user's head by adjusting the angle between the swing arm and the body of the wearing device, the angle between the target direction and the current direction is the same.
  • the intensity of the pressure felt by different users may be different.
  • the user who has a large head size feels the intensity of the pressure, while the user with a small head size feels the intensity of the pressure is small, so it is possible
  • the user may not be able to accurately indicate the user because the intensity of the pressure is too small, and the user may feel uncomfortable because the intensity of the pressure is too high.
  • the embodiment of the present invention further provides another blind guiding device. Specifically, referring to FIG.
  • the guide blind device of the above embodiment further includes a pressure sensor 90; the pressure sensor 90 is disposed at the second end 42 of the swing arm 40 for acquiring the intensity of the pressure output by the pressure output device; the control module 12 is further configured to The intensity of the pressure acquired by the pressure sensor 90 adjusts the strength of the pressure applied by the mechanical module 13 to the user's head.
  • the pressure sensor 90 is located between the second end 42 of the swing arm 40 and the user's head, so that the pressure felt by the user's head can be accurately fed back, and then the pressure is outputted by the pressure sensor.
  • the intensity of the pressure outputted by the device is fed back. Therefore, in the above embodiment, the pressure felt by the user with different head sizes is the same when the angle between the target direction and the current direction is the same, thereby preventing the user from feeling excessive pressure. Or too small a problem.
  • the swing arm 40 is further provided with a vibration motor
  • the control module 12 is further configured to control the vibration motor to drive the swing arm to output a vibration signal to the user's head according to the target direction and the current direction.
  • control module 12 can control the vibration motor to drive the swing arm to output a vibration signal to the user's head when the target direction coincides with the current direction. That is, the user is prompted to adjust to the target direction during the user's adjustment of the direction, thereby causing the user to stop adjusting the direction.
  • control module 12 can also control the vibration motor to drive the swing arm to output a vibration signal to the user's head when the angle between the target direction and the current direction becomes larger. That is, the user is prompted to adjust the error during the user's adjustment direction.
  • the indication signal output by the guide device can be enriched, and then the user action can be accurately indicated.
  • the provision of the vibration motor to the second end 42 of the swing arm 40 in the embodiment of the present invention can also avoid the problem that the vibration signal cannot be transmitted to the user's head, as compared with the case where the vibration motor is disposed on the headgear body.
  • An embodiment of the present invention provides a blind guiding method, and the performing body of the guiding blind method may be the guiding device provided by any of the above embodiments.
  • the guiding method includes the following steps:
  • the execution subject that acquires the current direction of the user in real time in step S11 may be the sensor module 11 in the guide blind device shown in FIG. 1; the receiving target direction execution subject in step S12 may be in the guide blind device shown in FIG.
  • the control module 12, in step S13, applies pressure to the user's head according to the target direction and the current direction.
  • the mechanical module 13 can be controlled by the control module 12 in the guide blind device shown in FIG.
  • the guiding method provided by the embodiment of the present invention acquires the current direction of the user in real time, and applies pressure to the user's head according to the target direction and the current direction when receiving the target direction, because the guiding method provided by the embodiment of the present invention is to the user.
  • the pressure applied to the head indicates the action of the user, so that the pressure signal in the embodiment of the present invention can avoid interference in a noisy environment compared to the voice mode. Therefore, the embodiment of the present invention can accurately indicate the action of the user.
  • the pressure signal outputted to the user in the blind guiding method in the embodiment of the present invention is more natural than the vibration, buzzing, etc., and thus the user's comfort can be improved.
  • applying pressure to the user's head based on the target direction and current direction including:
  • the direction and intensity of the pressure applied to the user's head is adjusted according to the target direction and the current direction.
  • the guiding device comprises: two pressure output devices and the two pressure output devices are axially symmetrical with a straight line in the current direction of the user, and the method further comprises:
  • applying pressure to the user's head according to the target direction and the current direction includes: applying pressure to the user's head through a pressure output device located on the right side of the current direction;
  • applying pressure to the user's head according to the target direction and the current direction includes applying pressure to the user's head through a pressure output device located on the left side of the current direction.
  • the guiding method provided by the foregoing embodiment further includes:
  • the magnitude of the angle between the target direction and the current direction is positively correlated with the intensity of the pressure output by the pressure output device.
  • the guiding method provided by the foregoing embodiment further includes:
  • the two pressure output devices are controlled to simultaneously apply pressure to the user's head.
  • the guiding method provided by the foregoing embodiment further includes: outputting a vibration signal to the user's head.
  • the steps of the method described in connection with the present disclosure may be implemented in a hardware manner, or may be implemented by a processor executing software instructions.
  • the embodiment of the present invention further provides a storage medium for storing computer software instructions for the blind guiding device shown in FIG. 1, which includes program code designed to execute the blind guiding method shown in FIG.
  • the software instructions may be composed of corresponding software modules, and the software modules may be stored in a random access memory (English: random access memory, abbreviation: RAM), flash memory, read only memory (English: read only memory, abbreviation: ROM) , erasable programmable read-only memory (English: erasable programmable ROM, abbreviation: EPROM), electrically erasable programmable read-only memory (English: electrical EPROM, abbreviation: EEPROM), registers, hard disk, mobile hard disk, CD-ROM (CD-ROM) or any other form of storage medium known in the art.
  • An exemplary storage medium is coupled to the processor to enable the processor to read information from, and write information to, the storage medium.
  • the storage medium can also be an integral part of the processor.
  • the processor and storage medium can be located in an ASIC.
  • the ASIC can be located in a core network interface device.
  • the processor and the storage medium may also exist as discrete components in the core network interface device.
  • the embodiment of the invention further provides a computer program, which can be directly loaded into the internal memory of the computer and contains software code, and the computer program can be loaded and executed by the computer to implement the blind guiding method shown in FIG.
  • the functions described herein can be implemented in hardware, software, firmware, or any combination thereof.
  • the functions may be stored in a computer readable medium or transmitted as one or more instructions or code on a computer readable medium.
  • Computer readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one location to another.
  • a storage medium may be any available media that can be accessed by a general purpose or special purpose computer.

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Abstract

一种导盲设备和方法，涉及导盲技术领域，用于在准确的对用户进行行动指示的同时提高用户舒适度，该装置包括：头戴设备本体（10）、传感器模块（11）、控制模块（12）以及设置于头戴设备本体（10）上的机械模块（13）；传感器模块（11）用于实时获取当前方向；控制模块（12）用于接收目标方向和当前方向，并根据目标方向和当前方向控制机械模块（13）向用户头部施加压力。

Description

一种导盲设备和方法 技术领域
本发明涉及导盲技术领域，尤其涉及一种导盲设备和方法。
背景技术
盲和视力损伤问题是世界上严重的社会和公共卫生问题之一。人类70％以上的信息都是通过视觉来获取的，黑暗的世界很大程度上限制了盲人信息的获取，所以盲人是残疾人中最痛苦的，也是最需要帮助的。
盲人独立行走一般需要导盲设备的协助，传统导盲设备一般采用超声波、红外线探头、图像传感器、激光测距等方式来对障碍物的测距，然后通过语音交互的方式对用户进行行动指示。然而，在实际使用中若将导盲设备输出的语音指令设置为简单语音提示，则很难向用户给出准确的指示；若增加语音指令的复杂度，则会导致语音交互时间增加，反馈慢。此外，在嘈杂的环境下，语音环境还可能会受到环境中的噪声干扰。为了改善上述语音交互存在的缺陷，现有技术还开发出了通过振动、蜂鸣等方式来对用户进行行动指示，然而通过振动、蜂鸣等方式来对用户进行行动指示仍然存在难以向用户给出准确的指示的问题，并且通过振动、蜂鸣等方式来对用户进行行动指示还会降低用户的舒适度，进而降低用户体验。综上，如何在准确的对用户进行行动指示的同时提高用户舒适度是亟待解决的一个技术问题。
发明内容
本发明的实施例提供一种导盲设备和方法，用于在准确的对用户进行行动指示的同时提高用户舒适度。
为达到上述目的，本发明的实施例采用如下技术方案：
第一方面，提供一种导盲设备，包括：头戴设备本体、传感器模块、控制模块以及设置于所述头戴设备本体上的机械模块；
所述传感器模块用于实时获取当前方向；
所述控制模块用于接收目标方向和所述当前方向，并根据所述目标方向和所述当前方向控制所述机械模块向用户头部施加压力。
第二方面，提供一种导盲方法，包括：
实时获取当前方向；
接收目标方向；
根据所述目标方向和所述当前方向向用户头部施加压力。
第三方面，提供一种存储介质，用于储存为第一方面所述的导盲设备所用的计算机软件指令，其包含执行第二方面所述的导盲方法所设计的程序代码。
第四方面，提供一种计算机程序，可直接加载到计算机的内部存储器中，并含有软件代码，所述计算机程序经由计算机载入并执行后能够实现第一方面所述的导盲方法。
本发明实施例提供的导盲设备包括：头戴设备本体、传感器模块、控制模块以及设置于所述头戴设备本体上的机械模块；其中，传感器模块用于实时获取用户的当前方向；控制模块用于接收目标方向和当前方向并根据所述目标方向和当前方向控制机械模块向用户头部施加压力。由于本发明实施例提供的导盲设备是通过向用户头部施加压力对用户进行行动指示，因此相比于语音方式本发明实施例中的压力信号可以避免在嘈杂的环境下受到干扰，所以本发明实施例可以准确的对用户进行行动指示。此外，相比于振动、蜂鸣等方式，本发明实施例中的导盲设备向用户输出的压力信号更加自然，因此还可以提高用户的舒适度。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下 面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的导盲设备的示意性结构图；
图2为本发明实施例提供的当前方向和目标方向的示意图之一；
图3为本发明实施例提供的当前方向和目标方向的示意图之二；
图4为本发明实施例提供的一种机械结构的示意性结构图；
图5为本发明实施例提供的另一种机械结构的示意性结构图；
图6为本发明实施例提供的再一种机械结构的示意性结构图；
图7为本发明实施例提供的导盲装置工作原理示意图之一；
图8为本发明实施例提供的导盲装置工作原理示意图之二；
图9为本发明实施例提供的另一种导盲设备的示意性结构图；
图10为本发明实施例提供的导盲方法的步骤流程图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明实施例的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基 于附图所示的方位或位置关系，仅是为了便于描述本发明实施例和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对发明实施例的限制。
本发明实施例提供一种导盲设备，具体的，参照图1所示，该100包括：头戴设备本体10、传感器模块11、控制模块12以及设置于头戴设备本体10上的机械模块13。
需要说明的是，本发明实施例中的传感器模块11和控制模块12可以设置于头戴设备本体10上，也可以设置于其他位置，例如：设置于手机等手持设备上；再例如：与头戴设备分别独立设置。此外，传感器模块11、控制模块12以及机械模块13之间可以通过无线通信的方式进行数据传输，也可以通过有线通信的方式进行数据传输，本发明对传感器模块11和控制模块12的位置以及传感器模块11、控制模块12以及机械模块13之间的通信方式均不做限定。
传感器模块11用于实时获取当前方向。
示例性的，传感器模块11可以通过全球定位系统(英文全称：Global Positioning System，英文简称：GPS)、电子罗盘、地磁传感器等器件来实时获取当前方向。示例性的，传感器模块11获取的当前方向可以为：东偏南45°、东偏北30°、西偏北15°等。
可选的，传感器模块11也可以设定绝对方向，即将某一特定方向设定为0°，并在每次使用时进行初始化，在用户转动过程中可以通过陀螺仪加速度传感器等器件获取用户当前方向与绝对方向的差值，并通过当前方向通过与绝对方向的差值表示当前方向。示例性的，传感器模块11获取的当前方向可以为：30°、90°、150°、-60°、-120°等。
控制模块12用于接收目标方向和当前方向，并根据目标方向和当前方向控制机械模块13向用户头部施加压力。
具体的，控制模块12接收目标方向可以为接收用户输入的目标方向，例如：在当前方向为东偏南45°时，用户输入目标方向可以为东偏北30°，在当前方向为：30°时，用户输入目标方向可以为90°。此外，控制模块12接收目标方向还可以为通过导航软件对用户移动至目标地址的行动路线进行规划，控制模块12接收导航软件输出的目标方向。
可选的，控制模块12还用于根据目标方向和当前方向调节机械模块13向用户头部施加的压力的方向和强度。
示例性的，控制模块12根据目标方向和当前方向调节机械模块13向用户头部施加的压力的方向和强度具体可以为：根据目标方向和当前方向获取用户需要旋转的方向和角度，然后根据用户需要旋转的方向和角度调节机械模块向用户头部施加的压力的方向和强度。
示例性的，参照图2所示，图2中以当前方向F1为东偏南45°、目标方向F2为东偏北30°为例进行说明。由当前方向F1和目标方向F2可户向左侧旋转75°可以转向目标方向，因此根据向左侧旋转75°调节向用户头部施加的压力的方向和强度。
示例性的，参照图3所示，图2中以当前方向F1为30°，目标方向F2为-60°为例进行说明。由当前方向F1和目标方向F2可知向右侧旋转90°可以转至目标方向F2，因此根据向右侧旋转90°调节向用户头部施加的压力的方向和强度。
可选的，上述实施例中的机械模块13可以包括多个压力输出装置，并且多个压力输出装置分别设置于头戴设备本体10上的不同位置，进而通过控制不同位置的压力输出装置来实现压力的方向的调整。本发明实施例中对机械模块13包括的压力输出装置的数量不做限定，示例性的，压力输出装置的数量可以为2个、3个、4个等。
可选的，上述实施例中机械模块13包括：摆臂；
摆臂的第一端与头戴设备本体固定，摆臂的第二端自由延伸；
机械模块用于在控制模块的控制下，通过调整摆臂与头戴设备本体的夹角向用户头部施加压力。
示例性的，参照图4所示，图4为本发明实施例提供的导盲设备的仰视图。上述实施例中的头戴设备本体10形成容置空间，摆臂40的第一端41固定于头戴设备本体的内壁上，摆臂40的第二端42向头戴设备本体10形成容置空间内部延伸。当机械模块13需要向向用户头部施加压力时，可以通过调整摆臂40与头戴设备本体10的夹角，并通过摆臂40的第二端42向户头部施加压力。此外，在上述实施例中，当摆臂40与头戴设备本体10的夹角越大时，机械模块向用户头部施加的压力的强度越大。
示例性的，参照图5所示，图5为本发明实施例提供的另一种导盲设备的俯视图。头戴设备本体10形成容置空间，摆臂40的第一端41固定于头戴设备本体10的外壁上，摆臂40的第二端形成向戴设备本体10形成容置空间内部弯折的弯折部42，在头戴设备本体10与弯折部42相对位置处设置有通孔11。当机械模块13需要向向用户头部施加压力时，可以通过调整摆臂40与头戴设备本体10的夹角，并通过摆臂40的第二端上的弯折部42向户头部施加压力。此外，在上述实施例中，当摆臂40与头戴设备本体10的夹角越小时，机械模块向用户头部施加的压力的强度越大。
此外，本发明实施例中的机械结构还可以为伸缩杆、弹簧、弹性片等结构。本发明实施例中对机械结构的具体结构不做限定，已能够在控制模块控制下向用户头部施加压力为准。
本发明实施例提供的导盲设备包括：头戴设备本体、传感器模块、控制模块以及设置于头戴设备本体上的机械模块；其中，传感器模块用于实时获取用户的当前方向；控制模块用于接收目标方向和当前方向并根据目标方向和当前方向控制机械模块向用户头部施加压力。由于本发明实施例提供的导盲设备是通过向用户头部施加压力对用户进行行动指示，因此相比于语音方式本发明实施例中 的压力信号可以避免在嘈杂的环境下受到干扰，所以本发明实施例可以准确的对用户进行行动指示。此外，相比于振动、蜂鸣等方式，本发明实施例中的导盲设备向用户输出的压力信号更加自然，因此还可以提高用户的舒适度。
可选的，参照图6所示，机械模块13包括：两个压力输出装置(61，62)；两个压力输出装置(61，62)以当前方向上的直线L为轴轴对称；
控制模块12还用于判断目标方向是否位于当前方向的左侧；
当目标方向位于当前方向的左侧时，控制模块12根据目标方向和当前方向控制机械模块13向用户头部施加压力，包括：控制模块12控制位于当前方向右侧的压力输出装置61向用户头部施加压力。
当目标方向位于当前方向的右侧时，控制模块12根据目标方向和当前方向控制机械模块13向用户头部施加压力，包括：控制模块12控制位于当前方向右侧的压力输出装置62向用户头部施加压力。
因为人类头部会反射性的躲避障碍，所以上述实施例中通过施加压力使用户头部向远离压力源的方向旋转可以根据快速的对方向进行指示。
还需要说明的是，本发明实施例中的当目标方向位于当前方向的左侧时，控制模块12还用于控制位于当前方向右侧的压力输出装置62向用户头部施加压力，当目标方向位于当前方向的右侧时，控制模块12还用于控制位于当前方向左侧的压力输出装置61向用户头部施加压力，并不是在当目标方向位于当前方向的左侧时，控制模块12就一定要控制位于当前方向右侧的压力输出装置62向用户头部施加压力，同样也不是在当目标方向位于当前方向的右侧时，控制模块12就一定要控制位于当前方向左侧的压力输出装置61向用户头部施加压力，在一些实施例中，还可能需要满足一些其他的触发 条件。例如：还需要参考用户的输入信息、是否检测到障碍等。总的来说，这个判断结果会使得设备进入到切换的流程，但是这个切换流程并不必然的导致切换的结果。
示例性的，参照图7所示，图7以当前方向位于以当前方向F1为东偏南30°，目标方向F2为东偏北60°为例对上述实施例进行说明。
由当前方向F1、目标方向F2可知向左侧旋转90°可以转至目标方向F2，因此首先压力输出装置61向用户头部施加压力，用户感受到压力输出装置61施加的压力后开始向左转，当用户旋转至目标方向F2后压力输出装置61停止向用户头部施加压力。
进一步的，参照图8所示，在上述实施例中，实际旋转中还可能因用户转的角度过大，使当前方向超过目标方向F2。此时目标方向F2位于当前方向F1的右侧，因此压力输出装置62向用户头部施加压力，用户感受到压力输出装置62施加的压力后开始向右转，当用户旋转至目标方向F2后压力输出装置61停止向用户头部施加压力。
可选的，上述实施例中的目标方向与当前方向的夹角的大小与压力输出装置输出的压力的强度正相关。
示例性的，目标方向与当前方向的夹角的大小与压力输出装置输出的压力的强度正相关具体可以为：目标方向与当前方向的夹角的大小与压力输出装置输出的压力的强度成正比。
即，前方向与目标方向的夹角越大，压力输出装置输出的压力越大，前方向与目标方向的夹角越小，压力输出装置输出的压力越小。通过向用户头部施加压力的强度可指示出当前方向与目标方向的偏差角度，因此上述实施例提供的导盲装置可以使用户快速的转向目标角度。
可选的，传感器模块11还用于实时检测障碍；
当传感器模块11检测到当前方向上具有障碍且障碍位于预设 距离内时，控制模块12还用于控制两个压力输出装置(61、62)同时向用户头部施加压力。
具体的，传感器模块11可以通过超声波、红外线探头、图像传感器、激光测距等方式来检测障碍，此外，本发明实施例中的传感器模块11还可以使用其他任一种其他现有的检测障碍方法，本发明实施例中对感器模块11检测障碍的方式不作限定，已能够对障碍进行实时检测为准。
此外，还需要说明的是，一般情况下导盲装置在检测到障碍且障碍位于用户行进路线上时可以通过重新规划路线使用户避开障碍，而在检测到近距离的障碍时需要首先快速对用户进行提醒，提示用户停止前进，避免用户发生危险，然后再重新规划路线使用户避开障碍并继续前进。因此在传感器模块11的检测距离大于预设距离时，本发明实施例中的控制模块12应当仅在传感器模块11检测到预设距离内的障碍且障碍位于用户行进路线上时，才会控制两个压力输出装置(61、62)同时向用户头部施加压力，而并非只要传感器模块11检测到障碍即两个压力输出装置(61、62)同时向用户头部施加压力。当然，在传感器模块11的检测距离小于或等于预设距离时，也可以为只要传感器模块11检测到障碍且障碍位于用户行进路线上时，即控制两个压力输出装置(61、62)同时向用户头部施加压力。其中，预设距离的大小可以根据用户的行进速度进行动态调整。
进一步的，对于不同的用户，其头部的尺寸可能不同，当机械模块通过调整摆臂与头戴设备本体的夹角向用户头部施加压力时，在目标方向与当前方向的夹角相同的情况下，不同用户感受到的压力的强度可能会不相同，头部尺寸大的用户其感受到的压力的强度较大，而头部尺寸小的用户感受到的压力的强度较小，因此可能会因为感受到的压力的强度过小导致无法准确对用户进行指示，也可能会因为感受到的压力的强度过大导致用户不适。针对上述问题，本发明实施例提进一步提供了另一种导盲装置，具体的，参照图9 所示，上述实施例中的导盲装置还包括压力传感器90；压力传感器90设置于摆臂40的第二端42，用于获取压力输出装置输出的压力的强度；控制模块12还用于根据压力传感器90获取的压力的强度对机械模块13向用户头部施加的压力的强度进行调整。
因为当导盲设备处于使用状态时，压力传感器90位于摆臂40第二端42与用户头部之间，所以可以准确的对用户头部感受到的压力进行反馈，进而通过压力传感器对压力输出装置输出的压力的强度进行反馈，因此上述实施例可以在目标方向与当前方向的夹角相同的情况下，使头部尺寸不同的用户感受到的压力相同，进而避免用户感受到的压力过大或者过小的问题。
可选的，上述摆臂40上还设置有振动马达；
控制模块12还用于根据目标方向和当前方向控制振动马达带动摆臂向用户头部输出振动信号。
示例性的，控制模块12可以在目标方向与当前方向重合时，控制振动马达带动摆臂向用户头部输出振动信号。即在用户调整方向过程中提示用户已调整到目标方向，进而使用户停止对方向的调整。
示例性的，控制模块12也可以在目标方向与当前方向的夹角变大时，控制振动马达带动摆臂向用户头部输出振动信号。即在用户调整方向过程中提示用户调整错误。
通过在摆臂40上设置振动马达，并通过控制模块12控制振动马达带动摆臂向用户头部输出振动信号可以丰富导盲装置输出的指示信号，进而根据准确的对用户行动进行指示。
此外，相比于将振动马达设置于头戴设备本体上，本发明实施例中将振动马达设置于摆臂40的第二端42还可以避免振动信号无法传输到用户头部的问题。
下面说明本发明实施例提供的与上文所提供的装置实施例相 对应的方法实施例。需要说明的是，下述装置实施例中相关内容的解释，均可以参考上述装置实施例。
本发明一实施例提供一种导盲方法，该导盲方法的执行主体可以为上述任一实施例提供的导盲装置。具体的，参照图10所示，该导盲方法包括如下步骤：
S11、实时获取当前方向。
S12、接收目标方向。
S13、根据目标方向和当前方向用户头部施加压力。
即，步骤S11中实时获取用户的当前方向的执行主体可以为图1所示的导盲装置中的传感器模块11；骤S12中接收目标方向执行主体可以为图1所示的导盲装置中的控制模块12，骤S13中根据目标方向和当前方向向用户头部施加压力可以通过图1所示的导盲装置中的控制模块12控制机械模块13执行。
本发明实施例提供的导盲方法实时获取用户的当前方向，并在接收目标方向方向时根据目标方向和当前方向向用户头部施加压力，由于本发明实施例提供的导盲方法是通过向用户头部施加压力对用户进行行动指示，所以相比于语音方式本发明实施例中的压力信号可以避免在嘈杂的环境下受到干扰，所以本发明实施例可以准确的对用户进行行动指示。此外，相比于振动、蜂鸣等方式，本发明实施例中的导盲方法向用户输出的压力信号更加自然，因此还可以提高用户的舒适度。
可选的，根据目标方向和当前方向向用户头部施加压力，包括：
根据目标方向和当前方向调节向用户头部施加的压力的方向和强度。
可选的，导盲设备包括：两个压力输出装置且两个压力输出装置以用户当前方向上的直线为轴轴对称，方法还包括：
判断目标方向是否位于当前方向的左侧；
当目标方向位于当前方向的左侧时，根据目标方向和当前方向向用户头部施加压力，包括：通过位于当前方向右侧的压力输出装置向用户头部施加压力；
当目标方向位于当前方向的右侧时，根据目标方向和当前方向向用户头部施加压力，包括：通过位于当前方向左侧的压力输出装置向用户头部施加压力。
可选的，上述实施例提供的导盲方法还包括：
目标方向与当前方向的夹角的大小与压力输出装置输出的压力的强度正相关。
可选的，上述实施例提供的导盲方法还包括：
实时检测障碍；
当检测到当前方向上具有障碍且障碍在预设距离内时，控制两个压力输出装置同时向用户头部施加压力。
可选的，上述实施例提供的导盲方法还包括：向用户头部输出振动信号。
结合本发明公开内容所描述的方法的步骤可以硬件的方式来实现，也可以是由处理器执行软件指令的方式来实现。本发明实施例还提供一种存储介质，用于储存为图1所示的导盲设备所用的计算机软件指令，其包含执行图10所示的导盲方法所设计的程序代码。其中，软件指令可以由相应的软件模块组成，软件模块可以被存放于随机存取存储器(英文：random access memory，缩写：RAM)、闪存、只读存储器(英文：read only memory，缩写：ROM)、可擦除可编程只读存储器(英文：erasable programmable ROM，缩写：EPROM)、电可擦可编程只读存储器(英文：electrically EPROM，缩写：EEPROM)、寄存器、硬盘、移动硬盘、只读光盘(CD-ROM)或者本领域熟知的任何其它形式的存储介质中。一种示例性的存储介质耦合至处理器，从而使处理器能够从该存储介质读取信息，且可向该存储介质写入信息。当然，存储介质也可以是处理器的组成部分。处 理器和存储介质可以位于ASIC中。另外，该ASIC可以位于核心网接口设备中。当然，处理器和存储介质也可以作为分立组件存在于核心网接口设备中。
本发明实施例还提供一种计算机程序，该计算机程序可直接加载到计算机的内部存储器中，并含有软件代码，计算机程序经由计算机载入并执行后能够实现图10所示的导盲方法。
本领域技术人员应该可以意识到，在上述一个或多个示例中，本发明所描述的功能可以用硬件、软件、固件或它们的任意组合来实现。当使用软件实现时，可以将这些功能存储在计算机可读介质中或者作为计算机可读介质上的一个或多个指令或代码进行传输。计算机可读介质包括计算机存储介质和通信介质，其中通信介质包括便于从一个地方向另一个地方传送计算机程序的任何介质。存储介质可以是通用或专用计算机能够存取的任何可用介质。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以权利要求的保护范围为准。

Claims (16)

  1. 一种导盲设备，其特征在于，包括：头戴设备本体、传感器模块、控制模块以及设置于所述头戴设备本体上的机械模块；
    所述传感器模块用于实时获取当前方向；
    所述控制模块用于接收目标方向和所述当前方向，并根据所述目标方向和所述当前方向控制所述机械模块向用户头部施加压力。
  2. 根据权利要求1所述的设备，其特征在于，所述控制模块还用于根据所述目标方向和所述当前方向调节所述机械模块向用户头部施加的压力的方向和强度。
  3. 根据权利要求1所述的设备，其特征在于，所述机械模块包括：两个所述压力输出装置；两个所述压力输出装置以所述当前方向上的直线为轴轴对称；所述控制模块还用于判断所述目标方向是否位于当前方向的左侧；
    当所述目标方向位于当前方向的左侧时，所述控制模块根据所述目标方向和所述当前方向控制所述机械模块向用户头部施加压力，包括：所述控制模块控制位于当前方向右侧的压力输出装置向用户头部施加压力；
    当所述目标方向位于当前方向的右侧时，所述控制模块根据所述目标方向和所述当前方向控制所述机械模块向用户头部施加的压力，包括：所述控制模块控制位于当前方向左侧的压力输出装置向用户头部施加压力。
  4. 根据权利要求3所述的设备，其特征在于，所述目标方向与所述当前方向的夹角的大小与所述压力输出装置输出的压力的强度正相关。
  5. 根据权利要求3所述的设备，其特征在于，
    所述传感器模块还用于实时检测障碍；
    当所述传感器模块检测到所述当前方向上具有障碍且所述障碍位于预设距离内时，所述控制模块还用于控制两个所述压力输出装置同时向用户头部施加压力。
  6. 根据权利要求1所述的设备，其特征在于，所述机械模块包括：摆臂；
    所述摆臂的第一端与所述头戴设备本体固定，所述摆臂的第二端自由延伸；
    所述机械模块用于在控制模块的控制下，通过调整所述摆臂与所述头戴设备本体的夹角向用户头部施加压力。
  7. 根据权利要求6所述的设备，其特征在于，所述设备还包括：压力传感器；
    所述压力传感器设置于所述摆臂的第二端，用于获取所述机械模块输出的压力的强度；
    所述控制模块还用于根据所述压力传感器获取的压力的强度对所述机械模块向用户头部施加的压力的强度进行调整。
  8. 根据权利要求6所述的设备，其特征在于，所述摆臂上还设置有振动马达；
    所述控制模块还用于根据所述目标方向和所述当前方向控制所述振动马达带动所述摆臂向用户头部输出振动信号。
  9. 一种导盲方法，其特征在于，包括：
    实时获取当前方向；
    接收目标方向；
    根据所述目标方向和所述当前方向向用户头部施加压力。
  10. 根据权利要求9所述的方法，其特征在于，所述方法还包括：
    所述根据所述目标方向和所述当前方向调节向用户头部施加的压力的方向和强度。
  11. 根据权利要求9所述的方法，其特征在于，所述导盲设备包括：两个所述压力输出装置且两个所述压力输出装置以所述当前方向上的直线为轴轴对称，所述方法还包括：
    判断所述目标方向是否位于当前方向的左侧；
    当所述目标方向位于当前方向的左侧时，所述根据所述目标方向和所述当前方向向用户头部施加压力，包括：通过位于当前方向右侧的压力输出装置向用户头部施加压力；
    当所述目标方向位于当前方向的右侧时，所述根据所述目标方向和所述当前方向向用户头部施加压力，包括：通过位于当前方向左侧的压力输出装置向用户头部施加压力。
  12. 根据权利要求11所述的方法，其特征在于，所述目标方向与所述当前方向的夹角的大小与所述压力输出装置输出的压力的强度正相关。
  13. 根据权利要求11所述的方法，其特征在于，所述方法还包括：
    实时检测障碍；
    当检测到所述当前方向上具有障碍且所述障碍在预设距离内时，控制两个所述压力输出装置同时向用户头部施加压力。
  14. 根据权利要求9所述的方法，其特征在于，所述方法还包括：
    所述根据所述目标方向和所述当前方向向用户头部输出振动信号。
  15. 一种存储介质，其特征在于，用于储存为权利要求1-8任一项所述的导盲设备所用的计算机软件指令，其包含执行权利要9-14任一项所述的导盲方法所设计的程序代码。
  16. 一种计算机程序，其特征在于，可直接加载到计算机的内部存储器中，并含有软件代码，所述计算机程序经由计算机载入并 执行后能够实现权利要求9-14任一项所述的导盲方法。
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