WO2018119586A1

WO2018119586A1 - Blind guiding method and apparatus, and blind guiding device

Info

Publication number: WO2018119586A1
Application number: PCT/CN2016/112130
Authority: WO
Inventors: 王斌
Original assignee: 深圳前海达闼云端智能科技有限公司
Priority date: 2016-12-26
Filing date: 2016-12-26
Publication date: 2018-07-05
Also published as: WO2018120479A1

Abstract

Disclosed are a blind guiding method and apparatus, and a blind guiding device. The blind guiding device is provided with a plurality of guiding apparatuses. The method is applied to the blind guiding device, and comprises: determining a target direction in which a user travels; determining a first target guiding apparatus and a second target guiding apparatus from a plurality of guiding apparatuses, wherein the target direction is located between a guiding direction corresponding to the first target guiding apparatus and a guiding direction corresponding to the second target guiding apparatus; determining, according to the target direction and the guiding direction corresponding to each of the determined target guiding apparatuses, a target guiding parameter corresponding to each target guiding apparatus; and driving, according to the target guiding parameter corresponding to each target guiding apparatus, the target guiding apparatus.

Description

Method and device for guiding blindness and guiding device

Technical field

The present disclosure relates to the field of smart device applications, and in particular, to a method and device for guiding blindness and a blind guiding device.

Background technique

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.).

However, the smart guide device uses the voice command to guide the user to advance. From the user receiving the voice command, to the user's understanding, and finally executing, a longer process is required, so the guide blindness is less efficient.

Summary of the invention

One purpose of the present disclosure is to improve the efficiency of guiding blindness.

In order to achieve the above object, according to a first aspect of an embodiment of the present disclosure, a method of guiding blindness is provided, which is applied to a guiding device, wherein the guiding device is provided with a plurality of guiding devices, the method comprising: determining a user to travel Target direction; determining a first target guiding device and a second target guiding device from the plurality of guiding devices; the target direction is located in a guiding direction corresponding to the first target guiding device and a guiding corresponding to the second target guiding device Determining, according to the target direction, the determined guiding direction corresponding to each target guiding device, the target guiding parameter corresponding to each target guiding device; driving the target guiding device according to the target guiding parameter corresponding to each target guiding device .

Optionally, the determining a target direction of the user to travel includes: acquiring a current location of the user And a target position to be reached; the target direction is obtained according to the current position and the target position.

Alternatively, the guiding direction of each guiding device refers to the direction of the guiding device relative to the center point of the plurality of guiding devices.

Optionally, the determining the first target guiding device and the second target guiding device from the plurality of guiding devices comprises: corresponding to the two target guiding devices that minimize the angle between the guiding direction and the target direction as the first target The guiding device and the second target guiding device.

Optionally, the determining the first target guiding device and the second target guiding device from the plurality of guiding devices refers to: the angle between the guiding direction corresponding to the guiding direction of any guiding device and the target direction is greater than or equal to Determining, the first target guiding device and the second target guiding device are determined from the plurality of guiding devices; the method further comprising: the angle between the guiding direction corresponding to the guiding direction of the one guiding device and the target direction is smaller than the setting When the value is set, the guiding device is determined as the sole target guiding device.

According to a second aspect of the embodiments of the present disclosure, there is provided a blind guiding device, which is applied to a guiding device, wherein the guiding device is provided with a plurality of guiding devices, the device comprising: a direction determining module for determining a user a target direction of traveling; a first device determining module, configured to determine a first target guiding device and a second target guiding device from among the plurality of guiding devices; the target direction is located in a guiding direction corresponding to the first target guiding device a processing module, configured to determine, according to the target direction, the determined guiding direction corresponding to each target guiding device, a target guiding parameter corresponding to each target guiding device; a driving module, And driving the target guiding device according to a target guiding parameter corresponding to each target guiding device.

Optionally, the direction determining module is configured to acquire a current location of the user and a target location to be reached, and obtain the target direction according to the current location and the target location.

Optionally, the first device determining module is configured to compare the guiding direction with the target direction. The two smaller target guiding devices correspond to the first target guiding device and the second target guiding device.

Optionally, the first device determining module is configured to determine a first target guiding from the plurality of guiding devices when an angle between a guiding direction of the guiding device and the target direction is greater than or equal to a set value The device and the second target guiding device; the device further comprising: a second device determining module, configured to: when the angle between the guiding direction of the guiding device and the target direction is less than the set value Determined to be the only target guide.

According to a third aspect of embodiments of the present disclosure, there is provided a non-transitory computer readable storage medium comprising one or more programs for performing The method of the above first aspect.

According to a fourth aspect of the embodiments of the present disclosure, there is provided a guide device comprising: the non-transitory computer readable storage medium of the above third aspect, the plurality of guiding devices and one or more processes Wherein the plurality of guiding devices are connected to the one or more processors;

One or more processors for executing a program in the non-transitory computer readable storage medium.

With the above technical solution, the user guides the user through the two guiding devices provided on the guiding device, and the guiding of the guiding device is more direct than the voice command, and the user can quickly adjust the traveling direction according to the guiding device, without the user's expense. A period of time to understand the meaning of the instructions, thereby improving the efficiency of the guidance.

DRAWINGS

1 is a schematic flow chart of a method for guiding blindness according to an embodiment of the present disclosure;

2 is a schematic flow chart of another method for guiding blindness according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a distribution device of a guiding device on a blind guiding device according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of distribution of a guiding device on another blind guiding device according to an embodiment of the present disclosure;

FIG. 5 is a schematic structural diagram of a device for guiding blindness according to an embodiment of the present disclosure;

FIG. 6 is a schematic structural diagram of another blind guiding device according to an embodiment of the present disclosure;

FIG. 7 is a schematic structural diagram of hardware of a device for guiding blindness according to an embodiment of the present disclosure.

detailed description

The specific embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are not to be construed

The disclosure can be applied to a guide blind scene, in which the user can guide the user to travel in the target direction by the worn guide device after determining the target room of the travel. In the prior art, the guide device generally uses voice instructions. The way to guide the user to travel, such as making a left or right turn, but the direction of the voice command is difficult to quantify, such as: turn left, turn right and other instructions are difficult to describe left turn and right turn The precise angle, even with accurate angle information in the voice command, it is difficult for the user to accurately grasp the specific angle. In addition, the voice command is easily interfered by external noise, and the user can easily understand the error, and it is difficult to repeat the reminder multiple times. After understanding the error and executing the wrong instruction, the process required to correct the error is more complicated, resulting in lower guiding efficiency of the voice instruction.

In order to solve the above problems, the present disclosure provides a method and apparatus for guiding blindness and a guiding device that guides a user to travel through two guiding devices provided on the guiding device, and the guiding of the guiding device is more direct than the voice instruction. The user can quickly adjust his or her direction of travel according to the guidance of the guiding device, without the user having to spend a period of time to understand the meaning of the instruction, thereby improving the guiding efficiency.

The present disclosure will be described in detail below in conjunction with specific embodiments.

FIG. 1 is a method for guiding blindness according to an embodiment of the present disclosure. As shown in FIG. 1 , the method is applied to a guiding device, and the guiding device includes a plurality of guiding devices, and the method includes:

S101. Determine a target direction in which the user travels.

S102. Determine a first target guiding device and a second target guiding device from the plurality of guiding devices.

Wherein the target direction is located in a guiding direction and a second target corresponding to the first target guiding device The guiding device corresponds to the guiding direction.

In this embodiment, the guiding device may be a guiding helmet or a guiding waist belt, and correspondingly, the guiding device may be a speaker disposed on the guiding helmet; or may be a massage ball disposed on the guiding waist belt. Of course, the guiding device here is only an example, and the disclosure does not limit this.

S103. Determine a target guiding parameter corresponding to each target guiding device according to the target direction and the determined guiding direction corresponding to each target guiding device.

For example, if the guiding device is a speaker, the target guiding parameter may be the volume of the speaker, and if the guiding device is a massage ball, the target guiding parameter may be the massage force of the massage ball.

S104. Drive the target guiding device according to a target guiding parameter corresponding to each target guiding device.

In this way, the user guides the user through the two guiding devices provided on the guiding device, and the guiding of the guiding device is more direct than the voice command, and the user can quickly adjust the direction of the driving according to the guiding device, without the user spending a certain time. Understand the meaning of the instructions, thus improving the efficiency of the guidance.

2 is a method for guiding blindness according to an embodiment of the present disclosure. As shown in FIG. 2, the present embodiment is described by taking a target guiding device including a first target guiding device and a second target guiding device as an example. include:

S201. The guiding device acquires a target location to be reached input by the user.

In a possible implementation, the user can input the target location directly through the guiding device, wherein the guiding device is connected with an input device, and the user can complete the input of the target position through the input device.

For example, the input device may be a voice input device (such as a microphone), and the user only needs to input voice information through the microphone, and the guide device can obtain the target position to be reached by the user by recognizing the voice information.

The input device may also be an input keyboard provided with a button, the button may include two parts, a part is an input key for inputting information, and a part is a position key bound with a position input by the user, and the position key is triggered after being triggered. The guide device can obtain the target position set by the triggered position key in advance. For example, the position key includes two (recorded as the position key A and the position key B), and the guide device inputs the input through the input key. Corresponding relationship between the first target position and the position key A is established when the first target position is established, and the guide blind device establishes the second target position and the position key B when acquiring the second target position input by the user through the input key Corresponding relationship, in this way, in the process of guiding blindness, the user only needs to trigger the position key A, and the guiding device can determine that the target position of the user is the first target position, and the user only needs to trigger the position key B, and the guiding device can be Determine the user's target location as the second target location. The above description of the acquisition of the target location is merely illustrative, and the disclosure does not limit this.

S202. The guiding device acquires a current location of the user.

In this step, the current location of the user wearing the guide device can be obtained by using a positioning technology. For example, the positioning technology may be a GPS (Global Positioning System) technology.

S203. The guiding device acquires a guiding direction corresponding to the guiding device.

Wherein, the guiding direction of each guiding device refers to the direction of the guiding device relative to the center point of the plurality of guiding devices; the center point is determined according to the setting position of the guiding device on the guiding device.

For example, if the respective guiding devices are disposed on the guiding device in a circular or elliptical shape on the same plane, the center point may be a center of the circle; if the respective guiding devices are distributed in a polygon on the same plane, the center point It may be the center of gravity of the polygon; if the respective guiding devices are distributed in a polyhedron on different planes, the center point may be the center of gravity of the polyhedron.

It should be noted that since the traveling direction of the user generally travels forward, the guiding device in the present disclosure may also be disposed in front of the guiding device (ie, the direction the user faces), thereby More accurate guidance for users.

For example, as shown in FIG. 3, FIG. 3 shows a guide device equipped with a guiding device, which is evenly distributed in a circular shape on the guiding device on the same plane, as shown in FIG. The guiding device is provided with eight guiding devices (referred to as guiding device 1, guiding device 2, guiding device 3, guiding device 4, guiding device 5, guiding device 6, guiding device 7 and guiding device 8), The direction in which the center point points to the arrow of the guiding device indicates the guiding direction corresponding to the guiding device.

S204. The guiding device obtains a target direction according to the current position and the target position.

In this step, the guide direction device may calculate the target direction according to the obtained current position and the target position, and obtain the target direction vector corresponding to the target direction. However, considering that the guide blind system performs data processing, it may occupy a large amount of The processing of the resource may affect the efficiency of guiding the blind device. Therefore, in order to reduce the pressure of the data processing of the guiding device and improve the guiding efficiency, in another embodiment of the present disclosure, the guiding device may also obtain the current position and The target position is sent to the guide blind system, and the current position and the target position of the received guide system are calculated by the guide blind system to obtain the target direction, and the obtained target direction is sent to the guide blind device.

S205. The guiding device determines whether an angle between the guiding direction and the target direction corresponding to any guiding device is greater than or equal to a set value.

When the angle between the guiding direction of the guiding device and the target direction is greater than or equal to the set value, step S206 to step S209 are performed.

When the angle between the guiding direction of the guiding device and the target direction is less than the set value, step S210 is performed.

S206. The guide blind device determines, as the first target guiding device and the second target guiding device, corresponding to the two target guiding devices that minimize the angle between the guiding direction and the target direction.

In a possible implementation manner, the guiding device can obtain an angle between a guiding direction and a target direction of each guiding device, and determine a minimum angle and a second angle from the obtained angle, and determine the minimum clip. The two guiding devices corresponding to the angle and the second small angle are the first target guiding device and the second The target guiding device; wherein the small angle is the angle between the obtained angles greater than or equal to the minimum angle and smaller than the other angles.

For example, as shown in FIG. 4, the guiding device is evenly distributed in a circular shape on the guiding device on the same plane, and the guiding device is provided with 8 guiding devices (referred to as guiding device 1 and guiding device). 2. The guiding device 3, the guiding device 4, the guiding device 5, the guiding device 6, the guiding device 7, and the guiding device 8) are described as an example. As can be seen from FIG. 4, the guiding direction corresponding to the minimum angle is the guiding device 7. In the guiding direction, the guiding direction corresponding to the second small angle is the guiding direction of the guiding device 8, and the guiding device 7 and the navigation device 8 are the first target guiding device and the second target guiding device.

S207. The guiding device determines a preset guiding parameter corresponding to each target guiding device.

For example, if the target guiding device is a speaker, the preset guiding parameter is a volume set in advance by the speaker, and if the target guiding device is a massage ball, the preset guiding parameter is a massage force set in advance by the massage ball.

S208. The guiding device determines the target guiding parameter according to the angle between the guiding direction of the target guiding device and the target direction and the preset guiding parameter.

The obtaining of the angle may be obtained by an angle between a guiding vector corresponding to the guiding direction and a target direction vector corresponding to the target direction.

In this step, one possible way to determine the target boot parameters includes:

The first target boot parameter corresponding to the first target guiding device may be determined by the following formula:

Wherein, V1 is the first target guiding parameter, V is the preset guiding parameter, α1 is an angle between a guiding direction of the first target guiding device and the target direction, and α2 is a guiding direction and a target direction of the second target guiding device. Angle

The second target boot parameter corresponding to the second target guiding device may be determined by the following formula:

Wherein, V2 is the second target guiding parameter, V is the preset guiding parameter, α1 is the angle between the guiding direction of the first target guiding device and the target direction, and α2 is a clamping direction of the guiding direction and the target direction of the second target guiding device. angle.

S209. The guiding device drives the target guiding device according to a target guiding parameter corresponding to each target guiding device.

For example, the guide device shown in FIG. 4 is taken as an example, wherein the guide device can be a guide blind helmet, the guiding device can be a speaker, the target direction is the correct direction for the user to advance, and the guiding device 7 and The guiding device 8 is a first target guiding device and a second target guiding device respectively. The guiding direction of the guiding device 7 is at an angle α1 with the target direction, and the angle between the guiding direction corresponding to the guiding device 8 and the target direction is α2. When the blind device performs the blind guiding, the volume of each target guiding device is calculated according to the manner in step S211, and is driven to the guiding device 7 and the guiding device 8 according to the calculated volume, so that the user can follow the guiding device 7 and the guiding device 8 The volume of the emitted sound travels along the target direction. When the target direction changes, the corresponding volume also changes. Thus, the guide device can dynamically adjust the volume of the guidance device according to the angle between the target direction and the guide vector. , with different volume to achieve the purpose of indicating direction.

Similarly, the guiding device can be a guiding blind belt, the guiding device can be a massage ball, the target direction is the correct direction for the user to advance, and the guiding device 7 and the guiding device 8 are the first target guiding device and the second target guiding respectively. The angle between the guiding direction of the guiding device 7 and the target direction is α1, and the angle between the guiding direction of the guiding device 8 and the target direction is α2. When the guiding device performs guiding blindness, each method is calculated according to the method in step S211. The target guides the massage force of the device, and drives the guide device 7 and the guiding device 8 according to the calculated massage force, so that the user can follow the target direction according to the massage force of the guiding device 7 and the guiding device 8, when the target direction occurs When changing, the corresponding massage intensity will also change. In this way, the guide blind device can dynamically adjust the massage intensity of the guiding device according to the angle between the target direction and the guiding vector, and achieve the purpose of indicating the direction with different massage strength.

S210. The guiding device determines the guiding device as a unique target guiding device, and drives the target guiding device according to a preset guiding parameter.

Wherein, when the minimum angle is less than the preset angle, that is, the target direction vector is substantially the same as the direction of the first guiding vector. At this time, the guiding device can pass the guiding device and follow the preset guiding parameter to the user. Guided, the user only needs to follow the guidance of the guiding device, thereby saving the power of the guiding device.

It should be noted that the above embodiment is described by taking the first target guiding device and the second target guiding device as an example. The present disclosure is not limited thereto, and the user may be guided by more target guiding devices, however, Regardless of how many target guiding devices are used to guide the user, the determined target guiding device should include at least the first target guiding device and the second target guiding device described in this embodiment.

With the above method, the user guides the user through the two guiding devices provided on the guiding device, and the guiding of the guiding device is more direct than the voice command, and the user can quickly adjust the direction of the driving according to the guiding device, without the user having to spend a period of time. Time to understand the meaning of the instructions, thereby improving the efficiency of the guidance.

FIG. 5 is a schematic diagram of an apparatus for applying a blinding device, where the guiding device includes a plurality of guiding devices, and the device includes:

a direction determining module 501, configured to determine a target direction that the user travels;

a first device determining module 502, configured to determine, from a plurality of the guiding devices, a first target guiding device and a second target guiding device; the target direction is located in a guiding direction corresponding to the first target guiding device and corresponds to the second target guiding device Between the guiding directions;

a processing module 503, configured to determine, according to the target direction, the determined guiding direction corresponding to each target guiding device, a target guiding parameter corresponding to each target guiding device;

The guiding module 504 is configured to drive the target guiding device according to a target guiding parameter corresponding to each target guiding device.

Optionally, the direction determining module 501 is configured to acquire a current location of the user and a target location to be reached, and obtain the target direction according to the current location and the target location.

Optionally, the first device determining module 502 is configured to use, as the first target guiding device and the second target guiding device, the two target guiding devices that minimize the angle between the guiding direction and the target direction.

Optionally, as shown in FIG. 6, the first device determining module 502 is configured to use, from the plurality of guiding devices, when the angle between the guiding direction of the guiding device and the target direction is greater than or equal to the set value. Determining a first target guiding device and a second target guiding device;

The apparatus further includes a second device determining module 505 for determining the guiding device as the unique target guiding device when an angle between the guiding direction of the guiding device and the target direction is less than the set value.

With the above device, the user is guided by at least two guiding devices provided on the guiding device, and the guiding of the guiding device is more direct than the voice command, and the user can quickly adjust the direction of travel according to the guiding device, without the user's expense. A period of time to understand the meaning of the instructions, thereby improving the efficiency of the guidance.

FIG. 7 is a block diagram of a blind guiding apparatus according to an embodiment of the present disclosure. As shown in FIG. 7, the apparatus 700 may include: a processor 701, a memory 702, a multimedia component 703, and an input/output (I/O) interface. 704, and a communication component 705.

The processor 701 is configured to control the overall operation of the apparatus 700 to complete all or part of the steps of the monitoring method of the terminal device shown in FIG. 5 or FIG. 6 . Memory 702 is used to store various types of data to support operations at the device 700, such as may include instructions for any application or method operating on the device 700, as well as application related data, such as Contact data, sent and received messages, pictures, audio, video, and more.

The memory 702 can be implemented by any type of volatile or non-volatile storage terminal device or a combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read only memory. (Electrically Erasable Programmable Read-Only Memory, EEPROM for short), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM) Read-Only Memory (ROM), magnetic memory, flash memory, disk or optical disk. The multimedia component 703 can include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and/or input an audio signal. For example, the audio component can include a microphone for receiving an external audio signal. The received audio signal may be further stored in memory 702 or transmitted via communication component 705. The audio component also includes at least one speaker for outputting an audio signal. The I/O interface 704 provides an interface between the processor 701 and other interface modules. The other interface modules may be keyboards, mice, buttons, and the like. These buttons can be virtual buttons or physical buttons. Communication component 705 is used for wired or wireless communication between the device 700 and other terminal devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so the corresponding communication component 705 can include: Wi-Fi module, Bluetooth module, NFC module.

In an exemplary embodiment, the device 700 may be configured by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), and digital signal processing terminals (Digital). Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), controller, microcontroller, microprocessor or other electronic components Implemented to perform the monitoring method of the terminal device described above.

An embodiment of the present disclosure further provides a non-transitory computer readable storage medium 1 that is non-transitory The computer readable storage medium 1 includes one or more programs for performing a method of patent information management, the method comprising: determining a target direction of a user traveling; determining from a plurality of the guiding devices a first target guiding device and a second target guiding device; the target direction is between a guiding direction corresponding to the first target guiding device and a guiding direction corresponding to the second target guiding device; and guiding according to the target direction and the determined target The guiding direction corresponding to the device determines a target guiding parameter corresponding to each target guiding device; the target guiding device is driven according to a target guiding parameter corresponding to each target guiding device.

Optionally, determining the target direction of the user to travel includes: acquiring a current location of the user and a target location to be reached; and obtaining the target direction according to the current location and the target location.

Optionally, determining the first target guiding device and the second target guiding device from the plurality of guiding devices comprises: corresponding to the two target guiding devices that minimize the angle between the guiding direction and the target direction as the first target guiding device And a second target guiding device.

Optionally, determining the first target guiding device and the second target guiding device from the plurality of guiding devices, specifically: the angle between the guiding direction corresponding to the guiding direction of any guiding device and the target direction is greater than or equal to the set value. Determining a first target guiding device and a second target guiding device from the plurality of guiding devices; the method further comprising: when an angle between the guiding direction of the guiding device and the target direction is less than the set value, The guiding device is determined to be the only target guiding device.

The embodiment of the present disclosure further provides a guiding device 2, which includes:

The non-transitory computer readable storage medium 1, the plurality of guiding devices and one or more processors; wherein the plurality of guiding devices are connected to the one or more processors;

One or more processors for executing the programs in the non-transitory computer readable storage medium 1 described above.

The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the disclosure is not limited In the specific details of the above-described embodiments, various simple modifications of the technical solutions of the present disclosure are possible within the scope of the technical idea of the present disclosure, and these simple modifications are all within the scope of the present disclosure.

It should be further noted that the specific technical features described in the above specific embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure is applicable to various possibilities. The combination method will not be described separately.

In addition, any combination of various embodiments of the present disclosure may be made as long as it does not deviate from the idea of the present disclosure, and should also be regarded as the disclosure of the present disclosure.

Claims

A method for guiding blindness, which is characterized in that it is applied to a guiding device, and the guiding device is provided with a plurality of guiding devices, and the method comprises:

Determining the target direction in which the user is traveling;

Determining, from a plurality of the guiding devices, a first target guiding device and a second target guiding device; the target direction is located between a guiding direction corresponding to the first target guiding device and a guiding direction corresponding to the second target guiding device;

Determining, according to the target direction, the determined guiding direction corresponding to each target guiding device, a target guiding parameter corresponding to each target guiding device;

The target guiding device is driven in accordance with a target guiding parameter corresponding to each target guiding device.
The method of claim 1 wherein said determining a target direction in which the user is traveling comprises:

Obtaining a current location of the user and a target location to be reached;

The target direction is obtained according to the current position and the target position.
The method according to claim 1, wherein the guiding direction of each guiding device refers to a direction of a center point of the guiding device with respect to the plurality of guiding devices.
The method according to claim 1, wherein the determining the first target guiding device and the second target guiding device from the plurality of guiding devices comprises:

The two target guiding devices that minimize the angle between the guiding direction and the target direction correspond to the first target guiding device and the second target guiding device.
The method of claim 1 wherein said plurality of said guides are loaded Determining the first target guiding device and the second target guiding device, specifically:

Determining the first target guiding device and the second target guiding device from the plurality of guiding devices when an angle between the guiding direction of the guiding device and the target direction is greater than or equal to the set value;

The method further includes:

The guiding device is determined as the sole target guiding device when the angle between the guiding direction of the one guiding device and the target direction is smaller than the set value.
A device for guiding blindness, which is characterized in that it is applied to a guiding device, and the guiding device is provided with a plurality of guiding devices, the device comprising:

a direction determining module, configured to determine a target direction in which the user travels;

a first device determining module, configured to determine a first target guiding device and a second target guiding device from among the plurality of guiding devices; the target direction is located in a guiding direction and a second target guiding corresponding to the first target guiding device Between the guiding directions of the device;

a processing module, configured to determine, according to the target direction, the determined guiding direction corresponding to each target guiding device, a target guiding parameter corresponding to each target guiding device;

And a driving module, configured to drive the target guiding device according to a target guiding parameter corresponding to each target guiding device.
The device according to claim 6, wherein the direction determining module is configured to acquire a current location of the user and a target location to be reached, and obtain the target according to the current location and the target location. direction.
The device according to claim 6, wherein the guiding direction of each guiding device refers to a direction of the guiding device relative to a center point of the plurality of guiding devices.
The apparatus according to claim 6, wherein said first device determining module is configured to correspond to two target guiding devices that minimize an angle between a guiding direction and a target direction as a first target guiding device and a second Target guiding device.
The device according to claim 6, wherein the first device determining module is configured to: when the angle between the guiding direction of the guiding device and the target direction is greater than or equal to the set value, Determining, in the guiding device, the first target guiding device and the second target guiding device;

The device also includes:

And a second device determining module, configured to determine the guiding device as the unique target guiding device when an angle between the guiding direction of the guiding device and the target direction is less than the set value.
A non-transitory computer readable storage medium, characterized in that the non-transitory computer readable storage medium comprises one or more programs for performing any of claims 1 to 5 One of the methods described.
A blind guiding device, comprising:

A non-transitory computer readable storage medium as recited in claim 11, a plurality of booting devices and one or more processors; wherein said plurality of booting devices are coupled to said one or more processors;

One or more processors for executing a program in the non-transitory computer readable storage medium.