WO2018120033A1

WO2018120033A1 - Method and device for assisting user in finding object

Info

Publication number: WO2018120033A1
Application number: PCT/CN2016/113534
Authority: WO
Inventors: 南一冰; 廉士国; 李强
Original assignee: 深圳前海达闼云端智能科技有限公司
Priority date: 2016-12-30
Filing date: 2016-12-30
Publication date: 2018-07-05
Also published as: CN107278301A; CN107278301B

Abstract

A method and device for assisting a user in finding an object, which relate to the technical field of artificial intelligence, and mainly solve the problem in the existing technology wherein a method for effectively assisting a blind person in finding a desired object does not exist. The method for assisting a user in finding an object comprises: determining a target object (101), determining an initial three-dimensional space position of the target object with respect to a user (102), the target object being an object to be found by the user; generating an initial virtual space sound which corresponds to the initial three-dimensional space position (103); during a process in which the user searches for an object, updating a three-dimensional space position of the target object relative to the user in real time (104); generating a new virtual space sound which corresponds to the updated three-dimensional space position (105). Said method is applied during a process in which a blind person is searching for an object.

Description

Method and device for assisting user to find object

Technical field

The present application relates to the field of artificial intelligence technologies, and in particular, to a method and apparatus for assisting a user in searching for objects.

Background technique

In real life, blind people have a need to find a specific object. In order to assist the blind person to find things, the prior art provides a visual alternative method based on cognition and target recognition, which obtains a scene image by shooting the current scene of the blind person, and directly detects all objects appearing in the scene image. And only the information of all objects in the scene image is provided to the blind person, and the blind person makes a decision on the basis of the obtained information to find the target object. This method has limited help for blind people in the process of searching for objects. It is impossible to guide blind people in the process of finding people in the blind, so it is not conducive to blind people to find the required objects in a timely and effective manner.

Summary of the invention

The embodiment of the present application provides a method and an apparatus for assisting a user to find an object, and mainly solves the problem that the existing technology cannot effectively help a blind person to find a desired object.

To achieve the above objective, the embodiment of the present application adopts the following technical solutions:

In a first aspect, the present application provides a method for assisting a user in searching for objects, including: determining a target object and an initial three-dimensional spatial position of the target object relative to the user, the target object being an object to be sought by a user; generating and The initial virtual space sound corresponding to the initial three-dimensional spatial position; in the user's object-seeking process, real-time updating the three-dimensional spatial position of the target object relative to the user, and generating a new virtual corresponding to the updated three-dimensional spatial position Space sound.

In a second aspect, the present application provides an apparatus for assisting a user in searching for objects, including: a detecting unit, configured to determine a target object, the target object is an object to be searched by a user, and a position determining unit configured to determine the detecting unit to detect An initial three-dimensional spatial position of the target object with respect to the user; a virtual space sound generating unit for generating and An initial virtual space sound corresponding to the initial three-dimensional spatial position determined by the position determining unit; the position determining unit is further configured to update a three-dimensional spatial position of the target object relative to the user in real time during a user object searching process; The virtual space sound generating unit is further configured to generate a new virtual space sound corresponding to the updated three-dimensional space position determined by the position determining unit.

In a third aspect, the present application provides an electronic device, including: a memory, a communication interface, and a processor, the memory is configured to store computer executable code, and the processor is configured to execute the computer executable code control to execute the auxiliary user a method of searching for the data transmission of the electronic device and an external device.

In a fourth aspect, the present application provides a robot, including the above electronic device.

In a fifth aspect, the present application provides a computer storage medium for storing computer software instructions, including program code designed to perform the above-described method of assisting a user to find objects.

In a sixth aspect, the present application provides a computer program product that can be directly loaded into an internal memory of a computer and includes software code, and the software code can be loaded and executed by a computer to implement the above-described method for assisting a user to find objects.

The method and apparatus for assisting a user to find objects, firstly determining an object to be sought by a user (referred to as a target object in the present application) and an initial three-dimensional spatial position of the target object with respect to the user; generating an initial corresponding to the initial three-dimensional spatial position The virtual space sound; in the user's object searching process, the three-dimensional spatial position of the target object relative to the current position of the user is updated in real time, and a new virtual space sound corresponding to the updated three-dimensional space position is generated. In the prior art, only the information of all objects in the scene in the scene is provided to the user at the initial time, and the user decides and searches for the object in comparison with the object. In the present application, the position of the target object relative to the user is converted into a virtual space. The spatial sound converts the visual position information of the target object into sound information, so that the blind person can judge the position of the target object according to the virtual space sound; and in the process of searching for the blind person, the target object is relatively blind as the position of the blind person changes continuously. The position of the three-dimensional space is also constantly changing. Based on the changed position of the three-dimensional space, the virtual space sound is updated in real time, which helps the blind person to accurately judge the position of the target object, thereby helping the blind person to find things in time.

DRAWINGS

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings to be used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present application, and other drawings can be obtained according to the drawings without any creative work for those skilled in the art.

1 is a schematic diagram of an auxiliary user object-seeking device according to an embodiment of the present application;

2 is a schematic flowchart of a method for assisting a user in searching for objects according to an embodiment of the present application;

FIG. 3 is a schematic flowchart diagram of another method for assisting a user in searching for objects according to an embodiment of the present application;

FIG. 4 is a schematic flowchart diagram of another method for assisting a user in searching for objects according to an embodiment of the present application;

FIG. 5 is a schematic flowchart of still another method for assisting a user to find objects according to an embodiment of the present application;

FIG. 6 is a schematic structural diagram of an auxiliary user object-seeking device according to an embodiment of the present application;

FIG. 7 is a schematic structural diagram of another auxiliary user object-seeking device according to an embodiment of the present application;

FIG. 8 is a schematic structural diagram of another auxiliary user object-seeking device according to an embodiment of the present application;

FIG. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

detailed description

The system architecture and the service scenario described in the embodiments of the present application are for the purpose of more clearly explaining the technical solutions of the embodiments of the present application, and do not constitute a limitation of the technical solutions provided by the embodiments of the present application. The technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

It should be noted that, in the embodiments of the present application, the words "exemplary" or "such as" are used to mean an example, an illustration, or a description. It is described as "exemplary" in the embodiment of the present application. Any embodiment or design of "or", for example, should not be construed as preferred or advantageous over other embodiments or designs. In particular, the use of the words "exemplary" or "for example" Present relevant concepts in a concrete manner.

It should be noted that, in the embodiment of the present application, "(English: of)", "corresponding (relevant)" and "corresponding" may sometimes be mixed. It should be noted that When the difference is not emphasized, the meaning to be expressed is the same.

Users, especially blind users, can use electronic devices to assist in the search for objects. For convenience of description, the electronic device for assisting the user to find objects is referred to as an auxiliary user object-seeking device in the embodiment of the present application. In an implementation manner of the auxiliary user object-seeking device, as shown in FIG. 1 , the device for assisting the user to find the object may be set in the smart helmet, and the user may wear the helmet to implement the embodiment of the present application. Methods. The device for assisting the user to find objects can also be integrated in the mobile guide robot, and the mobile guide robot can perform the method described in the embodiments of the present application to assist the blind user to find objects. The auxiliary user object-seeking device can also be configured as other wearable devices, which is not limited in this embodiment of the present application.

The above-mentioned auxiliary user object-seeking device can implement the method provided by the embodiment of the present application to implement auxiliary user searching. The embodiment of the present application provides a method for assisting a user in searching for objects. As shown in FIG. 2, the method includes:

Step 101: Determine a target object.

Wherein, the target object is an object to be searched by a user.

Optionally, in an implementation manner of the step, the user may input, to the auxiliary user object searching device, prompt information related to the object to be obtained, where the prompt information may be the name of the object to be obtained or the object to be searched for by the user. The description of the feature; the auxiliary user object-seeking device can receive the prompt information input by the user, and perform the keyword extraction and the like analysis to determine the object that the user wants to find; and then assist the user to search for the device and then corresponding to the scene of the pre-stored user. Target detection is performed in the panoramic image to determine the target object.

The manner in which the user inputs the prompt information may be voice input; the manner of inputting the user may also be a key input. In this input mode, the object category corresponding to some key combinations may be predefined, and the user selects the desired one by pressing a button. Target object. Place The panoramic image can be obtained by the image capturing device after the scene where the user is located, and sent by the image collecting device to the auxiliary user searching device. In the embodiment of the present application, the image capturing device can use a panoramic camera, and the panoramic camera can detect not only objects in the user's field of view, such as objects in front of the user, but also objects outside the user's field of view, such as behind the user. object. The target detection (also known as object detection) technique can detect a two-dimensional position of a given category of objects contained in the panoramic image, including two-dimensional coordinates and the width and height of the object.

Step 102: Determine an initial three-dimensional spatial position of the target object with respect to the user.

As described above, while performing target detection, two-dimensional position information of the target object can also be obtained. If it is desired to determine the three-dimensional spatial position of the target object, a depth sensor is also required; the depth sensor can obtain depth information of the detected scene. , the distance between each object and the sensor in the scene. Exemplarily, the depth sensor may be a stereo vision sensor such as binocular or a laser scanning radar. The specific implementation of the depth sensor can refer to the prior art, and details are not described herein again.

Step 103: Generate an initial virtual space sound corresponding to the initial three-dimensional spatial position.

Among them, the virtual space sound can simulate the transfer function between the sound source and the two ears according to the perceptual characteristics of the human ear to the sound signal to reconstruct the complex three-dimensional virtual space sound field. For a specific implementation of the virtual space sound technology, reference may be made to the prior art, and details are not repeatedly described in the embodiments of the present application.

The user can use the virtual space sound generated in this step to obtain a prompt of the location of the target object.

Step 104: Update the three-dimensional spatial position of the target object relative to the user in real time during the user's object searching process.

Step 105: Generate a new virtual space sound corresponding to the updated three-dimensional space position.

In practical applications, the user's position is constantly changing during the process of searching for objects according to the initial virtual space. Therefore, in the embodiment of the present application, the auxiliary user object-seeking device continuously tracks the current position of the user and continuously generates a new virtual space sound to continuously give the user the latest prompt.

The method for assisting a user to find objects by the present application first determines an object to be sought by the user (referred to as a target object in the present application) and an initial three-dimensional spatial position of the target object with respect to the user; and generates an initial virtual space corresponding to the initial three-dimensional spatial position. Sound; in the process of searching for objects, the three-dimensional spatial position of the target object relative to the current position of the user is updated in real time, and a new virtual space sound corresponding to the updated three-dimensional spatial position is generated. In the prior art, only the information of all objects in the scene in the scene is provided to the user at the initial time, and the user decides and searches for the object in comparison with the object. In the present application, the position of the target object relative to the user is converted into a virtual space. The spatial sound converts the visual position information of the target object into sound information, so that the blind person can judge the position of the target object according to the virtual space sound; and in the process of searching for the blind person, the target object is relatively blind as the position of the blind person changes continuously. The position of the three-dimensional space is also constantly changing. Based on the changed position of the three-dimensional space, the virtual space sound is updated in real time, which helps the blind person to accurately judge the position of the target object, thereby helping the blind person to find things in time.

In an actual application, when the target object is determined according to step 101, if a plurality of candidate target objects are detected according to the prompt information input by the user, prompt information is sent to the user for prompting the user to detect the plurality of candidate target objects from the detected target objects. Determine the final target object. The prompt information may prompt the user to input more keywords. Alternatively, information for each candidate target object detected may be provided to the user so that the user inputs the prompt information again to determine the final target object.

Exemplarily, the target object that the user wants to find is a cup, and actually detects a plurality of cups such as a coffee cup, a red mug, etc., and then issues a reminder to prompt the user to input more detailed prompt information, such as color, function, etc. Then determine the final target object, such as a red mug, based on the user's response.

Optionally, in order to provide a good experience for the user, when generating the virtual space sound in the embodiment of the present application, the sound category of the virtual space sound may also be determined according to the type of the target object, so that the sound category and the sound of the virtual space sound are The type of the target object corresponds. Exemplarily, when the object to be searched by the user is a water cup, the sound of the virtual space sound can be set as a flowing water. When the object to be searched by the user is a car, the virtual space sound can be set as the whistle sound; when the object to be searched by the user is the mobile phone, the virtual space can be set. Voice ringing

Alternatively, the virtual space sound may also be the name of the target object. For example, when the object to be searched by the user is a car, the virtual space sound can be set to continuously repeat the "car" pronunciation.

In an actual application, in order to ensure the uniqueness of the target object during the object searching process, in the embodiment of the present application, the tracking target technology is used to lock the target object after the target object is determined. Therefore, after the step 101 “determining the target object”, as shown in FIG. 3, the method further includes:

201. Track the determined target object and the user in real time.

For the specific implementation of the tracking target object, reference may be made to the target tracking technology in the prior art, such as a tracking technology based on computer vision technology, and details are not described herein.

One available method for detecting a target object is to continuously perform target detection in real time during the user's object-seeking process to continuously determine the target object. However, this method may bring the following disadvantages: during a certain detection process, the detected target object is different from the initially detected target object, or a new target object is detected. In the present application, by tracking the target object after determining the target object, the role of the "locking" target object can be achieved, and the uniqueness of the target object during the object searching process can be ensured.

Correspondingly, in the process of the user fetching, the real-time updating of the three-dimensional spatial position of the target object relative to the user in the process of the user fetching includes:

202. Determine, during the user picking process, the current location of the target object and the user according to the tracking result of the target object and the user.

203. Determine an updated three-dimensional spatial location of the target object relative to the user according to the target object and a current location of the user.

In practical applications, the virtual space sound generally reflects the positional relationship and cannot reflect the distance relationship. For example, when the target object is located directly in front of the user, the virtual space sound can only prompt the user that the target object is located in front, but cannot reflect the distance between the target object and the user. Therefore, in order to better prompt the user of the distance from the target object, as shown in FIG. 4, the step 104 “updates the three-dimensional spatial position of the target object relative to the current position of the user in real time during the user's object searching process”, after that, The method further includes:

Step 301: Detect whether the updated three-dimensional spatial location is closer to the user than the updated three-dimensional spatial location.

If yes, it indicates that the target object is closer to the user, and the corresponding step 302 may be performed when performing the step 105 “generating a new virtual space sound corresponding to the updated three-dimensional space position”.

If not, it indicates that the target object is getting farther away from the user, and the frequency of the virtual space sound can be reduced.

Step 302: Generate a new virtual space sound corresponding to the updated three-dimensional spatial position, and the frequency of the new virtual space sound is greater than the virtual space sound corresponding to the three-dimensional spatial position before the update.

Optionally, in addition to prompting the user to get closer to the target object by increasing the frequency of the virtual space sound, the user may be prompted to be closer to the target object by increasing the volume of the virtual space sound; The volume of the sound prompts the user to move away from the target object.

In practical applications, when the distance between the user and the target object is already very close, the movement range of the user is also small, and the position change of the target object relative to the user is also small, and the difference of the corresponding generated virtual space sound may also be small. In this case, the virtual space sound is still used to guide the user to travel. The meaning is actually small. Therefore, in order to continue to provide the user with timely and effective prompts, after the step of "generating a new virtual space sound corresponding to the updated three-dimensional space position", as shown in FIG. 5, the method further includes:

Step 401: When the distance between the target object and the user is less than a preset threshold, the voice prompts the user to guide the user to gradually approach the target object.

The preset threshold may be set according to actual needs.

Illustratively, when the target object is very close to the user, for example, located on the left side of the user and reachable to the user, the user can be voiced to be located on the left side of the user. This prompting method does not require a complicated process of generating a virtual space sound, and is simple and effective.

Considering that the detection accuracy of the image detecting apparatus is limited, when the user wears the helmet described above, or when the mobile robot is walking as described above, the target object may move. The field of view of the image detecting device causes the tracking to fail; or, in some cases, the target object is occluded, which may cause interference to the object or cause the object to fail. In this case, the user should be promptly given a corresponding reminder to inform the user to adjust the location of the user, etc., and the system automatically restarts the method from step 101, if after a preset time or after multiple adjustments, If the target object cannot be detected, the user can be prompted to end the search.

The above method provided by the embodiment of the present application can assist any user to find objects, for example, assisting a blind user to find objects, or an ordinary user wearing a helmet capable of implementing the above method to perform a game of searching or the like.

It can be understood that the above-mentioned auxiliary user object-seeking device includes corresponding hardware structures and/or software modules for executing the respective functions in order to implement the above functions. Those skilled in the art will readily appreciate that the present application can be implemented in a combination of hardware or hardware and computer software in combination with the elements and algorithm steps of the various examples described in the embodiments disclosed herein. Whether a function is implemented in hardware or computer software to drive hardware depends on the specific application and design constraints of the solution. A person skilled in the art can use different methods to implement the described functions for each particular application, but such implementation should not be considered to be beyond the scope of the present application.

The embodiment of the present application may divide the function module of the auxiliary user object-seeking device or the like according to the above method example. For example, each function module may be divided according to each function, or two or more functions may be integrated into one processing module. . The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of the module in the embodiment of the present application is schematic, and is only a logical function division, and the actual implementation may have another division manner.

FIG. 6 is a schematic diagram showing a possible structure of the auxiliary user object-seeking device involved in the above embodiment, and the auxiliary user object-seeking device includes: a detecting unit 501, a position, in a case where each function module is divided by a corresponding function. The determining unit 502 and the virtual space sound generating unit 503. The detecting unit 501 is configured to support the auxiliary user searching device to perform the process 101 in FIG. 2; the position determining unit 502 is configured to support the auxiliary user searching device to perform step 102, step 104, step 202, step 203, step 301, step 302, and Step 401: The virtual space sound generating unit 503 is configured to support the auxiliary user object searching device to perform step 103, step 105, and step 303.

Optionally, as shown in FIG. 7 , the auxiliary user object-seeking device involved in the foregoing embodiment further includes The tracking unit 601 is configured to support the auxiliary user object searching device to perform step 201. All the related content of the steps involved in the foregoing method embodiments may be referred to the functional descriptions of the corresponding functional modules, and details are not described herein again.

In the case of an integrated unit, FIG. 8 shows a possible structural diagram involved in the above embodiment. The auxiliary user object finding device includes a processing module 701 and a communication module 702. The processing module 701 is configured to control and manage the actions of the auxiliary user object searching device. For example, the processing module 701 is configured to support the auxiliary user object searching device to perform the processes 101 to 105 in FIG. 2, and the processes 201 to 204 in FIG. 3, FIG. Processes 301 through 303, process 401 in FIG. 5, and/or other processes for the techniques described herein. The communication module 702 is configured to support communication between the auxiliary user object-seeking device and other network entities, such as with the functional modules or network entities shown in FIG. The auxiliary user object-seeking device may further include a storage module 703 for storing program codes and data of the auxiliary user-seeking device.

The processing module 701 can be a processor or a controller, for example, a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), and an application-specific integrated circuit (Application-Specific Integrated Circuit (ASIC), Field Programmable Gate Array (FPGA) or other programmable logic device, transistor logic device, hardware component, or any combination thereof. It is possible to implement or carry out the various illustrative logical blocks, modules and circuits described in connection with the present disclosure. The processor may also be a combination of computing functions, for example, including one or more microprocessor combinations, a combination of a DSP and a microprocessor, and the like. The communication module 702 can be a transceiver, a transceiver circuit, a communication interface, or the like. The storage module 703 can be a memory.

When the processing module 701 is a processor, the communication module 702 is a communication interface, and the storage module 703 is a memory, the auxiliary user object-seeking device involved in the embodiment of the present application may be the electronic device shown in FIG.

Referring to FIG. 9, the electronic device includes a processor 801, a communication interface 802, a memory 803, and a bus 804. The processor 801, the communication interface 802, and the memory 803 are connected to each other through a bus 804. The bus 804 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. Wait. The bus can be divided into an address bus, a data bus, a control bus, and the like. For the sake of convenience, only one thick line is shown in Figure 9, but it does not mean There is only one bus or one type of bus.

The steps of a method or algorithm described in connection with the present disclosure may be implemented in a hardware or may be implemented by a processor executing software instructions. The software instructions may be composed of corresponding software modules, which may be stored in a random access memory (RAM), a flash memory, a read only memory (ROM), an erasable programmable read only memory ( Erasable Programmable ROM (EPROM), electrically erasable programmable read only memory (EEPROM), registers, hard disk, removable hard disk, compact disk read only (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. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC.

Those skilled in the art will appreciate that in one or more examples described above, the functions described herein can be implemented in hardware, software, firmware, or any combination thereof. When implemented in software, 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.

The specific embodiments of the present invention have been described in detail with reference to the specific embodiments of the present application. It is to be understood that the foregoing description is only The scope of protection, any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the present application are included in the scope of protection of the present application.

Claims

A method for assisting a user in searching for objects, comprising:

Determining a target object and an initial three-dimensional spatial position of the target object relative to the user, the target object being an object to be sought by a user;

Generating an initial virtual space sound corresponding to the initial three-dimensional spatial position;

During the user's object-seeking process, the three-dimensional spatial position of the target object relative to the user is updated in real time, and a new virtual space sound corresponding to the updated three-dimensional spatial position is generated.
The method according to claim 1, wherein after the determining the target object, the method further comprises:

Tracking the determined target object and the user in real time;

The real-time updating of the three-dimensional spatial position of the target object relative to the user includes:

Determining a current location of the target object and the user respectively according to a tracking result of the target object and a user;

And determining an updated three-dimensional spatial position of the target object relative to the user according to the target object and a current location of the user.
The method according to claim 1, wherein the sound category of the virtual space sound corresponds to the type of the target object.
The method according to claim 1, wherein the generating a new virtual space sound corresponding to the updated three-dimensional spatial position comprises:

Detecting whether the updated three-dimensional spatial position is closer to the user than the updated three-dimensional spatial position;

If yes, a new virtual space sound corresponding to the updated three-dimensional spatial position is generated, and the frequency of the new virtual space sound is greater than the virtual space sound corresponding to the three-dimensional spatial position before the update.
The method according to any one of claims 1 to 4, wherein the determining the target object comprises:

Receiving first prompt information input by a user, where the first prompt information is used to specify the Target object

Obtaining a panoramic image corresponding to the scene where the user is located, and performing target detection in the panoramic image to determine the target object.
The method according to claim 5, wherein the performing target detection in the panoramic image to determine the target object comprises:

When at least one candidate target object is detected after the target detection is performed, the second prompt information is output to the user, and the second prompt information is used to prompt the user to select the final target object from the at least one candidate target object;

Receiving a response of the user to the second prompt information, and determining the target object according to a response of the user.
The method according to any one of claims 1 to 6, wherein after the generating a new virtual space sound corresponding to the updated three-dimensional spatial position, the method further comprises:

When the distance between the target object and the user is less than a preset threshold, the voice prompts the user to guide the user to gradually approach the target object.
A device for assisting a user in searching for objects, comprising:

a detecting unit, configured to determine a target object, where the target object is an object to be searched by a user;

a position determining unit, configured to determine an initial three-dimensional spatial position of the target object detected by the detecting unit with respect to the user;

a virtual space sound generating unit, configured to generate an initial virtual space sound corresponding to the initial three-dimensional spatial position determined by the position determining unit;

The location determining unit is further configured to update a three-dimensional spatial location of the target object relative to the user in real time during a user object searching process;

The virtual space sound generating unit is further configured to generate a new virtual space sound corresponding to the updated three-dimensional space position determined by the position determining unit.
The device according to claim 8, wherein the device further comprises a tracking unit for tracking the determined target object and the user in real time;

The position determining unit is further configured to: according to the tracking unit, the target object and The tracking result of the user respectively determines the current position of the target object and the user; and determines the updated three-dimensional spatial position of the target object relative to the user according to the target object and the current position of the user.
The apparatus according to claim 8, wherein the sound category of the virtual space sound corresponds to the type of the target object.
The device of claim 8 wherein:

The location determining unit is further configured to detect whether the updated three-dimensional spatial location is closer to the user than the updated three-dimensional spatial location;

The virtual space sound generating unit is further configured to generate, after the position determining unit detects that the updated three-dimensional space position is closer to the user than the updated three-dimensional space position, generate the updated three-dimensional space position. Corresponding new virtual space sound, and the frequency of the new virtual space sound is greater than the virtual space sound corresponding to the three-dimensional spatial position before the update.
The device according to any one of claims 8 to 11, wherein the detecting unit is further configured to receive first prompt information input by a user, where the first prompt information is used to specify the target object; A panoramic image corresponding to the scene in which the user is located, and performing target detection in the panoramic image to determine the target object.
The device according to claim 12, wherein the detecting unit is further configured to: when the at least one candidate target object is detected, output second prompt information to the user, where the second prompt information is used to prompt the user to Selecting a final target object from the at least one candidate target object; and receiving a response of the user to the second prompt information, and determining the target object according to a response of the user.
The device according to any one of claims 8 to 13, wherein the position detecting unit is further configured to: when the distance between the target object and the user is less than a preset threshold, prompting the user to make the user Gradually close to the target object.
An electronic device, comprising: a memory, a communication interface, and a processor, the memory for storing computer executable code, the processor for executing the computer executable code control to perform any of claims 1-7 A method for assisting a user to find objects, the communication interface being used for data transmission between the electronic device and an external device.
A robot comprising the electronic device of claim 15.
A computer storage medium, characterized by storing computer software instructions comprising program code designed to perform the method of assisting a user to find objects as claimed in any one of claims 1-7.
A computer program product, characterized in that it can be directly loaded into an internal memory of a computer and contains software code, and the software code can be loaded and executed by a computer to implement the assistance according to any one of claims 1 to 7. User search method.