WO2018227910A1 - 导盲杖及导盲方法 - Google Patents

导盲杖及导盲方法 Download PDF

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Publication number
WO2018227910A1
WO2018227910A1 PCT/CN2017/116499 CN2017116499W WO2018227910A1 WO 2018227910 A1 WO2018227910 A1 WO 2018227910A1 CN 2017116499 W CN2017116499 W CN 2017116499W WO 2018227910 A1 WO2018227910 A1 WO 2018227910A1
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WO
WIPO (PCT)
Prior art keywords
target
guide
location
book
module
Prior art date
Application number
PCT/CN2017/116499
Other languages
English (en)
French (fr)
Inventor
李月
Original Assignee
京东方科技集团股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 京东方科技集团股份有限公司 filed Critical 京东方科技集团股份有限公司
Priority to US16/070,440 priority Critical patent/US10914591B2/en
Priority to EP17899232.7A priority patent/EP3639807A4/en
Publication of WO2018227910A1 publication Critical patent/WO2018227910A1/zh

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • 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
    • 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
    • A61H3/068—Sticks for blind persons
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/067—Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards also with resonating or responding marks without active components
    • G06K19/07—Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards also with resonating or responding marks without active components with integrated circuit chips
    • G06K19/0723—Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards also with resonating or responding marks without active components with integrated circuit chips the record carrier comprising an arrangement for non-contact communication, e.g. wireless communication circuits on transponder cards, non-contact smart cards or RFIDs
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
    • G06K7/10297—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves arrangements for handling protocols designed for non-contact record carriers such as RFIDs NFCs, e.g. ISO/IEC 14443 and 18092
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
    • G06K7/10366—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
    • G06K7/10366—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications
    • G06K7/10376—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications the interrogation device being adapted for being moveable
    • G06K7/10386—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications the interrogation device being adapted for being moveable the interrogation device being of the portable or hand-handheld type, e.g. incorporated in ubiquitous hand-held devices such as PDA or mobile phone, or in the form of a portable dedicated RFID reader
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/20—Scenes; Scene-specific elements in augmented reality scenes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G01S13/75—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems using transponders powered from received waves, e.g. using passive transponders, or using passive reflectors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Definitions

  • the present disclosure relates to the field of smart devices, and in particular, to a guide stick and a guide blind method.
  • Blind people are a special group of people. They have limited vision and are inconvenient to watch. They will encounter many difficulties in life. In order to better help the blind (or visually impaired users), a guide cane appeared. The guide stick has received extensive attention for its convenience and intelligence.
  • Embodiments of the present disclosure provide a guide stick and a guide blind method.
  • a guide stick is provided.
  • the guide cane includes: a motion component and an object acquisition component, the object acquisition component is disposed on the motion component, and the motion component is electrically connected to the object acquisition component.
  • the object acquisition component is configured to acquire location information of the target object in the target space, and determine a navigation route according to the target location indicated by the location information and the initial location where the guide cane is currently located.
  • the motion component is configured to direct the user to the target location in accordance with the navigation route.
  • the object acquisition component is further configured to direct the user to acquire the target object driven by the motion component in response to the user reaching the target location.
  • the guide stick further includes a communication module, the communication module is disposed on the motion component, and the communication module is electrically connected to the object acquisition component.
  • the communication module is configured to, in response to the operation instruction, send the object acquisition request information to the server, the operation instruction is configured to indicate acquisition of the target object, the object acquisition request information includes an identification of the target object, and the communication module is further configured to receive the target object sent by the server Location information and send location information to the object acquisition component.
  • the guide stick further includes an information collection module and a conversion module, and the information collection module and the conversion module are respectively connected to the communication module.
  • the information collection module is configured to acquire the object keyword and send the object keyword to the server through the communication module.
  • the information collection module is further configured to receive the recommendation information sent by the server through the communication module, where the recommendation information includes an identifier of the object indicated by the object keyword.
  • the communication module is also configured to send the recommendation information to the conversion module.
  • the conversion module is configured to convert the recommendation information into a first speech signal, the first speech signal being configured to prompt the user to select the target object through the information collection module.
  • the object acquisition assembly includes a navigation module and an object positioning module
  • the motion assembly includes a sports chassis
  • the object positioning module is disposed on a top of the sports chassis.
  • the navigation module is configured to determine an initial position, determine a navigation route based on the target location and the initial location, and send the navigation route to the sports chassis.
  • the object positioning module is configured to determine the target object from the objects in the target space and guide the user to obtain the target object under the driving of the sports chassis.
  • the navigation module includes a radio frequency identification RFID reader, a laser radar, and a first processing module.
  • the RFID reader and the laser radar are respectively connected to the first processing module, and the target space is provided with m RFID passive tags.
  • the m RFID passive tags are located at different locations, and m is an integer greater than one.
  • the RFID reader and the m RFID passive tags are configured to estimate a first coordinate of the guide cane on a two-dimensional grid map of the target space.
  • the laser radar is configured to transmit a detection signal to an obstacle of the surrounding environment, and acquire radar data of the laser radar according to the returned detection signal, the radar data including the distance and direction of the obstacle relative to the laser radar.
  • the first processing module is configured to determine a second coordinate of the guide cane on the two-dimensional grid map based on the first coordinate and the radar data, and determine the initial position according to the second coordinate.
  • the first processing module is further configured to determine a navigation route based on the target location and the initial location and to transmit the navigation route to the sports chassis.
  • the RFID reader is configured to filter the signal strength value from the m RFID passive tags according to the detected signal strength value of the RFID passive tag during the movement of the guide wand.
  • n n RFID passive tags n is an integer, and n ⁇ m.
  • the RFID reader is further configured to send the identifier of each of the n RFID passive tags to the server through the communication module, and receive the label coordinates of the corresponding RFID passive tag sent by the server through the communication module, where the tag coordinates are The coordinates of the RFID passive tag on the two-dimensional grid map of the target space.
  • the RFID reader is further configured to use the label coordinates of each of the RFID passive tags of the n RFID passive tags, and the distance between each of the RFID passive tags and the guide cane on the two-dimensional grid map, The estimation method estimates the first coordinate of the guide cane on the two-dimensional grid map.
  • the target space is a library
  • the target object is a target book
  • the location information includes information of a location of the target book on the bookshelf
  • the identification of the target book includes a classification number of the target book.
  • the object positioning module comprises a longitudinal telescopic mechanism, a smart camera and a lateral telescopic mechanism, and the smart camera is connected with the conversion module.
  • the longitudinal telescopic mechanism is configured to drive the smart camera to move longitudinally to the position of the target book on the bookshelf based on the location information.
  • the smart camera is configured to move laterally under the movement of the sports chassis, identify the classification number of the book on the bookshelf, and in response to the identified classification number being the same as the classification number of the target book, indicating that the lateral expansion mechanism extends to the target book.
  • the smart camera is further configured to instruct the conversion module to emit a second voice signal, the second voice signal being configured to prompt the user to acquire the target book.
  • the information collection module is further coupled to the object location module.
  • the information collection module is further configured to instruct the object location module to return to an initial state in response to the confirmation instruction.
  • the guide stick further includes a guide armrest, the guide arm is provided with a vibrator and an emergency stop button, the vibrator is connected with the navigation module, and the emergency stop button is connected with the sports chassis.
  • the navigation module is further configured to instruct the vibrator to generate vibration in response to detecting the presence of an obstacle in front of the guide stick to facilitate the movement of the guide arm.
  • the motion chassis can be controlled to move or stop.
  • the sports chassis includes a motion platform, a scroll wheel, a driver, and a controller, and the controller is electrically coupled to the object acquisition assembly.
  • the roller is disposed at the bottom of the motion platform, and the controller is configured to control the drive in accordance with the navigation route, the driver being configured to drive the roller movement.
  • a blinding method for a guide cane includes obtaining location information of the target object in the target space.
  • the navigation route is determined based on the target location indicated by the location information and the initial location of the guide cane.
  • the method further includes directing the user to acquire the target object in response to the user reaching the target location.
  • acquiring the location information of the target object includes: sending the object acquisition request information to the server in response to the operation instruction, the operation instruction is configured to indicate the acquisition target object, and the object acquisition request information includes the identifier of the target object. Receive location information of the target object sent by the server.
  • the method before transmitting the item acquisition request information to the server in response to the operation instruction, the method further includes acquiring an object keyword input by the user. Send the object keyword to the server.
  • the recommendation information sent by the server is received, and the recommendation information includes an identifier of the object indicated by the object keyword.
  • the recommendation information is converted into a first speech signal, the first speech signal being configured to prompt the user to select the target object.
  • the method before directing the user to acquire the target object, the method further includes: determining the target object from the objects in the target space.
  • determining a navigation route according to a target location indicated by the location information and an initial location where the guide cane is currently located includes: estimating a first coordinate of the guide cane on the two-dimensional grid map of the target space .
  • a detection signal is transmitted to an obstacle of the surrounding environment, and radar data of the laser radar is acquired according to the returned detection signal, and the radar data includes the distance and direction of the obstacle relative to the laser radar.
  • a particle filter algorithm is used to determine the second coordinate of the guide cane on the two-dimensional grid map.
  • the initial position is determined based on the second coordinate.
  • the navigation route is determined based on the target location and the initial location.
  • the target space is provided with m RFID passive tags, the m RFID passive tags are located at different positions, and m is an integer greater than 1.
  • Estimating the first coordinate of the guide stick on the two-dimensional grid map of the target space including: during the movement of the guide stick, according to the detected signal strength value of the RFID passive tag, from the m RFID passive tags.
  • the n RFID passive tags with the signal strength values of the top n are selected, n is an integer, and n ⁇ m.
  • the identification of each of the n RFID passive tags is sent to the server.
  • the label coordinates of the corresponding RFID passive tag sent by the receiving server, and the tag coordinates are coordinates of the RFID passive tag on the two-dimensional grid map of the target space.
  • Estimating the guide stick by maximum likelihood estimation based on the label coordinates of each RFID passive tag in the n RFID passive tags and the distance between each RFID passive tag and the guide cane on the two-dimensional grid map The first coordinate on the 2D raster map.
  • the target space is a library
  • the target object is a target book
  • the location information includes information of a location of the target book on the bookshelf
  • the identification of the target book includes a classification number of the target book. Determining the target object from the objects in the target space, including: identifying the classification number of the books on the shelf. The corresponding book is determined as the target book in response to the identified classification number being the same as the classification number of the target book. After determining that the corresponding book is the target book, the method further includes: issuing a second voice signal, the second voice signal being configured to prompt the user to acquire the target book.
  • a guide stick comprising: a processor; a memory configured to store computer program instructions, the memory being coupled to the processor.
  • the computer program instructions when executed by the processor, cause the guide cane to: obtain location information of the target object in the target space.
  • the navigation route is determined based on the target location indicated by the location information and the initial location of the guide cane.
  • a storage medium that, when executed by a processor of a blind cane, enables the guide cane to perform the blind guiding method provided by the second aspect.
  • FIG. 1 is a schematic diagram of an implementation environment involved in various embodiments of the present disclosure
  • 2-1 is a schematic structural view of a guide cane according to an embodiment of the present disclosure
  • FIG. 2-2 is a schematic structural view of another guide cane according to an embodiment of the present disclosure.
  • 3-1 is a flowchart of a blind guiding method according to an embodiment of the present disclosure
  • 3-3 is a flowchart of acquiring position information of a target object in the embodiment shown in FIG. 3-2;
  • 3-4 is a flowchart of determining a navigation route in the embodiment shown in FIG. 3-2;
  • 3-5 is a flow chart of estimating the first coordinates of the guide cane in the embodiment shown in FIG. 3-2;
  • 3-6 is a flow chart of determining a target object in the embodiment of Fig. 3-2.
  • element A is coupled to element B to mean that element A is direct” or “indirectly” is connected to element B by one or more other elements, unless otherwise stated.
  • "an," and "said&quot are intended to include the plural.
  • the guide cane includes a detection module and a positioning module that is configured to detect obstacles on the road in real time and communicate the results to the blind to help the blind avoid obstacles.
  • the positioning module is configured to determine a route from the start point to the end point, and guide the blind person to the end point according to the route, such as a library, a supermarket, and the like.
  • FIG. 1 is a schematic diagram of an implementation environment involved in various embodiments of the present disclosure, which may include a user 10, a guide wand 20, and a server 30.
  • User 10 can be a blind or visually impaired user.
  • Server 30 can be a server, or a cluster of servers consisting of several servers, or a cloud computing service center.
  • the server 30 can establish a connection with the guide wand 20 over a wireless network or a wired network.
  • the server 30 can send the position information of the target object to the guide cane 20.
  • the guide can guide the user to reach the target position indicated by the position information of the target object, and assist the user to acquire the target object. For example, after the user arrives at the library, the guide can guide the user to the target location indicated by the location information of the target book, so that the user can obtain the target book faster.
  • the guide cane 20 includes a motion component 210 and an object acquisition component 220.
  • the object acquisition component 220 is disposed on the motion component 210, and the motion component 210 is electrically coupled to the object acquisition component 220.
  • the object acquisition component 220 may acquire the location information of the target object in the target space after the user reaches the target space, and determine the navigation route according to the target location indicated by the location information and the initial location where the guide cane is currently located.
  • the motion component 210 can direct the user to the target location in accordance with the navigation route.
  • the guide cane of the embodiment of the present disclosure can more conveniently help the user to plan the path, and the function is more abundant.
  • the object acquisition component 220 can also direct the user to obtain the target object when the user reaches the target location, driven by the motion component 210.
  • the guide stick can not only guide the user to the target position indicated by the position information of the target object, but also further guide the user to obtain the target object, so that the function of the guide stick is more abundant.
  • the guide can guide the location of the bookshelf used to reach the target book, and can also direct the user to the target book on the shelf.
  • the guide can also include a communication module.
  • the communication module is disposed on the motion component and electrically connected to the object acquisition component.
  • the communication module may send the object acquisition request information to the server when the operation instruction triggered by the user is acquired.
  • the operation instruction indicates acquisition of the target object
  • the object acquisition request information includes an identification of the target object.
  • the identifier of the target object may be the name of the target object.
  • the communication module can also receive location information of the target object sent by the server, and send the location information to the object acquisition component.
  • the communication module can be a Wireless-Fidelity (WIFI) communication module.
  • WIFI Wireless-Fidelity
  • the guide can also include an information acquisition module and a conversion module.
  • the information collection module and the conversion module are respectively connected to the communication module.
  • the information collection module can acquire the object keyword input by the user, and send the object keyword to the server through the communication module.
  • the information collection module can also receive the recommendation information sent by the server through the communication module.
  • the recommendation information includes the identification of the object indicated by the object keyword. For example, the identity of an object can be the name of the object.
  • the communication module can also send the recommendation information to the conversion module.
  • the conversion module can convert the recommendation information into a first voice signal.
  • the first voice signal may prompt the user to select the target object through the information collection module.
  • the description of the target space is a library.
  • the information collection module in the embodiment of the present disclosure may be a Braille keyboard, and the conversion module may be a headset worn by the user.
  • the user enters the keyword "history” of the book desired to be obtained through the Braille keyboard.
  • the Braille keyboard sends the keyword "History” to the server via the communication module.
  • the server recommends related books for the user according to the keyword "history", for example, the recommendation information may be sent to the braille keyboard, and the recommendation information includes the name of the book indicated by the keyword "history". For example, the server recommends three books for users: Book A, Book B, and Book C, and A, B, and C are book names.
  • the communication module transmits recommendation information including the book name to the earphone worn by the user.
  • the earphone acquires an electrical signal and then converts the electrical signal into a first voice signal.
  • the user acquires three book names through the first voice signal, and then selects a book through the Braille keyboard.
  • the voice prompts issued by the headset can be: "Related books recommended for you are: Book A, Book B, and Book C. Press 1 for Book A, 2 for Book B, and 3 for Book C. After that, the user selects the book A of interest according to the voice prompt, and the book A is the target book.
  • the communication module acquires an operation instruction triggered by the user, the book name of the book A is sent to the server.
  • the server After receiving the book name of the book A sent by the communication module, the server transmits the location information of the book A to the communication module.
  • the communication module sends the received location information of the book A to the object acquisition component, so as to facilitate the object acquisition component to indicate the target location according to the location information of the book A (ie, the location where the bookshelf of the book A is placed) and the guide bar current
  • the initial location is where the navigation route is determined.
  • the motion component can instruct the user to reach the target location in accordance with the navigation component.
  • the target location is the F-zone 201 room 0001 bookshelf, that is, the book A is located on the shelf numbered 0001 in the F zone 201 room.
  • the location information of the book A sent by the server to the communication module may further include the layer information of the book A on the 0001 shelf, such as the third layer of the book A on the 0001 shelf.
  • the headset worn by the user may be a Bluetooth headset
  • the guide can also include a Bluetooth module, and the guide can communicate with the Bluetooth headset through the Bluetooth module.
  • the object acquisition component 220 includes a navigation module 221 and an object positioning module 222.
  • the motion assembly 210 includes a sports chassis 211.
  • the object positioning module 222 is disposed at the top of the sports chassis 211.
  • the navigation module 221 can determine an initial position where the guide cane is currently located, determine a navigation route according to the target position indicated by the position information of the target object, and the navigation route, and send the navigation route to the sports chassis 211.
  • the object positioning module 222 can determine the target object from the objects in the target space, and guide the user to obtain the target object under the driving of the sports chassis 211. For example, the object positioning module determines the book A from all the books in the third layer of the F area 201 room 0001 bookshelf, and guides the user to obtain the book A under the driving of the sports chassis 211.
  • the navigation module may first perform coarse positioning on the guide cane, and then use the particle filter algorithm to finely position the guide cane.
  • the navigation module 221 includes a Radio Frequency Identification (RFID) reader 2211, a laser radar 2212, and a first processing module (not shown in FIG. 2-2).
  • RFID Radio Frequency Identification
  • the RFID reader 2211 and the laser radar 2212 are respectively connected to the first processing module.
  • the target space is provided with m RFID passive tags (not shown in Figure 2-2), m RFID passive tags are located at different positions, and m is an integer greater than 1.
  • the RFID reader 2211 and the m RFID passive tags can estimate the first coordinate of the guide cane on the two-dimensional grid map of the target space.
  • the library can be divided into a series of grids, each grid being given a value indicating the probability that the corresponding grid is occupied.
  • the RFID reader can select, from the m RFID passive tags, the n RFIDs with the signal strength value of the top n according to the detected signal strength value of the RFID passive tag during the movement of the guide wand.
  • Source tag, n is an integer, and n ⁇ m.
  • the RFID reader can also send the identifier of each of the n RFID passive tags to the server through the communication module, and receive the tag coordinates of the corresponding RFID passive tag sent by the server through the communication module.
  • the label coordinates are the coordinates of the RFID passive tag on the two-dimensional grid map of the target space.
  • the RFID reader can also use the maximum likelihood estimation based on the label coordinates of each RFID passive tag in the n RFID passive tags and the distance between each RFID passive tag and the guide cane on the two-dimensional grid map.
  • the method estimates the first coordinate of the guide cane on the two-dimensional grid map.
  • the maximum likelihood estimation method estimates the position coordinates of unknown nodes by taking the distances of multiple known nodes to unknown nodes, and finds the result of the true coordinates of the closest unknown nodes among all the estimated results.
  • the side of each bookshelf in the library is provided with an RFID passive tag.
  • the RFID reader selects n of the top n names from the plurality of RFID passive tags. RFID passive tags.
  • the RFID reader then transmits the identification of each of the n RFID passive tags (such as the number of each RFID passive tag) to the server via the communication module.
  • the server sends the label coordinates of the n RFID passive tags to the RFID reader.
  • the label coordinates of the first RFID passive tag are (x 1 , y 1 ), and the tag coordinates of the second RFID passive tag are (x) 2 , y 2 ), the label coordinates of the third RFID passive tag are (x 3 , y 3 ), ..., the label coordinates of the nth RFID passive tag are (x n , y n ).
  • the distance between the first RFID passive tag and the guide cane on the two-dimensional grid map is d 1
  • the distance between the second RFID passive tag and the guide cane on the two-dimensional grid map is d 2
  • distance of passive RFID tags 3 and the guide canes on a two dimensional grid map is d 3
  • n th distance of passive RFID tags on the guide canes two dimensional grid map is D n .
  • the distance between the RFID passive tag and the guide cane can be determined by an RFID reader.
  • the first coordinate of the guide stick to be sought on the two-dimensional grid map is set to (x, y).
  • the RFID reader obtains the following equations according to the label coordinates, n distances, and first coordinates (x, y) of the n RFID passive tags:
  • the value of X is the first coordinate (x, y) of the guide cane to be sought on the two-dimensional grid map.
  • the first coordinate (x, y) is also referred to as the coarse positioning coordinate of the guide cane.
  • the laser radar 2212 can transmit a detection signal (laser beam) to an obstacle of the surrounding environment, and acquire radar data of the laser radar based on the returned detection signal.
  • the radar data includes the distance and direction of the obstacle relative to the laser radar, that is, the distance and direction of the obstacle relative to the guide cane.
  • the surrounding environment is a two-dimensional plane environment.
  • the radar data can reflect the fine positioning coordinates of the guide cane.
  • the specific process for obtaining radar data can be referred to the related art.
  • the first processing module may determine a second coordinate of the guide cane on the two-dimensional grid map by using a particle filter algorithm based on the first coordinate of the coarse positioning and the finely positioned radar data, and determine an initial position according to the second coordinate.
  • the first coordinate distribution particle is determined.
  • a plurality of particles such as 100 particles
  • each particle indicating a coordinate.
  • a plurality of particles satisfying a Gaussian distribution near the first coordinate may be determined. Specifically, more particles are determined at a position close to the first coordinate, and fewer particles are determined at a position away from the first coordinate.
  • the weight of each particle is determined, and the weights are normalized. This weight indicates how close the coordinates indicated by the corresponding particle are to the actual coordinates of the guide cane.
  • the resampling operation is performed on the particles to increase the number of particles with larger weights, thereby achieving the survival of the inferior particles. Finally, the position of the coordinates indicated by the particle with the highest weight is taken as the initial position where the guide cane is currently located.
  • the specific process of the particle filter algorithm can refer to related technologies.
  • the first processing module may also determine a navigation route according to the target location and the initial location, and send the navigation route to the sports chassis 211.
  • the first processing module may adopt a global path planning method based on the Dijkstra algorithm and a local path planning method based on the dynamic window algorithm according to the target position and the initial position, combined with the two-dimensional grid map and the lidar acquisition. Radar data to determine the navigation route.
  • the location information of the target book includes information on the position of the target book on the bookshelf, such as the third floor of the 0001 bookshelf of the F area 201, and the identification of the target book may include the target book.
  • Classification number such as D669.3, C393, etc.
  • the object positioning module 222 can include a longitudinal telescoping mechanism 2221, a smart camera 2222, and a lateral telescoping mechanism 2223.
  • the smart camera 2222 is connected to the conversion module.
  • the longitudinal telescopic mechanism 2221 can drive the smart camera 2222 to move to the position of the target book on the bookshelf according to the position information of the target book, for example, to drive the smart camera 2222 to move longitudinally to the third of the book A in the 0001 bookshelf.
  • the smart camera 2222 can move laterally under the driving of the sports chassis 211, identify the classification number of the book on the bookshelf where the target book is located, and indicate that the horizontal telescopic mechanism 2223 extends to the same when the identified classification number is the same as the classification number of the target book.
  • the smart camera 2222 can also instruct the conversion module to emit a second voice signal.
  • the second voice signal can prompt the user to take the target book.
  • the target book is the book A
  • the location information of the book A is: the F area 201, the room 0001, the bookshelf, the third floor.
  • the moving component guides the user to the location of the 0001 bookshelf in Room F of Area F according to the navigation route.
  • the longitudinal telescopic mechanism drives the smart camera to move longitudinally to the third floor of the 0001 bookshelf.
  • the smart camera moves laterally under the motion of the sports chassis to identify the classification number of the books on the third floor.
  • the identification process can include the following steps. First, the smart camera collects the classified number image of the book, and performs grayscale and binarization processing on the classified number image.
  • the gray value of the pixel on the image is set to 0 or 255, so that the entire image exhibits a distinct black and white effect.
  • the processed classification number image is subjected to denoising processing, and the classification number in the classification number image after the denoising processing is cut to obtain a plurality of characters. Further, a feature of each of the plurality of characters is extracted, and a feature vector (or a feature matrix) of the corresponding character is generated. Thereafter, the smart camera compares the feature vector of each character with the feature vector of the character in the sample library, and the sample library includes the classification number of the target book, such as the feature vector of each character in C393.
  • the classification number of the first book includes 4 characters.
  • the similarity between the feature vector of the first character of the four characters and the feature vector of the character "C" in C393 is a1, and the similarity between the feature vector of the second character and the feature vector of the character "3" in C393 is A2, the similarity between the feature vector of the third character and the feature vector of the character “9” in C393 is a3, and the similarity of the feature vector of the fourth character to the feature vector of the character "3" in C393 is a4.
  • a1, a2, a3, and a4 are both equal to 1, the classification number of the first book is considered to be the same as the classification number of the target book.
  • the first book is the target book, that is, the first book is the book A.
  • the sum of a1, a2, a3, and a4 can be set as the classification number of the first book and the classification number C393 of the target book.
  • Target similarity the largest target similarity is found from all target similarities greater than the preset similarity. For example, if the classification number of the first book and the target similarity of C393 are greater than the preset similarity, and the target similarity is the largest, the first book can be used as the target book. Thereafter, the smart camera instructs the lateral telescopic mechanism to extend onto the target book.
  • the smart camera After the smart camera indicates that the lateral telescopic mechanism extends onto the target book, the smart camera then instructs the user to wear a voice prompt. For example, "Please take the book A along the horizontal telescopic mechanism.” Thereby, the user can acquire the book A under the guidance of the lateral telescopic mechanism. After obtaining the book A, the user can also input the next destination to be reached through the Braille keyboard, for example, a reading room, a service desk, and the like. The guide cane determines the corresponding navigation route through the object acquisition component, and guides the user to the next destination through the motion component. Further, when the user arrives at the reading room, the book A can be read using a portable scanning reader.
  • the information collection module can also be coupled to the object location module 222.
  • the information collection module can also instruct the object location module 222 to return to the initial state upon receiving the confirmation command. For example, after the book A is acquired by the guidance of the lateral telescopic mechanism, the determination can be made through the Braille keyboard. Thereafter, the information collection module instructs the longitudinal telescopic mechanism of the object positioning module, the smart camera and the lateral telescopic mechanism to return to the initial position.
  • the smart camera can instruct the earphone worn by the user to make a voice prompt: the book A is not found, please confirm Get other books. Based on the voice prompt, the user selects another recommended book, such as book B, through the Braille keyboard. The guide can then guide the user to obtain the book B as described above.
  • the guide stick 20 may further include a guide armrest 230.
  • the user can hold the guide armrest 230 so that the user can better reach the target position and acquire the target object.
  • the guide armrest 230 is provided with a vibrator and an emergency stop button (not shown in Figure 2-2).
  • the vibrator is connected to the navigation module 221, and the emergency stop button is connected to the sports chassis 211.
  • the navigation module can also instruct the vibrator to generate vibration when detecting an obstacle in front of the guide stick, so as to drive the guide armrest to vibrate.
  • the emergency stop button can control the movement of the sports chassis or stop. When there is an obstacle in front of the guide stick, the guide armrest vibrates, and when the user presses the emergency stop button, the motion chassis stops moving. When the user presses the emergency stop button again, the sports chassis resumes movement.
  • the navigation module can also instruct the moving component to perform a decelerating motion or an acceleration motion.
  • the sports chassis 211 includes a motion platform 2111, a wheel 2112, a driver (not shown in FIG. 2-2), and a controller (not shown in FIG. 2-2).
  • the controller is electrically coupled to the object acquisition component 220.
  • the roller 2112 is disposed at the bottom of the motion platform 2111, and the controller can control the driver according to the navigation route, and the driver can drive the roller 2112 to move.
  • the guide stick includes a power module, and the power module is connected to various components of the guide wand, and the power module can provide power for the guide wand.
  • the object acquisition component of the guide can obtain the position information of the target object after the user reaches the target space, and according to the target position indicated by the position information and the current position of the guide cane The initial position determines the navigation route.
  • the motion component can guide the user to the target location in accordance with the navigation route.
  • the object acquisition component can guide the user to obtain the target object under the driving of the motion component when the user reaches the target position, enriching the function of the guide cane.
  • Embodiments of the present disclosure provide a guide method for a guide stick, which may be the guide stick shown in FIG. 2-1 or FIG. 2-2. As shown in Figure 3-1, the method includes the following steps.
  • the location information of the target object is obtained.
  • the guide cane includes a motion component 210 and an object acquisition component 220. After the user reaches the target space, the object acquisition component 220 can acquire location information of the target object.
  • the navigation route is determined based on the target location indicated by the location information and the initial location of the guide cane.
  • the object acquisition component 220 can determine the navigation route based on the target location indicated by the location information and the initial location of the guide cane.
  • the user is directed to the target location in accordance with the navigation route.
  • the motion component 210 can direct the user to the target location in accordance with the navigation route.
  • the blind guiding method provided by the embodiment of the present disclosure can acquire the position information of the target object after the user reaches the target space, and according to the target position indicated by the position information and the initial position where the guide cane is currently located, Determine the navigation route. After that, the user is guided to the target position according to the navigation route, enriching the function of the guide stick.
  • Embodiments of the present disclosure provide another method of guiding blindness for a guide stick.
  • the guide cane can be the guide cane shown in Figure 2-1 or Figure 2-2, as shown in Figure 3-2.
  • the method includes the following steps.
  • step 401 after the user reaches the target space, the location information of the target object is obtained.
  • acquiring location information of the target object includes the following steps.
  • an object keyword input by the user is acquired.
  • the guiding cane comprises a communication module, an information collecting module and a conversion module, and the information collecting module acquires the object keyword input by the user.
  • the object keyword is sent to the server.
  • the information collection module sends the object keyword to the server through the communication module.
  • the recommendation information sent by the server is received.
  • the recommendation information includes the identification of the object indicated by the object keyword.
  • the identity of the object can be the name of the object.
  • the information collection module receives the recommendation information sent by the server through the communication module.
  • the recommendation information is converted to a first speech signal.
  • the first speech signal is used to prompt the selection of the target object.
  • the communication module sends the recommendation information to the conversion module.
  • the object acquisition request information is sent to the server.
  • the communication module acquires the operation instruction, the communication module sends the object acquisition request information to the server.
  • the operation instruction is used to indicate that the target object is acquired, and the object acquisition request information includes the identifier of the target object.
  • location information of the target object transmitted by the server is received.
  • the communication module receives location information of the target object sent by the server.
  • a navigation route is determined based on the target location indicated by the location information and the initial location at which the guide cane is currently located.
  • the object acquisition component 220 includes a navigation module 221 and an object positioning module 222.
  • the motion assembly 210 includes a sports chassis 211.
  • the navigation module 221 includes an RFID reader 2211, a laser radar 2212, and a first processing module.
  • the target space is provided with m RFID passive tags, m RFID passive tags are located at different positions, and m is an integer greater than 1.
  • step 402 includes the following steps.
  • a first coordinate of the guide cane on the two-dimensional grid map of the target space is estimated.
  • the RFID reader and the m RFID passive tags can estimate the first coordinate of the guide cane on the two-dimensional grid map of the target space.
  • step 4021 includes: in step 4021a, screening out m RFID passive tags according to the detected signal strength value of the RFID passive tag during the movement of the guide cane
  • the signal strength value is n RFID passive tags of the top n, n is an integer, and n ⁇ m.
  • the RFID reader selects n RFID passive tags with the signal strength value from the top of the m RFID passive tags according to the detected signal strength value of the RFID passive tag.
  • the identification of each of the n RFID passive tags is sent to the server.
  • the RFID reader transmits the identification of each of the n RFID passive tags to the server through the communication module.
  • step 4021c the label coordinates of the corresponding RFID passive tag sent by the server are received.
  • the label coordinates are the coordinates of the RFID passive tag on the two-dimensional grid map of the target space.
  • the RFID reader receives the label coordinates of the corresponding RFID passive tag sent by the server through the communication module.
  • step 4021d the maximum likelihood estimation method is adopted according to the label coordinates of each RFID passive tag in the n RFID passive tags and the distance between each RFID passive tag and the guide cane on the two-dimensional grid map. Estimate the first coordinate of the guide cane on the two-dimensional grid map.
  • the RFID reader estimates the distance of each RFID passive tag in each of the n RFID passive tags, and the distance between each RFID passive tag and the guide cane on the two-dimensional grid map, using maximum likelihood estimation.
  • the first coordinate of the guide cane on a two-dimensional raster map.
  • a detection signal is transmitted to an obstacle of the surrounding environment, and radar data of the laser radar is acquired based on the returned detection signal.
  • Radar data includes the distance and direction of the obstacle relative to the lidar.
  • the surrounding environment is a two-dimensional plane environment. Referring to FIG. 2-2, the laser radar 2212 transmits a detection signal to an obstacle of the surrounding environment, and acquires radar data of the laser radar according to the detection signal returned by the obstacle.
  • a particle filter algorithm is used to determine the second coordinate of the guide cane on the two-dimensional grid map.
  • the first processing module determines the second coordinate of the guiding cane on the two-dimensional grid map by using a particle filtering algorithm based on the first coordinate of the coarse positioning and the radar data of the fine positioning.
  • an initial position is determined based on the second coordinate.
  • the first processing module determines an initial position based on the second coordinate.
  • a navigation route is determined based on the target location and the initial location.
  • the first processing module determines a navigation route according to the target location and the initial location, and transmits the navigation route to the sports chassis.
  • step 403 the user is directed to the target location in accordance with the navigation route.
  • the motion component 210 directs the user to the target location in accordance with the navigation route.
  • the user is directed to obtain the target object when the user reaches the target location. Further, before the user is guided to obtain the target object, the method further includes: determining the target object from the objects in the target space.
  • the object positioning module 222 includes a longitudinal telescopic mechanism 2221, a smart camera 2222, and a lateral telescopic mechanism 2223.
  • the target space is a library
  • the target object is a target book
  • the location information includes information of a location of the target book on the bookshelf
  • the identifier of the target book includes a classification number of the target book.
  • determining the target object from the objects in the target space includes: at step 4041, identifying the classification number of the book on the shelf.
  • the smart camera identifies the classification number of the books on the shelf. For the identification process, reference may be made to the relevant content in the above device embodiment.
  • step 4042 when the identified classification number is the same as the classification number of the target book, it is determined that the corresponding book is the target book.
  • the smart camera recognizes the same classification number as the target book, it determines that the corresponding book is the target book.
  • a second voice signal is issued. The second voice signal is used to prompt the user to take the target book.
  • the smart camera can instruct the conversion module to emit the second voice signal.
  • the blind guiding method provided by the embodiment of the present disclosure can acquire the position information of the target object after the user reaches the target space, and according to the target position indicated by the position information and the initial position where the guide cane is currently located, Determine the navigation route. After that, the user is guided to the target location according to the navigation route, and when the user reaches the target location, the user can be guided to acquire the target object, enriching the function of the guide cane.
  • the embodiment of the present disclosure further provides a guide wand, comprising: a processor; a memory for storing executable instructions of the processor; wherein the processor is configured to: acquire a position of the target object after the user reaches the target space Information; determining the navigation route according to the target location indicated by the location information and the initial location of the guide cane; guiding the user to the target location according to the navigation route.
  • Embodiments of the present disclosure also provide a guide blind system that includes a guide cane.
  • the guide stick is the guide stick shown in Figure 2-1 or Figure 2-2.
  • Embodiments of the present disclosure also provide a storage medium that enables a guide wand to perform the guide blind shown in FIG. 3-1 or FIG. 3-2 when an instruction in the storage medium is executed by a processor of a guide wand method.

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Abstract

提供了一种导盲杖（20）及导盲方法。导盲杖（20）包括运动组件（210）和物件获取组件（220）。物件获取组件（220）设置在运动组件上，运动组件（210）与物件获取组件（220）电连接。物件获取组件（220）获取目标物件在目标空间中的位置信息，并根据位置信息所指示的目标位置和导盲杖（20）当前所在的初始位置，确定导航路线。运动组件（210）按照导航路线指引用户到达目标位置。

Description

导盲杖及导盲方法
相关申请的交叉引用
本申请要求于2017年6月12日递交的中国专利申请第201710454296.8号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。
技术领域
本公开涉及智能设备领域，特别涉及一种导盲杖及导盲方法。
背景技术
盲人是一个特殊的生活群体，他们视力受限，观看不便，在生活会遇到很多困难。为了更好地帮助盲人(或视力受损的用户)，出现了导盲杖。导盲杖以其便捷智能等优点受到了广泛关注。
发明内容
本公开实施例提供了一种导盲杖及导盲方法。
根据本公开的第一方面，提供了一种导盲杖。导盲杖包括：运动组件和物件获取组件，物件获取组件设置在运动组件上，运动组件与物件获取组件电连接。物件获取组件被配置为获取目标物件在目标空间中的位置信息，并根据位置信息所指示的目标位置和导盲杖当前所在的初始位置，确定导航路线。运动组件被配置为按照导航路线指引用户到达目标位置。
在本公开的实施例中，物件获取组件还被配置为响应于用户到达目标位置，在运动组件的带动下指引用户获取目标物件。
在本公开的实施例中，导盲杖还包括通信模块，通信模块设置在运动组件上，通信模块与物件获取组件电连接。通信模块被配置为响应于操作指令，向服务器发送物件获取请求信息，操作指令被配置为指示获取目标物件，物件获取请求信息包括目标物件的标识；通信模块还被配置为接收服务器发送的目标物件的位置信息，并向物件获取组件发送位置信息。
在本公开的实施例中，导盲杖还包括信息采集模块和转换模块，信息采集 模块和转换模块分别与通信模块连接。信息采集模块被配置为获取物件关键词，并将物件关键词通过通信模块发送至服务器。信息采集模块还被配置为通过通信模块接收服务器发送的推荐信息，推荐信息包括物件关键词所指示的物件的标识。通信模块还被配置为将推荐信息发送至转换模块。转换模块被配置为将推荐信息转换为第一语音信号，第一语音信号被配置为提示用户通过信息采集模块选取目标物件。
在本公开的实施例中，物件获取组件包括导航模块和物件定位模块，运动组件包括运动底盘，物件定位模块设置在运动底盘的顶部。导航模块被配置为确定初始位置，根据目标位置和初始位置确定导航路线，并将导航路线发送至运动底盘。物件定位模块被配置为从目标空间内的物件中确定目标物件，并在运动底盘的带动下指引用户获取目标物件。
在本公开的实施例中，导航模块包括射频识别RFID阅读器、激光雷达和第一处理模块，RFID阅读器和激光雷达分别与第一处理模块连接，目标空间设置有m个RFID无源标签，该m个RFID无源标签位于不同位置，m为大于1的整数。RFID阅读器和m个RFID无源标签被配置为估计导盲杖在目标空间的二维栅格地图上的第一坐标。激光雷达被配置为向周边环境的障碍物发射探测信号，根据返回的探测信号获取激光雷达的雷达数据，雷达数据包括障碍物相对于激光雷达的距离和方向。第一处理模块被配置为基于第一坐标和雷达数据，采用粒子滤波算法确定导盲杖在二维栅格地图上的第二坐标，并根据第二坐标确定初始位置。第一处理模块还被配置为根据目标位置和初始位置确定导航路线，并将导航路线发送至运动底盘。
在本公开的实施例中，RFID阅读器被配置为在导盲杖移动过程中，根据检测到的RFID无源标签的信号强度值，从m个RFID无源标签中筛选出信号强度值为前n名的n个RFID无源标签，n为整数，且n＜m。RFID阅读器还被配置为通过通信模块将n个RFID无源标签中每个RFID无源标签的标识发送至服务器，并通过通信模块接收服务器发送的对应RFID无源标签的标签坐标，标签坐标为RFID无源标签在目标空间的二维栅格地图上的坐标。RFID阅读器还被配置为根据n个RFID无源标签中每个RFID无源标签的标签坐标，以及每个RFID无源标签与导盲杖在二维栅格地图上的距离，采用极大似然估计法估计导盲杖在二维栅格地图上的第一坐标。
在本公开的实施例中，目标空间为图书馆，目标物件为目标书籍，位置信息包括目标书籍在书架上的位置的信息，目标书籍的标识包括目标书籍的分类编号。物件定位模块包括纵向伸缩机构、智能摄像头和横向伸缩机构，智能摄像头与转换模块连接。纵向伸缩机构被配置为根据位置信息带动智能摄像头纵向移动至目标书籍在书架上的位置。智能摄像头被配置为在运动底盘的带动下横向移动，对书架上的书籍的分类编号进行识别，并响应于识别的分类编号与目标书籍的分类编号相同，指示横向伸缩机构延伸至目标书籍上。智能摄像头还被配置为指示转换模块发出第二语音信号，第二语音信号被配置为提示用户获取目标书籍。
在本公开的实施例中，信息采集模块还与物件定位模块连接。信息采集模块还被配置为响应于确认指令，指示物件定位模块恢复至初始状态。
在本公开的实施例中，导盲杖还包括导盲扶手，导盲扶手设置有振动器和急停按钮，振动器与导航模块连接，急停按钮与运动底盘连接。导航模块还被配置为响应于探测到导盲杖前方存在障碍物，指示振动器产生振动，以便于带动导盲扶手振动。响应于急停按钮被按下，能够控制运动底盘运动或停止。
在本公开的实施例中，运动底盘包括运动平台、滚轮、驱动器和控制器，控制器与物件获取组件电连接。滚轮设置在运动平台的底部，控制器被配置为按照导航路线对驱动器进行控制，驱动器被配置为驱动滚轮移动。
根据本公开的第二方面，提供了一种用于导盲杖的导盲方法。方法包括获取目标物件在目标空间中的位置信息。根据位置信息所指示的目标位置和导盲杖当前所在的初始位置，确定导航路线。按照导航路线指引用户到达目标位置。
在本公开的实施例中，方法还包括：响应于用户到达目标位置，指引用户获取目标物件。
在本公开的实施例中，获取目标物件的位置信息，包括：响应于操作指令，向服务器发送物件获取请求信息，操作指令被配置为指示获取目标物件，物件获取请求信息包括目标物件的标识。接收服务器发送的目标物件的位置信息。
在本公开的实施例中，响应于操作指令向服务器发送物件获取请求信息之前，方法还包括获取用户输入的物件关键词。将物件关键词发送至服务器。接收服务器发送的推荐信息，推荐信息包括物件关键词所指示的物件的标识。将推荐信息转换为第一语音信号，第一语音信号被配置为提示用户选取目标物件。
在本公开的实施例中，在指引用户获取目标物件之前，方法还包括：从目标空间内的物件中确定目标物件。
在本公开的实施例中，根据位置信息所指示的目标位置和导盲杖当前所在的初始位置，确定导航路线，包括：估计导盲杖在目标空间的二维栅格地图上的第一坐标。向周边环境的障碍物发射探测信号，根据返回的探测信号获取激光雷达的雷达数据，雷达数据包括障碍物相对于激光雷达的距离和方向。基于第一坐标和雷达数据，采用粒子滤波算法确定导盲杖在二维栅格地图上的第二坐标。根据第二坐标确定初始位置。根据目标位置和初始位置确定导航路线。
在本公开的实施例中，目标空间设置有m个RFID无源标签，该m个RFID无源标签位于不同位置，m为大于1的整数。估计导盲杖在目标空间的二维栅格地图上的第一坐标，包括：在导盲杖移动过程中，根据检测到的RFID无源标签的信号强度值，从m个RFID无源标签中筛选出信号强度值为前n名的n个RFID无源标签，n为整数，且n＜m。将n个RFID无源标签中每个RFID无源标签的标识发送至服务器。接收服务器发送的对应RFID无源标签的标签坐标，标签坐标为RFID无源标签在目标空间的二维栅格地图上的坐标。根据n个RFID无源标签中每个RFID无源标签的标签坐标，以及每个RFID无源标签与导盲杖在二维栅格地图上的距离，采用极大似然估计法估计导盲杖在二维栅格地图上的第一坐标。
在本公开的实施例中，目标空间为图书馆，目标物件为目标书籍，位置信息包括目标书籍在书架上的位置的信息，目标书籍的标识包括目标书籍的分类编号。从目标空间内的物件中确定目标物件，包括：对书架上的书籍的分类编号进行识别。响应于识别的分类编号与目标书籍的分类编号相同，确定对应的书籍为目标书籍。在确定对应的书籍为目标书籍之后，方法还包括：发出第二语音信号，第二语音信号被配置为提示用户获取目标书籍。
根据本公开的第三方面，提供了一种导盲杖，包括：处理器；被配置为存储有计算机程序指令的存储器，存储器与处理器连接。计算机程序指令在被处理器执行时使得导盲杖：获取目标物件在目标空间中的位置信息。根据位置信息所指示的目标位置和导盲杖当前所在的初始位置，确定导航路线。按照导航路线指引用户到达目标位置。
根据本公开的第四方面，提供了一种存储介质，当存储介质中的指令由导 盲杖的处理器执行时，使得导盲杖能够执行第二方面所提供的导盲方法。
附图说明
为了更清楚地说明本公开实施例中的技术方案，下面将对实施例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公开的一些实施例。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是本公开各个实施例所涉及的实施环境的示意图；
图2-1是本公开实施例提供的一种导盲杖的结构示意图；
图2-2是本公开实施例提供的另一种导盲杖的结构示意图；
图3-1是本公开实施例提供的一种导盲方法的流程图；
图3-2是本公开实施例提供的另一种导盲方法的流程图；
图3-3是图3-2所示实施例中获取目标物件的位置信息的流程图；
图3-4是图3-2所示实施例中确定导航路线的流程图；
图3-5是图3-2所示实施例中估计导盲杖的第一坐标的流程图；
图3-6是图3-2所示实施例中确定目标物件的流程图。
具体实施方式
为了使本发明的实施例的目的、技术方案和优点更加清楚，下面将结合附图，对本发明的实施例的技术方案进行清楚、完整的描述。显然，所描述的实施例仅仅是本发明的一部分实施例，而并非全部的实施例。基于所描述的实施例，本领域的普通技术人员在无需创造性劳动的前提下所获得的所有其它实施例，也都属于本发明的范围。
在下文中，除非特别说明，表述“元件A耦接到元件B到意为元件A为直接”或通过一个或多个其它元件“间接”连接到元件B。
如本文中使用的，除非另外明确陈述，单数形式的“一个”、“该”和“所述”旨在同样包括复数形式。
如本文中使用的，术语“包括”、“包含”特指所述特征，整数，步骤，操作，元件和/或部分的存在，但不排除一个或多个其它特征，整数，步骤，操作，元件，部件和/或其组合的存在或附加。
通常，导盲杖包括探测模块和定位模块，探测模块被配置为实时探测路面的障碍物，并将探测结果传达给盲人，帮助盲人避开障碍物。定位模块被配置为确定起点到终点的路线，并按照该路线指引盲人抵达终点，比如图书馆、超市等。
图1是本公开各个实施例所涉及的实施环境示意图，该实施环境可以包括用户10、导盲杖20和服务器30。用户10可以是盲人或视力受损用户。服务器30可以是一台服务器，或者由若干台服务器组成的服务器集群，或者是一个云计算服务中心。服务器30可以和导盲杖20通过无线网络或有线网络建立连接。服务器30可向导盲杖20发送目标物件的位置信息。
在本公开实施例中，在用户到达终点后，导盲杖能够指引用户到达目标物件的位置信息所指示的目标位置，帮助用户获取目标物件。例如，在用户到达图书馆后，导盲杖可以指引用户到达目标书籍的位置信息所指示的目标位置，使得用户能够较快获取目标书籍。
图2-1示出了根据本公开实施例的一种导盲杖的结构示意图。导盲杖20包括：运动组件210和物件获取组件220。物件获取组件220设置在运动组件210上，运动组件210与物件获取组件220电连接。物件获取组件220可在用户到达目标空间后，获取目标物件在目标空间的位置信息，并根据该位置信息所指示的目标位置和导盲杖当前所在的初始位置，确定导航路线。运动组件210可按照导航路线指引用户到达目标位置。
由此，本公开实施例的导盲杖能够更方便地帮助用户规划路径，功能更丰富。
在实施例中，物件获取组件220还可在用户到达目标位置时，在运动组件210的带动下指引该用户获取目标物件。具体地，导盲杖不仅能够指引用户到达目标物件的位置信息所指示的目标位置，还能够进一步指引用户获取目标物件，使得导盲杖的功能更加丰富。例如，导盲杖能够指引用于到达摆放目标书籍的书架所在的位置，还能够指引用户获取书架上的目标书籍。
此外，该导盲杖还可包括通信模块。通信模块设置在运动组件上，并与物件获取组件电连接。通信模块可在获取到用户触发的操作指令时，向服务器发送物件获取请求信息。操作指令指示获取目标物件，物件获取请求信息包括目标物件的标识。示例的，目标物件的标识可以为目标物件的名称。通信模块还 可接收服务器发送的目标物件的位置信息，并向物件获取组件发送位置信息。通信模块可以为无线保真(Wireless-Fidelity，WIFI)通信模块。
在实施例中，导盲杖还可以包括信息采集模块和转换模块。信息采集模块和转换模块分别与通信模块连接。信息采集模块可获取用户输入的物件关键词，并将物件关键词通过通信模块发送至服务器。信息采集模块还可通过通信模块接收服务器发送的推荐信息。推荐信息包括物件关键词所指示的物件的标识。例如，物件的标识可以为物件的名称。通信模块还可将推荐信息发送至转换模块。转换模块可将推荐信息转换为第一语音信号。第一语音信号可提示用户通过信息采集模块选取目标物件。
现以目标空间是图书馆为例进行说明。本公开实施例中的信息采集模块可以为盲文键盘，转换模块可以为用户佩戴的耳机。当用户到达图书馆后，用户通过盲文键盘输入想要获取的书籍的关键词“历史”。盲文键盘将关键词“历史”通过通信模块发送至服务器。服务器根据关键词“历史”为用户推荐相关书籍，如可以向盲文键盘发送推荐信息，该推荐信息包括关键词“历史”所指示的书籍的名称。比如，服务器为用户推荐了3本书籍：书籍A、书籍B和书籍C，A、B和C均为书籍名称。通信模块将包含书籍名称的推荐信息发送至用户佩戴的耳机。耳机获取电信号，然后将电信号转换为第一语音信号。用户通过该第一语音信号获取3个书籍名称，然后通过盲文键盘选取一本书籍。比如，耳机发出的语音提示可以为：“为您推荐的相关书籍为：书籍A、书籍B和书籍C，选择书籍A请按1，选择书籍B请按2，选择书籍C请按3”。之后，用户按照该语音提示选择感兴趣的书籍A，书籍A即为目标书籍。通信模块获取到用户触发的操作指令时，向服务器发送书籍A的书籍名称。服务器接收到通信模块发送的书籍A的书籍名称后，向通信模块发送书籍A的位置信息。通信模块将接收到的书籍A的位置信息发送至物件获取组件，以便于物件获取组件根据书籍A的位置信息所指示的目标位置(即摆放书籍A的书架所在的位置)和导盲杖当前所在的初始位置，确定导航路线。运动组件能够按照该导航组件指示用户达到目标位置。比如，该目标位置为F区201室0001书架，也即是，书籍A位于F区201室中编号为0001的书架上。服务器向通信模块发送的书籍A的位置信息还可以包括书籍A在0001书架上的层数信息，比如书籍A在0001书架上的第3层。
示例的，用户佩戴的耳机可以为蓝牙耳机，导盲杖还可以包括蓝牙模块，导盲杖通过蓝牙模块与蓝牙耳机通信。
图2-2示出了本公开实施例提供的另一种导盲杖的结构示意图。如图2-2所示，物件获取组件220包括导航模块221和物件定位模块222。运动组件210包括运动底盘211。物件定位模块222设置在运动底盘211的顶部。
导航模块221可确定导盲杖当前所在的初始位置，根据目标物件的位置信息所指示的目标位置和该初始位置确定导航路线，并将导航路线发送至运动底盘211。
物件定位模块222可从目标空间内的物件中确定目标物件，并在运动底盘211的带动下指引用户获取目标物件。示例的，物件定位模块从F区201室0001书架第3层的所有书籍中确定书籍A，并在运动底盘211的带动下指引用户获取书籍A。
在本公开实施例中，为了确定导盲杖当前所在的初始位置，导航模块可以先对导盲杖进行粗定位，再采用粒子滤波算法对导盲杖进行精细定位。示例的，如图2-2所示，导航模块221包括射频识别(Radio Frequency Identification，RFID)阅读器2211、激光雷达2212和第一处理模块(图2-2中未画出)。具体地，RFID阅读器2211和激光雷达2212分别与第一处理模块连接。目标空间设置有m个RFID无源标签(图2-2中未画出)，m个RFID无源标签位于不同位置，m为大于1的整数。
RFID阅读器2211和m个RFID无源标签可估计导盲杖在目标空间的二维栅格地图上的第一坐标。示例的，可以将图书馆划分为一系列栅格，每个栅格被给定一个值，该值表示对应栅格被占据的概率。关于二维栅格地图的构建过程可以参考相关技术。
具体的，RFID阅读器可在导盲杖移动过程中，根据检测到的RFID无源标签的信号强度值，从m个RFID无源标签中筛选出信号强度值为前n名的n个RFID无源标签，n为整数，且n＜m。RFID阅读器还可通过通信模块将n个RFID无源标签中每个RFID无源标签的标识发送至服务器，并通过通信模块接收服务器发送的对应RFID无源标签的标签坐标。标签坐标为RFID无源标签在目标空间的二维栅格地图上的坐标。RFID阅读器还可根据n个RFID无源标签中每个RFID无源标签的标签坐标，以及每个RFID无源标签与导盲杖在二维栅格地图 上的距离，采用极大似然估计法估计导盲杖在二维栅格地图上的第一坐标。极大似然估计法是通过取得多个已知节点到未知节点的距离来估算未知节点的位置坐标，找出所有估算结果中最接近未知节点的真实坐标的结果。
在示例中，图书馆内每个书架的侧面设置有RFID无源标签，在导盲杖移动过程中，RFID阅读器从多个RFID无源标签中筛选出信号强度值为前n名的n个RFID无源标签。然后，RFID阅读器通过通信模块将n个RFID无源标签中每个RFID无源标签的标识(比如每个RFID无源标签的编号)发送至服务器。服务器向RFID阅读器发送n个RFID无源标签的标签坐标，例如，第1个RFID无源标签的标签坐标为(x 1，y 1)，第2个RFID无源标签的标签坐标为(x 2，y 2)，第3个RFID无源标签的标签坐标为(x 3，y 3)，……，第n个RFID无源标签的标签坐标为(x n，y n)。此外，第1个RFID无源标签与导盲杖在二维栅格地图上的距离为d 1，第2个RFID无源标签与导盲杖在二维栅格地图上的距离为d 2，第3个RFID无源标签与导盲杖在二维栅格地图上的距离为d 3，……，第n个RFID无源标签与导盲杖在二维栅格地图上的距离为d n。RFID无源标签与导盲杖的距离可以由RFID阅读器来确定。
将待求的导盲杖在二维栅格地图上的第一坐标设定为(x，y)。RFID阅读器根据n个RFID无源标签的标签坐标、n个距离和第一坐标(x，y)得到如下方程组：
Figure PCTCN2017116499-appb-000001
RFID阅读器再将方程组(1)转换为线性方程组AX＝B。然后，采用最小二乘法对AX＝B求解，以得到X的值。X的值即为待求的导盲杖在二维栅格地图上的第一坐标(x，y)。第一坐标(x，y)也称为导盲杖的粗定位坐标。其中，求解AX＝B的具体过程可以参考相关技术，在此不再赘述。
激光雷达2212可向周边环境的障碍物发射探测信号(激光束)，并根据返回的探测信号获取激光雷达的雷达数据。雷达数据包括障碍物相对于激光雷达的距离和方向，也即是障碍物相对于导盲杖的距离和方向。其中，周边环境为二维平面环境。该雷达数据可反映导盲杖的精细定位坐标。获取雷达数据的具 体过程可以参考相关技术。
第一处理模块可基于粗定位的第一坐标和精细定位的雷达数据，采用粒子滤波算法确定导盲杖在二维栅格地图上的第二坐标，并根据该第二坐标确定初始位置。
采用粒子滤波算法确定导盲杖的初始位置可包括以下步骤。首先，确定第一坐标分布粒子。示例的，可以确定在导盲杖的第一坐标附近的多个粒子(比如100个粒子)，每个粒子指示一个坐标。示例的，可以确定第一坐标附近满足高斯分布的多个粒子。具体的，在靠近第一坐标的位置确定较多粒子，在远离第一坐标的位置确定较少粒子。然后，根据激光雷达得到的雷达数据，确定每个粒子的权重，并对权重进行归一化处理。该权重表示对应粒子指示的坐标与导盲杖的实际坐标的接近程度。接下来，对粒子执行重采样操作，以增大权重较大的粒子的数目，进而实现粒子的优胜劣汰。最后，将权重最大的粒子指示的坐标的位置作为导盲杖当前所在的初始位置。关于粒子滤波算法的具体过程可以参考相关技术。
第一处理模块还可根据目标位置和初始位置确定导航路线，并将该导航路线发送至运动底盘211。示例的，第一处理模块可以根据目标位置和初始位置，采用基于迪杰斯特拉算法的全局路径规划方式和基于动态窗算法的局部路径规划方式，结合二维栅格地图和激光雷达获取的雷达数据，确定导航路线。
当目标空间为图书馆，目标物件为目标书籍时，目标书籍的位置信息包括目标书籍在书架上的位置的信息，比如F区201室0001书架第3层，目标书籍的标识可以包括目标书籍的分类编号，比如D669.3、C393等。
如图2-2所示，物件定位模块222可包括纵向伸缩机构2221、智能摄像头2222和横向伸缩机构2223。智能摄像头2222与转换模块连接。
根据本公开的实施例，纵向伸缩机构2221可根据目标书籍的位置信息带动智能摄像头2222纵向移动至目标书籍在书架上的位置，例如，带动智能摄像头2222纵向移动至书籍A在0001书架的第3层。智能摄像头2222可在运动底盘211的带动下横向移动，对目标书籍所在书架上的书籍的分类编号进行识别，并在识别的分类编号与目标书籍的分类编号相同时，指示横向伸缩机构2223延伸至目标书籍上。智能摄像头2222还可指示转换模块发出第二语音信号。该第二语音信号可提示用户拿取目标书籍。
在示例中，目标书籍为书籍A，书籍A的位置信息为：F区201室0001书架第3层。运动组件按照导航路线指引用户到达F区201室0001书架所在的位置。之后，纵向伸缩机构带动智能摄像头纵向移动至0001书架的第3层。智能摄像头在运动底盘的带动下横向移动，对第3层上的书籍的分类编号进行识别。识别过程可以包括如下步骤。首先，智能摄像头采集书籍的分类编号图像，并对该分类编号图像进行灰度化与二值化处理。具体的，将图像上的像素点的灰度值设置为0或255，使整个图像呈现出明显的黑白效果。然后，对处理后的分类编号图像进行去噪处理，并将去噪处理后的分类编号图像中的分类编号进行切割，得到多个字符。此外，提取多个字符中每个字符的特征，生成对应字符的特征矢量(或特征矩阵)。之后，智能摄像头将每个字符的特征矢量与样本库中字符的特征矢量进行比较，样本库中包括目标书籍的分类编号比如C393中每个字符的特征矢量。
示例的，第一本书籍的分类编号包括4个字符。4个字符中第1个字符的特征矢量与C393中的字符“C”的特征矢量的相似度为a1，第2个字符的特征矢量与C393中的字符“3”的特征矢量的相似度为a2，第3个字符的特征矢量与C393中的字符“9”的特征矢量的相似度为a3，第4个字符的特征矢量与C393中的字符“3”的特征矢量的相似度为a4。当a1、a2、a3和a4均等于1时，则认为第一本书籍的分类编号与目标书籍的分类编号相同。在该情况下，将第一本书籍作为目标书籍，也即是第一本书籍为书籍A。实际应用中，在智能摄像头进行切割时无法完全准确地得到多个字符的情况下，可以将a1、a2、a3和a4的和设定为第一本书籍的分类编号与目标书籍的分类编号C393的目标相似度。然后，从所有大于预设相似度的目标相似度中找出最大的目标相似度。例如，第一本书籍的分类编号与C393的目标相似度大于预设相似度，且该目标相似度最大，则可以将第一本书籍作为目标书籍。之后，智能摄像头指示横向伸缩机构延伸至目标书籍上。
智能摄像头指示横向伸缩机构延伸至目标书籍上之后，智能摄像头再指示用户佩戴的耳机发出语音提示。例如，“请沿着横向伸缩机构拿取书籍A”。由此，用户可在横向伸缩机构的引导下获取书籍A。获取到书籍A后，用户还可以通过盲文键盘输入想要到达的下一个目的地，例如，阅览室、服务台等。导盲杖通过物件获取组件确定对应的导航路线，通过运动组件指引用户到达下一 个目的地。进一步的，当用户到达阅览室后，可以利用便携式的扫描阅读器阅读书籍A。
在实施例中，信息采集模块还可与物件定位模块222连接。
信息采集模块还可在接收到确认指令时，指示物件定位模块222恢复至初始状态。例如，在通过横向伸缩机构的引导获取书籍A后，可以通过盲文键盘进行确定。之后，信息采集模块指示物件定位模块的纵向伸缩机构、智能摄像头和横向伸缩机构回到初始位置。
此外，当第3层上所有书籍的分类编号与目标书籍的分类编号C393的目标相似度均小于预设相似度时，智能摄像头可以指示用户佩戴的耳机发出语音提示：未找到书籍A，请确认获取其他书籍。用户基于该语音提示，通过盲文键盘选取另一推荐的书籍，比如书籍B。然后，导盲杖按照上述方式指引用户获取书籍B。
在实施例中，如图2-2所示，导盲杖20还可以包括导盲扶手230。用户可以握持该导盲扶手230，以便于用户较好地到达目标位置并获取目标物件。
导盲扶手230设置有振动器和急停按钮(图2-2中未画出)。振动器与导航模块221连接，急停按钮与运动底盘211连接。导航模块还可在探测到导盲杖前方存在障碍物时，指示振动器产生振动，以便于带动导盲扶手振动。急停按钮能够控制运动底盘运动或停止。当导盲杖前方存在障碍物时，导盲扶手振动，用户按下急停按钮时，运动底盘停止运动。当用户再次按下该急停按钮时，运动底盘又恢复运动。
此外，导航模块还可以指示运动组件做减速运动或加速运动。
具体的，如图2-2所示，运动底盘211包括运动平台2111、滚轮2112、驱动器(图2-2中未画出)和控制器(图2-2中未画出)。控制器与物件获取组件220电连接。滚轮2112设置在运动平台2111的底部，控制器可按照导航路线对驱动器进行控制，驱动器可驱动滚轮2112移动。
此外，导盲杖还包括电源模块，电源模块与导盲杖的各个部件连接，电源模块可为导盲杖提供电源。
综上所述，根据本公开的实施例，导盲杖的物件获取组件在用户到达目标空间后，获取目标物件的位置信息，并根据该位置信息所指示的目标位置和导盲杖当前所在的初始位置，确定导航路线。运动组件能够按照该导航路线指引 用户到达目标位置。物件获取组件能够在用户到达目标位置时，在运动组件的带动下指引该用户获取目标物件，丰富了导盲杖的功能。
本公开实施例提供了一种用于导盲杖的导盲方法，导盲杖可以为图2-1或图2-2所示的导盲杖。如图3-1所示，方法包括以下步骤。
在步骤301，在用户到达目标空间后，获取目标物件的位置信息。参见图2-1，导盲杖包括：运动组件210和物件获取组件220。在用户到达目标空间后，物件获取组件220可以获取目标物件的位置信息。
在步骤302，根据位置信息所指示的目标位置和导盲杖当前所在的初始位置，确定导航路线。参见图2-1，物件获取组件220可以根据位置信息所指示的目标位置和导盲杖当前所在的初始位置，确定导航路线。
在步骤303，按照导航路线指引用户到达目标位置。参见图2-1，运动组件210可以按照导航路线指引用户到达目标位置。
综上所述，本公开实施例提供的导盲方法，在用户到达目标空间后，能够获取目标物件的位置信息，并根据该位置信息所指示的目标位置和导盲杖当前所在的初始位置，确定导航路线。之后，按照该导航路线指引用户到达目标位置，丰富了导盲杖的功能。
本公开实施例提供了另一种用于导盲杖的导盲方法。导盲杖可以为图2-1或图2-2所示的导盲杖，如图3-2所示，方法包括以下步骤。
在步骤401，在用户到达目标空间后，获取目标物件的位置信息。具体的，如图3-3所示，获取目标物件的位置信息，包括以下步骤。在步骤4011，获取用户输入的物件关键词。导盲杖包括通信模块、信息采集模块和转换模块，信息采集模块获取用户输入的物件关键词。在步骤4012，将物件关键词发送至服务器。信息采集模块将物件关键词通过通信模块发送至服务器。在步骤4013，接收服务器发送的推荐信息。推荐信息包括物件关键词所指示的物件的标识。示例的，物件的标识可以为物件的名称。信息采集模块通过通信模块接收服务器发送的推荐信息。在步骤4014，将推荐信息转换为第一语音信号。第一语音信号用于提示选取目标物件。通信模块将推荐信息发送至转换模块。在步骤4015，在获取到用户触发的操作指令时，向服务器发送物件获取请求信息。通信模块在获取到操作指令时，向服务器发送物件获取请求信息。操作指令用于指示获取目标物件，物件获取请求信息包括目标物件的标识。在步骤4016，接收服务 器发送的目标物件的位置信息。通信模块接收服务器发送的目标物件的位置信息。
在步骤402，根据位置信息所指示的目标位置和导盲杖当前所在的初始位置，确定导航路线。参见图2-2，物件获取组件220包括导航模块221和物件定位模块222。运动组件210包括运动底盘211。导航模块221包括RFID阅读器2211、激光雷达2212和第一处理模块。目标空间设置有m个RFID无源标签，m个RFID无源标签位于不同位置，m为大于1的整数，具体的，如图3-4所示，步骤402包括以下步骤。在步骤4021，估计导盲杖在目标空间的二维栅格地图上的第一坐标。可选的，RFID阅读器和m个RFID无源标签可以估计导盲杖在目标空间的二维栅格地图上的第一坐标。
具体的，如图3-5所示，步骤4021包括：在步骤4021a，在导盲杖移动过程中，根据检测到的RFID无源标签的信号强度值，从m个RFID无源标签中筛选出信号强度值为前n名的n个RFID无源标签，n为整数，且n＜m。RFID阅读器在导盲杖移动过程中，根据检测到的RFID无源标签的信号强度值，从m个RFID无源标签中筛选出信号强度值为前n名的n个RFID无源标签。在步骤4021b，将n个RFID无源标签中每个RFID无源标签的标识发送至服务器。RFID阅读器通过通信模块将n个RFID无源标签中每个RFID无源标签的标识发送至服务器。在步骤4021c，接收服务器发送的对应RFID无源标签的标签坐标。标签坐标为RFID无源标签在目标空间的二维栅格地图上的坐标。RFID阅读器通过通信模块接收服务器发送的对应RFID无源标签的标签坐标。在步骤4021d，根据n个RFID无源标签中每个RFID无源标签的标签坐标，以及每个RFID无源标签与导盲杖在二维栅格地图上的距离，采用极大似然估计法估计导盲杖在二维栅格地图上的第一坐标。RFID阅读器根据n个RFID无源标签中每个RFID无源标签的标签坐标，以及每个RFID无源标签与导盲杖在二维栅格地图上的距离，采用极大似然估计法估计导盲杖在二维栅格地图上的第一坐标。
在步骤4022，向周边环境的障碍物发射探测信号，根据返回的探测信号获取激光雷达的雷达数据。雷达数据包括障碍物相对于激光雷达的距离和方向。其中，周边环境为二维平面环境。参见图2-2，激光雷达2212向周边环境的障碍物发射探测信号，根据障碍物返回的探测信号获取激光雷达的雷达数据。
在步骤4023，基于第一坐标和雷达数据，采用粒子滤波算法确定导盲杖在 二维栅格地图上的第二坐标。第一处理模块基于粗定位的第一坐标和精细定位的雷达数据，采用粒子滤波算法确定导盲杖在二维栅格地图上的第二坐标。
在步骤4024，根据第二坐标确定初始位置。第一处理模块根据该第二坐标确定初始位置。
在步骤4025，根据目标位置和初始位置确定导航路线。第一处理模块根据目标位置和初始位置确定导航路线，并将该导航路线发送至运动底盘。
然后，在步骤403，按照导航路线指引用户到达目标位置。参见图2-2，运动组件210按照导航路线指引用户到达目标位置。
在步骤404，在用户到达目标位置时，指引用户获取目标物件。进一步的，在指引用户获取目标物件之前，该方法还包括：从目标空间内的物件中确定目标物件。参见图2-2，物件定位模块222包括纵向伸缩机构2221、智能摄像头2222和横向伸缩机构2223。
可选的，目标空间为图书馆，目标物件为目标书籍，位置信息包括目标书籍在书架上的位置的信息，目标书籍的标识包括目标书籍的分类编号。
如图3-6所示，从目标空间内的物件中确定目标物件，包括：在步骤4041，对书架上的书籍的分类编号进行识别。智能摄像头对书架上的书籍的分类编号进行识别。识别过程可参考上述装置实施例中的相关内容。在步骤4042，当识别的分类编号与目标书籍的分类编号相同时，确定对应的书籍为目标书籍。智能摄像头在识别的分类编号与目标书籍的分类编号相同时，确定对应的书籍为目标书籍。在步骤4043，发出第二语音信号。第二语音信号用于提示用户拿取目标书籍。智能摄像头可以指示转换模块发出该第二语音信号。
综上所述，本公开实施例提供的导盲方法，在用户到达目标空间后，能够获取目标物件的位置信息，并根据该位置信息所指示的目标位置和导盲杖当前所在的初始位置，确定导航路线。之后，按照该导航路线指引用户到达目标位置，且在用户到达目标位置时，能够指引用户获取目标物件，丰富了导盲杖的功能。
需要说明的是，本公开实施例提供的导盲方法的步骤的先后顺序可以进行适当调整，步骤也可以根据情况进行相应增减。任何熟悉本技术领域的技术人员在本公开揭露的技术范围内，可轻易想到变化的方法，都应涵盖在本公开的保护范围之内，因此不再赘述。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的方法实施例中的具体过程，可以参考前述装置实施例中模块的具体工作过程，在此不再赘述。
本公开实施例还提供了一种导盲杖，包括：处理器；用于存储处理器的可执行指令的存储器；其中，处理器被配置为：在用户到达目标空间后，获取目标物件的位置信息；根据位置信息所指示的目标位置和导盲杖当前所在的初始位置，确定导航路线；按照导航路线指引用户到达目标位置。
本公开实施例还提供了一种导盲系统，该系统包括导盲杖。该导盲杖为图2-1或图2-2所示的导盲杖。
本公开实施例还提供了一种存储介质，当所述存储介质中的指令由导盲杖的处理器执行时，使得导盲杖能够执行图3-1或图3-2所示的导盲方法。
以上对本发明的若干实施方式进行了详细描述，但本发明的保护范围并不限于此。显然，对于本领域的普通技术人员来说，在不脱离本发明的精神和范围的情况下，可以对本发明的实施例进行各种修改、替换或变形。本发明的保护范围由所附权利要求限定。

Claims (20)

  1. 一种导盲杖，其中，所述导盲杖包括：运动组件和物件获取组件，
    所述物件获取组件设置在所述运动组件上，所述运动组件与所述物件获取组件电连接，
    所述物件获取组件被配置为获取目标物件在目标空间中的位置信息，并根据所述位置信息所指示的目标位置和所述导盲杖当前所在的初始位置，确定导航路线；
    所述运动组件被配置为按照所述导航路线指引用户到达所述目标位置。
  2. 根据权利要求1所述的导盲杖，其中，
    所述物件获取组件还被配置为响应于所述用户到达所述目标位置，在所述运动组件的带动下指引所述用户获取所述目标物件。
  3. 根据权利要求1所述的导盲杖，其中，所述导盲杖还包括通信模块，所述通信模块设置在所述运动组件上，所述通信模块与所述物件获取组件电连接，
    所述通信模块被配置为响应于操作指令向服务器发送物件获取请求信息，所述操作指令被配置为指示获取所述目标物件，所述物件获取请求信息包括所述目标物件的标识；
    所述通信模块还被配置为接收所述服务器发送的所述目标物件的位置信息，并向所述物件获取组件发送所述位置信息。
  4. 根据权利要求3所述的导盲杖，其中，所述导盲杖还包括信息采集模块和转换模块，所述信息采集模块和所述转换模块分别与所述通信模块连接，
    所述信息采集模块被配置为获取物件关键词，并将所述物件关键词通过所述通信模块发送至所述服务器；
    所述信息采集模块还被配置为通过所述通信模块接收所述服务器发送的推荐信息，所述推荐信息包括所述物件关键词所指示的物件的标识；
    所述通信模块还被配置为将所述推荐信息发送至所述转换模块；
    所述转换模块被配置为将所述推荐信息转换为第一语音信号，所述第一语音信号被配置为提示所述用户通过所述信息采集模块选取所述目标物件。
  5. 根据权利要求3所述的导盲杖，其中，所述物件获取组件包括导航模块和物件定位模块，所述运动组件包括运动底盘，所述物件定位模块设置在所述运动底盘的顶部，
    所述导航模块被配置为确定所述初始位置，根据所述目标位置和所述初始位置确定导航路线，并将所述导航路线发送至所述运动底盘；
    所述物件定位模块被配置为从所述目标空间内的物件中确定所述目标物件，并在所述运动底盘的带动下指引所述用户获取所述目标物件。
  6. 根据权利要求5所述的导盲杖，其中，所述导航模块包括射频识别RFID阅读器、激光雷达和第一处理模块，所述RFID阅读器和所述激光雷达分别与所述第一处理模块连接，所述目标空间设置有m个RFID无源标签，所述m个RFID无源标签位于不同位置，所述m为大于1的整数，
    所述RFID阅读器和所述m个RFID无源标签被配置为估计所述导盲杖在所述目标空间的二维栅格地图上的第一坐标；
    所述激光雷达被配置为向周边环境的障碍物发射探测信号，根据返回的探测信号获取所述激光雷达的雷达数据，所述雷达数据包括所述障碍物相对于所述激光雷达的距离和方向；
    所述第一处理模块被配置为基于所述第一坐标和所述雷达数据，采用粒子滤波算法确定所述导盲杖在所述二维栅格地图上的第二坐标，并根据所述第二坐标确定所述初始位置；
    所述第一处理模块还被配置为根据所述目标位置和所述初始位置确定所述导航路线，并将所述导航路线发送至所述运动底盘。
  7. 根据权利要求6所述的导盲杖，其中，
    所述RFID阅读器被配置为在所述导盲杖移动过程中，根据检测到的RFID无源标签的信号强度值，从所述m个RFID无源标签中筛选出信号强度值为前n名的所述n个RFID无源标签，所述n为整数，且n＜m；
    所述RFID阅读器还被配置为通过所述通信模块将所述n个RFID无源标签中每个RFID无源标签的标识发送至所述服务器，并通过所述通信模块接收所述服务器发送的对应RFID无源标签的标签坐标，所述标签坐标为RFID无源标签在所述目标空间的二维栅格地图上的坐标；
    所述RFID阅读器还被配置为根据所述n个RFID无源标签中每个RFID无源标签的标签坐标，以及所述每个RFID无源标签与所述导盲杖在所述二维栅格地图上的距离，采用极大似然估计法估计所述导盲杖在所述二维栅格地图上的第一坐标。
  8. 根据权利要求5所述的导盲杖，其中，所述目标空间为图书馆，所述目标物件为目标书籍，所述位置信息包括所述目标书籍在书架上的位置的信息，所述目标书籍的标识包括所述目标书籍的分类编号，
    所述物件定位模块包括纵向伸缩机构、智能摄像头和横向伸缩机构，所述智能摄像头与所述转换模块连接，
    所述纵向伸缩机构被配置为根据所述位置信息带动所述智能摄像头纵向移动至所述目标书籍在书架上的位置；
    所述智能摄像头被配置为在所述运动底盘的带动下横向移动，对所述书架上的书籍的分类编号进行识别，并响应于识别的分类编号与所述目标书籍的分类编号相同，指示所述横向伸缩机构延伸至所述目标书籍上；
    所述智能摄像头还被配置为指示所述转换模块发出第二语音信号，所述第二语音信号被配置为提示所述用户获取所述目标书籍。
  9. 根据权利要求8所述的导盲杖，其中，
    所述信息采集模块还与所述物件定位模块连接，
    所述信息采集模块还被配置为响应于确认指令，指示所述物件定位模块恢复至初始状态。
  10. 根据权利要求5所述的导盲杖，其中，所述导盲杖还包括导盲扶手，所述导盲扶手设置有振动器和急停按钮，所述振动器与所述导航模块连接，所述急停按钮与所述运动底盘连接，
    所述导航模块还被配置为响应于探测到所述导盲杖前方存在障碍物，指示所述振动器产生振动，以便于带动所述导盲扶手振动；
    响应于所述急停按钮被按下，能够控制所述运动底盘运动或停止。
  11. 根据权利要求5所述的导盲杖，其中，所述运动底盘包括运动平台、滚轮、驱动器和控制器，所述控制器与所述物件获取组件电连接，
    所述滚轮设置在所述运动平台的底部，所述控制器被配置为按照所述导航路线对所述驱动器进行控制，所述驱动器被配置为驱动所述滚轮移动。
  12. 一种导盲方法，其中，用于导盲杖，所述方法包括：
    获取目标物件在目标空间中的位置信息；
    根据所述位置信息所指示的目标位置和所述导盲杖当前所在的初始位置，确定导航路线；
    按照所述导航路线指引用户到达所述目标位置。
  13. 根据权利要求12所述的方法，其中，所述方法还包括：
    响应于所述用户到达所述目标位置，指引所述用户获取所述目标物件。
  14. 根据权利要求12所述的方法，其中，所述获取目标物件的位置信息，包括：
    响应于操作指令，向服务器发送物件获取请求信息，所述操作指令被配置为指示获取所述目标物件，所述物件获取请求信息包括所述目标物件的标识；
    接收所述服务器发送的所述目标物件的位置信息。
  15. 根据权利要求14所述的方法，其中，在响应于操作指令向服务器发送物件获取请求信息之前，所述方法还包括：
    获取物件关键词；
    将所述物件关键词发送至所述服务器；
    接收所述服务器发送的推荐信息，所述推荐信息包括所述物件关键词所指示的物件的标识；
    将所述推荐信息转换为第一语音信号，所述第一语音信号被配置为提示所述用户选取所述目标物件。
  16. 根据权利要求13所述的方法，其中，在指引所述用户获取所述目标物件之前，所述方法还包括：
    从所述目标空间内的物件中确定所述目标物件。
  17. 根据权利要求12所述的方法，其中，所述根据所述位置信息所指示的目标位置和所述导盲杖当前所在的初始位置，确定导航路线，包括：
    估计所述导盲杖在所述目标空间的二维栅格地图上的第一坐标；
    向周边环境的障碍物发射探测信号，根据返回的探测信号获取所述激光雷达的雷达数据，所述雷达数据包括所述障碍物相对于所述激光雷达的距离和方向；
    基于所述第一坐标和所述雷达数据，采用粒子滤波算法确定所述导盲杖在所述二维栅格地图上的第二坐标；
    根据所述第二坐标确定所述初始位置；
    根据所述目标位置和所述初始位置确定所述导航路线。
  18. 根据权利要求17所述的方法，其中，所述目标空间设置有m个RFID 无源标签，所述m个RFID无源标签位于不同位置，所述m为大于1的整数，
    所述估计所述导盲杖在所述目标空间的二维栅格地图上的第一坐标，包括：
    在所述导盲杖移动过程中，根据检测到的RFID无源标签的信号强度值，从所述m个RFID无源标签中筛选出信号强度值为前n名的所述n个RFID无源标签，所述n为整数，且n＜m；
    将所述n个RFID无源标签中每个RFID无源标签的标识发送至所述服务器；
    接收所述服务器发送的对应RFID无源标签的标签坐标，所述标签坐标为RFID无源标签在所述目标空间的二维栅格地图上的坐标；
    根据所述n个RFID无源标签中每个RFID无源标签的标签坐标，以及所述每个RFID无源标签与所述导盲杖在所述二维栅格地图上的距离，采用极大似然估计法估计所述导盲杖在所述二维栅格地图上的第一坐标。
  19. 根据权利要求16所述的方法，其中，所述目标空间为图书馆，所述目标物件为目标书籍，所述位置信息包括所述目标书籍在书架上的位置的信息，所述目标书籍的标识包括所述目标书籍的分类编号，
    所述从所述目标空间内的物件中确定所述目标物件，包括：
    对所述书架上的书籍的分类编号进行识别；
    响应于识别的分类编号与所述目标书籍的分类编号相同，确定对应的书籍为所述目标书籍；
    在确定对应的书籍为所述目标书籍之后，所述方法还包括：
    发出第二语音信号，所述第二语音信号被配置为提示所述用户获取所述目标书籍。
  20. 一种导盲杖，包括：
    处理器；
    存储器，其与所述处理器连接，并存储有计算机程序指令，
    其中，所述计算机程序指令在被所述处理器执行时使得所述导盲杖：
    获取目标物件在目标空间中的位置信息；
    根据所述位置信息所指示的目标位置和所述导盲杖当前所在的初始位置，确定导航路线；以及
    按照所述导航路线指引用户到达所述目标位置。
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