WO2020010784A1 - 可穿戴导航设备及导航方法 - Google Patents

可穿戴导航设备及导航方法 Download PDF

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Publication number
WO2020010784A1
WO2020010784A1 PCT/CN2018/117940 CN2018117940W WO2020010784A1 WO 2020010784 A1 WO2020010784 A1 WO 2020010784A1 CN 2018117940 W CN2018117940 W CN 2018117940W WO 2020010784 A1 WO2020010784 A1 WO 2020010784A1
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WIPO (PCT)
Prior art keywords
target
vibrators
photo
processor
positional relationship
Prior art date
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Ceased
Application number
PCT/CN2018/117940
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English (en)
French (fr)
Inventor
冯伟
顾洪生
尹铎
张艳辉
张晨宁
吴新宇
徐国卿
何勇
冯亚春
彭安思
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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Publication of WO2020010784A1 publication Critical patent/WO2020010784A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures

Definitions

  • the present application relates to the field of electronic devices, and in particular, to a wearable navigation device and a navigation method.
  • the main technical problem solved by this application is to provide a wearable navigation device and a navigation method, which can prompt the position relationship between the user and the target.
  • a technical solution adopted in the present application is to provide a wearable navigation device, which includes a processor, a camera device, and at least two vibrators, and the camera device, at least two vibrators, and the processor Connection, the camera device is used to take a photo and send the photo to the processor; the processor is used to identify whether a target is included in the photo, and when the target is included in the photo, use the photo to obtain the position relationship between the target and the device At least two vibrators are controlled to perform vibration corresponding to the positional relationship.
  • another technical solution adopted in the present application is to provide a navigation method, which is applied to a wearable navigation device, including: obtaining a photo taken by a camera device of the device; identifying whether a target is included in the photo; And when the target is included in the photo, the positional relationship between the target and the device is obtained, and the vibrator of the device is controlled to vibrate corresponding to the positional relationship.
  • the device of the present application includes a processor, an imaging device, and at least two vibrators, and the imaging device and at least two vibrators are connected to the processor, and the imaging device is used for shooting
  • the photo is sent to the processor; the processor is used to identify whether the target is included in the photo, and when the target is included in the photo, use the photo to obtain the position relationship between the target and the device, and control at least two vibrators Vibration corresponding to this positional relationship is performed.
  • the processor of the present application can obtain the positional relationship between the target and the device according to the photo, and control at least two vibrators to perform vibrations corresponding to the positional relationship, the processor can pass the positional relationship between the user and the target through The vibration mode informs the user so that the user can know the positional relationship between it and the target.
  • FIG. 1 is a schematic diagram of a hardware structure of a wearable navigation device according to a first embodiment of the present application
  • FIG. 2 is a schematic diagram of a hardware structure of a wearable navigation device according to a second embodiment of the present application
  • FIG. 3 is a schematic bottom view of a wearable navigation device according to a third embodiment of the present application.
  • FIG. 4 is a schematic bottom view of a wearable navigation device according to a fourth embodiment of the present application.
  • FIG. 5 is a schematic bottom view of a wearable navigation device according to a fifth embodiment of the present application.
  • FIG. 6 is a schematic flowchart of a navigation method according to an embodiment of the present application.
  • FIG. 7 is a schematic diagram of a storage device according to an embodiment of the present application.
  • an embodiment herein means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application.
  • the appearances of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they independent or alternative embodiments that are mutually exclusive with other embodiments. It is clearly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.
  • Wearable smart devices are the general name for applying wearable technology to intelligently design daily wear and develop wearable devices, such as hats, glasses, gloves, watches, clothing and shoes.
  • Wearable navigation devices are an application of wearable smart devices. Wearable navigation devices can navigate through the above wearable devices. Especially for blind or visually impaired people, wearable navigation devices can play the role of eyes to remind blind people. Or depending on the positional relationship between the weak and the target, such as the angular relationship and / or distance relationship with the target.
  • the wearable navigation device may be any wearable device, such as a head-mounted device, a necklace, clothing, shoes, a watch, or a bracelet.
  • a wearable navigation device is used as an example for illustration.
  • the head-mounted device is, for example, a hat or a headband.
  • FIG. 1 is a schematic diagram of a hardware structure of a wearable navigation device according to a first embodiment of the present application.
  • the wearable navigation device 10 includes a processor 11, an imaging device 12, a memory 14, and at least two vibrators 13.
  • the memory 14, the imaging device 12, and at least two vibrators 13 are all connected to the processor 11.
  • the memory 14 is configured to store a computer program provided for the processor 11 to run, and may also be used for processing data or data to be processed during the running of the processor 11, for example, photos taken by the camera 12.
  • the camera device 12 may be installed on the outer surface of the wearable navigation device 10 so that the camera device 12 is not blocked by the wearable navigation device 10 during the process of taking photos.
  • the camera device 12 may also be installed on the inner surface of the wearable navigation device 10, and the position of the wearable navigation device 10 corresponding to the shooting device 12 is set to be transparent or hollowed out, so that the camera device 12 cannot be blocked during the process of taking photos. Covered by wearing the navigation device 10.
  • the camera device 12 may be disposed directly in front of the wearable navigation device 10, that is, when the user wears the wearable navigation device, the camera device is in a position directly in front of the wearable navigation device 10 to make the navigation of the wearable navigation device 10 more consistent. User behavior.
  • the camera 12 is configured to take a picture and send the picture to the processor 11.
  • the camera device 12 may take a photo (not shown) every preset period, and send the taken photo to the processor 11 at the preset period.
  • the preset period may be based on the wearable navigation device's Depending on the actual situation, this application is not limited.
  • the shooting period of the camera device can be adjusted according to the angle change of the wearable navigation device 10.
  • the wearable navigation device 10 may further be provided with an angle sensor (not shown), the angle sensor is connected to the processor 11, and the angle sensor is used to detect the angle change value of the wearable navigation device 10 within a unit time, and the angle change value Sent to the processor 11.
  • the processor 11 is configured to control the camera device 12 to take photos at a smaller period when the angle change value is greater than or equal to a preset value, and to control the camera device 12 at a larger period when the angle change value is less than the preset value. Taking Pictures.
  • a list of the relationship between the angle change value and the shooting cycle may also be stored in the memory 14 for the processor 11 to call.
  • the wearable navigation device 10 is configured to reduce the amount of shots when the angle change value is small, thereby reducing the loss of the wearable navigation device 10, and to increase the amount of shots when the angle change value is large, so as to avoid not capturing the target Objects that cause navigation errors.
  • the processor 11 acquires a photo sent by the camera 12 and uses it to identify whether a target is included in the photo (not shown), and when the target is included in the photo, uses the photo to obtain the position between the target and the wearable navigation device 10 And control at least two vibrators 13 to perform vibration corresponding to the positional relationship.
  • the target may be any one or multiple objects in reality, such as one or more combinations of zebra crossings, pedestrians, roads, obstacles, and chairs, which are not limited in this application.
  • the target is a zebra crossing.
  • the memory 14 may also be used to store feature data of the target, such as feature data of a zebra crossing, for the processor 11 to call.
  • the processor 11 recognizes the target object of the photo, it can call the characteristic data of the zebra crossing from the memory 14 and analyze whether there is a scene in the photo that matches the characteristic data of the zebra crossing. If so, it means that the target is included in the photo If not, the target is not included in the photo.
  • the vibrator 13 may be disposed on the inner surface of the wearable navigation device 10 so that the user can feel the vibrating feeling of the vibrator during vibration to the greatest extent.
  • the positional relationship between the target and the wearable navigation device 10 may be an angular relationship and / or a distance relationship between the target and the wearable navigation device 10.
  • the processor 11 executing the position relationship between the target object and the wearable navigation device 10 by using a photo includes: determining a target object and the wearable navigation device 10 by using a position of a preset feature of the target object in the photo. Angle.
  • the preset characteristics of the target object can be determined according to the actual situation of the target object, which is not limited in this application.
  • the preset feature may be any zebra crossing in the photo, or any point of any zebra crossing.
  • the preset feature is the midpoint of the widest zebra crossing or the midpoint of the narrowest zebra crossing.
  • the preset characteristic may be changed.
  • the processor 11 may obtain the distance between the wearable navigation device 10 and the target, and when the distance is greater than the preset distance, the midpoint of the widest zebra crossing is selected. As the preset feature; when the distance is less than or equal to the preset distance, the midpoint of the narrowest zebra crossing is selected as the preset feature.
  • the angle between the target object and the wearable navigation device 10 can be determined by acquiring the position of the preset feature in the photo.
  • the angle between the target and the wearable navigation device 10 may refer to an angle in the horizontal direction between the connection between the preset feature and the camera 12 and the front (optical axis) of the camera 12 when the camera is shooting. .
  • the angle that the camera device 12 can capture is ⁇ degrees
  • the vibrators 13 are arranged in a ring interval.
  • the ring interval setting specifically refers to the interval setting of the vibrators 13 and the interval setting vibrators 13 form an entire circle.
  • the vibrator on the left side of the camera 12 is controlled to vibrate; when the preset feature is on the right side of the photo, the vibrator on the right side of the camera 12 is controlled to vibrate.
  • the angle that can be captured by the camera device 12 is ⁇ degrees
  • the angle of the corresponding arc-shaped vibrators 13 is also ⁇ -degrees.
  • the arc-shaped interval setting refers specifically to the vibrators 13 arranged at intervals, and the vibrators 13 arranged at intervals are formed.
  • a circular arc when the preset feature is on the left edge of the photo, the leftmost vibrator 13 can be controlled to vibrate; when the preset feature is in the middle of the photo, the middlemost vibrator 13 can be controlled to vibrate.
  • the memory 14 may store a list of the relationship between the preset feature, the distance to the left edge of the photo, and the vibration angle.
  • the processor 11 may call the distance between the distance and the vibration angle from the memory 14 Relation list, thereby controlling the vibration of the vibrator 13 at the vibration angle.
  • the processor 11 not only obtains the angle and / or distance between the preset feature of the specific target and the wearable navigation device 10, the specific target may be a zebra crossing, but may also obtain the preview of other targets.
  • the processor 11 may synthesize these two angles and / or distances to give a prompt to the user .
  • the vibration of a vibrator 13 can be controlled, and the vibration direction of this vibrator 13 is not necessarily the same as controlling the vibration when the vibrator 13 vibrates only by obtaining the angle and / or distance between a specific target and the wearable navigation device 10 The direction is the same.
  • the processor 11 may control two vibrators 13 to vibrate, where one vibrator 13 represents an angle and / or distance between a specific target object and the wearable navigation device 10, and the other vibrator 13 represents another target object.
  • the angle and / or distance between the wearable navigation device 10 and the user can distinguish the specific target object from other target objects through the intensity and / or frequency of the vibration. That is, the processor 11 can control the vibration of the vibrator 13 corresponding to the zebra crossing.
  • the intensity and / or vibration frequency are large, and the vibration / vibration frequency of the vibrator 13 corresponding to a pedestrian or other obstacle is controlled to be small.
  • the processor 11 performing control to control at least two vibrators 13 to perform vibrations corresponding to the positional relationship further includes controlling vibration intensity and / or vibration frequency of the vibrator 13 corresponding to the angle to match the distance.
  • the memory 14 may store the correlation between the distance and the vibration intensity and / or the vibration frequency.
  • the vibrator 13 corresponding to the angle may be controlled to have a smaller The vibration intensity vibrates and / or vibrates at a lower vibration frequency; when the distance obtained by the processor 11 is small, the vibrator 13 corresponding to the angle can be controlled with a larger vibration intensity and / or at a higher vibration frequency vibration.
  • the vibrator 13 corresponding to the angle may be controlled to vibrate with a larger vibration intensity and / or a higher vibration frequency;
  • the vibrator 13 corresponding to the angle can be controlled to vibrate with a smaller vibration intensity and / or a lower vibration frequency.
  • the processor 11 may obtain the distance between the target object and the wearable navigation device 10 in various ways, and the application does not limit the manner of obtaining the distance between the target object and the wearable navigation device 10.
  • FIG. 2 is a schematic diagram of a hardware structure of a wearable navigation device according to a second embodiment of the present application.
  • the difference between the wearable navigation device 20 in this embodiment and the wearable navigation device 10 in the first embodiment is that the camera device 22 includes a first camera device 221 and a second camera device 222.
  • the vibrator 23 and the memory 24 may be the same as the processor 11, the vibrator 13, and the memory 14 in the first embodiment.
  • the first camera device 221 and the second camera device 222 are arranged at intervals.
  • the first camera device 221 is used to take a first photo
  • the second camera device 222 is used to take a second photo
  • the processor 11 is used to obtain a target object according to the first picture.
  • the first included angle between the incident light to the first camera 221 and the center of the first camera 221 and the second camera 222 is used to obtain the incident light from the target to the second camera 222 according to the second photo.
  • the camera device 12 can take a third photo and a fourth photo at different positions.
  • the processor 11 obtains the distance between the target and the camera device 12 according to the third photo and the fourth photo.
  • the method may be similar to the previous embodiment, and is not repeated here.
  • the wearable navigation device 10 may further include a battery (not shown), and the battery is used to provide power to the wearable navigation device 10 for the wearable navigation device 10 to work normally.
  • the battery may be a dry cell, a storage battery, or a solar cell.
  • the wearable navigation device 10 may further be provided with a charging interface, such as a solar charging interface, to charge the battery.
  • the camera device and the vibrator may be installed on the wearable navigation device according to actual conditions, and three setting examples are listed below with reference to FIGS. 3 to 5.
  • FIG. 3 is a schematic bottom view of a wearable navigation device according to a third embodiment of the present application.
  • the wearable navigation device 30 includes a device body 31 in addition to the device of the embodiment shown in FIG. 1 or FIG. 2.
  • the imaging device 32 may be installed on the outer surface of the device main body 31, at least two vibrators 33 may be installed on the inner surface of the device main body 31, and the at least two vibrators 33 may be arranged at an annular interval.
  • the number of the vibrators 33 is at least two, and the at least two vibrators 33 transmit the position information between the wearable navigation device 30 and the target to the user by means of vibration, so that the user can pass the at least two vibrators The vibration of 33 results in its positional relationship with the target.
  • the larger the number of the vibrators 33 the more accurate the angle obtained by the user.
  • the number of the vibrators 33 may be 2 to 40.
  • the number of the vibrators 33 may be 2, 30, or 40.
  • the number of the vibrators 33 is 30. Thirty vibrators 33 are disposed on the inner surface of the wearable navigation device 30 in an annular space.
  • At least two vibrators 33 are annularly disposed on an inner edge region of the device main body 31. In other embodiments, at least two vibrators 33 may be annularly disposed on an inner surface of the device main body 31. Other locations are not limited in this application.
  • FIG. 4 is a schematic bottom view of a wearable navigation device according to a fourth embodiment of the present application.
  • the wearable navigation device 40 further includes a device main body 41 and a ring-shaped headband 44.
  • the device main body 41 in the embodiment of the present application may be the same as the device main body 31 in the third embodiment.
  • the difference between the wearable navigation device 40 in this embodiment and the wearable navigation device 30 in the third embodiment is that the wearable navigation device 40 in this embodiment further includes a ring-shaped head provided on the inner surface of the device body 41 The hoop 44 and the at least two vibrators 43 are spaced from each other on the annular headband 44.
  • the ring-shaped headband 44 By providing the ring-shaped headband 44 in this embodiment, not only the structural strength of the wearable navigation device 40 can be improved, but also the manufacturing process of the wearable navigation device 40 is simple and easy to produce.
  • FIG. 5 is a schematic bottom view of a wearable navigation device according to a fifth embodiment of the present application.
  • the wearable navigation device 50 may include a device main body 51, an imaging device 52, and at least two vibrators 53.
  • the device main body 51 and the imaging device 52 in the embodiment of the present application may be the same as the device main body 31 and the imaging device 32 in the third embodiment.
  • the difference between the wearable navigation device 50 in this embodiment and the wearable navigation device 30 in the third embodiment is that at least two vibrators 53 in this embodiment are not arranged in a ring-shaped interval, but in an arc-shaped interval. It is provided that the center angles of the at least two vibrators 53 arranged at arc-shaped intervals are equal to the maximum angle that the imaging device 52 can capture. For example, when the maximum angle that the imaging device 52 can capture is ⁇ degrees, the center angles of the at least two vibrators 53 disposed at the arc-shaped interval are also ⁇ degrees, and the range of ⁇ can be between 90 degrees and 180 degrees.
  • the ⁇ angle is determined according to the actual situation of the imaging device 52. For example, the ⁇ angle may be 90 degrees, 120 degrees, or 180 degrees.
  • the number of the vibrators 53 can range from 2 to 20.
  • the number of the vibrators 53 can be 2, 11, or 20.
  • the number of the vibrators 53 can be 11, 11 ⁇ 53 arc-shaped interval set.
  • the projection of the imaging device 52 on the arc formed by the at least two vibrators 53 is located at the center of the arc.
  • the at least two vibrators 53 in this embodiment are arranged at arc-shaped intervals, and the projection of the camera device 52 on the arc is located at the center of the arc, so that the vibrators 53 arranged at arc-shaped intervals can also achieve navigation purposes, and reduce manufacturing cost.
  • FIG. 6 is a schematic flowchart of a navigation method according to an embodiment of the present application.
  • the navigation method in this embodiment is executed by the wearable navigation device in any of the foregoing embodiments, and further, may be executed by a processor of the wearable navigation device.
  • Navigation methods include:
  • Step S61 Acquire a photo taken by the photographing device of the device.
  • the wearable navigation device may acquire photos taken by the photographing device at a preset period, or may not acquire photos taken by the photographing device at a preset period.
  • Step S62 Identify whether the target is included in the photo according to the photo.
  • the wearable navigation device reads the target model from the memory, recognizes each of the acquired photos, determines whether there is a scene matching the target model in the photo, and if so, recognizes that the target is included in the photo If not, the target is not included in the photo.
  • Step S63 When the target is included in the photo, obtain the positional relationship between the target and the device, and control the vibrator of the device to perform vibration corresponding to the positional relationship.
  • obtaining the positional relationship between the target and the device may be an angular relationship and / or a distance relationship between the target and the device.
  • the wearable navigation device may specifically implement the foregoing steps as described in the foregoing embodiment, and may also perform other steps described in the foregoing embodiment.
  • FIG. 7 is a schematic structural diagram of a storage device in this embodiment.
  • the storage device 70 stores a computer program that can be executed to implement the navigation method of the foregoing embodiment, or a function implemented by a processor in the foregoing embodiment of the wearable navigation device.
  • the storage device 70 may be a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), and a random access memory (RAM, Random Access). Memory), magnetic disks, optical disks, or servers, and other media that can store program code.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • magnetic disks magnetic disks
  • optical disks or servers, and other media that can store program code.
  • the storage device 70 may also be the memory 14 in any of the foregoing embodiments.
  • the device of the present application includes a processor, an imaging device, and at least two vibrators.
  • the imaging device and at least two vibrators are connected to the processor.
  • the imaging device is used to take a picture and send the picture to A processor;
  • the processor is used to identify whether a target is included in the photo, and when the target is included in the photo, use the photo to obtain the positional relationship between the target and the device, and control at least two vibrators to correspond to the positional relationship Vibration.
  • the processor of the present application can obtain the positional relationship between the target and the device according to the photo, and control at least two vibrators to perform vibrations corresponding to the positional relationship, the processor can pass the positional relationship between the user and the target through The vibration mode informs the user so that the user can know the positional relationship between it and the target.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • User Interface Of Digital Computer (AREA)
  • Navigation (AREA)

Abstract

一种可穿戴导航设备，包括：处理器(11)、摄像装置(12)以及至少两个振动器(13)，摄像装置(12)、至少两个振动器(13)均与处理器(11)连接，摄像装置(12)用于拍摄照片，并将照片发送至处理器(11)；处理器(11)用于识别照片中是否包括目标物，以及在照片中包括目标物时，利用照片获取目标物与设备之间的位置关系，并控制至少两个振动器(13)进行与该位置关系相对应的振动。还提供了一种导航方法。通过上述方式，能够提示用户与目标物之间的位置关系。

Description

可穿戴导航设备及导航方法 技术领域
本申请涉及电子设备领域，特别是涉及可穿戴导航设备及导航方法。
 背景技术
中国有超过1400万盲人，盲人导航是服务民生的重要问题。导盲犬由于成本高、淘汰率高，尚未在中国普及。现有导盲主要依赖木杖与盲道。在人行道上，盲人可以沿着盲道安全前行，但是，协助行人横穿马路的斑马线不易被盲人识别，因而盲人过马路会遇到很多危险。针对盲人的导航设备是目前研究的热点，但是并未有一种能够引导盲人过马路的电子设备及导航方法。
 技术问题
本申请主要解决的技术问题是提供可穿戴导航设备及导航方法，能够提示用户与目标物之间的位置关系。
 技术解决方案
为解决上述技术问题，本申请采用的一个技术方案是：提供一种可穿戴导航设备，该设备包括处理器、摄像装置以及至少两个振动器，摄像装置、至少两个振动器均与处理器连接，摄像装置用于拍摄照片，并将照片发送至处理器；处理器用于识别照片中是否包括目标物，以及在照片中包括目标物时，利用照片获取目标物与设备之间的位置关系，并控制至少两个振动器进行与该位置关系相对应的振动。
为解决上述技术问题，本申请采用的另一个技术方案是：提供一种导航方法，该方法应用于可穿戴导航设备，包括：获取设备的摄像装置拍摄的照片；识别照片中是否包括目标物；以及在照片中包括目标物时，获取目标物与设备之间的位置关系，并控制设备的振动器进行与该位置关系相对应的振动。
 有益效果
本申请的有益效果是：区别于现有技术的情况，本申请设备包括处理器、摄像装置以及至少两个振动器，摄像装置、至少两个振动器均与处理器连接，摄像装置用于拍摄照片，并将照片发送至处理器；处理器用于识别照片中是否包括目标物，以及在照片中包括目标物时，利用照片获取目标物与设备之间的位置关系，并控制至少两个振动器进行与该位置关系相对应的振动。由于本申请的处理器能够根据照片获取目标物与设备之间的位置关系，并控制至少两个振动器进行与该位置关系相对应的振动，因此能够将用户与目标物之间的位置关系通过振动的方式通知用户，使用户能够获知其与目标物之间的位置关系。
 附图说明
图1是本申请第一实施例可穿戴导航设备的硬件结构示意图；
图2是本申请第二实施例可穿戴导航设备的硬件结构示意图；
图3是本申请第三实施例可穿戴导航设备的仰视示意图；
图4是本申请第四实施例可穿戴导航设备的仰视示意图；
图5是本申请第五实施例可穿戴导航设备的仰视示意图；
图6是本申请实施例导航方法的流程示意图；
图7是本申请实施例存储装置的示意图。
 本发明的实施方式
为使本申请的上述目的、特征和优点能够更为明显易懂，下面结合附图，对本申请的具体实施方式做详细的说明。可以理解的是，此处所描述的具体实施例仅用于解释本申请，而非对本申请的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本申请相关的部分而非全部结构。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本申请保护的范围。
本申请中的术语“第一”、“第二”等是用于区别不同对象，而不是用于描述特定顺序。此外，术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
穿戴式智能设备是应用穿戴式技术对日常穿戴进行智能化设计、开发出可以穿戴的设备的总称，如帽子、眼镜、手套、手表、服饰及鞋等。可穿戴导航设备是穿戴式智能设备的一种应用，可穿戴导航设备能够通过上述穿戴设备进行导航，特别是对于盲人或者视弱者来说，可穿戴导航设备能够起到眼睛的作用，以提示盲人或者视弱者与目标物之间的位置关系，例如与目标物之间的角度关系和/或距离关系等。
可穿戴导航设备可以为任一可以穿戴的设备，例如头戴设备、项链、服饰、鞋、手表或者手环等。在本申请实施例以可穿戴导航设备为头戴设备进行举例说明，该头戴设备例如为帽子或者头箍。
请参阅图1，图1是本申请第一实施例可穿戴导航设备的硬件结构示意图。
可穿戴导航设备10包括处理器11、摄像装置12、存储器14以及至少两个振动器13，存储器14、摄像装置12、至少两个振动器13均与处理器11连接。
存储器14用于存储提供给处理器11运行的计算机程序，也可用于处理器11在运行过程中的处理数据或待处理数据，例如摄像装置12拍摄的照片等。
摄像装置12可以安装在可穿戴导航设备10的外表面，以使摄像装置12在拍摄照片的过程中不被可穿戴导航设备10所遮挡。当然，摄像装置12也可以安装在可穿戴导航设备10的内表面，可穿戴导航设备10对应拍摄装置12的位置设为可透明或者镂空，以使摄像装置12在拍摄照片的过程中不被可穿戴导航设备10所遮挡。可选地，摄像装置12可以设置在可穿戴导航设备10的正前方，即，用户在戴上可穿戴导航设备时，摄像装置处于正前方的位置，以使可穿戴导航设备10的导航更符合用户的行为习惯。
摄像装置12用于拍摄照片，并将照片发送至处理器11。可选地，摄像装置12可以每隔预设周期拍摄一张照片（图未示），并将拍摄到的照片以该预设周期发送至处理器11，预设周期可以根据可穿戴导航设备的实际情况而定，本申请不作限定。
为了使可穿戴导航设备10的导航更加准确，摄像装置的拍摄周期可根据可穿戴导航设备10的角度变换进行调整。例如，可穿戴导航设备10还可以设置有角度传感器（图未示），角度传感器与处理器11连接，角度传感器用于检测单位时间内可穿戴导航设备10的角度变化值，并将角度变化值发送至处理器11。处理器11用于在该角度变化值大于或等于预设值时，控制摄像装置12以较小的周期拍摄照片，并在角度变化值小于预设值时，控制摄像装置12以较大的周期拍摄照片。可选地，存储器14中还可存储有角度变化值与拍摄周期之间的关系列表，以供处理器11调用。通过上述方式，使可穿戴导航设备10在角度变化值较小时，减少拍摄量，进而减少对可穿戴导航设备10的损耗，在角度变化值较大时，增加拍摄量，从而避免没有拍摄到目标物而导致导航出错。
处理器11获取摄像装置12发送的照片，并用于识别照片中是否包括目标物（图未示），以及在照片中包括目标物时，利用照片获取目标物与可穿戴导航设备10之间的位置关系，并控制至少两个振动器13进行与位置关系相对应的振动。
目标物可以是现实中的任意一个物体或者多个物体，例如斑马线、行人、道路、障碍物以及椅子等一个或者多个的组合，本申请不作限定。在本实施例中，目标物为斑马线。可选地，存储器14还可以用于存储目标物的特征数据，具体如斑马线的特征数据以供处理器11调用。处理器11在对照片进行目标物识别时，可以从存储器14中调用斑马线的特征数据，并分析照片中是否有与斑马线的特征数据所匹配的场景，若有，则代表照片中包括目标物，若没有，则代表照片中没有包括目标物。
振动器13可以设置在可穿戴导航设备10的内表面，以使用户可以最大程度上感受到振动器在振动时的振感。
目标物与可穿戴导航设备10之间的位置关系可以为目标物与可穿戴导航设备10之间的角度关系和/或距离关系。
在一实施例中，处理器11执行利用照片获取目标物与可穿戴导航设备10之间的位置关系，包括：利用目标物的预设特征在照片中的位置确定目标物与可穿戴导航设备10之间的角度。
目标物的预设特征可以根据目标物的实际情况确定，本申请对此不作限定。例如，在目标物为斑马线时，预设特征可以是照片中的任意一条斑马线，或者任意一条斑马线的任一点。在本实施例中，预设特征为最宽的一条斑马线的中点或者最窄的一条斑马线的中点。可选地，预设特征是可以变化的，例如，处理器11可以获取可穿戴导航设备10与目标物之间的距离，在该距离大于预设距离时，选取最宽的一条斑马线的中点作为预设特征；在该距离小于或者等于预设距离时，选取最窄的一条斑马线的中点作为预设特征。
在本实施例中，可以通过获取预设特征在照片中的位置确定目标物与可穿戴导航设备10之间的角度。其中，目标物与可穿戴导航设备10之间的角度可以指摄像装置在拍摄时，预设特征与摄像装置12的连线与摄像装置12正前方（光轴）之间在水平方向上的角度。
例如，摄像装置12能够捕捉的角度为α度，振动器13环状间隔设置，环状间隔设置具体是指振动器13间隔设置，且间隔设置的振动器13形成一整个圆，在预设特征在照片的左侧时，控制摄像装置12左侧的振动器振动；在预设特征在照片的右侧时，控制摄像装置12右侧的振动器振动。再例如，摄像装置12能够捕捉的角度为α度，对应的弧状间隔设置的振动器13的角度也为α度，弧状间隔设置具体是指振动器13间隔设置，且间隔设置的振动器13形成一段圆弧，当预设特征在照片的左侧边缘时，可以控制最左侧的振动器13振动；当预设特征在照片的中间时，可以控制最中间的振动器13振动。存储器14可以存储有预设特征与照片左侧边缘的距离和振动角度之间的关系列表，处理器11在识别到照片中包括目标物时，可以从存储器14中调用距离与振动角度之间的关系列表，从而控制在该振动角度上的振动器13振动。
在其它实施例中，处理器11不仅获取特定目标物的预设特征与可穿戴导航设备10之间的角度和/或距离，其中的特定目标物可以是斑马线，还可以获取其它目标物的预设特征与可穿戴导航设备10之间的角度和/或距离，其中的其它目标物可以是行人或者其它障碍物等，处理器11可以综合这两个角度和/或距离，对用户做出提示。例如可以控制一个振动器13的振动，而这个振动器13的振动方向不一定与只通过获取特定目标物与可穿戴导航设备10之间的角度和/或距离时控制振动器13振动时的振动方向相同。在例如，处理器11可以控制两个振动器13进行振动，其中，一个振动器13代表特定目标物与可穿戴导航设备10之间的角度和/或距离，另一振动器13代表其它目标物与可穿戴导航设备10之间的角度和/或距离，通过振动强度和/或振动频率的高低使用户区分特定目标物和其它目标物，即处理器11可以控制与斑马线对应的振动器13振动强度和/振动频率大，控制与行人或者其它障碍物对应的振动器13振动强度/振动频率小。
在一实施例中，处理器11执行控制至少两个振动器13进行与位置关系相对应的振动还包括：控制与角度相对应的振动器13的振动强度和/或振动频率与距离匹配。
可选地，存储器14可以存储有距离与振动强度和/或振动频率之间的关联关系，在处理器11获取到的距离较大时，可以控制与角度相对应的振动器13以较小的振动强度振动和/或以较低的振动频率振动；在处理器11获取到的距离较小时，可以控制与角度相对应的振动器13以较大的振动强度和/或以较高的振动频率振动。相反的，在处理器11获取到的距离较大时，可以控制与角度相对应的振动器13以较大的振动强度振动和/或以较高的振动频率振动；在处理器11获取到的距离较小时，可以控制与角度相对应的振动器13以较小的振动强度和/或以较低的振动频率振动。
处理器11可以通过多种方式获取目标物与可穿戴导航设备10之间的距离，本申请对获取目标物与可穿戴导航设备10之间的距离的方式不作限定。
请参阅图2，图2是本申请第二实施例可穿戴导航设备的硬件结构示意图。
本实施例的可穿戴导航设备20相较于第一实施例中的可穿戴导航设备10的区别在于，摄像装置22包括第一摄像装置221和第二摄像装置222，本实施例中的处理器21、振动器23以及存储器24可以与第一实施例中的处理器11、振动器13以及存储器14相同。
第一摄像装置221和第二摄像装置222间隔设置，第一摄像装置221用于拍摄第一照片，第二摄像装置222用于拍摄第二照片，处理器11用于根据第一照片获取目标物到第一摄像装置221的入射光线与第一摄像装置221和第二摄像装置222中心连线的第一夹角，并用于根据第二照片获取目标物到第二摄像装置222的入射光线与第一摄像装置221和第二摄像装置222中心连线的第二夹角；处理器11用于根据第一夹角、第二夹角以及第一摄像装置221和第二摄像装置222之间的距离，获取目标物与第一摄像装置221至第二摄像装置222中心连线上任一点的距离，以获取摄像装置22与目标物之间的距离。
请继续参阅图1，再例如，摄像装置12可以在不同的位置下拍摄第三照片和第四照片，处理器11根据第三照片和第四照片获取目标物与摄像装置12的距离，具体的方法可以与上一实施例类似，此处不再赘述。
可选地，可穿戴导航设备10还可以包括电池（图未示），电池用于给可穿戴导航设备10提供电能以供可穿戴导航设备10正常工作。电池可以为干电池、蓄电池或者太阳能电池等。或者，可穿戴导航设备10上还可设有充电接口，例如太阳能充电接口，以给电池充电。
本申请中，摄像装置和振动器可根据实际情况设置在可穿戴导航设备上，下面结合图3-图5列举三种设置实施例。
请参阅图3，图3是本申请第三实施例可穿戴导航设备的仰视示意图。本实施例中，可穿戴导航设备30除包含图1或者图2所示的实施例的装置外，还包括设备主体31。具体地，摄像装置32可以安装在设备主体31的外表面，至少两个振动器33可以安装在设备主体31的内表面，至少两个振动器33环状间隔设置。
应注意，振动器33的数量至少为两个，至少两个振动器33通过振动的方式将可穿戴导航设备30与目标物之间的位置信息传递给用户，使用户可以通过至少两个振动器33的振动情况得到其与目标物之间的位置关系。振动器33的数量越多，就会使用户得到的角度越准确。可选地，振动器33的数量范围可以为2~40个，例如，振动器33的数量可以为2个、30个或者40个，在本实施例中，振动器33的数量为30个，30个振动器33环状间隔设置在可穿戴导航设备30的内表面。
在本实施例中，至少两个振动器33环状设置在设备主体31的内侧的边缘区域，在其它实施例中，至少两个振动器33还可以在环状设置在设备主体31内表面的其它位置，本申请不作限定。
请参阅图4，图4是本申请第四实施例可穿戴导航设备的仰视示意图。
可穿戴导航设备40除包含图1或图2所示实施例的装置外，还包括设备主体41以及环状头箍44。本申请实施例中的设备主体41可以与第三实施例中的设备主体31相同。
本实施例的可穿戴导航设备40与第三实施例中的可穿戴导航设备30的区别之处在于：本实施例中的可穿戴导航设备40还包括设置在设备主体41内表面的环状头箍44，至少两个振动器43在环状头箍44上间隔设置。
通过本实施例中设置环状头箍44，不仅可以提高可穿戴导航设备40的结构强度，还能使可穿戴导航设备40制造程序简单，易于生产。
请参与图5，图5是本申请第五实施例可穿戴导航设备的仰视示意图。
可穿戴导航设备50可以包括设备主体51、摄像装置52以及至少两个振动器53。本申请实施例中的设备主体51和摄像装置52可以与第三实施例中的设备主体31和摄像装置32相同。
本实施例的可穿戴导航设备50与第三实施例中的可穿戴导航设备30的区别之处在于：本实施例中的至少两个振动器53不是呈环状间隔设置，而是呈弧状间隔设置，弧状间隔设置的至少两个振动器53所对应的圆心角与摄像装置52能够捕捉到的最大角度相等。例如，在摄像装置52能够捕捉的最大角度为α度时，该弧状间隔设置的至少两个振动器53对应的圆心角也为α度，α的范围可以在90度~180度之间，具体的α角根据摄像装置52的实际情况确定，例如α角可以为90度、120度或者180度。
振动器53的数量范围可以为2~20个，例如振动器53的数量可以为2个、11个或者20个，在本实施例中，振动器53的数量为可以为11个，11个振动器53弧状间隔设置。
在本实施例中，摄像装置52在所述至少两个振动器53所形成的弧上的投影位于弧的中心。通过本实施例中的至少两个振动器53弧状间隔设置，且摄像装置52在弧上的投影位于弧的中心，能够使弧状间隔设置的振动器53也能实现导航的目的，且降低了制造成本。
请参阅图6，图6是本申请实施例导航方法的流程示意图。
本实施例的导航方法由上述任一实施例中的可穿戴导航设备执行，进一步可由上述可穿戴导航设备的处理器执行。导航方法包括：
步骤S61：获取设备的拍摄装置拍摄的照片。
可选地，可穿戴导航设备可以以预设周期获取拍摄装置拍摄的照片，也可以不以预设周期获取拍摄装置拍摄的照片。
步骤S62：根据照片识别照片中是否包括目标物。
具体而言，可穿戴导航设备从存储器中读取目标物模型，识别获取到的每一张照片，判断照片中是否有与目标物模型匹配的场景，若有，则识别到照片中包括目标物，若无，则识别到照片中不包括目标物。
步骤S63：在照片中包括目标物时，获取目标物与设备之间的位置关系，并控制设备的振动器进行与位置关系相对应的振动。
可选地，获取目标物与设备之间的位置关系可以为目标物与设备之间的角度关系和/或距离关系。
其中，可穿戴导航设备具体可如上述实施例相关说明实现上述步骤，而且还可执行上述实施例描述的其他步骤。
请参与图7，图7是本实施例存储装置的结构示意图。
存储装置70存储有计算机程序，该计算机程序能够被执行以实现上述实施例的导航方法，或者上述可穿戴导航设备实施例中处理器实现的功能。
可选地，存储装置70可以为U盘、移动硬盘、只读存储器（ROM，Read-Only Memory）、随机存取存储器（RAM，Random Access Memory）、磁碟、光盘或者服务器等各种可以存储程序代码的介质。
可选地，该存储装置70还可以为上述任一实施例中的存储器14。
区别于现有技术的情况，本申请设备包括处理器、摄像装置以及至少两个振动器，摄像装置、至少两个振动器均与处理器连接，摄像装置用于拍摄照片，并将照片发送至处理器；处理器用于识别照片中是否包括目标物，以及在照片中包括目标物时，利用照片获取目标物与设备之间的位置关系，并控制至少两个振动器进行与该位置关系相对应的振动。由于本申请的处理器能够根据照片获取目标物与设备之间的位置关系，并控制至少两个振动器进行与该位置关系相对应的振动，因此能够将用户与目标物之间的位置关系通过振动的方式通知用户，使用户能够获知其与目标物之间的位置关系。
以上所述仅为本申请的实施方式，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其它相关的技术领域，均同理包括在本申请的专利保护范围内

Claims (10)

  1. 一种可穿戴导航设备，其特征在于，所述设备包括处理器、摄像装置以及至少两个振动器，所述摄像装置、所述至少两个振动器均与所述处理器连接，所述摄像装置用于拍摄照片，并将所述照片发送至所述处理器；所述处理器用于识别所述照片中是否包括目标物，以及在所述照片中包括所述目标物时，利用所述照片获取所述目标物与所述设备之间的位置关系，并控制所述至少两个振动器进行与所述位置关系相对应的振动。
  2. 根据权利要求1所述的设备，其特征在于，所述位置关系包括所述目标物与所述设备之间的角度；
    所述处理器执行所述控制所述至少两个振动器进行与所述位置关系相对应的振动包括：控制所述至少两个振动器中与所述角度相对应的振动器振动。
  3. 根据权利要求1或2所述的设备，其特征在于，所述处理器执行所述利用所述照片获取所述目标物与所述设备之间的位置关系，包括：利用所述目标物的预设特征在所述照片中的位置确定所述目标物与所述设备之间的角度。
  4. 根据权利要求2所述的设备，其特征在于，所述位置关系还包括所述目标物与所述设备之间的距离；
    所述处理器执行所述控制所述至少两个振动器进行与所述位置关系相对应的振动还包括：控制与所述角度相对应的振动器的振动强度和/或振动频率与所述距离匹配。
  5. 根据权利要求1所述的设备，其特征在于，所述摄像装置安装在所述设备的外表面，所述至少两个振动器安装在所述设备的内表面，所述至少两个振动器环状间隔设置。
  6. 根据权利要求5所述的设备，其特征在于，所述设备还包括设置在所述设备内表面上的环状头箍，所述至少两个振动器在所述环状头箍上间隔设置。
  7. 根据权利要求1所述的设备，其特征在于，所述至少两个振动器呈弧状间隔设置，所述弧状对应的圆心角与所述摄像装置能够捕捉到的最大角度相等。
  8. 根据权利要求1所述的设备，其特征在于，所述目标物为斑马线，和/或所述设备为头戴设备。
  9. 一种导航方法，其特征在于，所述方法应用于可穿戴导航设备，包括：
    获取所述设备的摄像装置拍摄的照片；
    识别所述照片中是否包括目标物；以及
    在所述照片中包括所述目标物时，获取所述目标物与所述设备之间的位置关系，并控制所述设备的振动器进行与所述位置关系相对应的振动。
  10. 一种存储装置，其特征在于，所述存储装置存储有计算机程序，所述计算机程序能够被执行以实现权利要求9所述的方法。
PCT/CN2018/117940 2018-07-10 2018-11-28 可穿戴导航设备及导航方法 Ceased WO2020010784A1 (zh)

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