WO2023216683A1 - 避障提示方法、装置及设备 - Google Patents

避障提示方法、装置及设备 Download PDF

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Publication number
WO2023216683A1
WO2023216683A1 PCT/CN2023/079115 CN2023079115W WO2023216683A1 WO 2023216683 A1 WO2023216683 A1 WO 2023216683A1 CN 2023079115 W CN2023079115 W CN 2023079115W WO 2023216683 A1 WO2023216683 A1 WO 2023216683A1
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WO
WIPO (PCT)
Prior art keywords
obstacle
target
vibration
hazard
danger
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PCT/CN2023/079115
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English (en)
French (fr)
Inventor
徐士立
孙逊
王昊
张亚军
Original Assignee
腾讯科技（深圳）有限公司
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Publication of WO2023216683A1 publication Critical patent/WO2023216683A1/zh

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Classifications

    • 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
    • A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/06—Walking aids for blind persons
    • A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
    • A61H2003/063—Walking aids for blind persons with electronic detecting or guiding means with tactile perception

Definitions

  • the present application relates to the field of computer technology, and specifically to an obstacle avoidance prompting method, device and equipment.
  • traveling For the visually impaired, traveling generally requires the assistance of guide dogs, guide sticks or special equipment to avoid obstacles during travel.
  • Embodiments of the present application provide an obstacle avoidance prompting method, device and equipment.
  • an obstacle avoidance prompting method is provided, applied to computer equipment, and the method includes:
  • the target device is controlled to vibrate according to the risk factor to output a corresponding first vibration effect.
  • the first vibration effect is used to indicate the danger of the obstacle to the object, so that the object can respond to the first vibration. Effectively avoid obstacles.
  • an obstacle avoidance prompting device for use in computer equipment, and the device includes:
  • the acquisition module is used to obtain environmental photos of the environment where the object is located;
  • a recognition module used to identify obstacles based on the environmental photos, and obtain obstacles and attribute information and motion status information of the obstacles;
  • a first determination module configured to determine the risk factor of the obstacle based on the attribute information and motion status information of the obstacle, where the risk factor is used to characterize the danger of the obstacle to the object;
  • a first prompt module configured to control the vibration of the target device according to the risk factor to output a corresponding first vibration effect.
  • the first vibration effect is used to indicate the danger of the obstacle to the object, so that the The object avoids obstacles according to the first vibration effect.
  • a computer-readable storage medium stores a computer program.
  • the computer program is suitable for loading by a processor to execute the obstacle avoidance prompting method as described in any of the above embodiments. steps in.
  • a computer device includes a processor and a memory.
  • a computer program is stored in the memory.
  • the processor is used to execute the following by calling the computer program stored in the memory. The steps in the obstacle avoidance prompting method described in any of the above embodiments.
  • a computer program product which includes computer instructions.
  • the steps in the obstacle avoidance prompting method as described in any of the above embodiments are implemented.
  • Figure 1 is a schematic structural diagram of a prompt system provided by an embodiment of the present application.
  • Figure 2 is a first flow diagram of the obstacle avoidance prompting method provided by an embodiment of the present application.
  • Figure 3 is a second flowchart of the obstacle avoidance prompting method provided by the embodiment of the present application.
  • Figure 4 is a schematic structural diagram of an obstacle avoidance prompting device provided by an embodiment of the present application.
  • Figure 5 is a schematic structural diagram of a computer device provided by an embodiment of the present application.
  • guide dogs and guide sticks bring certain limitations to the travel of visually impaired people.
  • guide dogs will limit the travel methods of visually impaired people, and guide canes cannot avoid obstacles above. Both guide dogs and guide canes reduce the convenience of travel for visually impaired people to a certain extent.
  • the cost of special equipment is high, and the current obstacle recognition function of special equipment is still at the stage of identifying the distance between obstacles and visually impaired users, making the prompt information of special equipment about obstacles insufficiently accurate. , Reduce the safety of travel for visually impaired people.
  • Embodiments of the present application provide an obstacle avoidance prompting method, device, computer equipment and storage medium.
  • the obstacle avoidance prompting method in the embodiment of the present application is executed by a computer device, where the computer device is a terminal or a server.
  • common guide equipment includes guide canes, guide glasses, etc.
  • radar detection devices or infrared detection devices on guide equipment such as guide canes and guide glasses, when the guide equipment approaches an obstacle, an alarm will be issued, thereby assisting the visually impaired to avoid obstacles.
  • the current obstacle detection function of the current guide equipment is not accurate enough. It only detects the distance of the obstacle, but cannot determine the specific type of the obstacle, and cannot locate the specific position of the obstacle, and can only detect the distance from the obstacle.
  • the obstacle closest to the user cannot guarantee the safety of the visually impaired in a multi-obstacle environment or a moving obstacle environment, and the cost of guide equipment is relatively high.
  • the embodiment of the present application proposes an obstacle avoidance prompting method, which can detect obstacles in the environment through the terminal used by the subject, and prompt the visually impaired person through vibration.
  • the subject is a visually impaired person and the terminal is a smartphone. , smart watches, etc.
  • the terminal is a smartphone. , smart watches, etc.
  • it can improve the accuracy of obstacle recognition, reduce the travel limitations of visually impaired people, and reduce costs.
  • FIG. 1 is a schematic structural diagram of a prompt system provided by an embodiment of the present application.
  • the prompt system includes a terminal 10, a server 20, etc.; the terminal 10 and the server 20 are connected through a network, for example, through a wired or wireless network connection.
  • the terminal 10 is a smart phone, a wearable smart device, or other device.
  • the terminal 10 includes a client, which is an application client, a browser client, or an applet.
  • the server 20 is an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or it provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, Cloud servers for basic cloud computing services such as cloud communications, middleware services, domain name services, security services, Content Delivery Network (CDN), and big data and artificial intelligence platforms.
  • cloud services such as cloud communications, middleware services, domain name services, security services, Content Delivery Network (CDN), and big data and artificial intelligence platforms.
  • the terminal 10 includes an image collection device, through which the terminal collects environmental photos of the environment where the object is located.
  • the object is a user, for example, the object is a visually impaired user, etc.
  • Visually impaired users download and install the corresponding client through the terminal and run it to control the image acquisition device to collect environmental photos.
  • the image acquisition device is controlled to collect environmental photos.
  • the terminal 10 is a terminal device with an image acquisition device used by visually impaired users.
  • environmental photos are taken through the terminal device used by the visually impaired user, and the environmental photos are sent to the server 20 for identification.
  • the server 20 will send the recognition result of the environmental image to the terminal 10, and the terminal will vibrate according to the recognition result to provide a danger reminder to the object.
  • the server 20 when prompting for obstacles, is used to: obtain environmental photos of the environment where the object is located; perform obstacle recognition based on the environmental photos to obtain the attributes and motion status of the obstacles; based on the attributes of the obstacles and the motion state, determine the risk factor of the obstacle, and the risk factor is used to characterize the danger of the obstacle to the object; send the risk factor of the obstacle to the terminal 10 .
  • Each embodiment of the present application provides an obstacle avoidance prompting method, which is executed by a terminal or a server, or jointly by a terminal and a server.
  • the embodiments of the present application take the obstacle avoidance prompting method being executed by a server as an example for explanation.
  • Figures 2 and 3 are both schematic flow charts of the obstacle avoidance prompting method provided by embodiments of the present application.
  • the method is executed by computer equipment and includes steps 101 to 104, which are described as follows:
  • Step 101 Obtain environmental photos of the environment where the object is located.
  • the computer equipment is a terminal, for example, the terminal is a smart phone, a smart watch, etc.
  • the terminal includes an image capture device.
  • the environmental photo is at least one photo taken by the image acquisition device.
  • the object is a user, for example, the object is a visually impaired user, etc.
  • at least one photo includes at least one environmental photo in the direction in which the user is moving.
  • the image acquisition device is a camera, for example, the image acquisition device is a TOF (Time of flight) camera.
  • the image acquisition device is installed separately from the terminal. It is easy to understand that when the user is traveling, the terminal is usually placed in a pocket of clothing.
  • the image collection device can be used as an independent component, connected to the terminal in a wired or wireless manner, and worn on the body.
  • the image collection device includes a plurality of camera components, which are respectively fixed on multiple body parts of the user to collect photos of the environment around the user.
  • the method before step 101, further includes: in response to the second operation signal, taking environmental photos according to the target shooting frequency, wherein the environmental photo is at least one, and the at least one environmental photo includes at least one Take an environmental photo of the object's direction of travel; obtain environmental information about the environment where the object is located; and determine the target shooting frequency based on the environmental information.
  • the second operation signal is a shooting signal actively triggered by the user.
  • a first button for triggering the taking of environmental photos can be set on the terminal.
  • the first button can be pressed to generate a second operation signal.
  • the terminal determines whether the user is walking through GPS (Global Positioning System) or gyroscope.
  • GPS Global Positioning System
  • gyroscope When the user is walking, the second operation signal is automatically generated.
  • the environmental situation information indicates whether the environment where the object is located is relatively open or complex.
  • obtain current environmental situation information through GPS.
  • the target shooting frequency is adjusted in real time.
  • environmental photos are first taken according to the initial target shooting frequency, and then the target shooting frequency is adjusted in real time, so that subsequent environmental photos can be taken according to the adjusted target shooting frequency.
  • the target shooting frequency is determined to be once per minute. If the environmental information indicates that the user is in a complex environment, such as in a busy area, the target shooting frequency is determined to be once every minute. Once every ten seconds.
  • the target shooting frequency is dynamically adjusted so that subsequent environmental photos can be taken according to the adjusted target shooting frequency, which can not only ensure the safety of the visually impaired when traveling, but also reduce the power consumption of the terminal. , improve the battery life of the terminal.
  • step 101 includes: obtaining environmental situation information of the environment where the object is located; determining a target shooting frequency based on the environmental situation information; and responding to the second operation signal, taking environmental photos of the environment where the object is located according to the target shooting frequency.
  • the target shooting frequency is dynamically adjusted based on the environment in which the user is located, so that in response to the second operation information, environmental photos are taken according to the adjusted target shooting frequency, which can ensure that visually impaired people
  • the safety of travel can also reduce the power consumption of the terminal and improve the battery life of the terminal.
  • the method further includes: in response to the second operation signal, obtaining the power status information of the target device; if the power status information indicates that the power status of the target device is lower than the threshold, prompting the power status of the target device and asking the object Whether to enable battery life mode.
  • the method further includes: in response to the second operation signal, detecting whether the image acquisition device is blocked; and if there is blockage, prompting the object.
  • the method further includes: detecting the function of the image acquisition device; if the detection result indicates that the function of the image acquisition device is damaged, alerting the subject.
  • Step 102 Perform obstacle recognition based on environmental photos to obtain obstacles, attribute information and motion status information of the obstacles.
  • the attribute information of the obstacle includes the position information, material information, shape information, size information, etc. of the obstacle.
  • the position information of the obstacle indicates the relative position of the obstacle and the user's body.
  • obstacles may be located on the sides, head, torso, or bottom of the user's body.
  • the material information of the obstacle indicates the material of the obstacle.
  • the material of the obstacle is glass, stone, plastic, etc.
  • the shape information of the obstacle indicates whether the shape of the obstacle is regular.
  • the shape information of the obstacle indicates whether there are spikes, edges, etc.
  • the size information of the obstacle indicates that the obstacle The size of the obstruction.
  • the motion status information of the obstacle indicates whether the obstacle is in a fixed state or a moving state, as well as the speed and direction of movement in the moving state, etc.
  • obstacle recognition is performed on environmental photos through image target detection to obtain the characteristics of obstacles in the user's environment, such as the type of obstacle, the size of the obstacle, etc.
  • the shape of obstacles in the environment image through 3D modeling and judge the motion status of the obstacles through TOF ranging.
  • extract geometric features of obstacles in environmental photos through edge detection include the perimeter, area, longest axis, azimuth angle, boundary matrix and shape coefficient of the obstacle. Then, based on the distance information obtained by TOF ranging and combined with the lens imaging principle, the size information of the obstacle is determined based on the imaging size, object distance, focal length, etc.
  • Step 103 Determine the risk factor of the obstacle based on the attribute information and motion status information of the obstacle.
  • the risk factor is used to characterize the danger of the obstacle to the object.
  • the risk factors include hazard category, hazard urgency, hazard degree, etc.
  • the hazard category of the obstacle indicates the category of the obstacle that brings danger to the object, and can reflect what kind of danger will occur later.
  • hazard categories for obstacles include stationary obstacles, road condition changes, moving obstacles, and animals.
  • the danger urgency is the degree of danger urgency, indicating the possibility of collision between the obstacle and the user, and also indicating the time when the obstacle collides with the user.
  • the danger degree is the degree of danger, indicating the degree of harm caused by obstacles to users.
  • the step "determining the danger urgency of the obstacle based on the attribute information and motion status information of the obstacle” includes: obtaining the traveling status information of the object; based on the attribute information of the obstacle, the motion status information of the obstacle and the object The traveling status information is used to determine the time when the obstacle collides with the object; the danger urgency of the obstacle is determined based on the time when the obstacle collides with the object.
  • the traveling status information of the object includes the user's traveling direction and the user's speed
  • the moving status information of the obstacle includes the moving direction and moving speed of the obstacle
  • the attribute information of the obstacle includes the location information of the obstacle, combined with the user's traveling status information.
  • the motion status information of the obstacle and the attribute information of the obstacle can determine whether the obstacle will collide with the user, as well as determine the duration of the collision and the relative speed of the collision. Based on the time of collision between the obstacle and the user, the hazard urgency of the obstacle is determined. It is easy to understand that if the user does not avoid the situation, the shorter the time of collision with the obstacle, the higher the urgency of the danger.
  • the danger urgency level is expressed as the following four types:
  • Urgent A collision will occur within 10 seconds if no avoidance is taken;
  • the hazard type of the obstacle is determined based on the preset hazard type, attribute information and motion status information of the obstacle.
  • preset hazard types include stationary obstacles, changes in road conditions, moving obstacles and animals.
  • stationary obstacles include a variety of objects, such as road debris, trees, billboards, etc.
  • changes in road conditions include traffic lights, intersections, stairs, etc.
  • moving obstacles include pedestrians, various types of vehicles, etc.
  • hazard types have different characteristics
  • the hazard type of the obstacle is determined based on matching the attribute information and motion state information of the obstacle with the characteristics of the hazard type.
  • determine the hazard of the obstacle based on the hazard category of the obstacle, the attribute information of the obstacle, and the motion status information. Risk.
  • the risk classification can be expressed as: almost no danger, some danger, relatively dangerous, very dangerous and extremely dangerous.
  • the risk can be determined based on the following dimensions: based on whether the user will collide with the obstacle when moving along the current direction of travel, the risk of the stationary obstacle is determined; based on the material and shape of the obstacle, the risk is determined.
  • the danger level of stationary obstacles such as whether there are spikes, edges and other protrusions that can easily scratch the user; determine the danger level based on whether the stationary obstacles are fixed, such as whether they will be displaced due to external forces such as wind and cause an accident with the user. Collision etc.
  • the hazard level of the obstacle is determined to be very dangerous.
  • the risk in response to changes in road conditions, can be determined based on the following dimensions: general road conditions, such as small stones, garbage, etc., which affect the user's walking, but will not cause the user to be unable to walk; changes in the road, such as the emergence of upward stairs ( Overpass) or descending stairs (such as underground passage); if a red light appears ahead, it is the highest level of danger, and users must stop and wait.
  • general road conditions such as small stones, garbage, etc., which affect the user's walking, but will not cause the user to be unable to walk
  • changes in the road such as the emergence of upward stairs ( Overpass) or descending stairs (such as underground passage); if a red light appears ahead, it is the highest level of danger, and users must stop and wait.
  • the risk level can be determined based on the following dimensions: based on whether the moving direction of the target obstacle is regular. For example, if it moves in a fixed direction and will not collide, the risk level is low. If the moving direction If it is irregular, the risk level is higher.
  • the risk is determined based on a combination of the following dimensions: Determine the animal type and size of the target obstacle, for example, the larger the size, the higher the risk; Determine the animal's aggressiveness, the higher the aggression, the more dangerous The higher the degree; determine whether the animal has a leash.
  • Step 104 Control the vibration of the target device based on the risk factor to indicate the danger of the obstacle to the object.
  • the vibration of the target device is controlled based on the risk factor, so that the target device outputs a corresponding first vibration effect.
  • the first vibration effect indicates the danger of the obstacle to the object, so that the object can avoid it according to the first vibration effect. barrier.
  • environmental photos are obtained by photographing the environment where the visually impaired are located. Afterwards, the environmental photos are analyzed to obtain obstacles, attribute information and motion status information of the obstacles, and based on the attribute information of the obstacles, and motion status information to determine the hazard category, hazard urgency, and degree of danger of the obstacle, and vibrate the target device to prompt the visually impaired person with hazard information in the current environment, allowing the user to intuitively perceive the surrounding environment without the need for additional equipment. Obstacles reduce the travel limitations of visually impaired people, improve the convenience and safety of visually impaired people's travel, and reduce costs.
  • the risk factor includes danger urgency, which indicates the time when the obstacle collides with the object; the higher the danger urgency, the shorter the time limit when the obstacle collides with the object.
  • each obstacle corresponds to a danger urgency.
  • Step 104 includes: determining the target obstacle based on the danger urgency, and the target obstacle is the obstacle with the highest danger urgency among the multiple obstacles; based on the target obstacle
  • the risk factor of the object controls the vibration of the target device to output a corresponding first vibration effect, and the danger indicated by the first vibration effect includes the danger urgency of the target obstacle. That is, when multiple obstacles are identified, the obstacle with the highest danger urgency among the multiple obstacles is determined as the target obstacle; the vibration of the target equipment is controlled based on the risk factor of the target obstacle to prompt the target The danger urgency of the obstacle to the object.
  • the user is prompted for danger according to the urgency of the danger.
  • multiple obstacles are obtained.
  • the multiple obstacles include pedestrians in the same direction as the user's traveling direction, trees on the user's side, and upward ladders that appear in front of the user's traveling direction.
  • the upward ladder that appears in front of the user's direction of travel has the highest danger urgency level. Therefore, the upward ladder that appears in front of the user's direction of travel is determined as the target obstacle, and subsequently controls the vibration of the target device to output based on the risk factor of the target obstacle.
  • the corresponding first vibration effect indicates the danger urgency of the target obstacle.
  • different vibration intervals are used to indicate the danger urgency. The higher the danger urgency, the shorter the vibration interval.
  • the first vibration effect is the effect of frequent vibrations at short time intervals.
  • the risk factor also includes at least one of the risk category or risk degree
  • the step "controlling the vibration of the target device based on the risk factor of the target obstacle" includes: based on the risk factor of the target obstacle and the risk factor and the vibration signal determine the first target vibration signal corresponding to the risk factor of the target obstacle, and control the vibration of the target device based on the first target vibration signal to prompt the danger urgency of the target obstacle to the object, and the danger urgency of the target obstacle to the object.
  • the first target vibration signal is a vibration signal obtained by performing a predetermined combination of at least one of the vibration interval, vibration intensity, and vibration frequency of the vibration signal based on the risk factor; the first vibration code is determined based on the first target vibration signal, and controls the vibration of the vibration unit based on the first vibration code to output a corresponding first vibration effect.
  • the danger indicated by the first vibration effect includes the danger urgency of the target obstacle, and includes the danger category or danger degree of the target obstacle. At least one item.
  • the risk factors include the hazard category, hazard urgency, and hazard degree of the obstacle
  • the first target vibration signal is determined based on the hazard category, hazard urgency, and hazard degree of the target obstacle. For example, if there are preset corresponding relationships between different hazard categories and vibration frequencies, different hazard urgency levels and vibration intervals, and hazard degrees and vibration intensity, then based on the hazard category, hazard urgency, and hazard degree of the target obstacle The corresponding vibration frequency, vibration interval and vibration intensity are determined and combined to obtain the first target vibration signal.
  • risk factors include hazard urgency and hazard category
  • the correspondence between hazard factors and vibration signals includes: the correspondence between hazard urgency and vibration interval, and the correspondence between hazard category and vibration frequency, then determine the first
  • the process of generating a target vibration signal includes: based on the danger urgency of the target obstacle and the correspondence between the danger urgency and the vibration interval, determining the vibration interval corresponding to the danger urgency of the target obstacle; in the case where the risk factors include hazard categories
  • determine the vibration frequency corresponding to the hazard category of the target obstacle combine the determined vibration intervals and vibration frequencies to obtain the first target vibration signal .
  • the risk factor includes the danger urgency and the degree of danger
  • the correspondence between the risk factor and the vibration signal includes: the correspondence between the danger urgency and the vibration interval, and the correspondence between the danger degree and the vibration intensity, then it is determined
  • the process of the first target vibration signal includes: determining the vibration interval corresponding to the danger urgency of the target obstacle based on the danger urgency of the target obstacle and the correspondence between the danger urgency and the vibration interval; In this case, based on the hazard degree of the target obstacle and the corresponding relationship between the hazard degree and the vibration intensity, the vibration intensity corresponding to the hazard degree of the target obstacle is determined; the determined vibration interval and hazard degree are combined to obtain the first target vibration Signal.
  • the first vibration code is a parameterized first target vibration signal, for example, the first vibration code is composed of at least one of numbers, letters, and characters.
  • the target device controls the vibration of the vibration unit based on the first vibration code to output a corresponding first vibration effect, wherein the first vibration effect indicates the danger urgency, danger category and danger degree of the target obstacle.
  • the vibration unit is a vibration unit in the target device. When the target device is controlled to vibrate, the target device controls the included vibration unit to vibrate to output the first vibration effect.
  • the method further includes: presetting a corresponding relationship between the risk factor and the prompting strategy, the prompting strategy is used to characterize at least one of the vibration interval, vibration intensity, and vibration frequency of the vibration signal, and the corresponding relationship includes the risk Multiple prompt strategies corresponding to predetermined combinations of danger urgency, danger category, and risk degree in the factors, and at least one of the vibration interval, vibration intensity, and vibration frequency of the vibration signal corresponding to each prompt strategy.
  • the risk factors include the danger category, danger urgency, and danger degree of the obstacle.
  • the prompting strategy is based on a predetermined combination of vibration modes corresponding to the danger urgency, danger category, and danger degree in the risk factors.
  • the vibration mode includes vibration. frequency, interval, intensity, etc.
  • the correspondence includes: the correspondence between danger urgency and vibration interval, the correspondence between danger category and vibration frequency, and the correspondence between danger and vibration intensity.
  • the higher the danger urgency the shorter the vibration interval; the higher the danger category, the higher the vibration frequency; the higher the danger, the stronger the vibration intensity.
  • the hazard category of the obstacle is represented by the vibration frequency
  • the danger urgency of the obstacle is represented by the vibration interval
  • the danger degree of the obstacle is represented by the vibration intensity
  • the preset corresponding relationship between danger urgency and vibration interval is:
  • the vibration intensity of the motor in the terminal device ranges from a relative value of 0 to 100, where the maximum vibration intensity of the motor in the terminal device corresponds to a relative value of 100. Then the corresponding relationship between the preset risk degree and vibration intensity is:
  • the determined first target vibration signal is: low-frequency vibration (50HZ), 10ms Vibration interval and 100th percentile vibration intensity; the first vibration effect corresponding to the output is a low-frequency and high-intensity vibration effect in a short time interval.
  • the determined first target vibration signal is: medium-low frequency vibration (100HZ), 20ms Vibration interval and vibration intensity at the 80th percentile; the first vibration effect corresponding to the output is a vibration effect of medium, low frequency and higher intensity in a shorter time interval.
  • the determined first target vibration signal is: medium-high frequency vibration (200HZ) , 40ms vibration interval, 20th percentile vibration intensity; the first vibration effect corresponding to the output is a long-term interval of medium-high frequency and low-intensity vibration effect.
  • the determined first target vibration signal is: high-frequency vibration (300HZ), 20ms vibration interval, 100th percentile vibration intensity; the corresponding output first vibration effect is a short-time interval high-frequency high Intensity vibration effect.
  • the risk factors include hazard categories, and each hazard category corresponds to multiple hazard subcategories.
  • the method further includes: determining the target hazard of the target obstacle based on the hazard category, attribute information, and motion status information of the target obstacle.
  • the target hazard subcategory is one of multiple hazard subcategories corresponding to the hazard category of the target obstacle, and the target hazard subcategory is used to characterize the detailed information of the target obstacle.
  • the hazard subcategory is a plurality of obstacle categories obtained by subdividing the hazard category.
  • the hazard subcategory is more detailed obstacle information than the hazard category.
  • stationary obstacles include obstacles that may cause tripping or falling, obstacles that may cause collision with the head, obstacles that may cause collision with the whole body, and obstacles that may impact the body. Obstacles on the torso part of the body are dangerous subcategories of stationary obstacles.
  • the changes in road conditions include ascending stairs, descending stairs, blocked road ahead, and traffic lights. These changes in road conditions are the hazard subcategories of road condition changes.
  • moving obstacles include obstacles moving in the same direction as the user, obstacles moving opposite to the user, and obstacles moving toward the user from the side of the user.
  • These types of obstacles are: A hazard subcategory of obstacles to movement.
  • animals when the hazard category is animals, animals include various animal species, and different animal species are hazard subcategories of animals.
  • the method further includes: in response to the first operation signal, determining a second target device based on the hazard category of the target obstacle and the target hazard subcategory in response to the first operation signal.
  • the target vibration signal, the second target vibration signal includes a first vibration signal and a second vibration signal, the first vibration signal corresponds to the hazard category of the target obstacle, and the second vibration signal corresponds to the target hazard subcategory of the target obstacle; based on the first vibration signal
  • the second target vibration signal controls the vibration of the target equipment to prompt the hazard category of the target obstacle and the target hazard subcategory of the target obstacle.
  • the process of controlling vibration of the target device includes: determining a second vibration code based on the second target vibration signal, and controlling the vibration of the vibration unit based on the second vibration code to generate a second vibration effect based on the first vibration signal, and based on the first vibration signal.
  • the second vibration signal generates a third vibration effect, wherein the second vibration effect indicates the hazard category of the target obstacle, and the third vibration effect indicates the target hazard subcategory of the target obstacle.
  • the vibration of the target device according to the first target vibration signal can prompt the user that there is an obstacle ahead and the danger category, danger urgency and danger degree of the obstacle. The user is then able to obtain detailed information about the obstacle by interacting with the target device.
  • the first operation signal is user-triggered.
  • the target device includes a second button, and after receiving the danger signal, the user clicks the second button to generate the first operation signal.
  • the second target vibration signal is determined based on the target hazard subcategory and hazard category of the target obstacle.
  • the second target vibration signal includes a first vibration signal corresponding to the hazard category of the target obstacle, and The second vibration signal corresponding to the hazard subcategory of the target obstacle.
  • the second vibration code is a parameterized second target vibration signal, for example, the second vibration code is composed of at least one of numbers, letters, and characters.
  • the target device controls the vibration of the vibration unit according to the second vibration code to output a second vibration effect corresponding to the first vibration signal and a third vibration effect corresponding to the second vibration signal, so that the user can obtain information based on the vibration effect of the second target vibration signal. Details of the target obstacle.
  • the obstacle avoidance prompting method also includes: based on different levels of vibration frequencies and different hazard categories. corresponding relationship to determine the first vibration signal. That is, the first vibration signal is determined based on the corresponding relationship between the hazard category of the target obstacle, the vibration frequency, and the hazard category.
  • the hazard category is a stationary obstacle, it corresponds to the vibration frequency of the low-frequency level, and based on the correspondence between the vibration intensity of different gears and the multiple hazard subcategories corresponding to the stationary obstacle, the second vibration signal is determined so that The third vibration effect corresponding to the second vibration signal indicates the predicted collision position of the stationary obstacle on the object through different vibration intensities; if the hazard category is a change in road conditions, it corresponds to the vibration frequency of the medium and low frequency levels, and is based on different levels of vibration.
  • the predetermined combination of vibration duration indicates the type of change corresponding to changes in road conditions; if the hazard category is a moving obstacle, it corresponds to a vibration frequency of medium and high frequency levels, and is based on different levels of vibration frequency and vibration intensity at different gears corresponding to moving obstacles.
  • the second vibration signal is determined according to the corresponding relationship between the multiple hazard subcategories, so that the third vibration effect corresponding to the second vibration signal indicates a movement disorder through a predetermined combination of different levels of vibration frequency and different gear levels of vibration intensity.
  • the direction of motion of the object if the danger category is an animal, the vibration frequency corresponds to a high-frequency level, and based on the correspondence between different vibration intervals and multiple danger subcategories corresponding to animals, the second vibration signal is determined so that the second The third vibration effect corresponding to the vibration signal indicates the type of animal through different vibration intervals.
  • hazard subcategories of different hazard categories are distinguished by different vibration effects.
  • hazard subcategories in stationary obstacles are differentiated by vibration intensity.
  • the vibration intensity is the 100th percentile.
  • the vibration intensity is the 80th percentile.
  • the vibration intensity is at the 60th percentile.
  • the vibration intensity of an obstacle affecting the trunk part of the body is the 40th percentile.
  • hazard subcategories in changing road conditions are distinguished by vibration frequency and vibration duration.
  • the vibration frequency is high frequency (300HZ), and the length of the step is expressed by the vibration duration.
  • steps 0-5 are defined as short steps, expressed by a vibration duration of 50ms, and steps 5-15 are defined as medium-long steps. It is represented by a vibration duration of 100ms.
  • Steps above 15 are defined as long steps and is represented by a vibration duration of 200ms.
  • the vibration frequency is medium to high frequency (200HZ), and the vibration duration represents the length of the step. Among them, the road ahead is blocked and the vibration frequency is medium to low frequency (100HZ).
  • vibration frequencies and vibration intensities are used to distinguish hazard subcategories among moving obstacles.
  • an obstacle moving in the same direction as the user has a high vibration frequency (300HZ).
  • the gradually weakening vibration intensity indicates that the obstacle is moving away from the user
  • the gradually strengthening vibration intensity indicates that the obstacle is approaching the user.
  • the vibration frequency of an obstacle moving toward the user is medium to high frequency (200HZ).
  • the vibration frequency of an obstacle moving toward the user from the side of the user is medium to low frequency (100HZ).
  • different types of animals can be distinguished based on different vibration intervals. Considering that there are many types of animals, the user can be reminded of the animal type through voice assistance.
  • the first vibration signal is low-frequency vibration (50HZ)
  • the second vibration signal is the 100th percentile vibration intensity
  • the second vibration effect corresponding to the output is a low-frequency vibration effect
  • the third vibration effect is a high-intensity vibration effect.
  • the first vibration signal is determined to be medium-low frequency vibration (100HZ); if it is determined that the hazard subcategory of the target obstacle is an upward short step, then the second vibration signal is determined to be 50ms vibration duration, high frequency vibration (300HZ); the second vibration effect corresponding to the output is medium and low frequency vibration effect, and the third vibration effect is High frequency short duration vibration effect.
  • medium-low frequency vibration 100HZ
  • the second vibration signal is determined to be 50ms vibration duration, high frequency vibration (300HZ)
  • the second vibration effect corresponding to the output is medium and low frequency vibration effect
  • the third vibration effect is High frequency short duration vibration effect.
  • the first vibration signal is determined to be medium-high frequency vibration (200HZ); if it is determined that the hazard subcategory of the target obstacle is an object moving in the same direction as the user and approaching the object. If there is an obstacle, it is determined that the second vibration signal is high-frequency vibration (300HZ), and the vibration intensity gradually becomes stronger; the second vibration effect corresponding to the output is a medium-low frequency vibration effect, and the third vibration effect is high frequency, and the vibration intensity gradually becomes stronger. vibration effect.
  • the first vibration signal is determined to be high-frequency vibration (300HZ); if it is determined that the hazard subcategory of the target obstacle is docile leash animals, then the second vibration signal is determined to be 40ms Vibration interval; the second vibration effect corresponding to the output is a high-frequency vibration (300HZ) effect, and the third vibration effect is a long-term interval vibration effect.
  • Hazard type stationary obstacle, represented by vibration frequency 50HZ (Hertz);
  • the first target vibration signal is obtained: ⁇ 0,100, ⁇ 50,100,10 ⁇ , ⁇ -1,-1,20 ⁇ .
  • 0 represents a short vibration with a fixed frequency and intensity
  • 100 represents the short vibration repeated 100 times.
  • ⁇ 50,100,10 ⁇ represents a short vibration lasting 10ms, intensity 100, and frequency 50HZ.
  • ⁇ -1,-1,20 ⁇ means the vibration interval is 20ms.
  • the user After receiving the danger information, the user can trigger the acquisition of detailed information about the obstacle. Based on the hazard type and subdivision type of the obstacle, the second target vibration signal is obtained: ⁇ 0,1, ⁇ 50,50,200 ⁇ 0,100, ⁇ 50,100,10 ⁇ .
  • the subdivision type is the danger subtype of the danger type.
  • ⁇ 50,50,200 ⁇ is a short vibration lasting 200ms, which represents the detailed vibration information of a stationary obstacle.
  • ⁇ 0,100, ⁇ 50,100,10 ⁇ is a short vibration repeated 100 times.
  • a vibration intensity of 100 indicates that this is a risk that may cause the user to fall.
  • hazard type, hazard urgency, and hazard degree of the obstacle are determined as follows:
  • the first target vibration signal is obtained: ⁇ 0,100, ⁇ 100,80,10 ⁇ , ⁇ -1,-1,10 ⁇ .
  • 0 represents a short vibration with a fixed frequency and intensity. 100 means that this short oscillation is repeated 100 times.
  • ⁇ 100,80,10 ⁇ represents a short vibration that lasts 10ms, has an intensity of 100, and a frequency of 80HZ.
  • ⁇ -1,-1,10 ⁇ represents the vibration interval of 10ms.
  • the user After receiving the danger information, the user can trigger the acquisition of detailed information about the obstacle.
  • the second target vibration signal is obtained: ⁇ 0,1, ⁇ 300,50,200 ⁇ 0,5, ⁇ 300,50,200 ⁇ .
  • ⁇ 0,1, ⁇ 300,50,200 ⁇ is a short vibration lasting 200ms, which means that this is detailed information about changes in road conditions.
  • ⁇ 0,5, ⁇ 300,50,200 ⁇ is a short vibration repeated 5 times.
  • the vibration frequency of 300HZ indicates that this is an upward step, and the duration of 200ms indicates that this is a long step.
  • the first target vibration signal is obtained: ⁇ 0,20, ⁇ 200,20,20 ⁇ , ⁇ -1,-1,40 ⁇ .
  • 0 represents a short vibration with a fixed frequency and intensity
  • 20 represents the short vibration repeated 20 times.
  • ⁇ 200,20,10 ⁇ represents a short vibration lasting 10ms, intensity 20, and frequency 200HZ.
  • ⁇ -1,-1,40 ⁇ represents a 40ms vibration interval.
  • the user After receiving the danger information, the user can trigger the acquisition of detailed information about the obstacle.
  • the second target vibration signal is obtained: ⁇ 0,1, ⁇ 300,50,200 ⁇ 0,1, ⁇ 300,100,10 ⁇ 0,1, ⁇ 300, 99,10 ⁇ ... ⁇ 0,1, ⁇ 300,0,10 ⁇ .
  • ⁇ 0,1, ⁇ 300,50,200 ⁇ is a short vibration lasting 200ms, which means that this is an obstacle in the same direction as the user's movement.
  • ⁇ 0,1, ⁇ 300,100,10 ⁇ 0,1, ⁇ 300,99,10 ⁇ ... ⁇ 0,1, ⁇ 300,0,10 ⁇ is a group of short vibrations with a vibration frequency of 300hz. The intensity of the vibration gradually weakens, indicating that the obstacle is gradually moving away from the user.
  • the hazard type, hazard urgency, and hazard degree of the obstacle are determined as follows:
  • the first target vibration signal is obtained: ⁇ 0,50, ⁇ 300,100,10 ⁇ , ⁇ -1,-1,10 ⁇ .
  • 0 means performing a short vibration at a fixed frequency and intensity
  • 50 means repeating this short vibration 50 times.
  • ⁇ 300,100,10 ⁇ represents a short vibration lasting 10ms
  • ⁇ -1,-1,10 ⁇ represents a vibration interval of 10ms.
  • the user After receiving the danger information, the user can trigger the acquisition of detailed information about the obstacle. Then the target device performs voice broadcast according to the specific type of animal to prompt the user.
  • the method further includes: while controlling the vibration of the target device based on the second target vibration signal, playing target voice prompt information corresponding to the target danger subcategory, and the target voice prompt information prompts the target danger subcategory of the target obstacle. .
  • voice broadcast can be used as an aid to prompt the user.
  • Step 201 In response to the second operation signal, take at least one environmental photo of the environment where the object is located according to the target shooting frequency, and the at least one environmental photo includes at least one environmental photo of the object's traveling direction.
  • Step 202 Perform obstacle recognition based on environmental photos to obtain obstacles, attribute information and motion status information of the obstacles.
  • Step 203 Determine the risk factor of the obstacle based on the attribute information and motion status information of the obstacle.
  • the risk factor is used to characterize the danger of the obstacle to the object, where the risk factor includes danger category, danger urgency, and danger degree.
  • Step 204 Determine the target obstacle based on the danger urgency.
  • Step 205 Based on the hazard category, hazard urgency, and hazard degree of the target obstacle, and the preset hazard category, hazard The hazard urgency and the corresponding relationship between the hazard degree and the vibration signal are used to determine the hazard category of the target obstacle, the hazard urgency, and the first target vibration signal corresponding to the hazard degree.
  • Step 206 Determine the first vibration code based on the first target vibration signal, and control the vibration of the vibration unit based on the first vibration code, where the danger indicated by the first vibration effect includes the danger category, danger urgency and danger degree of the target obstacle. .
  • Step 207 Determine the target hazard subcategory of the target obstacle based on the hazard category, attribute information, and motion status information of the target obstacle.
  • the target hazard subcategory is one of multiple hazard subcategories corresponding to the hazard category of the target obstacle.
  • Step 208 In response to the first operation signal, determine a second target vibration signal based on the hazard category and the target hazard subcategory of the target obstacle.
  • the second target vibration signal includes a first vibration signal and a second vibration signal, and the first vibration signal corresponds to The hazard category of the target obstacle, and the second vibration signal corresponds to the target hazard subcategory of the target obstacle.
  • Step 209 Determine a second vibration code based on the second target vibration signal, and control the vibration of the vibration unit based on the second vibration code to generate a second vibration effect based on the first vibration signal, and generate a third vibration effect based on the second vibration signal,
  • the second vibration effect is used to indicate the hazard category of the target obstacle
  • the third vibration effect is used to indicate the target hazard subcategory of the target obstacle.
  • the embodiment of the present application responds to the second operation signal and takes at least one environmental photo of the environment where the object is located according to the target shooting frequency, and the at least one environmental photo includes at least one object.
  • Environmental photos in the direction of travel and then perform obstacle recognition based on the environmental photos to obtain obstacles and their attribute information and motion status information. Then, based on the obstacle's attribute information and motion status information, determine the hazard category of the obstacle.
  • the danger urgency and danger degree determine the target obstacle based on the danger urgency, and then, based on the danger category, danger urgency and danger degree of the target obstacle, and the preset danger category, danger urgency, danger degree and vibration signal Correspondence relationship, determine the first target vibration signal corresponding to the target obstacle's danger category, danger urgency and danger degree, and control the vibration of the target equipment based on the first target vibration signal, thereby prompting the object (visually impaired user) of its direction of travel
  • Hazard information about target obstacles in the environment including hazard category, hazard urgency, and hazard degree.
  • the target obstacle is the obstacle with the highest degree of danger and urgency.
  • the visually impaired user can intuitively perceive the danger information of the target obstacle to avoid the target obstacle, thereby improving the travel safety of the visually impaired user.
  • the target hazard subcategory of the target obstacle is determined based on the hazard category, attribute information and motion status information of the target obstacle.
  • the target hazard subcategory is one of multiple hazard subcategories corresponding to the hazard category of the target obstacle.
  • the hazard subcategory Category is more detailed obstacle information than hazard category.
  • a second target vibration signal is determined based on the hazard category and the target hazard subcategory of the target obstacle, and the vibration of the target device is controlled based on the second target vibration signal, thereby allowing the visually impaired user to obtain detailed information about the target obstacle. Perception enriches the way of prompting obstacle information, thereby improving the prompting effect.
  • the embodiment of the present application obtains environmental photos of the environment where the object is located, and then performs obstacle recognition based on the environmental photos to obtain obstacles, attribute information and motion status information of the obstacles, and then determines based on the attribute information and motion status information of the obstacles.
  • the risk factor of the obstacle is used to characterize the danger of the obstacle to the object, and the vibration of the target device is controlled based on the risk factor to output the corresponding first vibration effect.
  • the first vibration effect is used to indicate the danger of the obstacle to the object. , so that the object can avoid obstacles based on the first vibration effect, thereby improving the accuracy of obstacle recognition, reducing the limitations of visually impaired people's travel, improving the convenience and safety of visually impaired people's travel, and reducing costs.
  • the embodiment of the present application also provides an obstacle avoidance prompting device.
  • Figure 4 is a schematic structural diagram of an obstacle avoidance prompting device provided by an embodiment of the present application.
  • the obstacle avoidance tips Device 400 includes:
  • the acquisition module 401 is used to acquire environmental photos of the environment where the object is located;
  • the identification module 402 is used to identify obstacles based on environmental photos and obtain obstacles, attribute information and motion status information of obstacles;
  • the first determination module 403 is used to determine the risk factor of the obstacle based on the attribute information and motion status information of the obstacle.
  • the risk factor is used to characterize the danger of the obstacle to the object;
  • the first prompt module 404 is used to control the vibration of the target device based on the risk factor to determine the danger of the obstacle to the object.
  • the risk factor includes danger urgency, which indicates the time when the obstacle collides with the object.
  • the first prompt module 404 is configured to: when multiple obstacles are identified, the multiple obstacles are The obstacle with the highest degree of danger and urgency is determined as the target obstacle; the vibration of the target device is controlled based on the risk factor of the target obstacle to indicate the danger and urgency of the target obstacle to the object.
  • the risk factor also includes at least one of risk category or risk degree.
  • the first prompt module 404 is configured to: determine the target obstacle based on the risk factor of the target obstacle and the correspondence between the risk factor and the vibration signal. The first target vibration signal corresponding to the risk factor; controlling the vibration of the target equipment based on the first target vibration signal to prompt at least one of the danger urgency of the target obstacle to the object, and the danger category or danger degree of the target obstacle to the object item.
  • the first prompt module 404 is configured to: determine the vibration interval corresponding to the danger urgency of the target obstacle based on the danger urgency of the target obstacle and the correspondence between the danger urgency and the vibration interval; when the risk factors include In the case of hazard category, based on the hazard category of the target obstacle and the correspondence between the hazard category and the vibration frequency, determine the vibration frequency corresponding to the hazard category of the target obstacle; combine the determined vibration intervals and vibration frequencies to obtain the first A target vibration signal.
  • the first prompt module 404 is configured to: determine the vibration interval corresponding to the danger urgency of the target obstacle based on the danger urgency of the target obstacle and the correspondence between the danger urgency and the vibration interval; when the risk factors include In the case of risk, based on the risk of the target obstacle and the corresponding relationship between the risk and vibration intensity, determine the vibration intensity corresponding to the risk of the target obstacle; combine the determined vibration intervals and risk to obtain the third A target vibration signal.
  • the obstacle avoidance prompting device 400 also includes a preset module for: presetting the corresponding relationship between the risk factors and the prompting strategy.
  • the prompting strategy is used to represent at least the vibration interval, vibration intensity, and vibration frequency of the vibration signal.
  • the corresponding relationship includes multiple prompt strategies corresponding to the predetermined combination of danger urgency, danger category, and risk degree in the risk factors, and the vibration interval, vibration intensity, and vibration frequency of the vibration signal corresponding to each prompt strategy. At least one of them.
  • the above correspondence includes: a correspondence between danger urgency and vibration interval, where the higher the danger urgency, the shorter the vibration interval; a correspondence between danger category and vibration frequency, where the higher the danger category, the shorter the vibration interval. High, the higher the vibration frequency; the corresponding relationship between the risk degree and the vibration intensity, where the higher the risk degree, the stronger the vibration intensity.
  • the risk factor includes a risk category
  • the obstacle avoidance prompt device 400 further includes a second prompt module configured to: after controlling the vibration of the target device based on the risk factor of the target obstacle to output the corresponding first vibration effect, respond to The first operation signal determines the second target vibration signal based on the hazard category and the target hazard subcategory of the target obstacle.
  • the second target vibration signal includes the first vibration signal and the second vibration signal.
  • the first vibration signal is related to the hazard of the target obstacle.
  • the second vibration signal corresponds to the target hazard subcategory of the target obstacle
  • the target hazard subcategory is one of multiple hazard subcategories corresponding to the hazard category of the target obstacle
  • the target hazard subcategory is used to characterize the target obstacle. Details of; based on The two target vibration signals determine the second vibration code, and the vibration unit is controlled to vibrate based on the second vibration code to control the vibration of the target device based on the first vibration signal to prompt the hazard category of the target obstacle and the target hazard subcategory of the target obstacle.
  • the obstacle avoidance prompting device 400 further includes a second determination module, configured to determine the target hazard subcategory of the target obstacle based on the hazard category, attribute information and motion state information of the target obstacle.
  • a second determination module configured to determine the target hazard subcategory of the target obstacle based on the hazard category, attribute information and motion state information of the target obstacle.
  • the second prompt module is configured to determine the first vibration signal based on the hazard category of the target obstacle and the correspondence between the vibration frequency and the hazard category.
  • the second prompt module is configured to: when the hazard category of the target obstacle indicates a stationary obstacle, determine the second vibration based on the correspondence between the vibration intensity and multiple hazard subcategories corresponding to the stationary obstacle. signal; when the hazard category of the target obstacle indicates a change in road conditions, determine the second vibration signal based on the correspondence between the vibration frequency, vibration duration and multiple hazard subcategories corresponding to the change in road conditions; when the target obstacle When the hazard category of the target obstacle indicates a moving obstacle, the second vibration signal is determined based on the correspondence between the vibration frequency, vibration intensity and multiple hazard subcategories corresponding to the moving obstacle; when the hazard category of the target obstacle indicates the animal's In this case, the second vibration signal is determined based on the correspondence between the vibration interval and the plurality of danger subcategories corresponding to the animal.
  • the second prompt module is also used to: while controlling the vibration of the target device, play the target voice prompt information corresponding to the target danger subcategory, and the target voice prompt information prompts the target danger subcategory of the target obstacle.
  • the first determination module 403 is used to: obtain the traveling status information of the object; determine the time when the obstacle collides with the user object based on the attribute information of the obstacle, the motion status information of the obstacle, and the traveling status information of the user object. Time; determine the danger urgency of an obstacle based on the time when the obstacle collides with the user object.
  • the obstacle avoidance prompting device 400 also includes a photographing module, configured to: obtain environmental situation information of the environment where the object is located; determine the target shooting frequency based on the environmental situation information; and respond to the The second operation signal is to take environmental photos of the environment where the subject is located according to the target shooting frequency.
  • a photographing module configured to: obtain environmental situation information of the environment where the object is located; determine the target shooting frequency based on the environmental situation information; and respond to the The second operation signal is to take environmental photos of the environment where the subject is located according to the target shooting frequency.
  • Each unit in the above-mentioned obstacle avoidance prompting device can be realized in whole or in part by software, hardware and combinations thereof.
  • Each of the above-mentioned units can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above-mentioned units.
  • the obstacle avoidance prompting device 400 can be integrated into a terminal or a server that has a memory and is equipped with a processor and has computing capabilities, or the obstacle avoidance prompting device 400 is the terminal or server.
  • the obstacle avoidance prompting device 400 obtained by the embodiment of the present application obtains environmental photos of the environment where the object is located through the acquisition module 401. Then, the recognition module 402 performs obstacle recognition based on the environmental photos to obtain the obstacles, attribute information and motion status of the obstacles. information, then the first determination module 403 determines the risk factor of the obstacle based on the attribute information and motion status information of the obstacle. The risk factor is used to characterize the danger of the obstacle to the object, and then the first prompt module 404 controls based on the risk factor.
  • the target device vibrates to output a corresponding first vibration effect. The first vibration effect is used to indicate the danger of the obstacle to the object, so that the object can avoid obstacles based on the first vibration effect, thereby improving the accuracy of obstacle recognition and reducing vision. It reduces the limitations of travel for visually impaired people, improves the convenience and safety of travel for visually impaired people, and reduces costs.
  • this application also provides a computer device, including a memory and a processor.
  • a computer program is stored in the memory.
  • the processor executes the computer program, it implements the steps in the above method embodiments.
  • FIG. 5 is a schematic structural diagram of a computer device provided by an embodiment of the present application.
  • the computer device is the terminal or server shown in FIG. 1 .
  • the computer device 500 includes: a communication interface 501, a memory 502, a processor 503 and a communication bus 504.
  • the communication interface 501, the memory 502, and the processor 503 realize communication with each other through the communication bus 504.
  • the communication interface 501 is used for data communication between the computer device 500 and external devices.
  • Memory 502 may be used to store software programs and modules,
  • the processor 503 runs software programs and modules stored in the memory 502, such as the software programs for corresponding operations in the foregoing method embodiments.
  • the processor 503 calls the software programs and modules stored in the memory 502 to perform the following operations: obtain environmental photos of the environment where the object is located; identify obstacles based on the environmental photos, and obtain obstacles and obstacle attribute information and movements. Status information; determine the risk factor of the obstacle based on the attribute information and motion status information of the obstacle.
  • the risk factor is used to characterize the danger of the obstacle to the object; control the vibration of the target device according to the risk factor to output the corresponding first vibration effect,
  • the first vibration effect is used to indicate the danger of the obstacle to the object, so that the object can avoid the obstacle according to the first vibration effect.
  • This application also provides a computer-readable storage medium for storing computer programs.
  • the computer-readable storage medium can be applied to computer equipment, and the computer program causes the computer equipment to execute corresponding processes in the obstacle avoidance prompting method in the embodiments of the present application. For the sake of brevity, details will not be repeated here.
  • the application also provides a computer program product, which includes computer instructions stored in a computer-readable storage medium.
  • the processor of the computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, causing the computer device to execute the corresponding process in the obstacle avoidance prompting method in the embodiment of the present application. For the sake of simplicity, this is not repeated here. Repeat.
  • the application also provides a computer program, the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium.
  • the processor of the computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, causing the computer device to execute the corresponding process in the obstacle avoidance prompting method in the embodiment of the present application. For the sake of simplicity, this is not repeated here. Repeat.
  • the processor in the embodiment of the present application may be an integrated circuit chip and has signal processing capabilities.
  • each step of the above method embodiment can be completed through the integrated logic circuit of hardware in the processor or instructions in the form of software.
  • the above-mentioned processor is a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), an off-the-shelf programmable gate array (Field Programmable Gate Array, FPGA) or other programmable Logic devices, discrete gate or transistor logic devices, discrete hardware components.
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • Each method, step and logical block diagram disclosed in the embodiment of this application can be implemented or executed.
  • a general purpose processor is a microprocessor or the processor is any conventional processor or the like.
  • the steps of the method disclosed in conjunction with the embodiments of the present application are directly implemented by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor.
  • the software modules are located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field.
  • the storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.
  • the memory in the embodiment of the present application is a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories.
  • non-volatile memory is read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically erasable memory Except for programmable read-only memory (Electrically EPROM, EEPROM) or flash memory.
  • Volatile memory is Random Access Memory (RAM), which is used as an external cache.
  • RAM static random access memory
  • DRAM dynamic random access memory
  • SDRAM synchronous dynamic random access memory
  • DDR SDRAM double data rate synchronous dynamic random access memory
  • Enhanced SDRAM ESDRAM
  • Synchlink DRAM SLDRAM
  • Direct Rambus RAM Direct Rambus RAM
  • the memory in the embodiment of the present application is a static random access memory (static RAM, SRAM), a dynamic random access memory (dynamic RAM, DRAM), a synchronous dynamic memory.
  • Random access memory synchronous DRAM, SDRAM
  • double data rate synchronous dynamic random access memory double data rate SDRAM, DDR SDRAM
  • enhanced synchronous dynamic random access memory enhanced SDRAM, ESDRAM
  • synchronous connection dynamic random access memory Access memory strip link DRAM, SLDRAM
  • direct memory bus random access memory Direct Rambus RAM, DR RAM
  • the disclosed systems, devices and methods can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division.
  • Another point is that the coupling or direct coupling or communication connection between each other shown or discussed is the indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in the embodiment of the present application can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.
  • the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product.
  • the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which can be a personal computer or a server) to execute all or part of the steps of the methods described in various embodiments of this application.
  • the aforementioned storage media include: U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

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Abstract

一种避障提示方法、装置及设备，涉及计算机技术领域。该方法包括：获取对象所处环境的环境照片(101)；基于环境照片进行障碍物识别，得到障碍物以及障碍物的属性信息和运动状态信息(102)；基于障碍物的属性信息和运动状态信息，确定障碍物的危险因子(103)；基于危险因子控制目标设备振动(104)，以提示障碍物对于对象的危险性。

Description

避障提示方法、装置及设备
本申请要求于2022年05月13日提交的申请号为202210523735.7，发明名称为“避障提示方法、装置及设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及计算机技术领域，具体涉及一种避障提示方法、装置及设备。
背景技术
对于视障人士来说，出行一般需要借助导盲犬、导盲杖或专用设备进行辅助，以避开出行过程中的障碍物。
发明内容
本申请实施例提供一种避障提示方法、装置及设备。
一方面，提供一种避障提示方法，应用于计算机设备，所述方法包括：
获取对象所处环境的环境照片；
根据所述环境照片进行障碍物识别，得到障碍物以及所述障碍物的属性信息和运动状态信息；
根据所述障碍物的属性信息和运动状态信息，确定所述障碍物的危险因子，所述危险因子用于表征所述障碍物对于所述对象的危险性；
根据所述危险因子控制目标设备振动以输出对应的第一振动效果，所述第一振动效果用于指示所述障碍物对于所述对象的危险性，以使所述对象根据所述第一振动效果进行避障。
另一方面，提供一种避障提示装置，应用于计算机设备，所述装置包括：
获取模块，用于获取对象所处环境的环境照片；
识别模块，用于根据所述环境照片进行障碍物识别，得到障碍物以及所述障碍物的属性信息和运动状态信息；
第一确定模块，用于根据所述障碍物的属性信息和运动状态信息，确定所述障碍物的危险因子，所述危险因子用于表征所述障碍物对于所述对象的危险性；
第一提示模块，用于根据所述危险因子控制目标设备振动以输出对应的第一振动效果，所述第一振动效果用于指示所述障碍物对于所述对象的危险性，以使所述对象根据所述第一振动效果进行避障。
另一方面，提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序适于处理器进行加载，以执行如上任一实施例所述的避障提示方法中的步骤。
另一方面，提供一种计算机设备，所述计算机设备包括处理器和存储器，所述存储器中存储有计算机程序，所述处理器通过调用所述存储器中存储的所述计算机程序，用于执行如上任一实施例所述的避障提示方法中的步骤。
另一方面，提供一种计算机程序产品，包括计算机指令，所述计算机指令被处理器执行时实现如上任一实施例所述的避障提示方法中的步骤。
附图说明
图1为本申请实施例提供的提示系统的结构示意图。
图2为本申请实施例提供的避障提示方法的第一流程示意图。
图3为本申请实施例提供的避障提示方法的第二流程示意图。
图4为本申请实施例提供的避障提示装置的结构示意图。
图5为本申请实施例提供的计算机设备的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。
然而，一方面，导盲犬、导盲杖给视障人士的出行带来了一定的局限性。比如，导盲犬会导致视障人士的出行方式受到局限，导盲杖无法规避上方障碍，导盲犬和导盲杖都一定程度上降低了视障人士出行的便利性。另一方面，专用设备的成本较高，且目前的专用设备对障碍物识别功能，还停留在识别障碍物与视障用户之间的距离的阶段，使得专用设备对障碍物的提示信息不够精准，降低视障人士出行的安全性。
本申请实施例提供一种避障提示方法、装置、计算机设备和存储介质。具体地，本申请实施例的避障提示方法由计算机设备执行，其中，该计算机设备为终端或者服务器等设备。
随着社会对残障人群的关怀程度不断上升，以及随着计算机技术、终端技术的不断发展，市面上出现越来越多的智能辅助设备，比如，辅助视障人群出行使用的导盲设备。
目前，常见的导盲设备有导盲杖、导盲眼镜等。主要通过在导盲杖、导盲眼镜等导盲设备上安装雷达探测装置或红外线探测装置，当导盲设备靠近障碍物时，会发出警报，从而达到辅助视障人士规避障碍物的目的。
然而，目前的导盲设备对障碍物的探测功能还不够精确，仅仅对障碍物的距离进行探测，而无法确定障碍物的具体类型，以及无法定位障碍物的具体方位，并且仅仅能够探测到离使用者距离最近的障碍物，在多障碍物环境、或运动障碍物环境下，则无法保障视障人士的安全，并且，导盲设备的成本相对较高。
本申请实施例提出一种避障提示方法，能够通过对象使用的终端，对环境中的障碍物进行检测，并通过振动对视障人士进行提示，例如，对象为视障人士，终端为智能手机、智能手表等。相比于借助于导盲犬、导盲杖或专用设备，能够提高障碍物识别的精准度，降低视障人士出行的局限性，并且降低成本。
请参考图1，图1为本申请实施例提供的提示系统的结构示意图。该提示系统包括终端10和服务器20等；终端10和服务器20之间通过网络连接，比如，通过有线或无线网络连接等。可选地，该终端10为智能手机、穿戴式智能设备等设备，可选地，终端10包括客户端，该客户端是应用程序客户端、浏览器客户端或者小程序等。可选地，服务器20是独立的物理服务器，或者，是多个物理服务器构成的服务器集群或者分布式系统，或者，是提供云服务、云数据库、云计算、云函数、云存储、网络服务、云通信、中间件服务、域名服务、安全服务、内容分发网络(Content Delivery Network，CDN)、以及大数据和人工智能平台等基础云计算服务的云服务器。
可选地，终端10包括图像采集装置，该终端通过图像采集装置采集对象所处环境的环境照片。其中，该对象为用户，例如，对象为视障用户等。视障用户通过终端下载安装相应的客户端并运行，控制图像采集装置采集环境照片。例如，通过调用相应的小程序并运行，控制图像采集装置采集环境照片。例如，通过登录浏览器客户端，控制图像采集装置采集环境 照片。在本申请实施例中，该终端10为视障用户所使用的具有图像采集装置的终端设备。在进行障碍物提示时，通过视障用户所使用的终端设备拍摄环境照片，并将该环境照片发送至服务器20进行识别。服务器20会将对环境图像的识别结果发送至终端10，终端根据识别结果进行振动，对对象进行危险提示。
在本申请实施例中，在进行障碍物提示时，服务器20用于：获取对象所处环境的环境照片；基于环境照片进行障碍物识别，得到障碍物的属性以及运动状态；基于障碍物的属性以及运动状态，确定障碍物的危险因子，危险因子用于表征障碍物对于对象的危险性；将障碍物的危险因子发送给终端10。
以下分别进行详细说明。需说明的是，以下实施例的描述顺序不作为对实施例优先顺序的限定。
本申请各实施例提供了一种避障提示方法，该方法由终端或服务器执行，或者，由终端和服务器共同执行；本申请实施例以避障提示方法由服务器执行为例来进行说明。
请参阅图2和图3，图2和图3均为本申请实施例提供的避障提示方法的流程示意图。该方法由计算机设备执行，包括步骤101至步骤104，说明如下：
步骤101，获取对象所处环境的环境照片。
其中，计算机设备为终端，比如终端为智能手机、智能手表等。可选地，该终端包括图像采集装置。其中，环境照片是由图像采集装置拍摄的至少一张照片。其中，对象为用户，比如，对象为视障用户等。其中，至少一张照片至少包括一张用户前进方向的环境照片。可选地，图像采集装置为摄像头，比如图像采集装置为TOF(Time of flight，飞行时间法)摄像头。可选地，图像采集装置与终端分离安装。容易理解的是，在用户行进过程中，终端通常是放在衣服口袋中，因此，能够将图像采集装置作为独立的部件，与终端通过有线或无线的方式连接，并佩戴在身上。可选地，图像采集装置包括多个摄像头部件，该多个摄像头部件分别固定于用户多个身体部位，以对用户周围的环境照片进行采集。
在一些实施例中，在步骤101之前，该方法还包括：响应于第二操作信号，按照目标拍摄频率拍摄环境照片，其中，环境照片为至少一张，且至少一张环境照片中包括至少一张对象行进方向的环境照片；获取对象所处环境的环境情况信息；基于环境情况信息确定目标拍摄频率。
其中，第二操作信号为由用户主动触发的拍摄信号。比如，考虑到视障人士的特殊性，能够在终端上设置一个用于触发拍摄环境照片的第一按钮，当用户行走时，能够按下第一按钮，生成第二操作信号。或者，终端通过GPS(Global Positioning System，全球定位系统)或陀螺仪等，判断用户是否在行走。当用户在行走时，自动生成第二操作信号。
其中，环境情况信息指示对象所处环境较为空旷还是复杂。可选地，通过GPS获取当前环境情况信息。可选地，通过对环境照片进行识别，判断对象所处环境较为空旷还是复杂，实时对目标拍摄频率进行调整。在本申请实施例中，先按照初始的目标拍摄频率拍摄环境照片，而后实时对目标拍摄频率进行调整，以便后续能够按照调整后的目标拍摄频率拍摄后续的环境照片。
譬如，若环境情况信息指示用户所处环境为空旷区域，则将目标拍摄频率确定为每分钟一次，若环境情况信息指示用户所处环境复杂，比如在闹市区域，则将目标拍摄频率确定为每十秒钟一次。
如此，根据用户所处环境的情况，动态的对目标拍摄频率进行调整，以便后续按照调整后的目标拍摄频率拍摄环境照片，既能够保证视障人士出行的安全性，又能够降低终端的电量损耗，提高终端的续航能力。
在一些实施例中，步骤101包括：获取对象所处环境的环境情况信息；基于环境情况信息确定目标拍摄频率；响应于第二操作信号，按照该目标拍摄频率拍摄对象所处环境的环境照片。
在本申请实施例中，基于用户所处环境的情况，动态的对目标拍摄频率进行调整，以便后续响应于第二操作信息，按照调整后的目标拍摄频率拍摄环境照片，既能够保证视障人士出行的安全性，又能够降低终端的电量损耗，提高终端的续航能力。
在一些实施例中，该方法还包括：响应于第二操作信号，获取目标设备的电量情况信息；若电量情况信息指示目标设备的电量低于阈值，则提示目标设备的电量情况，并询问对象是否开启续航模式。
容易理解的是，由于进行环境照片采集、障碍物识别、障碍物危险性确定、危险提示等操作，会增加目标设备的耗电，因此，响应于第二操作信息，首先获取目标设备的电量情况信息，若电量情况信息指示目标设备的电量低于阈值，则向用户提示目标设备的电量情况，以避免在用户不了解目标设备的电量情况下，目标设备的电量耗尽，导致无法进行环境照片采集、障碍物识别、障碍物危险性确定、危险提示等操作，极大影响视障人士出行的安全性。并且，能够询问用户是否开始续航模式，以节约耗电。可选地，在续航模式下，能够关闭目标设备的其他功能，以提高目标设备的续航能力。
在一些实施例中，该方法还包括：响应于第二操作信号，检测图像采集装置是否有遮挡；若有遮挡时，对对象进行提示。
容易理解的是，考虑到障碍物的识别、危险信息的确定等，均依赖于环境图片，环境图片由图像采集装置进行采集，因此，响应于第二操作信号，首先监测图像采集装置是否有遮挡，若有遮挡，则对用户进行提示，以避免无法正常采集环境图片导致无法对障碍物进行识别等后续操作，对视障人士的安全性产生影响。
在一些实施例中，该方法还包括：对图像采集装置的功能进行检测；若检测结果指示图像采集装置的功能损坏，对对象进行提醒。
可选地，通过采集照片的方式判断图像采集装置的功能是否损坏。比如，通过判断采集的照片是否完整、是否清晰判断图像采集装置的功能是否损坏。
容易理解的是，由于视障人士的特殊性，需要依赖于终端以及图像采集装置对障碍物进行危险提示，因此，定期检测图像采集装置的功能是否损坏，以避免由于图像采集装置的功能损坏导致视障人士出行的安全性降低。
步骤102，基于环境照片进行障碍物识别，得到障碍物以及障碍物的属性信息和运动状态信息。
其中，障碍物的属性信息包括障碍物的位置信息、材质信息、形状信息、大小信息等。其中，障碍物的位置信息指示障碍物与用户身体的相对位置。比如，障碍物可能位于用户身体的两侧、头部位置、躯干位置或者底部。其中，障碍物的材质信息指示障碍物的材质，比如，障碍物的材质为玻璃、石头、塑料等。其中，障碍物的形状信息指示障碍物的形状是否规律，比如，障碍物的形状信息指示是否有尖刺、棱角等。其中，障碍物的大小信息指示障 碍物的尺寸。其中，障碍物的运动状态信息指示障碍物是固定状态还是移动状态，以及移动状态下的运动速度、运动方向等。
可选地，通过图像目标检测对环境照片进行障碍物识别，得到用户所处环境中障碍物的特征，比如，障碍物的类别、障碍物的大小等。
可选地，通过3D建模的方式对环境图像中障碍物的形状进行识别，并通过TOF测距对障碍物的运动状态进行判断。可选地，通过边缘检测对环境照片中障碍物的几何特征进行提取。其中，几何特征包括障碍物的周长、面积、最长轴、方位角、边界矩阵以及形状系数等。然后，根据TOF测距得到的距离信息，并结合透镜成像原理，根据成像大小、物距、焦距等确定障碍物的大小信息等。
步骤103：基于障碍物的属性信息和运动状态信息，确定障碍物的危险因子，危险因子用于表征障碍物对于对象的危险性。
可选地，危险因子包括危险类别、危险紧迫度和危险度等。其中，障碍物的危险类别指示给对象带来危险的障碍物所属的类别，能够反映出后续会出现哪种危险。可选地，障碍物的危险类别包括静止障碍物、道路情况变化、运动障碍物和动物。其中，危险紧迫度即为危险紧迫程度，指示障碍物与用户发生碰撞的可能性，也指示障碍物与用户发生碰撞的时间。其中，危险度即为危险程度，指示障碍物对用户产生危害的程度。
在一些实施例中，步骤“基于障碍物的属性信息和运动状态信息确定障碍物的危险紧迫度”包括：获取对象的行进状态信息；基于障碍物的属性信息、障碍物的运动状态信息以及对象的行进状态信息，确定障碍物与对象发生碰撞的时间；基于障碍物与对象发生碰撞的时间确定障碍物的危险紧迫度。
可选地，通过GPS获取对象的行进状态信息。其中，对象的行进状态信息包括用户的行进方向以及用户的速度，障碍物的运动状态信息包括障碍物的移动方向和移动速度，障碍物的属性信息包括障碍物的位置信息，结合用户行进状态信息、障碍物的运动状态信息、障碍物的属性信息，能够判断障碍物是否会与用户发生碰撞，以及确定发生碰撞的时长以及碰撞相对速度。基于障碍物与用户发生碰撞的时间，确定障碍物的危险紧迫度。容易理解的是，用户不做规避情况下，与障碍物发生碰撞的时间越短，则危险紧迫度越高。
比如，将危险紧迫度分级表示为以下四种：
非常紧迫：不做规避，3秒内会发生碰撞；
紧迫：不做规避10秒内会发生碰撞；
一般：不做规避20秒内会发生碰撞；
不紧迫：不做规避20秒以上会发生碰撞或者不会发生碰撞。
可选地，基于预设的危险类型、障碍物的属性信息和运动状态信息，确定障碍物的危险类型。
譬如，预设的危险类型包括静止障碍物、道路情况变化、运动障碍物和动物。其中，静止障碍物包括多种物体，比如，路面的杂物、树木、广告牌等等。其中，道路情况变化包括红绿灯、路口、楼梯等。其中，运动障碍物包括行人、各类交通工具等。
可选地，不同的危险类型具有不同的特征，基于障碍物的属性信息、运动状态信息与危险类型的特征进行匹配，确定障碍物的危险类型。
可选地，基于障碍物的危险类别、障碍物的属性信息和运动状态信息，确定障碍物的危 险度。
其中，能够将危险度分级表示为：几乎没有危险、有一定危险、比较危险、非常危险和极度危险。
譬如，针对静止障碍物，能够结合下述几个维度确定危险度：基于用户沿当前行进方向移动是否会与障碍物发生碰撞，确定静止障碍物的危险度；基于障碍物的材质、形状，确定静止障碍物的危险度，比如是否有尖刺、棱角等易划伤用户的凸起；基于静止障碍物是否固定，确定其危险度，比如是否会因风吹等外力影响发生位移导致与用户发生碰撞等。
比如，若用户沿当前行进方向移动，会与障碍物发生碰撞，且障碍物上具有尖刺、棱角等等易划伤用户的凸起，则确定障碍物的危险度为非常危险。
譬如，针对道路情况变化，能够结合下述几个维度确定危险度：一般路况情况，比如小型石块、垃圾等影响用户行走，但不会导致用户无法行走；道路发生改变，比如出现上行阶梯(天桥)或下行阶梯(如地下通道)；前方出现红灯，属于最高危险级别，用户必须停下等待。
譬如，针对移动障碍物，能够结合下述几个维度确定危险度：基于目标障碍物的移动方向是否规则，比如，如果以固定方向运动且不会相撞，则危险等级较低，如果运动方向不规则，则危险等级较高。
譬如，针对动物，基于结合下述几个维度确定危险度：确定目标障碍物的动物种类、体型大小，比如，体型越大，危险度越高；确定动物的攻击性，攻击性越高，危险度越高；确定动物是否有牵引绳。
步骤104：基于危险因子控制目标设备振动，以提示障碍物对于对象的危险性。
在本申请实施例中，基于危险因子控制目标设备振动，以使目标设备输出对应的第一振动效果，第一振动效果指示障碍物对于对象的危险性，以使对象根据第一振动效果进行避障。
在本实施例中，通过对视障人士所处环境进行拍摄，得到环境照片，之后，对环境照片进行解析，得到障碍物以及障碍物的属性信息和运动状态信息，并根据障碍物的属性信息和运动状态信息确定障碍物的危险类别、危险紧迫度以及危险度，并通过目标设备振动，提示视障人士当前环境中的危险信息，使得用户不需要额外的设备，就能够直观地感知周边的障碍物，降低视障人士出行的局限性，并提高视障人士出行的便利性和安全性，降低成本。
在一些实施例中，危险因子包括危险紧迫度，危险紧迫度指示所述障碍物与所述对象发生碰撞的时间；危险紧迫度越高，表征障碍物与对象发生碰撞的时限越短，障碍物包括多个障碍物时，每一个障碍物对应一个危险紧迫度，步骤104包括：基于危险紧迫度确定目标障碍物，目标障碍物为多个障碍物中危险紧迫度最高的障碍物；基于目标障碍物的危险因子控制目标设备振动以输出对应的第一振动效果，第一振动效果指示的危险性包括目标障碍物的危险紧迫度。也即是，在识别到多个障碍物的情况下，将多个障碍物中危险紧迫度最高的障碍物，确定为目标障碍物；基于目标障碍物的危险因子控制目标设备振动，以提示目标障碍物对于对象的危险紧迫度。
容易理解的是，道路情况通常比较复杂，因此，用户所处环境中可能存在多个障碍物，因此，根据危险紧迫度对用户进行危险提示。比如，通过对环境照片进行障碍物识别，得到多个障碍物，比如，该多个障碍物包括与用户行进方向相同的行人、位于用户身侧的树木以及用户行进方向的前方出现的上行天梯。根据多个障碍物的属性信息和运动状态信息，确定 用户行进方向的前方出现的上行天梯危险紧迫性等级最高，因此，将用户行进方向的前方出现的上行天梯确定为目标障碍物，并在后续根据该目标障碍物的危险因子控制目标设备振动以输出对应的第一振动效果，该第一振动效果指示该目标障碍物的危险紧迫度。可选地，用不同的振动间隔来指示危险紧迫度，危险紧迫度越高，则振动间隔越短，比如该第一振动效果为短时间间隔频繁振动的效果。
在一些实施例中，危险因子还包括危险类别或危险度中的至少一项，步骤“基于目标障碍物的危险因子控制目标设备振动”包括：基于目标障碍物的危险因子及危险因子与振动信号之间的对应关系，确定目标障碍物的危险因子对应的第一目标振动信号，基于第一目标振动信号控制目标设备振动，以提示目标障碍物对于对象的危险紧迫度，以及目标障碍物对于对象的危险类别或危险度中的至少一项。
可选地，第一目标振动信号为基于危险因子对振动信号的振动间隔、振动强度、振动频率中的至少一项进行预定组合得到的振动信号；基于第一目标振动信号确定第一振动编码，并基于第一振动编码控制振动单元振动，以输出对应的第一振动效果，第一振动效果指示的危险性包括目标障碍物的危险紧迫度，以及包括目标障碍物的危险类别或危险度中的至少一项。
譬如，危险因子包括障碍物的危险类别、危险紧迫度以及危险度，则基于目标障碍物的危险类别、危险紧迫度以及危险度确定第一目标振动信号。比如，预设有不同危险类别与振动频率的对应关系、不同危险紧迫度与振动间隔的对应关系以及危险度与振动强度的对应关系，则基于目标障碍物的危险类别、危险紧迫度以及危险度确定其对应的振动频率、振动间隔和振动强度，并进行组合，得到第一目标振动信号。
例如，危险因子包括危险紧迫度及危险类别，危险因子与振动信号之间的对应关系包括：危险紧迫度与振动间隔之间的对应关系及危险类别与振动频率之间的对应关系，则确定第一目标振动信号的过程包括：基于目标障碍物的危险紧迫度及危险紧迫度与振动间隔之间的对应关系，确定目标障碍物的危险紧迫度对应的振动间隔；在危险因子包括危险类别的情况下，基于目标障碍物的危险类别及危险类别与振动频率之间的对应关系，确定目标障碍物的危险类别对应的振动频率；将确定的振动间隔和振动频率进行组合，得到第一目标振动信号。
再例如，危险因子包括危险紧迫度及危险度，危险因子与振动信号之间的对应关系包括：危险紧迫度与振动间隔之间的对应关系及危险度与振动强度之间的对应关系，则确定第一目标振动信号的过程包括：基于目标障碍物的危险紧迫度及危险紧迫度与振动间隔之间的对应关系，确定目标障碍物的危险紧迫度对应的振动间隔；在危险因子包括危险度的情况下，基于目标障碍物的危险度及危险度与振动强度之间的对应关系，确定目标障碍物的危险度对应的振动强度；将确定的振动间隔和危险度进行组合，得到第一目标振动信号。
可选地，第一振动编码为参数化的第一目标振动信号，譬如，用数字、字母、字符中的至少一种组成第一振动编码。目标设备基于该第一振动编码控制振动单元振动，以输出对应的第一振动效果，其中，该第一振动效果指示目标障碍物的危险紧迫度、危险类别以及危险度。其中，该振动单元为目标设备中的振动单元，控制目标设备振动时，目标设备控制包含的振动单元振动，以输出第一振动效果。
在一些实施例中，该方法还包括：预先设置危险因子与提示策略之间的对应关系，提示策略用于表征振动信号的振动间隔、振动强度、振动频率中的至少一项，对应关系包括危险 因子中的危险紧迫度、危险类别、危险度的预定组合对应的多个提示策略，以及每个提示策略对应的振动信号的振动间隔、振动强度、振动频率中的至少一项。
譬如，危险因子包括障碍物的危险类别、危险紧迫度以及危险度，其中，提示策略基于危险因子中的危险紧迫度、危险类别、危险度对应的振动方式进行预定组合，其中，振动方式包括振动的频率、间隔以及强度等。
其中，对应关系包括：危险紧迫度与振动间隔之间的对应关系、危险类别与振动频率之间的对应关系、危险度与振动强度之间的对应关系。其中，危险紧迫度越高，振动间隔越短；危险类别越高，振动频率越高；危险度越高，振动强度越强。
譬如，本申请实施例通过振动频率表示障碍物的危险类别，通过振动间隔表示障碍物的危险紧迫度，并通过振动强度表示障碍物的危险度。
譬如，预先设置危险类别与振动频率之间的对应关系为：
静止障碍物：低频振动(50HZ)；
道路情况变化：中低频振动(100HZ)；
运动障碍物：中高频振动(200HZ)；
动物：高频振动(300HZ)。
譬如，预先设置危险紧迫度与振动间隔之间的对应关系为：
非常紧迫：10ms(毫秒)振动间隔；
紧迫：20ms振动间隔；
一般：30ms振动间隔；
不紧迫：40ms振动间隔。
譬如，假设终端设备内的马达的振动强度的范围为0-100的相对值，其中，终端设备内的马达的最大振动强度对应于100的相对值。则预先设置危险度与振动强度之间的对应关系为：
几乎没有危险：当前马达最大振动强度为20分位；
有一定的危险：当前马达最大振动强度的40分位；
比较危险：当前马达最大振动强度的60分位；
非常危险：当前马达最大振动强度的80分位；
极度危险：当前马达最大振动强度的100分位。
例如，若确定目标障碍物的危险因子为：危险类别为静止障碍物，危险紧迫度为非常紧迫，以及危险度为极度危险；则确定的第一目标振动信号为：低频振动(50HZ)、10ms振动间隔、100分位的振动强度；对应输出的第一振动效果为短时间间隔的低频高强度的振动效果。
例如，若确定目标障碍物的危险因子为：危险类别为道路情况变化，危险紧迫度为紧迫，以及危险度为非常危险；则确定的第一目标振动信号为：中低频振动(100HZ)、20ms振动间隔、80分位的振动强度；对应输出的第一振动效果为较短时间间隔的中低频较高强度的振动效果。
例如，若确定目标障碍物的危险因子为：危险类别为运动障碍物，危险紧迫度为不紧迫，以及危险度为几乎没有危险；则确定的第一目标振动信号为：中高频振动(200HZ)、40ms振动间隔、20分位的振动强度；对应输出的第一振动效果为长时间间隔的中高频低强度的振动效果。
例如，若确定目标障碍物的危险因子为：危险类别为动物，危险紧迫度为非常紧迫，以 及危险度为非常危险；则确定的第一目标振动信号为：高频振动(300HZ)、20ms振动间隔、100分位的振动强度；对应输出的第一振动效果为短时间间隔的高频高强度的振动效果。
在一些实施例中，危险因子包括危险类别，每个危险类别对应有多个危险子类别，该方法还包括：基于目标障碍物的危险类别、属性信息以及运动状态信息确定目标障碍物的目标危险子类别，目标危险子类别为目标障碍物的危险类别对应的多个危险子类别中的一个，目标危险子类别用于表征目标障碍物的详细信息。
其中，危险子类别是通过对危险类别细分得到的多个障碍物类别，危险子类别相比于危险类别是更为详细的障碍物信息。
譬如，在危险类别为静止障碍物的情况下，静止障碍物包括可能发生绊倒或者跌落的障碍物、可能会与头部发生碰撞接触的障碍物、全身都可能发生碰撞接触的障碍物、影响身体躯干部分的障碍物，这几种障碍物即为静止障碍物的危险子类别。
譬如，在危险类别为道路情况变化的情况下，道路情况变化包括上行阶梯、下行阶梯、前方道路不通、红绿灯，这几种道路情况变化即为道路情况变化的危险子类别。
譬如，在危险类别为运动障碍物的情况下，运动障碍物包括和用户同向运动的障碍物、和用户相向运动的障碍物、从用户侧面向用户运动的障碍物，这几种障碍物即为运动障碍物的危险子类别。
譬如，在危险类别为动物的情况下，动物包括各种动物种类，不同动物种类即为动物的危险子类别。
在本实施例中，在步骤“基于目标障碍物的危险因子控制目标设备振动”之后，该方法还包括：响应于第一操作信号，基于目标障碍物的危险类别和目标危险子类别确定第二目标振动信号，第二目标振动信号包括第一振动信号和第二振动信号，第一振动信号与目标障碍物的危险类别对应，第二振动信号与目标障碍物的目标危险子类别对应；基于第二目标振动信号控制目标设备振动，以提示目标障碍物的危险类别及目标障碍物的目标危险子类别。
可选地，控制目标设备振动的过程包括：基于第二目标振动信号确定第二振动编码，并基于第二振动编码控制振动单元振动，以基于第一振动信号生成第二振动效果，以及基于第二振动信号生成第三振动效果，其中，第二振动效果指示目标障碍物的危险类别，第三振动效果指示目标障碍物的目标危险子类别。
在本申请实施例中，目标设备根据第一目标振动信号振动能够提示用户前方有障碍物以及障碍物的危险类别、危险紧迫度以及危险度。然后，用户能够通过与目标设备进行交互，以获取障碍物的详细信息。可选地，第一操作信号为用户触发的。可选地，目标设备包括第二按钮，用户接收到危险信号后，通过点击第二按钮，生成第一操作信号。
在本申请实施例中，第二目标振动信号基于目标障碍物的目标危险子类别以及危险类别确定，比如，第二目标振动信号包括与目标障碍物的危险类别对应的第一振动信号，以及与目标障碍物的危险子类别对应的第二振动信号。可选地，第二振动编码为参数化的第二目标振动信号，譬如，用数字、字母、字符中的至少一种组成第二振动编码。目标设备根据该第二振动编码控制振动单元振动，以输出第一振动信号对应的第二振动效果和第二振动信号对应的第三振动效果，从而用户能够根据第二目标振动信号的振动效果获取目标障碍物的详细信息。
在本实施例中，该避障提示方法还包括：基于不同等级的振动频率与不同危险类别之间 的对应关系，确定第一振动信号。也即是，基于目标障碍物的危险类别、振动频率与危险类别之间的对应关系，确定第一振动信号。
其中，若危险类别为静止障碍物则对应低频等级的振动频率，并基于不同档位的振动强度与静止障碍物对应的多个危险子类别之间的对应关系，确定第二振动信号，以使第二振动信号对应的第三振动效果通过不同的振动强度来指示静止障碍物对对象的预判碰撞位置；若危险类别为道路情况变化则对应中低频等级的振动频率，并基于不同等级的振动频率、不同的振动时长与道路情况变化对应的多个危险子类别之间的对应关系，确定第二振动信号，以使第二振动信号对应的第三振动效果通过不同等级的振动频率和不同的振动时长的预定组合来指示道路情况变化对应的变化类型；若危险类别为运动障碍物则对应中高频等级的振动频率，并基于不同等级的振动频率、不同档位的振动强度与运动障碍物对应的多个危险子类别之间的对应关系，确定第二振动信号，以使第二振动信号对应的第三振动效果通过不同等级的振动频率和不同档位的振动强度的预定组合来指示运动障碍物的运动方向；若危险类别为动物则对应高频等级的振动频率，并基于不同的振动间隔与动物对应的多个危险子类别之间的对应关系，确定第二振动信号，以使第二振动信号对应的第三振动效果通过不同的振动间隔来指示动物的种类。
可选地，针对不同危险类别的危险子类别，通过不同的振动效果进行区分。
譬如，针对静止障碍物中的危险子类别，通过振动强度来进行区分。比如，针对可能发生绊倒或者跌落的障碍物，振动强度为100分位。比如，针对可能会与头部发生碰撞接触的障碍物，振动强度为80分位。比如，全身都可能发生碰撞接触的障碍物，振动强度为60分位。比如，影响身体躯干部分的障碍物，振动强度为40分位。
譬如，针对道路情况变化中的危险子类别，通过振动频率和振动时长来进行区分。比如，针对上行台阶，振动频率为高频(300HZ)，通过振动时长表示台阶长度，比如，将0-5阶定义为短台阶，用50ms振动时长表示，5-15阶定义为中长台阶，用100ms振动时长表示，15阶以上定义为长台阶，用200ms振动时长表示。针对下行台阶，振动频率为中高频(200HZ)，通过振动时长代表台阶长度。其中，前方道路不通，振动频率为中低频(100HZ)。
譬如，针对运动障碍物中的危险子类别，用不同的振动频率和振动强度来进行区分。比如，和用户同向运动的障碍物，振动频率为高频(300HZ)，通过振动强度逐渐变弱表示障碍物在远离用户，振动强度逐渐变强表示障碍物在靠近用户。比如，和用户相向运动的障碍物，振动频率为中高频(200HZ)。比如，从用户侧面向用户运动的障碍物，振动频率为中低频(100HZ)。
譬如，针对动物的不同种类，根据不同的振动间隔来进行区分。考虑到动物的种类繁多，能够通过语音辅助提醒用户动物类型。
例如，若确定目标障碍物的危险类别为静止障碍物，则确定第一振动信号为低频振动(50HZ)；若确定目标障碍物的危险子类别为可能发生绊倒或者跌落的障碍物，则确定第二振动信号为100分位的振动强度；对应输出的第二振动效果为低频振动效果，第三振动效果为高强度振动效果。
例如，若确定目标障碍物的危险类别为道路情况变化，则确定第一振动信号为中低频振动(100HZ)；若确定目标障碍物的危险子类别为上行短台阶，则确定第二振动信号为50ms振动时长、高频振动(300HZ)；对应输出的第二振动效果为中低频振动效果，第三振动效果为 高频率短时长振动效果。
例如，若确定目标障碍物的危险类别为运动障碍物，则确定第一振动信号为中高频振动(200HZ)；若确定目标障碍物的危险子类别为从和用户同向运动、正在靠近对象的障碍物，则确定第二振动信号为高频振动(300HZ)，且振动强度逐渐变强；对应输出的第二振动效果为中低频振动效果，第三振动效果为高频率、振动强度逐渐变强的振动效果。
例如，若确定目标障碍物的危险类别为动物，则确定第一振动信号为高频振动(300HZ)；若确定目标障碍物的危险子类别为温顺牵绳动物，则确定第二振动信号为40ms振动间隔；对应输出的第二振动效果为高频振动(300HZ)效果，第三振动效果为长时间间隔的振动效果。
为了便于理解，下面针对本申请实施例提供的不同危险类型的障碍物，进行举例说明：
譬如，通过对环境照片进行障碍物识别，确定用户行进方向的前方有一个打开的井盖，如果不做规避，用户会在10秒内发生跌落，则确定障碍物的危险类型、危险紧迫度和危险度为：
危险类型：静止障碍物，通过振动频率50HZ(赫兹)表示；
危险紧迫度：紧迫，通过振动的间隔时间200ms表示；
危险度：极度危险，通过振动强度100分位表示。
则得到第一目标振动信号：{0,100，{{50,100,10}，{-1，-1,20}}}。
其中，0代表以固定的频率、强度进行一个短振，100代表这个短振重复执行100次。其中，{50,100,10}代表一个持续10ms，强度为100，频率为50HZ的短振。{-1，-1,20}代表振动间隔为20ms。
用户接收到危险信息后，能够触发获取障碍物的详细信息。基于障碍物的危险类型以及细分类型，得到第二目标振动信号：{0,1，{50,50,200}}{0,100，{50,100,10}}。
其中，细分类型也即是危险类型的危险子类型。{50,50,200}是一个持续200ms的短振，代表这是一个静止障碍物的详细振动信息。{0,100，{50,100,10}}是一个重复100次的短振，振动强度100表示这是一个可能导致用户跌落的风险。
又譬如，通过对环境照片进行障碍物识别，确定用户行进方向出现一个上行天桥，预计三秒钟到达，台阶数约为30阶，则确定障碍物的危险类型、危险紧迫度和危险度为：
危险类型：路况变化，通过振动频率100HZ表示；
危险紧迫度：非常紧迫，通过振动的间隔时间10ms表示；
危险度：非常危险，通过振动强度分位80表示。
则得到第一目标振动信号：{0,100，{100,80，10}，{-1，-1,10}}。
其中，0代表以固定的频率、强度进行一个短振。100代表这个短振重复执行100次。{100,80，10}代表一个持续10ms，强度为100，频率为80HZ的短振。{-1，-1,10}代表10ms的振动间隔。
用户在接收到危险信息后，能够触发获取障碍物的详细信息。根据障碍物的危险类型以及细分类型，得到第二目标振动信号：{0,1，{300,50,200}{0,5，{300,50，200}}}。
其中，{0,1，{300,50,200}是一个持续200ms的短振，代表这是一个路况变化的详细信息。{0,5，{300,50，200}}}是一个重复5次的短振，用振动频率300HZ表示这是向上的阶梯，持续时间200ms表示这是一个长阶梯。
又譬如，通过对环境照片进行障碍物识别，确定用户前进方向有一个与用户同向行走的行人，且速度略快于当前用户，则确定障碍物的危险类型、危险紧迫度和危险度为：
危险类型：移动障碍物，通过振动频率200HZ表示；
危险紧迫度：不紧迫，通过振动的间隔时间40ms表示；
危险度：几乎没有危险，通过振动强度20表示。
则得到第一目标振动信号：{0,20，{{200,20,20}，{-1，-1,40}}}。
其中，0代表以固定的频率、强度进行一个短振，20代表这个短振重复执行20次。{200,20,10}代表一个持续10ms，强度为20，频率为200HZ的短振。{-1,-1,40}代表一个40ms的振动间隔。
用户接收到危险信息后，能够触发获取障碍物的详细信息。根据障碍物的危险类型以及细分类型，得到第二目标振动信号：{0,1，{300,50,200}}{0,1，{300，100,10}}{0,1，{300,99,10}}…{0,1,{300,0,10}}。
其中，{0,1，{300,50,200}}是一个持续200ms的短振，代表这是一个和用户运动方向相同的障碍。{0,1，{300，100,10}}{0,1，{300,99,10}}…{0,1,{300,0,10}}是一组短振，振动频率300hz，振动强度逐渐变弱，表示这个障碍在逐步远离用户。
又譬如，通过对环境照片进行障碍物识别，确定用户行进方向10米处出现一个未被束缚的大型宠物犬，则确定障碍物的危险类型、危险紧迫度和危险度为：
危险类型：动物类障碍物，通过振动频率300HZ表示；
危险紧迫度：非常紧迫，通过振动的间隔时间10ms表示；
危险度：极度危险，通过振动强度为100分位表示。
则得到第一目标振动信号：{0,50，{{300,100,10}，{-1，-1,10}}}。
其中，0代表以固定的频率、强度进行一个短振，50代表这个短振重复执行50次。{300,100,10}代表一个持续10ms，强度为100，频率为300HZ的短振，{-1，-1,10}代表一个10ms的振动间隔。
用户在接收到危险信息后，能够触发获取障碍物的详细信息。则目标设备根据动物的具体类型进行语音播报，以提示用户。
在本实施例中，该方法还包括：在基于第二目标振动信号控制目标设备振动的同时，播放目标危险子类别对应的目标语音提示信息，目标语音提示信息提示目标障碍物的目标危险子类别。
可选地，为了更加直观地让用户感知目标障碍物的详细信息，能够采用语音播报作为辅助，对用户进行提示。
为了更好的说明本申请实施例提供的避障提示方法，请参阅图3，本申请实施例提供的避障提示方法的流程可总结归纳为下述步骤：
步骤201，响应于第二操作信号，按照目标拍摄频率对象所处环境的拍摄环境照片，环境照片为至少一张，且至少一张环境照片中包括至少一张对象行进方向的环境照片。
步骤202，基于环境照片进行障碍物识别，得到障碍物以及障碍物的属性信息和运动状态信息。
步骤203，基于障碍物的属性信息和运动状态信息，确定障碍物的危险因子，危险因子用于表征障碍物对于对象的危险性，其中，危险因子包括危险类别、危险紧迫度以及危险度。
步骤204，基于危险紧迫度确定目标障碍物。
步骤205，基于目标障碍物的危险类别、危险紧迫度以及危险度，和预设的危险类别、危 险紧迫度以及危险度和振动信号的对应关系，确定目标障碍物的危险类别、危险紧迫度以及危险度对应的第一目标振动信号。
步骤206，基于第一目标振动信号确定第一振动编码，并基于第一振动编码控制振动单元振动，其中，第一振动效果指示的危险性包括目标障碍物的危险类别、危险紧迫度和危险度。
步骤207，基于目标障碍物的危险类别、属性信息以及运动状态信息确定目标障碍物的目标危险子类别，目标危险子类别为目标障碍物的危险类别对应的多个危险子类别中的一个。
步骤208：响应于第一操作信号，基于目标障碍物的危险类别和目标危险子类别确定第二目标振动信号，第二目标振动信号包括第一振动信号和第二振动信号，第一振动信号对应目标障碍物的危险类别，第二振动信号对应目标障碍物的目标危险子类别。
步骤209：基于第二目标振动信号确定第二振动编码，并基于第二振动编码控制振动单元振动，以基于第一振动信号生成第二振动效果，以及基于第二振动信号生成第三振动效果，其中，第二振动效果用于指示目标障碍物的危险类别，第三振动效果用于指示目标障碍物的目标危险子类别。
由上述实施例可知，本申请实施例通过响应于第二操作信号，按照目标拍摄频率对象所处环境的拍摄环境照片，环境照片为至少一张，且至少一张环境照片中包括至少一张对象行进方向的环境照片，然后，基于环境照片进行障碍物识别，得到障碍物以及障碍物的属性信息和运动状态信息，之后，基于障碍物的属性信息和运动状态信息，确定障碍物的危险类别、危险紧迫度以及危险度，并基于危险紧迫度确定目标障碍物，然后，基于目标障碍物的危险类别、危险紧迫度以及危险度，和预设的危险类别、危险紧迫度以及危险度和振动信号的对应关系，确定目标障碍物的危险类别、危险紧迫度以及危险度对应的第一目标振动信号，并基于第一目标振动信号控制目标设备振动，从而提示对象(视障用户)其行进方向的环境中，目标障碍物的危险信息，包括危险类别、危险紧迫度以及危险度。其中，目标障碍物为危险紧迫度最高的障碍物。如此，使视障用户直观地感知到目标障碍物的危险信息，以对目标障碍物进行规避，从而提高视障用户出行的安全性。然后，基于目标障碍物的危险类别、属性信息以及运动状态信息确定目标障碍物的目标危险子类别，目标危险子类别为目标障碍物的危险类别对应的多个危险子类别中的一个，危险子类别相比于危险类别是更为详细的障碍物信息。响应于第一操作信号，基于目标障碍物的危险类别和目标危险子类别确定第二目标振动信号，并基于第二目标振动信号控制目标设备振动，从而使视障用户对目标障碍物的详细信息进行感知，丰富了对障碍物信息进行提示的方式，进而提高了提示效果。
上述所有的技术方案，能够采用任意结合形成本申请的可选实施例，在此不再一一赘述。
本申请实施例通过获取对象所处环境的环境照片，然后基于环境照片进行障碍物识别，得到障碍物以及障碍物的属性信息和运动状态信息，接着基于障碍物的属性信息和运动状态信息，确定障碍物的危险因子，危险因子用于表征障碍物对于对象的危险性，并基于危险因子控制目标设备振动以输出对应的第一振动效果，第一振动效果用于指示障碍物对于对象的危险性，以使对象基于第一振动效果进行避障，从而提高障碍物识别的精准度，降低视障人士出行的局限性，并提高视障人士出行的便利性和安全性，降低成本。
为便于更好的实施本申请实施例的避障提示方法，本申请实施例还提供一种避障提示装置。请参阅图4，图4为本申请实施例提供的避障提示装置的结构示意图。其中，该避障提示 装置400包括：
获取模块401，用于获取对象所处环境的环境照片；
识别模块402，用于基于环境照片进行障碍物识别，得到障碍物以及障碍物的属性信息和运动状态信息；
第一确定模块403，用于基于障碍物的属性信息和运动状态信息，确定障碍物的危险因子，危险因子用于表征障碍物对于对象的危险性；
第一提示模块404，用于基于危险因子控制目标设备振动，以以使障碍物对于对象的危险性。
可选的，危险因子包括危险紧迫度，危险紧迫度指示障碍物与对象发生碰撞的时间，第一提示模块404用于：在识别到多个障碍物的情况下，将所述多个障碍物中危险紧迫度最高的障碍物确定为目标障碍物；基于目标障碍物的危险因子控制目标设备振动，以提示目标障碍物对于对象的危险紧迫度。
可选的，危险因子还包括危险类别或危险度中的至少一项，第一提示模块404用于：基于目标障碍物的危险因子及危险因子与振动信号之间的对应关系，确定目标障碍物的危险因子对应的第一目标振动信号；基于第一目标振动信号控制目标设备振动，以提示目标障碍物对于对象的危险紧迫度，以及目标障碍物对于对象的危险类别或危险度中的至少一项。
可选地，第一提示模块404用于：基于目标障碍物的危险紧迫度及危险紧迫度与振动间隔之间的对应关系，确定目标障碍物的危险紧迫度对应的振动间隔；在危险因子包括危险类别的情况下，基于目标障碍物的危险类别及危险类别与振动频率之间的对应关系，确定目标障碍物的危险类别对应的振动频率；将确定的振动间隔和振动频率进行组合，得到第一目标振动信号。
可选地，第一提示模块404用于：基于目标障碍物的危险紧迫度及危险紧迫度与振动间隔之间的对应关系，确定目标障碍物的危险紧迫度对应的振动间隔；在危险因子包括危险度的情况下，基于目标障碍物的危险度及危险度与振动强度之间的对应关系，确定目标障碍物的危险度对应的振动强度；将确定的振动间隔和危险度进行组合，得到第一目标振动信号。
可选的，该避障提示装置400还包括预设模块，用于：预先设置危险因子与提示策略之间的对应关系，提示策略用于表征振动信号的振动间隔、振动强度、振动频率的至少其中之一者，对应关系包括危险因子中的危险紧迫度、危险类别、危险度的预定组合对应的多个提示策略，以及每个提示策略对应的振动信号的振动间隔、振动强度、振动频率的至少其中之一者。
可选的，上述对应关系包括：危险紧迫度与振动间隔之间的对应关系，其中，危险紧迫度越高，振动间隔越短；危险类别与振动频率之间的对应关系，其中，危险类别越高，振动频率越高；危险度与振动强度之间的对应关系，其中，危险度越高，振动强度越强。
可选的，危险因子包括危险类别，该避障提示装置400还包括第二提示模块，用于：在基于目标障碍物的危险因子控制目标设备振动以输出对应的第一振动效果之后，响应于第一操作信号，基于目标障碍物的危险类别和目标危险子类别确定第二目标振动信号，第二目标振动信号包括第一振动信号和第二振动信号，第一振动信号与目标障碍物的危险类别对应，第二振动信号与目标障碍物的目标危险子类别对应，目标危险子类别为目标障碍物的危险类别对应的多个危险子类别中的一个，目标危险子类别用于表征目标障碍物的详细信息；基于第 二目标振动信号确定第二振动编码，并基于第二振动编码控制振动单元振动，以基于第一振动信号控制目标设备振动，以提示目标障碍物的危险类别及目标障碍物的目标危险子类别。
可选的，该避障提示装置400还包括第二确定模块，用于：基于目标障碍物的危险类别、属性信息以及运动状态信息确定目标障碍物的目标危险子类别。
可选的，第二提示模块用于：基于目标障碍物的危险类别及振动频率与危险类别之间的对应关系，确定第一振动信号。
可选地，第二提示模块用于：在目标障碍物的危险类别指示静止障碍物的情况下，基于振动强度与静止障碍物对应的多个危险子类别之间的对应关系，确定第二振动信号；在目标障碍物的危险类别指示道路情况变化的情况下，基于振动频率、振动时长与道路情况变化对应的多个危险子类别之间的对应关系，确定第二振动信号；在目标障碍物的危险类别指示运动障碍物的情况下，基于振动频率、振动强度与运动障碍物对应的多个危险子类别之间的对应关系，确定第二振动信号；在目标障碍物的危险类别指示动物的情况下，基于振动间隔与动物对应的多个危险子类别之间的对应关系，确定第二振动信号。
可选的，第二提示模块，还用于：在控制目标设备振动的同时，播放目标危险子类别对应的目标语音提示信息，目标语音提示信息提示目标障碍物的目标危险子类别。
可选的，第一确定模块403，用于：获取对象的行进状态信息；基于障碍物的属性信息、障碍物的运动状态信息以及用户对象的行进状态信息，确定障碍物与用户对象发生碰撞的时间；基于障碍物与用户对象发生碰撞的时间确定障碍物的危险紧迫度。
可选的，该避障提示装置400还包括拍摄模块，用于：获取对象所处环境的环境情况信息；基于环境情况信息确定目标拍摄频率；在获取对象所处环境的环境照片之前，响应于第二操作信号，按照目标拍摄频率拍摄对象所处环境的环境照片。
上述避障提示装置中的各个单元可全部或部分通过软件、硬件及其组合来实现。上述各个单元能够以硬件形式内嵌于或独立于计算机设备中的处理器中，也能够以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行上述各个单元对应的操作。
避障提示装置400，能够集成在具备储存器并安装有处理器而具有运算能力的终端或服务器中，或者该避障提示装置400为该终端或服务器。
本申请实施例提供的避障提示装置400，通过获取模块401获取对象所处环境的环境照片，然后，识别模块402基于环境照片进行障碍物识别，得到障碍物以及障碍物的属性信息和运动状态信息，接着第一确定模块403基于障碍物的属性信息和运动状态信息，确定障碍物的危险因子，危险因子用于表征障碍物对于对象的危险性，然后第一提示模块404基于危险因子，控制目标设备振动以输出对应的第一振动效果，第一振动效果用于指示障碍物对于对象的危险性，以使对象基于第一振动效果进行避障，从而提高障碍物识别的精准度，降低视障人士出行的局限性，并提高视障人士出行的便利性和安全性，降低成本。
可选的，本申请还提供了一种计算机设备，包括存储器和处理器，存储器中存储有计算机程序，该处理器执行计算机程序时实现上述各方法实施例中的步骤。
图5为本申请实施例提供的计算机设备的结构示意图，该计算机设备是图1所示的终端或服务器。如图5所示，该计算机设备500包括：通信接口501，存储器502，处理器503和通信总线504。通信接口501，存储器502，处理器503通过通信总线504实现相互间的通信。通信接口501用于计算机设备500与外部设备进行数据通信。存储器502可用于存储软件程序以及模块， 处理器503通过运行存储在存储器502的软件程序以及模块，例如前述方法实施例中的相应操作的软件程序。
可选的，该处理器503调用存储在存储器502的软件程序以及模块执行如下操作：获取对象所处环境的环境照片；根据环境照片进行障碍物识别，得到障碍物以及障碍物的属性信息和运动状态信息；根据障碍物的属性信息和运动状态信息，确定障碍物的危险因子，危险因子用于表征障碍物对于对象的危险性；根据危险因子控制目标设备振动以输出对应的第一振动效果，第一振动效果用于指示障碍物对于对象的危险性，以使对象根据第一振动效果进行避障。
本申请还提供了一种计算机可读存储介质，用于存储计算机程序。该计算机可读存储介质可应用于计算机设备，并且该计算机程序使得计算机设备执行本申请实施例中的避障提示方法中的相应流程，为了简洁，在此不再赘述。
本申请还提供了一种计算机程序产品，该计算机程序产品包括计算机指令，该计算机指令存储在计算机可读存储介质中。计算机设备的处理器从计算机可读存储介质读取该计算机指令，处理器执行该计算机指令，使得计算机设备执行本申请实施例中的避障提示方法中的相应流程，为了简洁，在此不再赘述。
本申请还提供了一种计算机程序，该计算机程序包括计算机指令，计算机指令存储在计算机可读存储介质中。计算机设备的处理器从计算机可读存储介质读取该计算机指令，处理器执行该计算机指令，使得计算机设备执行本申请实施例中的避障提示方法中的相应流程，为了简洁，在此不再赘述。
应理解，本申请实施例的处理器可能是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法实施例的各步骤能够通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器是通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。能够实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器是微处理器或者该处理器是任何常规的处理器等。结合本申请实施例所公开的方法的步骤直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。
本申请实施例中的存储器是易失性存储器或非易失性存储器，或可包括易失性和非易失性存储器两者。其中，非易失性存储器是只读存储器(Read-Only Memory，ROM)、可编程只读存储器(Programmable ROM，PROM)、可擦除可编程只读存储器(Erasable PROM，EPROM)、电可擦除可编程只读存储器(Electrically EPROM，EEPROM)或闪存。易失性存储器是随机存取存储器(Random Access Memory，RAM)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(Static RAM，SRAM)、动态随机存取存储器(Dynamic RAM，DRAM)、同步动态随机存取存储器(Synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(Double Data Rate SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(Enhanced SDRAM，ESDRAM)、同步连接动态随机存取存 储器(Synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(Direct Rambus RAM，DR RAM)。应注意，本文描述的系统和方法的存储器旨在包括但不限于这些和任意其它适合类型的存储器。
应理解，上述存储器为示例性但不是限制性说明，例如，本申请实施例中的存储器是静态随机存取存储器(static RAM，SRAM)、动态随机存取存储器(dynamic RAM，DRAM)、同步动态随机存取存储器(synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(double data rate SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(synch link DRAM，SLDRAM)以及直接内存总线随机存取存储器(Direct Rambus RAM，DR RAM)等等。也就是说，本申请实施例中的存储器旨在包括但不限于这些和任意其它适合类型的存储器。
本领域普通技术人员能够意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
所属领域的技术人员能够清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，能够参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，能够通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时有另外的划分方式，例如多个单元或组件结合或者集成到另一个系统，或一些特征能够忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接是通过一些接口，装置或单元的间接耦合或通信连接，能够是电性，机械或其它的形式。
所述作为分离部件说明的单元是或者不是物理上分开的，作为单元显示的部件是或者不是物理单元，即能够位于一个地方，或者也能够分布到多个网络单元上。能够根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请实施例中的各功能单元能够集成在一个处理单元中，也能够是各个单元单独物理存在，也能够两个或两个以上单元集成在一个单元中。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，能够存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分能够以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(能够是个人计算机，服务器)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种能够存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应所述以权利要求的保护范围为准。

Claims (16)

  1. 一种避障提示方法，由计算机设备执行，所述方法包括：
    获取对象所处环境的环境照片；
    基于所述环境照片进行障碍物识别，得到障碍物以及所述障碍物的属性信息和运动状态信息；
    基于所述障碍物的属性信息和运动状态信息，确定所述障碍物的危险因子，所述危险因子用于表征所述障碍物对于所述对象的危险性；
    基于所述危险因子控制目标设备振动，以提示所述障碍物对于所述对象的危险性。
  2. 根据权利要求1所述的避障提示方法，所述危险因子包括危险紧迫度，所述危险紧迫度指示所述障碍物与所述对象发生碰撞的时间；
    所述基于所述危险因子控制目标设备振动，以提示所述障碍物对于所述对象的危险性，包括：
    在识别到多个障碍物的情况下，将所述多个障碍物中危险紧迫度最高的障碍物，确定为目标障碍物；
    基于所述目标障碍物的危险因子控制所述目标设备振动，以提示所述目标障碍物对于所述对象的危险紧迫度。
  3. 根据权利要求2所述的避障提示方法，所述危险因子还包括危险类别或危险度中的至少一项，所述基于所述目标障碍物的危险因子控制所述目标设备振动，以提示所述目标障碍物对于所述对象的危险紧迫度，包括：
    基于所述目标障碍物的危险因子及危险因子与振动信号之间的对应关系，确定所述目标障碍物的危险因子对应的第一目标振动信号；
    基于所述第一目标振动信号控制所述目标设备振动，以提示所述目标障碍物对于所述对象的危险紧迫度，以及所述目标障碍物对于所述对象的危险类别或危险度中的至少一项。
  4. 根据权利要求3所述的避障提示方法，所述危险因子与振动信号之间的对应关系包括：危险紧迫度与振动间隔之间的对应关系及危险类别与振动频率之间的对应关系；
    所述基于所述目标障碍物的危险因子及危险因子与振动信号之间的对应关系，确定所述目标障碍物的危险因子对应的第一目标振动信号，包括：
    基于所述目标障碍物的危险紧迫度及危险紧迫度与振动间隔之间的对应关系，确定所述目标障碍物的危险紧迫度对应的振动间隔；
    在所述危险因子包括危险类别的情况下，基于所述目标障碍物的危险类别及危险类别与振动频率之间的对应关系，确定所述目标障碍物的危险类别对应的振动频率；
    将确定的振动间隔和振动频率进行组合，得到所述第一目标振动信号。
  5. 根据权利要求3所述的避障提示方法，所述危险因子与振动信号之间的对应关系包括：危险紧迫度与振动间隔之间的对应关系及危险度与振动强度之间的对应关系；
    所述基于所述目标障碍物的危险因子及危险因子与振动信号之间的对应关系，确定所述目标障碍物的危险因子对应的第一目标振动信号，包括：
    基于所述目标障碍物的危险紧迫度及危险紧迫度与振动间隔之间的对应关系，确定所述 目标障碍物的危险紧迫度对应的振动间隔；
    在所述危险因子包括危险度的情况下，基于所述目标障碍物的危险度及危险度与振动强度之间的对应关系，确定所述目标障碍物的危险度对应的振动强度；
    将确定的振动间隔和危险度进行组合，得到所述第一目标振动信号。
  6. 根据权利要求2所述的避障提示方法，所述危险因子包括危险类别，所述方法还包括：
    响应于第一操作信号，基于所述目标障碍物的危险类别和目标危险子类别确定第二目标振动信号，所述第二目标振动信号包括第一振动信号和第二振动信号，所述第一振动信号与所述目标障碍物的危险类别对应，所述第二振动信号与所述目标障碍物的目标危险子类别对应，所述目标危险子类别为所述目标障碍物的危险类别对应的多个危险子类别中的一个，所述目标危险子类别用于表征所述目标障碍物的详细信息；
    基于所述第二目标振动信号控制所述目标设备振动，以提示所述目标障碍物的危险类别及所述目标障碍物的目标危险子类别。
  7. 根据权利要求6所述的避障提示方法，所述方法还包括：
    基于所述目标障碍物的危险类别、属性信息以及运动状态信息确定所述目标障碍物的目标危险子类别。
  8. 根据权利要求6所述的避障提示方法，所述基于所述目标障碍物的危险类别和目标危险子类别确定第二目标振动信号，包括：
    基于所述目标障碍物的危险类别及振动频率与危险类别之间的对应关系，确定所述第一振动信号。
  9. 根据权利要求6所述的避障提示方法，所述基于所述目标障碍物的危险类别和目标危险子类别确定第二目标振动信号，包括：
    在所述目标障碍物的危险类别指示静止障碍物的情况下，基于振动强度与所述静止障碍物对应的多个危险子类别之间的对应关系，确定所述第二振动信号；
    在所述目标障碍物的危险类别指示道路情况变化的情况下，基于振动频率、振动时长与所述道路情况变化对应的多个危险子类别之间的对应关系，确定所述第二振动信号；
    在所述目标障碍物的危险类别指示运动障碍物的情况下，基于振动频率、振动强度与所述运动障碍物对应的多个危险子类别之间的对应关系，确定所述第二振动信号；
    在所述目标障碍物的危险类别指示动物的情况下，基于振动间隔与所述动物对应的多个危险子类别之间的对应关系，确定所述第二振动信号。
  10. 根据权利要求6所述的避障提示方法，所述方法还包括：
    在控制所述目标设备振动的同时，播放所述目标危险子类别对应的目标语音提示信息，所述目标语音提示信息提示所述目标障碍物的目标危险子类别。
  11. 根据权利要求2所述的避障提示方法，所述基于所述障碍物的属性信息和运动状态信息，确定所述障碍物的危险因子，包括：
    获取所述对象的行进状态信息；
    基于所述障碍物的属性信息、所述障碍物的运动状态信息以及所述对象的行进状态信息，确定所述障碍物与所述对象发生碰撞的时间；
    基于所述障碍物与所述对象发生碰撞的时间确定所述障碍物的危险紧迫度。
  12. 根据权利要求1-10任一项所述的避障提示方法，所述方法还包括：
    获取所述对象所处环境的环境情况信息；
    基于所述环境情况信息确定目标拍摄频率；
    所述获取对象所处环境的环境照片，包括：
    响应于第二操作信号，按照所述目标拍摄频率拍摄对象所处环境的环境照片。
  13. 一种避障提示装置，配置于计算机设备中，所述装置包括：
    获取模块，用于获取对象所处环境的环境照片；
    识别模块，用于基于所述环境照片进行障碍物识别，得到障碍物以及所述障碍物的属性信息和运动状态信息；
    第一确定模块，用于基于所述障碍物的属性信息和运动状态信息，确定所述障碍物的危险因子，所述危险因子用于表征所述障碍物对于所述对象的危险性；
    第一提示模块，用于基于所述危险因子控制目标设备振动，以提示所述障碍物对于所述对象的危险性。
  14. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序适于处理器进行加载，以执行如权利要求1-12任一项所述的避障提示方法中的步骤。
  15. 一种计算机设备，所述计算机设备包括处理器和存储器，所述存储器中存储有计算机程序，所述处理器通过调用所述存储器中存储的所述计算机程序，用于执行权利要求1-12任一项所述的避障提示方法中的步骤。
  16. 一种计算机程序产品，包括计算机指令，所述计算机指令被处理器执行时实现权利要求1-12任一项所述的避障提示方法中的步骤。
PCT/CN2023/079115 2022-05-13 2023-03-01 避障提示方法、装置及设备 WO2023216683A1 (zh)

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