Assisted voice navigation methods, devices, electronic devices and storage media

Abstract

This disclosure provides an assisted voice navigation method, device, electronic device, and storage medium. In response to a first command indicating a target object within a first range, the following steps are executed cyclically: acquiring a first image; determining a target path based on the first image and a visual positioning model, wherein the visual positioning model represents the positional distribution of objects within the first range in a three-dimensional simulation space, and the target path is a movement path from the current position corresponding to the first image to the location of the target object; and playing navigation voice corresponding to the current position based on the target path, whereby the navigation voice represents the direction of movement and the corresponding distance. This allows the user to reach the location of a target object outside the image acquisition field of view based on the played voice prompts, improving the perception and navigation range of the terminal device and achieving beyond-line-of-sight, long-distance target navigation.

Description

Technical Field

[0001] This disclosure relates to the field of smart terminal technology, and in particular to an auxiliary voice navigation method, device, electronic device, and storage medium. Background Technology

[0002] Currently, there is a large visually impaired population in my country. Due to varying degrees of visual impairment, independent travel is extremely inconvenient for visually impaired individuals. To address this issue, related technologies utilize handheld smart terminal devices to collect images of the surrounding environment, enabling environmental perception. The results of this perception are then converted into voice broadcasts, allowing visually impaired users to determine their surroundings based on the voice broadcasts.

[0003] However, existing solutions suffer from limited sensing range and are unable to achieve long-distance target navigation. Summary of the Invention

[0004] This disclosure provides an auxiliary voice navigation method, device, electronic device, and storage medium to overcome the problem that smart terminal devices have limited sensing range and cannot achieve long-distance target navigation.

[0005] In a first aspect, embodiments of this disclosure provide an assisted voice navigation method, including:

[0006] In response to a first instruction indicating a target object within a first range, the following steps are executed cyclically: acquiring a first image, and determining a target path based on the first image and a visual positioning model, wherein the visual positioning model represents the positional distribution of objects within the first range in a three-dimensional simulation space, and the target path is a movement path from the current position corresponding to the first image to the position of the target object; and playing navigation voice corresponding to the current position based on the target path, wherein the navigation voice represents the movement direction and the corresponding movement distance.

[0007] Secondly, embodiments of this disclosure provide an auxiliary voice navigation device, comprising:

[0008] The interaction module, in response to a first instruction indicating a target object within a first range, calls the following modules in a loop:

[0009] The processing module is used to acquire a first image and determine a target path based on the first image and a visual positioning model, wherein the visual positioning model represents the positional distribution of objects within the first range in a three-dimensional simulation space, and the target path is a movement path from the current position corresponding to the first image to the position of the target object.

[0010] The playback module is used to play the navigation voice corresponding to the current location according to the target path, wherein the navigation voice represents the direction of movement and the corresponding distance of movement.

[0011] Thirdly, embodiments of this disclosure provide an electronic device, including:

[0012] A processor, and a memory communicatively connected to the processor;

[0013] The memory stores computer-executed instructions;

[0014] The processor executes computer execution instructions stored in the memory to implement the assisted voice navigation method as described in the first aspect and various possible designs of the first aspect.

[0015] Fourthly, embodiments of this disclosure provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the assisted voice navigation method described in the first aspect and various possible designs of the first aspect.

[0016] Fifthly, embodiments of this disclosure provide a computer program product, including a computer program that, when executed by a processor, implements the assisted voice navigation method as described in the first aspect and various possible designs of the first aspect.

[0017] The assisted voice navigation method, device, electronic device, and storage medium provided in this embodiment, in response to a first instruction indicating a target object within a first range, cyclically execute the following steps: acquiring a first image, and determining a target path based on the first image and a visual positioning model, wherein the visual positioning model characterizes the positional distribution of objects within the first range in a three-dimensional simulation space, and the target path is a movement path from the current position corresponding to the first image to the location of the target object; and playing navigation voice corresponding to the current position based on the target path, wherein the navigation voice characterizes the movement direction and the corresponding movement distance. By acquiring a first image and combining it with a visual positioning model, utilizing the ability of the visual positioning model to characterize the positional distribution of objects within the first range in a three-dimensional simulation space, a movement path from the current position to the location of the target object is determined and converted into voice for playback, enabling the user to reach the location of the target object outside the image acquisition field of view based on the played voice prompts, thereby improving the perception and navigation range of the terminal device and realizing target navigation beyond line-of-sight and over long distances. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is an application scenario diagram of the assisted voice navigation method provided in the embodiments of this disclosure;

[0020] Figure 2 Flowchart of the assisted voice navigation method provided in the embodiments of this disclosure Figure 1 ;

[0021] Figure 3 for Figure 2 The flowchart of the specific implementation steps of step S102 in the embodiment shown is as follows;

[0022] Figure 4 This is a schematic diagram illustrating a process for generating a target path, provided by an embodiment of the present disclosure.

[0023] Figure 5 Flowchart of the assisted voice navigation method provided in the embodiments of this disclosure Figure 2 ;

[0024] Figure 6 This is a schematic diagram illustrating the process of playing directional audio according to an embodiment of the present disclosure;

[0025] Figure 7 Flowchart of the assisted voice navigation method provided in the embodiments of this disclosure Figure 3 ;

[0026] Figure 8 for Figure 7 The flowchart of the specific implementation steps of step S302 in the embodiment shown is as follows;

[0027] Figure 9 for Figure 7 The flowchart of the specific implementation steps of step S303 in the embodiment shown is as follows;

[0028] Figure 10 for Figure 9 The flowchart of the specific implementation steps of step S3033 in the embodiment shown is as follows;

[0029] Figure 11 This is a structural block diagram of the auxiliary voice navigation device provided in the embodiments of this disclosure;

[0030] Figure 12 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure;

[0031] Figure 13 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0033] The application scenarios of the embodiments of this disclosure are explained below:

[0034] Figure 1 This diagram illustrates an application scenario of the assisted voice navigation method provided in this embodiment. The assisted voice navigation method provided in this embodiment can be applied to voice-guided travel navigation scenarios for visually impaired users, and more specifically, to indoor target object navigation scenarios for visually impaired users. Figure 1 As shown, the method provided in this disclosure can be applied to terminal devices, such as smartphones and wearable devices. For example, the terminal device communicates with a cloud service and interacts with a cloud server. In an application scenario such as indoor target object navigation for visually impaired users, after receiving an instruction from the visually impaired user to find a target object, the terminal device acquires environmental images and converts them into corresponding navigation voice prompts, as shown in the figure, where the navigation voice prompt is "Go straight ahead for 10 meters." The visually impaired user can then walk according to the voice prompts to reach the location of the target object, thus achieving target object navigation based on auxiliary voice. More specifically, this indoor target object navigation application scenario includes, for example, finding a specific book in a library or a specific item in a supermarket.

[0035] In related technologies addressing the travel challenges of visually impaired individuals, one approach involves using handheld smart devices to capture images of the surrounding environment, enabling environmental perception. The captured images are then converted into voice prompts for broadcast, allowing visually impaired users to determine their surroundings based on the voice broadcasts. However, this method relies on recognizing and converting real-time captured environmental images to generate voice broadcasts. It fails to perceive objects outside the environmental images. Therefore, the voice generated by this method can only provide general prompts and cannot detect or broadcast information about objects outside the environmental images, nor can it provide navigation for objects outside the environmental images.

[0036] This disclosure provides an auxiliary voice navigation method to solve the above-mentioned problems.

[0037] refer to Figure 2 , Figure 2 Flowchart of the assisted voice navigation method provided in the embodiments of this disclosure Figure 1 The method of this embodiment can be applied in a terminal device. This assisted voice navigation method includes:

[0038] Step S101: Receive a first instruction input by the user, the first instruction being used to characterize a target object within a first range.

[0039] For example, refer to Figure 1 The application scenario diagram shown illustrates that the execution entity in this embodiment is a terminal device, such as a smart wearable device. In one possible implementation, the first instruction is a voice command issued by the user. The terminal device detects voice signals at a preset frequency. When it detects and recognizes voice with specific content, it obtains the corresponding first instruction based on the voice content. More specifically, the terminal device can, for example, first detect the wake-up voice at a low sampling rate, the content of which could be, for example, "Hello, Xiao A." After detecting the wake-up voice, it then detects the user's command voice at a high sampling rate, such as "Help me find the fruit shelf." The terminal device obtains the corresponding first instruction, i.e., the information indicating "fruit shelf," by recognizing the command voice. In another possible implementation, the first instruction is generated based on the user's gesture or key operation on the terminal device. For example, the terminal device has a Button_1 button, which can be a program button or a physical button. After the user triggers the Button_1 button, the terminal device generates a corresponding first instruction, which corresponds to a preset target object, such as "room door." That is, the first instruction is information representing "room door."

[0040] Step S102: Acquire the first image, and determine the target path based on the first image and the visual positioning model, wherein the visual positioning model represents the position distribution of objects within the first range in the three-dimensional simulation space, and the target path is the movement path from the current position corresponding to the first image to the position of the target object.

[0041] Furthermore, after receiving the first instruction, or simultaneously, the terminal device acquires an image of the current environment, i.e., the first image, through the image acquisition unit set on the terminal device. For example, the first image can be a single frame captured by the image acquisition unit, or a stitched or overlaid image of multiple frames captured by the image acquisition unit. A stitched image refers to combining multiple frames based on their field of view to form an image with a larger field of view; an overlaid image refers to superimposing multiple frames with the same or similar field of view to obtain an image with higher contrast and clarity. The specific implementation methods for stitching and overlaying multiple frames to obtain stitched or overlaid images are not detailed here.

[0042] In the example action, after obtaining the first image, the first image is processed using a visual positioning model to obtain a movement path representing the current position corresponding to the first image to the location of the target object, i.e., the target path. Specifically, the visual positioning model is a model representing the positional distribution of objects within a first range in a three-dimensional simulation space. For example, the three-dimensional simulation space is a simulation of the real environment within the first range, and the visual positioning model is a model describing this three-dimensional simulation space. In short, the visual positioning model can be regarded as three-dimensional map data for the first range. More specifically, for example, the first range corresponds to the indoor range Zoom_1 of a supermarket. The three-dimensional simulation space is a virtual space that represents the environment and objects within the indoor range Zoom_1 of the supermarket. The three-dimensional simulation space includes, for example, the shelves, goods, and roads within the supermarket. The visual positioning model is a description of the three-dimensional simulation space, which includes, for example, the identification, volume, and location of the shelves, goods, and roads within the supermarket. There are various ways to implement the visual positioning model. It can be implemented using a three-dimensional pixel matrix and corresponding item labels, or it can be implemented using a configuration table to describe the label, location, volume, and other information corresponding to each object. The specific implementation method of the visual positioning model can be set as needed, and will not be listed here.

[0043] Furthermore, the visual positioning model can be a model deployed locally on the terminal device or a model deployed on a cloud server that communicates with the terminal device. In one possible implementation, the visual positioning model can be a Visual Positioning Service (VPS) deployed on a cloud server that communicates with the terminal device.

[0044] After obtaining the visual positioning model, the visual positioning model is searched using the first image and the target object respectively to obtain the position corresponding to the first image and the position corresponding to the target object. Then, combined with the preset navigation algorithm, the target path is generated.

[0045] In one possible implementation, such as Figure 3 As shown, the specific implementation steps of step S102 include:

[0046] Step S1021: Input the first image into the visual positioning model to determine the first spatial position. The first spatial position represents the mapping of the image shooting point when the first image was taken in the three-dimensional simulation space.

[0047] Step S1022: Search the visual positioning model to obtain the second spatial position corresponding to the target object. The second spatial position represents the mapping of the target position of the target object in the three-dimensional simulation space.

[0048] Step S1023: Generate the target path based on the first spatial location and the second spatial location.

[0049] For example, the first image is input into the visual positioning model for comparison and search to determine the location of a virtual environment region in the 3D simulation space that is consistent with or similar to the region depicted in the first image. This is the first spatial location, which is also the current location of the (terminal device). In short, the first spatial location is the mapping of the real environment region depicted in the first image to the 3D simulation space. This first spatial location is expressed based on the visual positioning model, that is, represented using the coordinate system in the 3D simulation space represented by the visual positioning model. After identifying the target object based on the first command, the object identifier corresponding to the target object is obtained. For example, if the target object identified based on the first command is a "fruit shelf", the corresponding object identifier is "#0021". Then, based on this object identifier, a search is performed in the visual positioning model to obtain the location coordinates of the target object "fruit shelf", that is, the second spatial location. Similarly, the second spatial location is also expressed based on the visual positioning model, that is, represented using the coordinate system in the 3D simulation space represented by the visual positioning model.

[0050] Subsequently, based on the roads in the three-dimensional simulation space represented by the visual positioning model and the preset navigation planning algorithm, a navigation path, i.e., the target path, is realized from the first spatial location to the second spatial location. The algorithm for path planning based on map data (visual positioning model), the starting point (first spatial location), and the target point (second spatial location) is existing technology known to those skilled in the art and will not be elaborated upon here.

[0051] Figure 4 This is a schematic diagram illustrating a process for generating a target path, as provided in an embodiment of this disclosure. Figure 4As shown, the first image Pic_1 and the object identifier Ob_01 of the target object are respectively input into the visual positioning model. On one hand, the visual positioning model identifies the image content in the first image Pic_1, determines the mapping area of ​​the image content in the three-dimensional simulation space, and then determines the positioning point P1 of the image capture point corresponding to the first image Pic_1 in the three-dimensional simulation space based on the mapping area. On the other hand, the visual positioning model searches based on the object identifier Ob_01 to obtain the positioning point P2 corresponding to the object identifier Ob_01. Then, the positioning point P2 and the object identifier Ob_01 are input into the navigation planning algorithm to generate the target path. The navigation planning algorithm can be a capability provided by the visual positioning model.

[0052] Step S103: Based on the target path, play the navigation voice corresponding to the current location. The navigation voice indicates the direction of movement and the corresponding distance.

[0053] After obtaining the target path, based on the current location of the terminal device (i.e., the first spatial location obtained in the previous steps), the direction and distance of movement along the target path are determined, for example, the direction of movement is "north" and the distance is "10 meters". Then, based on a preset voice generation template, the above information on the direction and distance of movement is converted into corresponding navigation voice, such as "move 10 meters north". In one possible implementation, to help visually impaired users determine their direction of movement, the terminal device can convert absolute directions into relative directions such as "left" and "right". Specific conversion methods include: recognizing the user's current facing direction using the first image and visual positioning model, thereby achieving the conversion from absolute to relative direction. Afterwards, by playing the navigation voice, the user is guided to move along the target path from their current location, ultimately reaching the target object's location, thus achieving the purpose of target object navigation.

[0054] Step S104: If the current position reaches the target position, the loop ends; if the current position does not reach the target position, return to step S102.

[0055] For example, after playing the navigation voice, the latest current position can be obtained based on the current position obtained in the previous steps, or by performing an additional position measurement. The visual positioning model is then used to detect whether the current position coincides with the target position. If the two coincide, it means that the user (terminal device) has reached the destination, and the navigation process ends. If the two do not coincide, the process returns to step S102, the real-time first image is re-acquired, and the above steps are repeated to continue voice navigation until the target position is reached.

[0056] In this embodiment, in response to a first instruction indicating a target object within a first range, the following steps are executed cyclically: acquiring a first image, and determining a target path based on the first image and a visual positioning model, wherein the visual positioning model represents the positional distribution of objects within the first range in a three-dimensional simulation space, and the target path is the movement path from the current position corresponding to the first image to the location of the target object; and playing navigation voice corresponding to the current position based on the target path, wherein the navigation voice represents the movement direction and the corresponding movement distance. By acquiring the first image and combining it with the visual positioning model, utilizing the ability of the visual positioning model to represent the positional distribution of objects within the first range in a three-dimensional simulation space, the movement path from the current position to the location of the target object is determined and converted into voice for playback, enabling the user to reach the location of the target object outside the image acquisition field of view according to the played voice prompts, thereby improving the perception and navigation range of the terminal device and realizing target navigation beyond line of sight and over long distances.

[0057] refer to Figure 5 , Figure 5 Flowchart of the assisted voice navigation method provided in the embodiments of this disclosure Figure 2 This embodiment is in Figure 2 Based on the illustrated embodiment, an additional step of providing orientation indication for a second spatial location is added. This assisted voice navigation method includes:

[0058] Step S201: Receive a first instruction input by the user, the first instruction being used to characterize a target object within a first range.

[0059] Step S202: Acquire the first image, and determine the target path based on the first image and the visual positioning model, wherein the visual positioning model represents the position distribution of objects within the first range in the three-dimensional simulation space, and the target path is the movement path from the current position corresponding to the first image to the position of the target object.

[0060] Step S203: Based on the target path, obtain the path distance between the first spatial location and the second spatial location.

[0061] Step S204: When the path distance is greater than the first preset distance, play the navigation voice corresponding to the current location. The navigation voice indicates the direction of movement and the corresponding distance of movement, and then return to step S202.

[0062] Step S205: When the path distance is less than the first preset distance, obtain the orientation information, which represents the spatial orientation of the second spatial position relative to the first spatial position.

[0063] Step S206: Play the directional audio corresponding to the directional information.

[0064] For example, in indoor environments where visually impaired users are navigating to a target object, even if they are guided to the target location via voice navigation, they may still be unable to pinpoint the object's exact location. To address this issue, this embodiment further adds a step of playing directional voice commands when the path distance is determined to be less than a first preset distance, thereby achieving accurate voice guidance for the target object.

[0065] Specifically, for example, after determining the target path, the path distance between the first spatial position and the second spatial position is calculated. The first spatial position represents the current position of the terminal device, and the second spatial position represents the target position of the target object. The path distance between the first and second spatial positions is the distance the user (terminal device) travels from the target position of the target object. The size of the virtual objects in the three-dimensional simulation space represented by the visual positioning model, as well as the distances between virtual objects, are set based on the size of objects within a first range in the real environment, and the distances between objects, for example, at a 1:1 scale. Therefore, based on the target path and the first and second spatial positions in the visual positioning model, a numerical value representing the path distance between the current position and the target position can be obtained. Then, based on this path distance, if the path distance is less than or equal to a first preset distance, such as 1 meter, it indicates that the user is very close to the target object and can be considered to have reached the target position. At this point, the spatial orientation of the second spatial position (target position) relative to the first spatial position (current position) can be obtained through identification using the first image or other reference information. This orientation information can be an angle value with a direction indicator, such as 30 degrees forward and 20 degrees to the left. Then, the directional information is converted and a directional voice is generated for broadcast, so that users can further determine the directional relationship between the target object's location and the current location, and achieve accurate positioning of the target object.

[0066] On the other hand, if the path distance is greater than the first preset distance, it means that the target object is still far away, and there is no need to determine the target object's location. Therefore, the navigation voice corresponding to the current location is played. The specific implementation process is as follows: Figure 2 The embodiments shown have already been described, and will not be repeated here.

[0067] Furthermore, after step S203, the method further includes:

[0068] Step S207: Determine the corresponding vibration parameters based on the path distance. The vibration parameters characterize the vibration frequency and / or vibration amplitude.

[0069] Step S208: Control the vibration of the vibration unit based on vibration parameters.

[0070] For example, the terminal device is equipped with a vibration unit that generates vibrations for the user. The vibration frequency and / or vibration amplitude emitted by the vibration unit are related to the path distance. In one possible implementation, after determining the real-time path distance, corresponding vibration parameters are set based on the road segment distance. The smaller the path distance, the larger the vibration amplitude and / or vibration amplitude. Alternatively, when the path distance is less than a first preset distance, the vibration unit is activated, or the vibration frequency and / or vibration amplitude increases.

[0071] When using directional voice to indicate the location of a target object, the poor real-time performance of the voice broadcast means that visually impaired users may still be moving while the directional voice is playing (i.e., when the target location is reached), resulting in them "walking past" the target. This causes a mismatch between the user's actual location and the location indicated by the directional voice, leading to the visually impaired user being unable to retrieve the target object when following the directional voice's directions. In this embodiment, the real-time performance and continuous variation of vibration cues are utilized. Visually impaired users can predict whether they are about to reach the target location based on the continuously changing vibration characteristics (vibration frequency and / or vibration amplitude) generated by the vibration unit. Upon reaching the target location (when the path distance is less than a first preset distance), the vibration characteristics of the vibration unit are changed, allowing the user to receive the instruction immediately and stop moving. Combined with the directional voice, this enables accurate retrieval of the target object.

[0072] The following is a specific example.

[0073] Figure 6 This is a schematic diagram illustrating a process of playing directional audio according to an embodiment of the present disclosure, such as... Figure 6As shown, exemplarily, the terminal device is, for example, a smartphone, corresponding to an indoor navigation application scenario in a supermarket. Specifically, the target object is, for example, a "fruit shelf." During the user's movement towards the target location based on navigation voice commands, the terminal device acquires a first image in real time, determines a first spatial position, calculates the path distance between the first spatial position and the second spatial position corresponding to the target position, and adjusts the vibration amplitude of the vibration unit based on the path distance. The shorter the path distance, the greater the vibration amplitude. For example, as shown in the figure, when the user (terminal device) is at position A on the target path, the vibration amplitude emitted by the vibration unit is... The vibration amplitude is 2p mm / s when the user (terminal device) is at position B, which is closer to the target location. During this process, the amplitude of the vibration emitted by the vibration unit changes continuously, but the vibration frequency of the vibration units at positions A and B is the same, both f Hz. When the user (terminal device) reaches position C, which corresponds to the target location (the path distance is less than the first preset distance), the vibration amplitude of the vibration unit is 3p mm / s, and the vibration frequency changes to 2 f Hz. This sudden change in vibration frequency prompts the user to stop moving after reaching the target location. Afterwards, the terminal device generates and plays directional voice based on the orientation information calculated from the first frame of the same image, indicating the location of the target object. This allows the user to accurately retrieve the target object based on the guidance of the directional voice.

[0074] In this embodiment, steps S201-S202 and Figure 2 The steps S101-S102 in the illustrated embodiment are the same. For a detailed discussion, please refer to the discussion of steps S101-S102. They will not be repeated here.

[0075] refer to Figure 7 , Figure 7 Flowchart of the assisted voice navigation method provided in the embodiments of this disclosure Figure 3 This embodiment is in Figure 2 Based on the illustrated embodiment, an update step for the visual positioning model is added, and this assisted voice navigation method includes:

[0076] Step S301: Receive a first instruction input by the user, the first instruction being used to characterize a target object within a first range.

[0077] Step S302: Acquire the first image and set the update frequency of the visual positioning model according to the first image. The visual positioning model represents the position distribution of objects within the first range in the three-dimensional simulation space.

[0078] For example, the visual positioning model is a model representing the positional distribution of objects within a first range in a 3D simulation space. In some specific application scenarios, when the objects within the first range change, the visual positioning model needs to be updated synchronously to ensure its accuracy, thereby ensuring the accuracy of the target path generated based on the visual positioning model and avoiding collisions caused by the generated target path due to the visual positioning model not being updated in time. However, since the visual positioning model involves many target objects and a large amount of data, especially when the first range is large, frequent updates to the visual positioning model will lead to unnecessary overhead and waste of resources. In one possible implementation, the update frequency of the corresponding visual positioning model is determined by detecting changes in the first image. When the first image changes significantly, it indicates that the objects in the current environment, i.e., within the first range, are changing frequently. In this case, a higher update frequency is set for the visual positioning model to improve its accuracy; conversely, a lower update frequency is set for the visual positioning model to reduce the consumption of various resources.

[0079] In one possible implementation, such as Figure 8 As shown, the specific implementation steps of step S302 include:

[0080] Step S3021: Obtain the second image, which is the first N frames of the first image, where N is an integer greater than 0.

[0081] Step S3022: Determine image difference information based on the first image and the second image. The image difference information represents the displacement of the reference object in the second image relative to the reference object in the first image.

[0082] Step S3023: Set the update frequency of the visual positioning model based on the image difference information.

[0083] For example, during the cyclic acquisition of the first image, the most recent N acquired first images are saved as historical environment images. Then, after each acquisition of the first image, the previous N frames are extracted, which are the second image, where N is a positive integer, such as 30. The currently acquired first image is compared with the first image (second image) acquired 30 frames ago to obtain image difference information representing the displacement of a reference object in the second image relative to a reference object in the first image. The reference object in the second image and the reference object in the first image are the same object, such as a pedestrian or vehicle. When the displacement of the reference object in the second image is large compared to the reference object in the first image, it indicates that the objects in the current environment are changing frequently, and a higher update frequency is set accordingly. Conversely, when the displacement of the reference object in the second image is small compared to the reference object in the first image, it indicates that the objects in the current environment are not changing frequently, and a lower frequency is set accordingly, thereby improving the utilization of computing and network resources.

[0084] Step S303: Update the visual positioning model based on the update frequency.

[0085] For example, after obtaining the update frequency, the visual positioning model is updated based on this update frequency, such as every 30 frames or every minute. One possible implementation is that the visual positioning model corresponds to multiple spatial regions. After obtaining the update frequency, the data corresponding to all spatial regions in the visual positioning model can be updated based on the update frequency, or only the data corresponding to the spatial region corresponding to the current position (first spatial position) can be updated, thereby improving resource utilization.

[0086] In another possible implementation, such as Figure 9 As shown, the specific implementation steps of step S303 include:

[0087] Step S3031: Obtain the region identifier corresponding to the target object, whereby the region identifier represents the image acquisition area within the first range;

[0088] Step S3032: Based on the region identifier corresponding to the target object, call the corresponding image acquisition device to acquire the image and obtain the second image;

[0089] Step S3033: Update the visual positioning model based on the second image.

[0090] For example, in another implementation, the terminal device and the image acquisition device are directly or indirectly connected. The image acquisition device is, for example, a distributed smart camera based on the Internet of Things. This image acquisition device receives image acquisition instructions from the terminal device or the cloud server through communication with the terminal device or the cloud server, and performs image acquisition. Each of the distributed smart cameras corresponds to an image acquisition area. By acquiring images from these areas, the visual positioning model is updated. In one possible application scenario, the target object is a mobile object, such as a service robot in a library or supermarket. Therefore, the position of the target object will change randomly. For this application scenario, in this embodiment, after determining the target object, the terminal device queries the visual positioning model to determine the image acquisition area corresponding to the target object, obtains the area identifier corresponding to the target object, and then calls the image acquisition device corresponding to the area identifier. Based on the update frequency determined in the previous steps, it acquires a second image and updates the visual positioning model based on the second image, thereby making the target object's position information stored in the visual positioning model more accurate and real-time.

[0091] For example, such as Figure 10 As shown, the specific implementation steps of step S3033 include:

[0092] Step S3033A: Perform image recognition on the second image to determine the current position of the target object.

[0093] Step S3033B: Update the visual positioning model based on the current position of the target object.

[0094] In this embodiment, by obtaining the region identifier corresponding to the target object and calling the corresponding distributed image acquisition device to acquire region images based on the region identifier, directional updates for dynamic target objects are achieved. This ensures that the generated target path is accurate and reasonable while avoiding the problem of resource waste caused by excessive updates to the visual positioning model.

[0095] Step S304: Determine the target path based on the first image and the visual positioning model, wherein the target path is the movement path from the current position corresponding to the first image to the position of the target object.

[0096] Step S305: Play the navigation voice corresponding to the current location according to the target path.

[0097] Step S306: If the current position reaches the target position, the loop ends; if the current position does not reach the target position, return to step S302.

[0098] In this embodiment, the specific implementation steps of steps S301, S304, and S305 are the same as those of... Figure 2Steps S101-S103 in the illustrated embodiment are the same; please refer to the detailed discussion therein. Figure 2 The discussion of steps S101-S103 in the illustrated embodiment will not be repeated here.

[0099] It should be noted that the assisted voice navigation method provided in this embodiment can also be used in... Figure 5 This is implemented based on the illustrated embodiment, that is, based on this embodiment, and further combined with... Figure 5 The technical features of setting the vibration unit based on path distance in the illustrated embodiment (steps S203-S208) are used to achieve the purpose of vibration unit control and directional voice playback, which will not be elaborated here.

[0100] Corresponding to the assisted voice navigation method in the above embodiments, Figure 11 This is a structural block diagram of an auxiliary voice navigation device provided in an embodiment of this disclosure. For ease of explanation, only the parts relevant to the embodiments of this disclosure are shown. (Refer to...) Figure 11 The auxiliary voice navigation device 4 includes:

[0101] Interaction module 41, in response to a first instruction indicating a target object within a first range, cyclically calls the following modules:

[0102] The processing module 42 is used to acquire the first image and determine the target path based on the first image and the visual positioning model. The visual positioning model represents the position distribution of objects within the first range in the three-dimensional simulation space, and the target path is the movement path from the current position corresponding to the first image to the position of the target object.

[0103] The playback module 43 is used to play the navigation voice corresponding to the current location according to the target path. The navigation voice represents the direction of movement and the corresponding distance of movement.

[0104] In one embodiment of this disclosure, when the processing module 42 determines the target path based on the first image and the visual positioning model, it is specifically configured to: input the first image into the visual positioning model to determine a first spatial position, wherein the first spatial position represents the mapping of the image capture point when the first image was captured in the three-dimensional simulation space; search the visual positioning model to obtain a second spatial position corresponding to the target object, wherein the second spatial position represents the mapping of the target position where the target object is located in the three-dimensional simulation space; and generate a target path based on the first spatial position and the second spatial position.

[0105] In one embodiment of this disclosure, the processing module 42 is further configured to: obtain the path distance between the first spatial location and the second spatial location based on the target path; when the path distance is less than a first preset distance, obtain orientation information, wherein the orientation information represents the spatial orientation of the second spatial location relative to the first spatial location; the playback module 43 is further configured to: play the orientation voice corresponding to the orientation information.

[0106] In one embodiment of this disclosure, the processing module 42 is further configured to: determine the corresponding vibration parameters based on the path distance, wherein the vibration parameters characterize the vibration frequency and / or vibration amplitude; and control the vibration of the vibration unit based on the vibration parameters.

[0107] In one embodiment of this disclosure, the processing module 42 is further configured to: acquire a second image, the second image being the first N frames of the first image, where N is an integer greater than 0; determine image difference information based on the first image and the second image, the image difference information representing the displacement of a reference object in the second image relative to a reference object in the first image; set the update frequency of the visual positioning model based on the image difference information; and update the visual positioning model based on the update frequency.

[0108] In one embodiment of this disclosure, the processing module 42 is further configured to: obtain a region identifier corresponding to the target object, the region identifier representing an image acquisition area within a first range; based on the region identifier corresponding to the target object, call the corresponding image acquisition device to acquire an image to obtain a second image; and update the visual positioning model according to the second image.

[0109] In one embodiment of this disclosure, when the processing module 42 updates the visual positioning model based on the second image, it is specifically used to: perform image recognition on the second image to determine the current position of the target object; and update the visual positioning model based on the current position.

[0110] The interaction module 41, processing module 42, and playback module 43 are connected in sequence. The auxiliary voice navigation device 4 provided in this embodiment can execute the technical solution of the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.

[0111] Figure 12 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure, such as... Figure 12 As shown, the electronic device 5 includes:

[0112] Processor 51, and memory 52 communicatively connected to processor 51;

[0113] Memory 52 stores instructions executed by the computer;

[0114] The processor 51 executes computer-executable instructions stored in the memory 52 to achieve, for example, Figures 2-10 The auxiliary voice navigation method in the illustrated embodiment.

[0115] Optionally, the processor 51 and the memory 52 are connected via a bus 53.

[0116] For relevant instructions, please refer to the corresponding text. Figures 2-10 The relevant descriptions and effects of the steps in the corresponding embodiments are understood, and will not be elaborated on here.

[0117] refer to Figure 13 The diagram illustrates a structural schematic of an electronic device 900 suitable for implementing embodiments of the present disclosure. The electronic device 900 can be a terminal device or a server. The terminal device can include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, personal digital assistants (PDAs), portable Android devices (PADs), portable media players (PMPs), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Figure 13 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0118] like Figure 13 As shown, the electronic device 900 may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 901, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 902 or a program loaded from a storage device 908 into a random access memory (RAM) 903. The RAM 903 also stores various programs and data required for the operation of the electronic device 900. The processing unit 901, ROM 902, and RAM 903 are interconnected via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0119] Typically, the following devices can be connected to I / O interface 905: input devices 906 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 907 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 908 including, for example, magnetic tapes, hard disks, etc.; and communication devices 909. Communication device 909 allows electronic device 900 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 13 An electronic device 900 with various devices is shown; however, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively.

[0120] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 909, or installed from a storage device 908, or installed from a ROM 902. When the computer program is executed by a processing device 901, it performs the functions defined in the methods of embodiments of this disclosure.

[0121] It should be noted that the computer-readable medium described in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0122] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0123] The aforementioned computer-readable medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to perform the methods shown in the above embodiments.

[0124] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0125] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0126] The units described in the embodiments of this disclosure can be implemented in software or in hardware. The name of a unit does not necessarily limit the unit itself; for example, the first acquisition unit can also be described as "a unit that acquires at least two Internet Protocol addresses".

[0127] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0128] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0129] In a first aspect, according to one or more embodiments of this disclosure, an assisted voice navigation method is provided, comprising:

[0130] In response to a first instruction indicating a target object within a first range, the following steps are executed cyclically: acquiring a first image, and determining a target path based on the first image and a visual positioning model, wherein the visual positioning model represents the positional distribution of objects within the first range in a three-dimensional simulation space, and the target path is a movement path from the current position corresponding to the first image to the position of the target object; and playing navigation voice corresponding to the current position based on the target path, wherein the navigation voice represents the movement direction and the corresponding movement distance.

[0131] According to one or more embodiments of this disclosure, determining the target path based on the first image and the visual positioning model includes: inputting the first image into the visual positioning model to determine a first spatial position, wherein the first spatial position represents the image capture point when the first image was captured, and the mapping of the first spatial position in the three-dimensional simulation space represents the mapped coordinates of the image capture point when the first image was captured in the three-dimensional simulation space; obtaining a second spatial position corresponding to the target object according to the visual positioning model, wherein the second spatial position represents the mapping of the target position where the target object is located in the three-dimensional simulation space; and generating the target path based on the first spatial position and the second spatial position.

[0132] According to one or more embodiments of this disclosure, the method further includes: obtaining a path distance between the first spatial location and the second spatial location based on the target path; when the path distance is less than a first preset distance, obtaining orientation information, the orientation information representing the spatial orientation of the second spatial location relative to the first spatial location; and playing the orientation voice corresponding to the orientation information.

[0133] According to one or more embodiments of this disclosure, the method further includes: determining corresponding vibration parameters based on the path distance, the vibration parameters characterizing vibration frequency and / or vibration amplitude; and controlling the vibration of the vibration unit based on the vibration parameters.

[0134] According to one or more embodiments of this disclosure, the method further includes: acquiring a second image, the second image being the N frames preceding the first image, where N is an integer greater than 0; determining image difference information based on the first image and the second image, the image difference information representing the displacement of a reference object in the second image relative to the reference object in the first image; setting an update frequency for the visual positioning model based on the image difference information; and updating the visual positioning model based on the update frequency.

[0135] According to one or more embodiments of this disclosure, the method further includes: obtaining a region identifier corresponding to the target object, the region identifier representing an image acquisition area within the first range; based on the region identifier corresponding to the target object, calling a corresponding image acquisition device to acquire an image to obtain a second image; and updating the visual positioning model based on the second image.

[0136] According to one or more embodiments of this disclosure, updating the visual positioning model based on the second image includes: performing image recognition on the second image to determine the current position of the target object; and updating the visual positioning model based on the current position of the target object.

[0137] Secondly, according to one or more embodiments of this disclosure, an auxiliary voice navigation device is provided, comprising:

[0138] The interaction module, in response to a first instruction indicating a target object within a first range, calls the following modules in a loop:

[0139] The processing module is used to acquire a first image and determine a target path based on the first image and a visual positioning model, wherein the visual positioning model represents the positional distribution of objects within the first range in a three-dimensional simulation space, and the target path is a movement path from the current position corresponding to the first image to the position of the target object.

[0140] The playback module is used to play the navigation voice corresponding to the current location according to the target path, wherein the navigation voice represents the direction of movement and the corresponding distance of movement.

[0141] According to one or more embodiments of this disclosure, when the processing module determines the target path based on the first image and the visual positioning model, it is specifically configured to: input the first image into the visual positioning model to determine a first spatial position, wherein the first spatial position represents the image capture point when the first image was captured, and the mapping of the first spatial position in the three-dimensional simulation space represents the mapped coordinates of the image capture point when the first image was captured in the three-dimensional simulation space; obtain a second spatial position corresponding to the target object according to the visual positioning model, wherein the second spatial position represents the mapping of the target position where the target object is located in the three-dimensional simulation space; and generate the target path based on the first spatial position and the second spatial position.

[0142] According to one or more embodiments of this disclosure, the processing module is further configured to: obtain the path distance between the first spatial location and the second spatial location based on the target path; when the path distance is less than a first preset distance, obtain orientation information, wherein the orientation information represents the spatial orientation of the second spatial location relative to the first spatial location; the playback module is further configured to: play the orientation voice corresponding to the orientation information.

[0143] According to one or more embodiments of this disclosure, the processing module is further configured to: determine corresponding vibration parameters based on the path distance, the vibration parameters characterizing vibration frequency and / or vibration amplitude; and control the vibration of the vibration unit based on the vibration parameters.

[0144] According to one or more embodiments of this disclosure, the processing module is further configured to: acquire a second image, the second image being the N frames preceding the first image, where N is an integer greater than 0; determine image difference information based on the first image and the second image, the image difference information representing the displacement of a reference object in the second image relative to the reference object in the first image; set the update frequency of the visual positioning model based on the image difference information; and update the visual positioning model based on the update frequency.

[0145] According to one or more embodiments of this disclosure, the processing module is further configured to: obtain a region identifier corresponding to the target object, the region identifier representing an image acquisition area within the first range; based on the region identifier corresponding to the target object, invoke a corresponding image acquisition device to acquire an image to obtain a second image; and update the visual positioning model based on the second image.

[0146] According to one or more embodiments of this disclosure, when the processing module updates the visual positioning model based on the second image, it is specifically configured to: perform image recognition on the second image to determine the current position of the target object; and update the visual positioning model based on the current position of the target object.

[0147] Thirdly, according to one or more embodiments of the present disclosure, an electronic device is provided, including: a processor, and a memory communicatively connected to the processor;

[0148] The memory stores computer-executed instructions;

[0149] The processor executes computer execution instructions stored in the memory to implement the assisted voice navigation method as described in the first aspect and various possible designs of the first aspect.

[0150] Fourthly, according to one or more embodiments of the present disclosure, a computer-readable storage medium is provided, wherein computer-executable instructions are stored therein, which, when executed by a processor, implement the assisted voice navigation method as described in the first aspect and various possible designs of the first aspect.

[0151] Fifthly, embodiments of this disclosure provide a computer program product, including a computer program that, when executed by a processor, implements the assisted voice navigation method as described in the first aspect and various possible designs of the first aspect.

[0152] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

[0153] Furthermore, while the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. In certain environments, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of this disclosure. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

[0154] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

Claims

1. A method of assisted voice navigation, characterized by, The method comprises the following steps of: in response to a first instruction indicating a target object in a first range, the following steps are cyclically executed: acquiring a first image, and determining a target path according to the first image and a visual positioning model, wherein the visual positioning model represents the position distribution of objects in the first range in a three-dimensional simulation space, and the target path is a moving path from a current position corresponding to the first image to a position of the target object; playing a navigation voice corresponding to the current position according to the target path, wherein the navigation voice represents a moving direction and a corresponding moving distance; further comprising: acquiring a region identifier corresponding to the target object, wherein the region identifier represents an image acquisition region in the first range; calling a corresponding image acquisition device for image acquisition based on the region identifier corresponding to the target object to obtain a second image; and updating the visual positioning model according to the second image.

2. The method of claim 1, wherein, The method further comprises: inputting the first image into the visual positioning model to determine a first spatial position, wherein the first spatial position represents an image shooting point when the first image is shot, and a mapping in the three-dimensional simulation space; acquiring a second spatial position corresponding to the target object according to the visual positioning model, wherein the second spatial position represents a mapping of a target position of the target object in the three-dimensional simulation space; generating the target path based on the first spatial position and the second spatial position.

3. The method of claim 2, wherein, The method further comprises: based on the target path, acquiring a path distance between the first spatial position and the second spatial position; when the path distance is less than a first preset distance, acquiring bearing information, wherein the bearing information represents a spatial bearing of the second spatial position relative to the first spatial position; playing a bearing voice corresponding to the bearing information.

4. The method of claim 3, wherein, The method further comprises: determining a corresponding vibration parameter according to the path distance, wherein the vibration parameter represents a vibration frequency and / or a vibration amplitude; controlling a vibration unit to vibrate based on the vibration parameter.

5. The method of claim 2, wherein, The method further comprises: acquiring a second image, wherein the second image is a front N image of the first image, N is an integer greater than 0; determining image difference information according to the first image and the second image, wherein the image difference information represents a displacement amount of a reference object in the second image relative to the reference object in the first image; setting an update frequency of the visual positioning model according to the image difference information; updating the visual positioning model based on the update frequency.

6. The method of claim 1, wherein, The method further comprises: performing image recognition on the second image to determine a current position of the target object; updating the visual positioning model based on the current position of the target object.

7. An assisted voice navigation device, characterized by The method comprises the following steps of: an interaction module, configured to cyclically call the following modules in response to a first instruction indicating a target object in a first range: The processing module is configured to acquire a first image, and determine a target path according to the first image and a visual positioning model, wherein the visual positioning model represents a position distribution of objects in the first range in a three-dimensional simulation space, and the target path is a moving path from a current position corresponding to the first image to a position of the target object; The playing module is configured to play a navigation voice corresponding to the current position according to the target path, wherein the navigation voice represents a moving direction and a corresponding moving distance. The processing module is further configured to acquire a region identifier corresponding to the target object, wherein the region identifier represents an image acquisition region in the first range; call a corresponding image acquisition device to perform image acquisition based on the region identifier corresponding to the target object, to obtain a second image; and update the visual positioning model according to the second image.

8. An electronic device, comprising: The processing module is configured to acquire a first image, and determine a target path according to the first image and a visual positioning model, wherein the visual positioning model represents a position distribution of objects in the first range in a three-dimensional simulation space, and the target path is a moving path from a current position corresponding to the first image to a position of the target object; The playing module is configured to play a navigation voice corresponding to the current position according to the target path, wherein the navigation voice represents a moving direction and a corresponding moving distance. The processing module is further configured to acquire a region identifier corresponding to the target object, wherein the region identifier represents an image acquisition region in the first range; call a corresponding image acquisition device to perform image acquisition based on the region identifier corresponding to the target object, to obtain a second image; and update the visual positioning model according to the second image. The processing module is configured to acquire a first image, and determine a target path according to the first image and a visual positioning model, wherein the visual positioning model represents a position distribution of objects in the first range in a three-dimensional simulation space, and the target path is a moving path from a current position corresponding to the first image to a position of the target object; 9. A computer-readable storage medium, characterized in that, The playing module is configured to play a navigation voice corresponding to the current position according to the target path, wherein the navigation voice represents a moving direction and a corresponding moving distance.

10. A computer program product, characterised in that, The processing module is further configured to acquire a region identifier corresponding to the target object, wherein the region identifier represents an image acquisition region in the first range; call a corresponding image acquisition device to perform image acquisition based on the region identifier corresponding to the target object, to obtain a second image; and update the visual positioning model according to the second image. The processing module is configured to acquire a first image, and determine a target path according to the first image and a visual positioning model, wherein the visual positioning model represents a position distribution of objects in the first range in a three-dimensional simulation space, and the target path is a moving path from a current position corresponding to the first image to a position of the target object; The playing module is configured to play a navigation voice corresponding to the current position according to the target path, wherein the navigation voice represents a moving direction and a corresponding moving distance. The processing module is further configured to acquire a region identifier corresponding to the target object, wherein the region identifier represents an image acquisition region in the first range; call a corresponding image acquisition device to perform image acquisition based on the region identifier corresponding to the target object, to obtain a second image; and update the visual positioning model according to the second image.

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