UWB-based guiding method, mobile terminal, storage medium and intersection UWB device

Abstract

The application discloses a UWB-based blind guiding method, a mobile terminal, a storage medium and a road intersection UWB device. The UWB-based blind guiding method is used for the mobile terminal and comprises the following steps: when a user is at a road intersection, current road intersection information sent by a road intersection UWB device from a current road intersection signal lamp and a current user position are acquired, the current road intersection information comprises a current road intersection position and signal lamp information of the current road intersection; the position of the user at the current road intersection is determined according to the current road intersection position and the current user position; target travel information of the user is acquired through an interactive module; and a blind guiding strategy for the user is adjusted according to the signal lamp information, the target travel information and the position of the user at the current road intersection.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of blind guiding devices, in particular to a UWB-based blind guiding method, a mobile terminal, a storage medium and a UWB device at an intersection. BACKGROUND

[0002] According to data of the China Blind Association in May 2019, the number of blind people in China is about 17 million. In terms of the travel of blind people, there are blind paths on sidewalks, and visual information is needed to determine the traffic at the intersection of traffic lights. Although guide dogs can realize intelligent blind guiding, the number of qualified guide dogs in the whole country is only a few hundred, and the guide dogs have a long breeding cycle, a high breeding price and a low pairing success rate, which is not convenient for large-scale application. At the same time, the existing map software in the market mostly uses a GPS positioning system, and the accuracy is about 10 m to 15 m, which is low and cannot accurately identify the position of blind people at the intersection of traffic lights, which is not convenient for blind people to pass through the intersection of traffic lights. In addition, the existing market blind guiding devices are roughly divided into two categories. One is an image recognition product, and the development and production cost of this product is high, and few blind people can afford it. The recognition of traffic lights will be affected in bad weather. The other is mostly a single voice guiding or only has an obstacle avoidance function and does not have the function of guiding at the intersection of traffic lights. SUMMARY

[0003] The main purpose of the application is to provide a UWB-based blind guiding method, a mobile terminal, a storage medium and a UWB device at an intersection, which aims to solve the problems that the existing blind guiding devices are not convenient for large-scale application, some cannot provide accurate navigation for blind people to pass through the intersection of traffic lights, and some have high production cost and are not convenient for popularization.

[0004] To achieve the above purpose, the application provides a UWB-based blind guiding method, which is used for a mobile terminal, and comprises the following steps:

[0005] When a user is at an intersection, current intersection information sent by a UWB device at the intersection from a current intersection signal light and a current user position are acquired, the current intersection information comprising a current intersection position and signal light information of the current intersection;

[0006] According to the current intersection position and the current user position, the position of the user at the current intersection is determined;

[0007] Target travel information of the user is acquired through the interaction module;

[0008] According to the signal light information, the target travel information and the position of the user at the current intersection, a blind guiding strategy for the user is adjusted.

[0009] Optionally, before the step of acquiring the current intersection information sent by the intersection UWB device of the current intersection signal light, the method further comprises:

[0010] receiving a blind guiding start instruction;

[0011] According to the blind guiding start instruction, the UWB signal receiving / transmitting module of the mobile terminal is controlled to start and communicate with the intersection UWB device of the current intersection signal light.

[0012] Optionally, according to the blind guiding start instruction, the UWB signal receiving / transmitting module of the mobile terminal is controlled to start and communicate with the intersection UWB device of the current intersection signal light, comprising:

[0013] receiving a UWB signal of the current intersection and identifying whether the UWB signal is a preset UWB signal, wherein the preset UWB signal is a probe signal sent by the intersection UWB device of the current intersection signal light;

[0014] When the UWB signal is a non-preset UWB signal, the UWB signal receiving / transmitting module of the mobile terminal is controlled to shield the UWB signal for a preset shielding duration;

[0015] When the UWB signal is a preset UWB signal, the UWB signal receiving / transmitting module of the mobile terminal is controlled to communicate with the intersection UWB device of the current intersection signal light that sends the preset UWB signal.

[0016] Optionally, the interaction module comprises a voice module;

[0017] The target travel information of the user acquired by the interaction module comprises:

[0018] controlling the voice module to send a travel query voice to the user;

[0019] acquiring and identifying the target travel voice of the user to confirm the target travel information of the user.

[0020] Optionally, the interaction module comprises a voice module and a detection module, and the detection module is used to detect an actual pressure parameter, an actual pressure duration and a current hit frequency of the outer surface of the mobile terminal;

[0021] The target travel information of the user acquired by the interaction module comprises:

[0022] acquiring the actual pressure parameter, the actual pressure duration and the current hit frequency;

[0023] When the actual pressure parameter meets a first target pressure range and the actual pressure duration meets a first target duration range, the target travel information of the user is determined to be a blind lane turn;

[0024] When the actual pressure parameter meets the second target pressure range, and the actual pressure duration meets the second target duration range, the target travel information of the user is determined as intersection crossing, and the crossing direction information of the user is determined according to the current hit frequency.

[0025] Optionally, the target travel information of the user is blind lane turning.

[0026] According to the signal lamp information, the target travel information, and the position of the user at the current intersection, the blind guiding strategy for the user is adjusted, including:

[0027] The voice module is controlled to send a blind guiding inquiry voice to the user.

[0028] A blind guiding demand voice of the user is acquired and recognized to confirm blind guiding demand information of the user.

[0029] According to the blind guiding demand information, the blind guiding strategy for the user is adjusted.

[0030] Optionally, the blind guiding demand information is a demand for blind lane guiding.

[0031] According to the blind guiding demand information, the blind guiding strategy for the user is adjusted, including:

[0032] Target blind lane information is acquired according to the position of the user at the current intersection.

[0033] A preset blind guiding path of the target blind lane is acquired according to the target blind lane information.

[0034] The voice module is controlled to send a blind lane guiding voice to the user according to the preset blind guiding path of the target blind lane.

[0035] Optionally, before the step of controlling the voice module to send a blind lane guiding voice to the user according to the preset blind guiding path of the target blind lane, the method further includes:

[0036] The UWB signal receiving / sending module of the mobile terminal is controlled to disconnect from the intersection UWB device of the current intersection signal lamp, and signals emitted by the intersection UWB device of the current intersection signal lamp are shielded for a preset shielding duration.

[0037] Optionally, the target travel information of the user is intersection crossing.

[0038] According to the signal lamp information, the target travel information, and the position of the user at the current intersection, the blind guiding strategy for the user is adjusted, including:

[0039] Crossing direction information of the user is acquired.

[0040] determine a preset blind path for crossing the intersection according to the intersection crossing direction information and the current intersection position;

[0041] control the voice module to send intersection guiding voice to the user according to the preset blind path for crossing the intersection.

[0042] Optionally, after the step of controlling the voice module to send intersection guiding voice to the user according to the preset blind path for crossing the intersection, the method further comprises:

[0043] obtain a current step speed and a current moving direction of the user;

[0044] obtain real-time signal light information at a preset interval;

[0045] adjust the blind path for crossing the intersection according to the current step speed, the current moving direction and the real-time signal light information.

[0046] Optionally, the signal light information comprises a signal light color and a signal light count;

[0047] Optionally, before the step of controlling the voice module to send intersection guiding voice to the user according to the preset blind path for crossing the intersection, the method further comprises:

[0048] obtain the signal light color;

[0049] when the signal light color is green, preliminarily determine that the user can cross the intersection;

[0050] calculate a crossing distance of the user for crossing the current intersection according to the current intersection position and the current user position;

[0051] obtain an average step speed of the user;

[0052] calculate an estimated duration of the user for crossing the intersection according to the crossing distance and the average step speed;

[0053] obtain the signal light count;

[0054] when the estimated duration is less than the signal light count, determine that the user can cross the intersection, and control the voice module to send intersection crossing voice to the user;

[0055] when the estimated duration is greater than the signal light count, determine that the user stops crossing the intersection, and control the voice module to send intersection crossing stopping voice to the user.

[0056] Optionally, the interaction module comprises a voice module;

[0057] According to the signal lamp information, the target trip information and the position of the user at the current intersection, the step of adjusting the guiding strategy for the user further comprises the following steps:

[0058] After determining that the user has completed the current trip, the UWB signal receiving / transmitting module of the mobile terminal is disconnected from the intersection UWB device of the current intersection signal lamp, and the signal emitted by the intersection UWB device of the current intersection signal lamp is shielded for a preset shielding time length;

[0059] The voice module is controlled to send a plan query voice to the user.

[0060] The plan trip voice of the user is acquired and recognized, and the plan trip information of the user is confirmed.

[0061] When the plan trip information is continuous guiding, the above guiding steps are repeated.

[0062] The application further provides a mobile terminal, which comprises:

[0063] A UWB signal receiving / transmitting module is configured to receive and transmit the UWB signal emitted by the intersection UWB device.

[0064] An interaction module is configured to acquire the target trip information of the user and deliver the guiding information to the user.

[0065] A first control module comprises a first memory, a first processor and a UWB-based guiding control program stored in the first memory and executable on the first processor, and the UWB-based guiding control program realizes the steps of the UWB-based guiding method when executed by the first processor.

[0066] Optionally, the interaction module comprises a voice module and / or a detection module.

[0067] The voice module is configured to recognize the voice of the user and deliver the guiding voice to the user.

[0068] The detection module is configured to detect the actual pressure parameter, the actual pressure time length and the current hit frequency of the outer surface of the mobile terminal.

[0069] The application further provides a storage medium, which stores a UWB-based guiding control program, and the UWB-based guiding control program realizes the steps of the UWB-based guiding method when executed by a processor.

[0070] The application further provides an intersection UWB device, which is configured to be arranged in the signal lamp of an intersection, and the intersection UWB device comprises:

[0071] The intersection UWB signal receiving / sending module is in communication connection with the UWB signal receiving / sending module of the mobile terminal.

[0072] The second control module is in electrical communication connection with the intersection UWB signal receiving / sending module, and the second control module comprises a second memory and a second processor, the second processor is used for interacting with the system of the signal lamp to obtain signal lamp information, and the second memory is used for storing current intersection information.

[0073] In the technical scheme of the present application, the UWB-based blind guiding method is used for a mobile terminal, the mobile terminal comprises a UWB signal receiving / sending module of the mobile terminal, an interaction module and a control module, the UWB signal receiving / sending module of the mobile terminal is used for receiving a UWB signal; the UWB-based blind guiding method comprises: when a user is at an intersection, obtaining current intersection information sent by an intersection UWB device from a current intersection signal lamp and a current user position, the current intersection information comprises a current intersection position and signal lamp information of the current intersection; determining the position of the user at the current intersection according to the current intersection position and the current user position; obtaining target travel information of the user through the interaction module; and adjusting a blind guiding strategy for the user according to the signal lamp information, the target travel information and the position of the user at the current intersection. In other words, the UWB communication technology and the navigation algorithm are used to realize intelligent judgment and blind guiding for a blind person to pass through an intersection and to turn on a blind road. The intersection navigation module can be built and laid at low cost by using an existing mobile terminal. The blind person can be guided in time and accurately to pass through an intersection or a blind road, so that the problem that the blind person cannot pass through an intersection independently due to visual impairment can be solved effectively without causing a large economic burden on the blind person and the local government. BRIEF DESCRIPTION OF DRAWINGS

[0074] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the drawings shown.

[0075] Figure 1 The flowchart of the first embodiment of the UWB-based blind guiding method provided by the present application;

[0076] Figure 2 The flowchart of the second embodiment of the UWB-based blind guiding method provided by the present application;

[0077] Figure 3 The flowchart of the third embodiment of the UWB-based blind guiding method provided by the present application;

[0078] Figure 4 A flow chart of the fourth embodiment of the UWB-based guiding method provided by the present application is shown in FIG. 4;

[0079] Figure 5 A flow chart of the fifth embodiment of the UWB-based guiding method provided by the present application is shown in FIG. 5;

[0080] Figure 6 A flow chart of the sixth embodiment of the UWB-based guiding method provided by the present application is shown in FIG. 6;

[0081] Figure 7 A flow chart of the seventh embodiment of the UWB-based guiding method provided by the present application is shown in FIG. 7.

[0082] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0083] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0084] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0085] In addition, if the embodiments of the present application involve descriptions of “first”, “second”, etc., the descriptions of “first”, “second”, etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by “first” and “second” can explicitly or implicitly include at least one of the features. In addition, the meaning of “and / or” appearing throughout the text includes three parallel solutions. Taking “A and / or B” as an example, it includes A solution, or B solution, or A and B solutions. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it. When the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is also not within the scope of protection claimed by the present application.

[0086] According to the data of China Blind Association in May 2019, the number of blind people in China is about 1700 million. In the aspect of blind people's travel, the sidewalk has a blind path guide, and the traffic at the red and green light intersection needs to be distinguished through visual information. Although the guide dog can realize intelligent guide for the blind, the number of qualified guide dogs in the whole country is only a few hundred, and the guide dog breeding cycle is long, the breeding price is high, and the pairing success rate is low, which is not convenient for large-scale application. At the same time, the existing map software in the market mostly uses GPS positioning system, and its accuracy is about 10m~15m, which is low in accuracy and cannot accurately identify the position of blind people at the red and green light intersection, which is not convenient for blind people to pass through the red and green light intersection. Moreover, the existing market guide dog equipment is roughly divided into two categories. One is image recognition product, and the development and production cost of this kind of product is high, and few blind people can afford it. The recognition of red and green light will be affected in bad weather. The other is mostly single voice guide or only has obstacle avoidance function, and does not have the function of red and green light intersection navigation.

[0087] Therefore, the application provides a UWB-based guide dog method, a mobile terminal, a storage medium and an intersection UWB device. Figures 1 to 7 The application provides a specific embodiment of the UWB-based guide dog method.

[0088] Please refer to Figure 1 , Figure 1 The first embodiment of the UWB-based guide dog method provided by the application.

[0089] The UWB-based guide dog method is used for a mobile terminal, and the mobile terminal comprises a UWB signal receiving / sending module of the mobile terminal, an interaction module and a control module. The UWB signal receiving / sending module of the mobile terminal is used for receiving a UWB signal.

[0090] The UWB-based guide dog method comprises the following steps.

[0091] S30: When a user is at an intersection, current intersection information from an intersection UWB device of a current intersection signal lamp and a current user position are acquired. The current intersection information comprises a current intersection position and signal lamp information of the current intersection.

[0092] S40: The position of the user at the current intersection is determined according to the current intersection position and the current user position.

[0093] S50: Target travel information of the user is acquired through the interaction module.

[0094] S60: A guide dog strategy for the user is adjusted according to the signal lamp information, the target travel information and the position of the user at the current intersection.

[0095] In the application, the UWB-based guiding method is used for a mobile terminal, which comprises a UWB signal receiving / sending module of the mobile terminal, an interaction module and a control module, the UWB signal receiving / sending module of the mobile terminal being used for receiving a UWB signal; the UWB-based guiding method comprises: when a user is at an intersection, acquiring current intersection information sent by an intersection UWB device from a current intersection signal lamp and a current user position, the current intersection information comprising a current intersection position and signal lamp information of the current intersection; determining the position of the user at the current intersection according to the current intersection position and the current user position; acquiring target travel information of the user through the interaction module; and adjusting a guiding strategy for the user according to the signal lamp information, the target travel information and the position of the user at the current intersection. In other words, the UWB communication technology and a navigation algorithm are used to realize intelligent judgment and guiding for a blind person to pass through an intersection and to turn at a blind road. The intersection navigation module can be built at a low cost by using an existing mobile terminal, and the blind person can be guided in time and accurately when passing through an intersection or a blind road, so that the problem that the blind person cannot pass through an intersection independently due to visual impairment can be solved effectively without causing a large economic burden on the blind person and the local government.

[0096] Please refer to Figure 2 , Figure 2 The second embodiment of the UWB-based guiding method is provided in the application.

[0097] Before the step S30 of acquiring the current intersection information sent by the intersection UWB device from the current intersection signal lamp, the following steps are further included.

[0098] S10: receiving a guiding start instruction;

[0099] S20: according to the guiding start instruction, controlling the UWB signal receiving / sending module of the mobile terminal to start and to be communicatively connected with the intersection UWB device of the current intersection signal lamp.

[0100] Specifically, according to the guiding start instruction, the UWB signal receiving / sending module of the mobile terminal is controlled to start and to be communicatively connected with the intersection UWB device of the current intersection signal lamp S20, which comprises:

[0101] S201: receiving a UWB signal of the current intersection and identifying whether the UWB signal is a preset UWB signal, wherein the preset UWB signal is a detection signal sent by the intersection UWB device of the current intersection signal lamp;

[0102] S202: when the UWB signal is a non-pre-set UWB signal, controlling the UWB signal receiving / sending module of the mobile terminal to shield the UWB signal for a preset shielding duration;

[0103] S203: When the UWB signal is a preset UWB signal, the UWB signal receiving / transmitting module of the mobile terminal is controlled to be communicatively connected with the intersection UWB device of the current intersection signal lamp transmitting the preset UWB signal.

[0104] In the initial stage of the embodiment, the control module receives a blind guiding start instruction and controls the UWB signal receiving / transmitting module of the mobile terminal to start; the UWB signal receiving / transmitting module of the mobile terminal receives the UWB signal of the current intersection and identifies whether the UWB signal is a preset UWB signal, which is a detection signal transmitted by the intersection UWB device of the current intersection signal lamp; when the UWB signal is a non-preset UWB signal, it means that the UWB signal is transmitted by other devices, and at this time, the control module controls the UWB signal receiving / transmitting module of the mobile terminal to shield the UWB signal for a preset shielding time length; when the UWB signal is a preset UWB signal, it means that the UWB signal is transmitted by the intersection UWB device of the current intersection signal lamp, and at this time, the control module controls the UWB signal receiving / transmitting module of the mobile terminal to shield the UWB signal for a preset shielding time length; in this way, the UWB signal receiving / transmitting module of the mobile terminal can be quickly connected with the intersection UWB device of the current intersection signal lamp.

[0105] It should be noted that the specific form of the interaction module is not limited in the present application, and the interaction module can be a voice module, a detection module, or a voice module and a detection module simultaneously provided; the specific setting mode can be set by the user according to the specific use scene.

[0106] Please refer to Figure 3 , Figure 3 The third embodiment of the UWB blind guiding method provided by the present application is provided.

[0107] The interaction module comprises a voice module;

[0108] The target travel information of the user obtained by the interaction module S50 comprises:

[0109] S501: The voice module is controlled to send a travel inquiry voice to the user;

[0110] S502: The target travel voice of the user is obtained and identified to confirm the target travel information of the user.

[0111] In the embodiment, the interaction module comprises a voice module, the control module controls the voice module to send a travel inquiry voice to the user, and after obtaining the target travel voice of the user, the target travel information of the user is identified; the operation is simple and convenient for the user in the blind guiding process.

[0112] Please refer toFigure 4 , Figure 4 The fourth embodiment of the UWB-based guiding method is provided.

[0113] The interaction module comprises a voice module and a detection module, which is used to detect the actual pressure parameter, actual pressure duration and current hitting frequency of the mobile terminal appearance;

[0114] The target travel information S50 of the user obtained by the interaction module comprises:

[0115] S501': the actual pressure parameter, the actual pressure duration and the current hitting frequency are obtained;

[0116] S502': when the actual pressure parameter meets the first target pressure range and the actual pressure duration meets the first target duration range, the target travel information of the user is determined as a blind lane turn;

[0117] S503': when the actual pressure parameter meets the second target pressure range and the actual pressure duration meets the second target duration range, the target travel information of the user is determined as crossing an intersection, and the crossing direction information of the user is determined according to the current hitting frequency.

[0118] In the embodiment, the interaction module comprises a voice module and a detection module; the target travel information of the user is determined according to the actual pressure parameter, the actual pressure duration and the current hitting frequency, and the user is navigated by the voice module; for example, when the user long-presses the portable device (the actual pressure parameter meets the first target pressure range and the actual pressure duration meets the first target duration range), the target travel information of the user is determined as a blind lane turn; when the user taps the portable device (the actual pressure parameter meets the second target pressure range and the actual pressure duration meets the second target duration range), the target travel information of the user is determined as crossing an intersection, and the crossing direction information of the user is determined according to the number of times of tapping the portable device (i.e. the current hitting frequency of the portable device), for example, single tapping the portable device is for a straight intersection, double tapping the portable device is for a cross intersection, and triple tapping the portable device is for a diagonal intersection; in this way, the target travel of the user can be accurately grasped, so that the mobile terminal can accurately guide the user.

[0119] Please refer to Figure 5 , Figure 5 The fifth embodiment of the UWB-based guiding method is provided.

[0120] The target travel information of the user is a blind lane turn;

[0121] According to the signal lamp information, the target trip information and the position of the user at the current intersection, the guiding strategy for the user is adjusted S60, including:

[0122] S601: The voice module is controlled to send a guiding query voice to the user;

[0123] S602: The guiding demand voice of the user is acquired and recognized, and the guiding demand information of the user is confirmed;

[0124] S603: According to the guiding demand information, the guiding strategy for the user is adjusted.

[0125] The guiding demand information is that a sidewalk is needed for guiding;

[0126] According to the guiding demand information, the guiding strategy for the user is adjusted S603, including:

[0127] S6031: According to the position of the user at the current intersection, target sidewalk information is acquired;

[0128] S6032: According to the target sidewalk information, a preset guiding path of the target sidewalk is acquired;

[0129] S6034: According to the preset guiding path of the target sidewalk, the voice module is controlled to send a sidewalk guiding voice to the user.

[0130] Specifically, before the step S6034 of controlling the voice module to send a sidewalk guiding voice to the user according to the preset guiding path of the target sidewalk, the method further includes:

[0131] S6033: The UWB signal receiving / sending module of the mobile terminal is controlled to disconnect with the intersection UWB device of the current intersection signal lamp, and a signal emitted by the intersection UWB device of the current intersection signal lamp is shielded for a preset shielding time length.

[0132] In the embodiment, after confirming that the target travel information of the user is a blind lane turn, the control module controls the voice module to send a blind guiding inquiry voice to the user, and obtains and recognizes a blind guiding demand voice of the user; when the blind guiding demand information is a demand for blind lane guiding, the control module obtains target blind lane information according to the position of the user at the current intersection; according to the target blind lane information, a preset blind guiding path of the target blind lane is obtained; and according to the preset blind guiding path of the target blind lane, the control module controls the voice module to send a blind lane guiding voice to the user; in this way, blind guiding of the user on the blind lane is realized; at the same time, the control module controls the UWB signal receiving / transmitting module of the mobile terminal to be disconnected with the intersection UWB device of the current intersection signal lamp, and shields the signal sent by the intersection UWB device of the current intersection signal lamp for a preset shielding time length; in this way, the UWB signal receiving / transmitting module of the mobile terminal can be prevented from being affected by receiving and connecting the intersection UWB device of the signal lamp of the next intersection; it should be noted that the step S6033 and the step S6032 can be performed in sequence or simultaneously.

[0133] Please refer to Figure 6 , Figure 6 The sixth embodiment of the UWB-based blind guiding method provided by the application is provided.

[0134] The target travel information of the user is intersection crossing;

[0135] According to the signal lamp information, the target travel information and the position of the user at the current intersection, the blind guiding strategy for the user is adjusted S60, including:

[0136] S601′: Obtain the crossing intersection direction information of the user;

[0137] S602′: According to the crossing intersection direction information and the current intersection position, a preset blind guiding path for crossing the intersection is determined;

[0138] S611′: According to the preset blind guiding path for crossing the intersection, the voice module is controlled to send an intersection blind guiding voice to the user.

[0139] Specifically, after the step S611′ of controlling the voice module to send an intersection blind guiding voice to the user according to the preset blind guiding path for crossing the intersection, the method further includes:

[0140] S612′: Obtain the current step speed and the current advancing direction of the user;

[0141] S613′: Obtain real-time signal lamp information at a preset interval time length;

[0142] S614′: According to the current step speed, the current advancing direction and the real-time signal lamp information, the blind guiding path for crossing the intersection is adjusted.

[0143] More specifically, the signal light information comprises a signal light color and a signal light count;

[0144] Before the step S611' of controlling the voice module to send the intersection guiding voice to the user according to the preset blind guiding path of the intersection, the method further comprises:

[0145] S603': obtaining the signal light color;

[0146] S604': when the signal light color is green, preliminarily determining that the user can pass through the intersection;

[0147] S605': calculating a passing distance of the user passing through the current intersection according to the current intersection position and the current user position;

[0148] S606': obtaining an average step speed of the user;

[0149] S607': calculating an estimated duration of the user passing through the intersection according to the passing distance and the average step speed;

[0150] S608': obtaining the signal light count;

[0151] S609': when the estimated duration is less than the signal light count, determining that the user can pass through the intersection, and controlling the voice module to send the passing intersection voice to the user;

[0152] S610': when the estimated duration is greater than the signal light count, determining that the user stops passing through the intersection, and controlling the voice module to send the stopping passing voice to the user.

[0153] In the embodiment, after confirming that the target travel information of the user is intersection crossing, the crossing intersection direction information of the user is acquired, and a preset blind guiding path for crossing the intersection is determined according to the crossing intersection direction information and the current intersection position. At this time, the color of the signal lamp and the signal lamp count are acquired, when the color of the signal lamp is green, it is preliminarily determined that the user can cross the intersection, and then the estimated duration of the user crossing the intersection is calculated according to the crossing distance and the average step speed. When the estimated duration is greater than the signal lamp count, it can be determined that the remaining time of the signal lamp color change is not enough for the user to cross, so that it is determined that the user stops crossing the intersection, and the voice module is controlled to send the stop crossing voice to the user. When the estimated duration is less than the signal lamp count, it can be determined that the remaining time of the signal lamp color change is enough for the user to cross, so that it is determined that the user can cross the intersection, and the voice module is controlled to send the crossing intersection voice to the user. After it is determined that the user can cross the intersection, the voice module is controlled to send the intersection blind guiding voice to the user. In the process of the user crossing the intersection, the current step speed and the current advancing direction of the user are acquired, the real-time signal lamp information is acquired at a preset interval duration, the blind guiding path for crossing the intersection is adjusted according to the current step speed, the current advancing direction and the real-time signal lamp information. In this way, the user can safely cross the intersection.

[0154] Please refer to Figure 7 , Figure 7 The seventh embodiment of the UWB blind guiding method provided by the application is provided.

[0155] The interaction module comprises a voice module;

[0156] After the step S60 of adjusting the blind guiding strategy for the user according to the signal lamp information, the target travel information and the position of the user at the current intersection, the method further comprises:

[0157] S70: after determining that the user completes the current travel, the UWB signal receiving / sending module of the mobile terminal is disconnected with the intersection UWB device of the current intersection signal lamp, and the signal emitted by the intersection UWB device of the current intersection signal lamp is shielded for a preset shielding duration;

[0158] S80: the voice module is controlled to send a plan inquiry voice to the user;

[0159] S90: the plan travel voice of the user is acquired and recognized, and the plan travel information of the user is confirmed;

[0160] S100: when the plan travel information is continuous blind guiding instruction, the above blind guiding steps are repeated.

[0161] In the embodiment, after the user completes the journey of crossing the blind road or crossing the intersection, the control module controls the UWB signal receiving / transmitting module of the mobile terminal to disconnect with the intersection UWB device of the current intersection signal lamp, and shields the signal sent by the intersection UWB device of the current intersection signal lamp for a preset shielding time length, so that the UWB signal receiving / transmitting module of the mobile terminal is prevented from being affected by the signal of the intersection UWB device of the next intersection signal lamp; then, the control module controls the voice module to send a plan inquiry voice to the user; the voice module acquires the plan journey voice of the user and recognizes, when the user needs to continue crossing the intersection, the mobile terminal continues to guide the user; when the user has no further plan journey, the control module controls the UWB signal receiving / transmitting module of the mobile terminal to be closed.

[0162] The application further provides a mobile terminal, which comprises a UWB signal receiving / transmitting module of the mobile terminal, an interactive module and a first control module; the UWB signal receiving / transmitting module of the mobile terminal is used for receiving the UWB signal sent by the intersection UWB device; the interactive module is used for acquiring the target journey information of the user and delivering the guide information to the user; the first control module comprises a first memory, a first processor and a UWB-based guide control program stored in the first memory and capable of running on the first processor, and the UWB-based guide control program realizes the steps of the above-mentioned UWB-based guide method when executed by the first processor.

[0163] In the application, the UWB-based guide method is used for the mobile terminal, which comprises a UWB signal receiving / transmitting module of the mobile terminal, an interactive module and a first control module, and the UWB signal receiving / transmitting module of the mobile terminal is used for receiving the UWB signal; the UWB-based guide method comprises the following steps: when the user is at an intersection, acquiring the current intersection information sent by the intersection UWB device of the current intersection signal lamp and the current user position, the current intersection information comprising the current intersection position and the signal lamp information of the current intersection; determining the position of the user at the current intersection according to the current intersection position and the current user position; acquiring the target journey information of the user through the interactive module; and adjusting the guide strategy for the user according to the signal lamp information, the target journey information and the position of the user at the current intersection; that is, the intelligent judgment and guide for the blind person crossing the intersection and the blind road turning are realized through the UWB communication technology and the navigation algorithm; not only the existing mobile terminal can be used to build and lay the intersection navigation module at low cost, but also the blind person crossing the intersection or the blind road can be guided in time and accurately, so that the problem that the blind person cannot cross the intersection independently due to the visual impairment can be effectively solved without causing a large economic burden on the blind person and the local government.

[0164] Specifically, the interaction module comprises a voice module and / or a detection module; wherein: the voice module is used for recognizing user voice and sending guiding voice to the user; and the detection module is used for detecting actual pressure parameters of the outer surface of the mobile terminal, actual pressure duration and current number of times of being hit. That is to say, in the present application, the interaction module can be a voice module, a detection module or a voice module and a detection module simultaneously provided; and the specific setting mode can be set by the user according to the specific use scene.

[0165] Specifically, the control module can comprise a processor such as a CPU, a communication bus, a user interface, a network interface and a memory. The communication bus is used for realizing the connection communication among these components. The user interface can comprise a display screen (Display) and an input unit such as a keyboard (Keyboard). Optionally, the user interface can further comprise a standard wired interface and a wireless interface. The network interface can optionally comprise a standard wired interface and a wireless interface (such as a WI-FI interface). The memory can be a high-speed RAM memory or a stable memory (non-volatile memory) such as a disk memory. Optionally, the memory can also be a storage device independent of the aforementioned processor.

[0166] The memory as a kind of computer storage medium can comprise an operating system, a network communication module, a user interface module and the UWB-based guiding control program.

[0167] The present application further provides an intersection UWB device, which is used for signal lights arranged at intersections, and comprises an intersection UWB signal receiving / sending module and a second control module. The intersection UWB signal receiving / sending module is in communication connection with the UWB signal receiving / sending module of the mobile terminal. The second control module is in electrical communication connection with the intersection UWB signal receiving / sending module. The second control module comprises a second memory and a second processor. The second processor is used for interacting with the system of the signal light to obtain signal light information. The second memory is used for storing current intersection information.

[0168] It should be noted that the present application does not limit the power supply mode of the intersection UWB device. The power supply mode of the intersection UWB device can be a battery independently provided for the intersection UWB device. Alternatively, the intersection UWB device can be electrically connected with the power supply module of the signal light at the intersection, so that the power supply module of the signal light at the intersection supplies power to the intersection UWB device.

[0169] The above merely describes the preferred embodiments of the present application, and is not intended to limit the patent scope of the present application. Any equivalent structural changes made under the concept of the present application, or direct / indirect application in other related technical fields, using the content of the present application specification and drawings, are included in the patent protection scope of the present application.

Claims

1. A UWB-based guide method for the visually impaired, characterized in that, The UWB-based navigation method is used in a mobile terminal, and the UWB-based navigation method includes: When a user is at an intersection, the system obtains the current intersection information and the current user location sent by the intersection UWB device from the current intersection traffic lights. The current intersection information includes the current intersection location and the current intersection traffic light information. Based on the current intersection location and the current user location, determine the user's current location at the intersection; Obtain the user's target itinerary information through the interactive module; The guidance strategy for the blind is adjusted based on the traffic light information, the target travel information, and the user's location at the current intersection. The interaction module includes a voice module and a detection module. The detection module is used to detect the actual pressure parameters, actual pressure duration, and current number of impacts on the surface of the mobile terminal. The user's target itinerary information obtained through the interaction module includes: Obtain the actual pressure parameters, the actual duration of pressure application, and the current number of impacts; When the actual pressure parameters meet the first target pressure range and the actual pressure duration meets the first target duration range, the target travel information is determined to be a blind path turn; When the actual pressure parameters meet the second target pressure range and the actual pressure duration meets the second target duration range, the target travel information is determined to be intersection crossing, and the user's intersection crossing direction information is determined based on the current number of impacts. Before the step of obtaining the current intersection information and the current user location sent by the intersection UWB device from the current intersection traffic lights when the user is at the intersection, the method further includes: Receives the guide activation command and controls the activation of the UWB signal receiving / transmitting module of the mobile terminal; Receive the UWB signal at the current intersection and identify whether the UWB signal is a preset UWB signal, wherein the preset UWB signal is the detection signal sent by the intersection UWB device of the traffic light at the current intersection; When the UWB signal is not a preset UWB signal, the UWB signal receiving / transmitting module of the mobile terminal is controlled to block the UWB signal for a preset blocking duration; When the UWB signal is a preset UWB signal, the UWB signal receiving / transmitting module of the mobile terminal is connected to the intersection UWB device of the current intersection traffic light that sends the preset UWB signal.

2. The UWB-based guide method for the visually impaired according to claim 1, characterized in that, The interaction module includes a voice module; The user's target itinerary information obtained through the interaction module includes: The voice module is controlled to send a travel inquiry voice message to the user; Acquire and recognize the user's target trip voice to confirm the user's target trip information.

3. The UWB-based guide method for the visually impaired according to claim 1, characterized in that, The target travel information is a turn on a tactile paving road; Based on the traffic light information, the target travel information, and the user's current location at the intersection, adjust the guidance strategy for the visually impaired, including: The voice module is controlled to send guide questions to the user. Acquire and recognize the user's voice recordings indicating their guide needs, and confirm the user's guide needs information; Based on the aforementioned guideship needs information, adjust the guideship strategy for users.

4. The UWB-based guide method for the visually impaired according to claim 3, characterized in that, The guideway requirement information indicates a need for tactile paving for the visually impaired; Based on the aforementioned guideship needs information, adjust the guideship strategy for users, including: Based on the user's current location at the intersection, obtain the target tactile paving information; Based on the target tactile paving information, obtain the preset guide path for the target tactile paving; Based on the preset guide path of the target tactile paving, the voice module is controlled to send tactile paving guide voice messages to the user.

5. The UWB-based guide method for the visually impaired according to claim 4, characterized in that, Before the step of controlling the voice module to send tactile paving guidance voice to the user according to the preset guidance path of the target tactile paving, the method further includes: The control mobile terminal's UWB signal receiving / transmitting module disconnects from the intersection UWB device of the current traffic light and blocks the signal emitted by the intersection UWB device of the current traffic light for a preset blocking time.

6. The UWB-based guide method for the visually impaired according to claim 1, characterized in that, The user's target route information is crossing intersections; Based on the traffic light information, the target travel information, and the user's current location at the intersection, adjust the guidance strategy for the visually impaired, including: Obtain the user's direction information at the intersection; Based on the intersection direction information and the current intersection location, a preset guide path for the visually impaired is determined for crossing the intersection; Based on the preset tactile guidance route at the intersection, the voice module is controlled to send tactile guidance voice messages to the user.

7. The UWB-based guide method for the visually impaired according to claim 6, characterized in that, After the step of controlling the voice module to send a tactile directional voice message to the user based on the preset tactile directional path at the intersection, the method further includes: Get the user's current walking speed and current direction of travel; Real-time traffic light information is obtained at preset intervals; Adjust the tactile guidance path at the intersection based on the current walking speed, the current direction of travel, and the real-time traffic light information.

8. The UWB-based guide method for the visually impaired according to claim 6, characterized in that, The traffic light information includes the traffic light color and the traffic light count; Before the step of controlling the voice module to send crossroads guidance voice messages to the user based on the preset tactile directional path at the intersection, the method further includes: Obtain the color of the traffic light; When the traffic light is green, it is preliminarily determined that the user can cross the intersection; Based on the current intersection location and the current user location, calculate the distance the user travels through the current intersection; Get the user's average walking speed; Based on the travel distance and the average walking speed, calculate the estimated time for the user to cross the intersection; Obtain the traffic light count; When the estimated duration is less than the traffic light count, it is determined that the user can cross the intersection, and the voice module is controlled to send a voice message to the user indicating that the user can cross the intersection. When the estimated duration exceeds the traffic light count, the system determines that the user must stop crossing the intersection and controls the voice module to send a stop voice message to the user.

9. The UWB-based guide method for the visually impaired according to claim 1, characterized in that, The interaction module includes a voice module; After adjusting the guidance strategy for the visually impaired based on the traffic light information, the target travel information, and the user's current location at the intersection, the method further includes: After confirming that the user has completed the current trip, the UWB signal receiving / transmitting module of the control mobile terminal disconnects from the intersection UWB device of the current traffic light and blocks the signal emitted by the intersection UWB device of the current traffic light for a preset blocking time. The voice module is controlled to send a plan inquiry voice message to the user; Acquire and recognize the user's planned itinerary voice recordings to confirm the user's planned itinerary information; If the planned itinerary information is continuous guide guidance, repeat the guide guidance steps described above.

10. A mobile terminal, characterized in that, The mobile terminal includes: UWB signal receiving / transmitting module, used to receive UWB signals emitted by UWB devices at intersections; The interaction module is used to obtain the user's target itinerary information and convey guide information to the user; and, The first control module includes a first memory, a first processor, and a UWB-based guide control program stored in the first memory and executable on the first processor. When the UWB-based guide control program is executed by the first processor, it implements the steps of the UWB-based guide method as described in any one of claims 1 to 9.

11. The mobile terminal according to claim 10, characterized in that, The interaction module includes a voice module and / or a detection module; wherein: The voice module is used to recognize the user's voice and send guide voice messages to the user; The detection module is used to detect the actual pressure parameters, actual pressure duration, and current number of impacts on the surface of the mobile terminal.

12. A storage medium, characterized in that, The storage medium stores a UWB-based guide control program, which, when executed by a processor, implements the steps of the UWB-based guide method as described in any one of claims 1 to 9.

13. A UWB device for intersections, characterized in that, The intersection UWB device is used for traffic lights installed at intersections, and the intersection UWB device includes: The intersection UWB signal receiving / transmitting module is communicatively connected to the mobile terminal's UWB signal receiving / transmitting module to send UWB signals to the mobile terminal, enabling the mobile terminal to implement the UWB-based navigation method as described in any one of claims 1 to 9. The second control module is electrically connected to the intersection UWB signal receiving / transmitting module. The second control module includes a second memory and a second processor. The second processor is used to interact with the traffic light system to obtain traffic light information, and the second memory is used to store the current intersection information.

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