Tactile stick and safe path navigation method thereof, electronic equipment and storage medium

Abstract

The invention discloses a tactile stick and a safe path navigation method thereof, electronic equipment and a storage medium, and is applied to the technical field of blind navigation. The method comprises the steps of planning a path according to a current position and a target position of a user, and generating an initial path; guiding a user to advance along the initial path; establishing a path width model, and obtaining a safe path width through the path width model; the position of the user is monitored in real time in the advancing process, and it is ensured that the user is within the safe path width range all the time. Through organic combination of the tactile stick and the visual camera, a cooperative working system is formed, and the position relation between a user and the safety path width is monitored in real time; through vibration feedback of different levels, the user is reminded to adjust the advancing direction in real time so as to ensure that the user always advances within the safe path width range of the path. And the safety and independence of visually impaired people are greatly improved.

Description

Technical Field

[0001] The present application relates to the technical field of navigation for the blind, and in particular to a blind stick and a path navigation method thereof, an electronic device and a storage medium.

[0002] There are currently more than 250 million people with visual impairments in the world. Visually impaired people often face various challenges when traveling, including various obstacles, unfriendly traffic environment and incomplete traffic facilities, which restrict their independent travel. However, with the advancement of technology, more and more blind assistive devices have emerged, such as canes with sensors, blind glasses with cameras, robot guide dogs, etc., and artificial intelligence technology has been introduced for voice prompts to help visually impaired people detect obstacles and traffic signs and guide them forward. The cane is easy to use, does not require special training, and can be used in various environments, giving the visually impaired greater independence. Therefore, compared with other blind assistive devices, the cane is deeply loved by the visually impaired.

[0003] Existing canes can guide the visually impaired by adding various devices to the canes, which can provide path planning and obstacle avoidance for the visually impaired. However, the guidance information provided by these methods is usually rough, requiring users to react by feeling, rather than providing active guidance. The real environment is complex and changeable, and users lack a sense of security if they only follow voice guidance.

[0004] Based on this, a new technical solution is needed. Summary of the invention

[0005] The first object of the present invention is to provide a safe path navigation method for a blind stick, which specifically comprises the following steps:

[0006] Plan a path based on the user's current location and target location and generate an initial path;

[0007] instructing the user to follow the initial path;

[0008] Establishing a path width model, and obtaining a safe path width through the path width model;

[0009] Monitor the user's position in real time during travel to ensure that the user is always within the width of the safe path.

[0010] Furthermore, planning a route according to the user's current location and target location specifically includes:

[0011] Acquire the current position through a positioning device, and acquire the target position through voice recognition;

[0012] The current position and the target position are integrated into map data, and an initial path is obtained through a path planning algorithm.

[0013] Furthermore, the establishing of the path width model specifically includes:

[0014] Scan the surrounding environment to determine whether there are obstacles;

[0015] If there is no obstacle, a reasonable safe path width is set based on the initial path according to the user status.

[0016] Optionally, establishing the path width model further includes:

[0017] If there is an obstacle, obtain the obstacle image;

[0018] Obtaining obstacle information according to the obstacle image; the obstacle information includes obstacle position and obstacle shape;

[0019] Determine the minimum safety distance around the obstacle according to the obstacle information and pedestrian passage standards;

[0020] Updating the path based on the minimum safety distance and the obstacle information to obtain a new path;

[0021] On the basis of the new path, combined with the environment and user status, set a reasonable safe path width;

[0022] Wherein, obtaining obstacle information according to the obstacle image specifically includes:

[0023] Acquire a depth image of the obstacle, and establish a three-dimensional point cloud model according to the depth image;

[0024] The obstacle information is acquired based on the three-dimensional point cloud model.

[0025] Furthermore, the step of ensuring that the user is always within the width of the safe path specifically includes:

[0026] determining a center position according to the width of the safety path;

[0027] Obtaining the distance between the cane and the center position, recorded as the center distance;

[0028] A graded vibration feedback is initiated according to the center distance to remind the user to always be within the safe path width.

[0029] Further, starting graded vibration feedback according to the distance specifically includes:

[0030] Comparing the center distance with the first preset threshold;

[0031] If the center distance is greater than the first preset threshold, it means that the cane is no longer within the width of the safe path, and the cane vibrates strongly;

[0032] If the center distance is less than or equal to the first preset threshold, it means that the cane is within the width of the safe path, and then the position relationship between the cane and the edge of the path is compared.

[0033] Furthermore, comparing the positional relationship between the cane and the path edge specifically includes:

[0034] Determining the position of the path edge according to the safe path width;

[0035] Obtain the distance between the cane and the nearest path edge, recorded as the edge distance;

[0036] Comparing the edge distance with a second preset threshold;

[0037] If the edge distance is greater than or equal to a second preset threshold, it means that the cane is close to the edge of the path but has not reached the edge of the path, then the cane vibrates slightly;

[0038] If the edge distance is less than a second preset threshold, it means that the cane has reached the edge of the path, and the cane vibrates moderately.

[0039] Furthermore, the reminding the user that he is always within the safe path width specifically includes:

[0040] Use voice prompts to guide users to adjust the direction of travel based on vibration feedback:

[0041] After starting graded vibration feedback, obtaining the position of the cane, and determining the positional relationship between the cane and the center position;

[0042] If the cane is to the left of the center position, instruct the user to move to the right;

[0043] If the cane is to the right of the center position, the user is guided to move to the left.

[0044] A second object of the present invention is to provide a blind stick, using the safe path navigation method of the blind stick described in any embodiment of the present invention.

[0045] A third object of the present invention is to provide an electronic device, comprising: a memory having a program code stored thereon; a processor connected to the memory, and when the program code is executed by the processor, the safe path navigation method for a blind stick as described in any embodiment of the present invention is implemented.

[0046] A fourth object of the present invention is to provide a computer-readable storage medium having program instructions stored thereon, wherein the program instructions, when executed, implement the safe path navigation method for a blind stick as described in any one of the embodiments.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] The present application provides a safe path navigation method for a blind stick. By organically combining a blind stick and a visual camera, a collaborative working system is formed to monitor the positional relationship between the user and the width of the safe path in real time. Through different levels of vibration feedback, the user is reminded to adjust his or her own direction of travel immediately to ensure that the user always travels within the safe path width of the path, thereby greatly improving the safety and independence of the visually impaired.

[0049] Through the integration of multiple optimization algorithms for specific tasks, the cane can provide a highly intelligent and adaptive navigation experience, ensuring that blind users can move safely and independently in complex and changing environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0051] Figure 1 This is a flow chart of a safe path navigation method for a blind stick provided in Embodiment 1 of the present invention;

[0052] Figure 2 is a flow chart of establishing a safe path width model in the safe path navigation method for a blind stick provided in the first embodiment of the present invention;

[0053] Figure 3 This is a flow chart of determining the position of a blind stick in the method for safe path navigation of a blind stick provided in the first embodiment of the present invention;

[0054] Figure 4 is a schematic diagram of an electronic device provided in Embodiment 3 of the present invention;

[0055] Figure 5 It is a schematic diagram of a storage medium provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0056] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0057] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0058] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspect described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0059] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0060] Embodiment 1

[0061] Figure 1 This is a flow chart of a safe path navigation method for a blind stick provided by an embodiment of the present invention. The embodiment of the present invention is applicable to situations where a visually impaired person uses a blind stick to find the way when traveling. Figure 1 As shown, a safe path navigation method for a blind stick specifically includes the following steps:

[0062] S1: Plan a path based on the user's current location and target location and generate an initial path;

[0063] It should be noted that planning a route based on the user's current location and target location specifically includes:

[0064] Get the current location through the positioning device and get the target location through the voice device;

[0065] The current position and target position are integrated into the map data, and the initial path is obtained through the path planning algorithm.

[0066] In this embodiment, the positioning device is located in the cane. The positioning device can be a global positioning navigation system, a Beidou satellite navigation system, an inertial navigation system, etc. The global positioning navigation system has good long-term accuracy, but poor short-term accuracy, low data output frequency, and is greatly affected by the environment. The inertial navigation system has high short-term measurement accuracy and high update frequency, but the inertial navigation system data drifts and the long-term navigation error is large.

[0067] In this embodiment, the global positioning navigation system and the inertial navigation system are combined, and the data measured by the two systems are fused through the Kalman filter algorithm to obtain data with high long-term and short-term stability and accuracy to achieve accurate positioning of the user.

[0068] In another preferred embodiment, in indoor areas or places with poor signals, Wi-Fi positioning or Bluetooth beacon technology positioning can be used.

[0069] In another preferred embodiment, easily identifiable marking points are added to the cane, and computer vision technology is used to track the marking points in real time to facilitate determination of the position and direction of the cane, thereby obtaining the current position of the user.

[0070] The map data is a collection of detailed map data provided by professional surveying and mapping agencies, including information such as road width, pedestrian crossings, building outlines, etc.; the map data is updated regularly to keep it up to date.

[0071] The voice device uses new natural language processing technology to recognize the user's language, convert the user's voice into executable instructions, and provide feedback to the user through speech synthesis technology. The user can interact with the cane through voice commands, asking about the current location, setting the target location, etc.

[0072] The path planning algorithm can be an improved A* algorithm or a D* series algorithm. These algorithms take into account the path cost and obstacle information and can quickly generate an efficient path. Among them, the improved A* algorithm effectively improves the shortcomings of the traditional A* algorithm by expanding adjacent points, removing redundant points on the path, and smoothing the path. Experimental results show that the improved A* algorithm can reduce the number of expanded nodes when generating the initial path and reduce the system memory usage.

[0073] The D* algorithm estimates the path cost to the target location and reduces unnecessary calculations through the estimation function and the fast retrieval function. During the search process, all grids are marked as known or unknown, and they are sorted according to the values ​​of the estimation function and the fast retrieval function.

[0074] In practical applications, you can choose the appropriate algorithm according to specific needs. For example, if you need to find the shortest path quickly, you can choose the A* algorithm; if the environment changes frequently, you can choose the D* algorithm.

[0075] S2: guides the user to follow the initial path;

[0076] In this embodiment, the cane integrates multiple sensors and intelligent technologies, combined with a voice device, and generates relevant voice prompts by considering the user's current position and direction of travel to guide the user along the initial path. For example, the cane uses GPS and a camera for precise positioning and environmental detection, combined with a voice navigation function, to help the visually impaired go to their destination independently. The integration of these technologies ensures that the visually impaired can navigate safely and effectively in complex environments.

[0077] S3: Establish a path width model and obtain the safe path width through the path width model;

[0078] It should be noted that if Figure 2 , establishing the path width model specifically includes:

[0079] S301: Scan the surrounding environment to determine whether there are obstacles;

[0080] Specifically, if there is no obstacle, execute S302;

[0081] If there is an obstacle, execute S303 to S307.

[0082] In this embodiment, the surrounding environment is scanned by installing multiple sensors on the cane. Optionally, the surrounding environment is scanned using a high-resolution camera, which is located on the cane and has a sufficient frame rate to track the movement of the cane in real time. For example, a binocular camera, a ToF camera or a stereo vision system uses depth perception technology to scan the surrounding environment to obtain an image of the surrounding environment, and determines whether there are obstacles through an image recognition algorithm. In order to adapt to different lighting conditions, the camera may also be equipped with automatic exposure and autofocus functions.

[0083] In another preferred embodiment, an ultrasonic sensor can be used to emit ultrasonic waves to the surroundings, and the time and intensity of the ultrasonic waves reflected back can be used to determine whether there is an obstacle and the approximate distance of the obstacle. The distance formula for ultrasonic sensors to detect obstacles is: distance = ultrasonic propagation speed x ultrasonic round-trip time / 2. Usually, the propagation speed of ultrasonic waves in the air is 340m / s. For example, if the ultrasonic round-trip time is 0.01s, the distance is 340x0.01 / 2=1.7m.

[0084] At the same time, it can also be combined with infrared sensors to detect the thermal radiation of surrounding objects to further assist in determining the presence of obstacles. When the sensor detects an obstacle, the micro camera on the cane will automatically start to directly obtain the image of the obstacle. The camera can use a high-resolution image sensor to ensure that a clear image of the obstacle can be captured.

[0085] Optionally, determining whether there is an obstacle can also be achieved through a target detection algorithm. A target detection model is established according to the target detection algorithm, and the target detection model is trained through a training data set to obtain a target detection model that meets the detection requirements. The training data set may be images containing obstacles such as vehicles, pedestrians, fixed objects, etc., and the label of the data in the training set indicates whether the environment contains obstacles.

[0086] Among them, the target detection algorithm can adopt the traditional target detection method, by calculating Haar features, HOG features, LBP features, combined with machine learning methods, such as AdaBoost, SVM, DPM and other machine learning methods, to achieve the recognition and judgment of obstacles.

[0087] The target detection algorithm can also adopt a target detection algorithm based on deep learning (CNN), including RCNN series, SSD, YOLO series algorithms, etc. The RCNN series algorithm can adopt R-CNN, Fast R-CNN and other algorithms.

[0088] Taking the Fast R-CNN algorithm as an example, the camera continuously captures images of the surrounding environment. The image is subjected to feature extraction by the feature extractor to obtain a feature map. At the same time, the selective search algorithm is run on the original image, and the region of interest is mapped to the feature map. Then, the region of interest pooling operation is performed on each region of interest to obtain feature vectors of equal length. These feature vectors are sorted into positive and negative samples and passed into parallel R-CNN sub-networks in batches. Classification and regression are performed at the same time, and the losses of the two are unified. The target detection model is obtained through training, and the actual collected images of the surrounding environment are input into the target detection model to identify the target area containing obstacles, which can achieve high-speed and accurate target detection.

[0089] Among them, the region of interest pooling operation is a key operation to prepare the data for input into the R-CNN subnetwork. Since the obtained regions of interest usually have different sizes, after being mapped to the feature map, feature tensors of different sizes will be obtained. The region of interest pooling operation first divides the region of interest into the target number of grids, and then performs the maximum pooling operation on each grid to obtain the region of interest feature vectors of equal length.

[0090] S302: Setting a reasonable safe path width based on the initial path and the user status.

[0091] In this embodiment, the safe path width is the width of the safe walking area planned by the cane for the user, so as to ensure that the user has enough space to adjust when walking. Generally, the safe path width needs to be wide enough to accommodate a person walking normally and leave room for dealing with emergencies.

[0092] User status includes the user's walking speed and walking habits. If the user walks faster, a relatively narrow safety path width may be required to ensure efficient navigation; if the user moves more slowly or has higher safety requirements, the system will expand the safety path width accordingly. For example, for an elderly blind user with limited mobility, the safety path width may be set wider so that they have enough time and space to deal with possible emergencies. When setting the safety path width, it is also necessary to consider anthropometric dimensions and leave a certain margin based on the comfort and safety requirements of the activity.

[0093] S303: Obtain obstacle image;

[0094] S304: Obtaining obstacle information according to the obstacle image; the obstacle information includes obstacle position and obstacle shape;

[0095] Specifically, by analyzing the pixels in the obstacle image, the coordinate position of the obstacle in the obstacle image can be determined, and then the position of the obstacle in the actual space can be calculated by combining the parameters of the camera and the position information of the cane.

[0096] For example, assuming that the imaging plane coordinate system of the camera is (x, y), the coordinates of the center point of the image are (x0, y0), and the pixel sizes are dx and dy (unit: meter / pixel). For the pixel coordinates (x1, y1) of the obstacle detected in the image, its position coordinates (X, Y) in the actual space can be calculated by the following formula:

[0097] X=(x1-x0)×dx

[0098] Y=(y1-y2)×dy

[0099] It should be noted that obtaining obstacle information according to the obstacle image specifically includes:

[0100] Obtain the depth image of the obstacle and build a 3D point cloud model based on the depth image;

[0101] Obtain obstacle information based on the 3D point cloud model.

[0102] Optionally, technical routes for acquiring depth images include ToF (Time-of-Fl ight), binocular vision, structured light, etc.

[0103] In order to accurately detect objects in a short time and not be affected by humidity, air pressure and temperature, making it suitable for use on a blind stick and detecting obstacles of various shapes and sizes at close and long distances. In some preferred embodiments, a ToF camera with accurate and fast measurement, long measurement distance and low cost is used.

[0104] ToF cameras use tiny transmitters to emit infrared light or lasers, where the light produced bounces off any object and returns to the ToF camera. Based on the time difference between the light being emitted and the light being reflected by the object and returning to the ToF camera, the sensor can measure the distance between the object and the ToF camera.

[0105] The ToF camera can provide depth information. When combined with the camera, a depth image can be obtained, so that the distance between the user and the obstacle and the location of the obstacle can be obtained. The depth image is then converted into a three-dimensional point cloud model to obtain the shape of the obstacle.

[0106] By using the depth information obtained through stereo vision or ToF cameras to construct a three-dimensional point cloud model, more accurate obstacle positioning and shape recognition can be achieved, making it easier to generate a new path to avoid obstacles based on the obstacle position and shape.

[0107] S305: Determine the minimum safety distance around the obstacle according to the obstacle information and pedestrian passage standards;

[0108] For example, the shape of the obstacle can be circular, square, irregular, etc.

[0109] If the obstacle is a circular obstacle, assuming the radius of the circular obstacle is r, then the minimum safety distance D min_circle for:

[0110] D min_circle =r+k1×w

[0111] Among them, k1 is the safety distance coefficient, which can be determined according to actual conditions and is generally between 1.2-1.5; w is the average width of the human body.

[0112] If the obstacle is a square obstacle with side lengths a and b, the minimum safe distance D min_aquare for:

[0113] D min_aquare =max(a,b) / 2+k2×w

[0114] Among them, k2 is the safety distance coefficient, and its value range is similar to that of k1; w is the average width of the human body.

[0115] If the obstacle is an irregular shaped obstacle, the minimum safety distance can be determined by calculating the size of the minimum circumscribed rectangle of the irregular shaped obstacle and then using the same method as for a square obstacle.

[0116] In another preferred embodiment, the minimum safety distance can also be set according to factors such as the average reaction time and walking speed of the user. The minimum safety distance can be a threshold. The user's motion state is monitored by a built-in accelerometer and gyroscope, and the Kalman filter is used for data fusion to accurately estimate the user's instantaneous speed. The minimum safety distance is dynamically updated according to the instantaneous speed. For example, when the user walks at a speed of 5km / h, the safety distance is set to 0.8 meters; if the speed increases to 7km / h, it is adjusted to 1 meter accordingly.

[0117] S306: Update the path based on the minimum safety distance and obstacle information to obtain a new path;

[0118] Specifically, the new path avoids obstacles and has a minimum safety distance from the obstacles, ensuring that there is no collision between the user and the obstacles.

[0119] In this embodiment, the method can update the path in real time to cope with changes in the environment, such as newly appeared obstacles or moving objects.

[0120] S307: On the basis of the new path, a reasonable safe path width is set in combination with environmental conditions and user status.

[0121] Specifically, the environmental conditions include obstacle information; the user status includes the user's walking speed and walking habits.

[0122] The safe path width is the width of the safe walking area planned by the cane for the user. The safe path width is set according to the environmental conditions and the user's walking speed and habits to ensure that the user can avoid obstacles and have enough space to adjust when walking. Generally, the safe path width needs to be wide enough to accommodate a person walking normally and leave room for unexpected situations.

[0123] S4: Monitor the user's position in real time during travel to ensure that the user is always within the safe path width.

[0124] It should be noted that if Figure 3 , ensuring that users are always within the safe path width, including:

[0125] S401: Determine the center position according to the width of the safety path;

[0126] S402: Obtain the distance between the cane and the center position, recorded as the center distance;

[0127] S403: Initiate graded vibration feedback according to the center distance to remind the user to be within the safe path width.

[0128] Among them, starting graded vibration feedback according to distance specifically includes:

[0129] S4031: Determine whether the center distance is greater than a first preset threshold;

[0130] Specifically, if the center distance is greater than the first preset threshold, execute S4032;

[0131] If the center distance is less than or equal to the first preset threshold, execute S4033;

[0132] S4032: Indicates that the cane is no longer within the safe path width, and the cane vibrates strongly;

[0133] S4033: If the cane is within the width of the safe path, then the positional relationship between the cane and the edge of the path is compared.

[0134] The first preset threshold is half of the safety path width value.

[0135] S4034: Determine the position of the path edge according to the safe path width;

[0136] S4035: Obtain the distance between the cane and the nearest path edge, recorded as the edge distance;

[0137] S4036: Determine whether the edge distance is greater than or equal to a second preset threshold;

[0138] If the edge distance is greater than or equal to the second preset threshold, execute S4037:

[0139] If the edge distance is less than the second preset threshold, execute S4038:

[0140] S4037: Indicates that the cane is close to the edge of the path but has not reached the edge of the path, and the cane vibrates slightly;

[0141] S4038: Indicates that the cane has reached the edge of the path, and the cane vibrates moderately.

[0142] The second preset threshold represents a safe distance between the cane and the edge of the path, and the second preset threshold can also be set as needed.

[0143] In this embodiment, the built-in vibration device of the cane activates graded vibration feedback, and the tactile feedback of vibration is given to the user. According to different levels of vibration reminders, the user is informed of the current position relationship with the width of the safe path, so that the user can adjust his position immediately to be within the width of the safe path. Graded vibration feedback greatly enhances the perception ability of visually impaired people by providing users with additional sensory information, helping them move and interact in the environment more safely and confidently.

[0144] It should be noted that reminding users to stay within the safe path width specifically includes:

[0145] Use voice prompts to guide users to adjust the direction of travel based on vibration feedback:

[0146] After starting graded vibration feedback, the position of the cane is obtained to determine the positional relationship between the cane and the center position;

[0147] If the cane is to the left of the center position, instruct the user to move to the right;

[0148] If the cane is to the right of center, instruct the user to move left.

[0149] For example, during walking, the blind stick vibrates moderately, and it is determined that the blind stick is located to the left of the center position at this time, indicating that the user has reached the edge of the path to the left of the safe path width and needs to walk to the right to correct the walking direction, then the voice reminds the user to adjust the walking direction to the right.

[0150] In this embodiment, a coordinated working system is formed by organically combining the cane with the visual camera to monitor the positional relationship between the user and the safe path width in real time; through different levels of vibration feedback, the user is reminded to adjust his or her direction of travel immediately to ensure that the user always travels within the safe path width of the path. The characteristic of this method is that the user does not need to know whether there is an obstacle in front of him or what kind of obstacle there is. The user only needs to use the left and right detection of the cane to keep himself or herself within the safe path width of the planned path until reaching the destination, which greatly improves the safety and independence of the visually impaired.

[0151] Embodiment 2

[0152] A blind stick is provided, using the safe path navigation method for a blind stick according to any one of the embodiments of the present invention. For a detailed description of the method, reference may be made to the corresponding description in the above method embodiments, which will not be repeated here.

[0153] Embodiment 3

[0154] An electronic device 300, such as Figure 4As shown, it includes: a memory 301 on which program codes are stored; a processor 302, which is connected to the memory, and when the program codes are executed by the processor, a safe path navigation method for a blind stick is implemented. For a detailed description of the method, reference can be made to the corresponding description in the above method embodiment, which will not be repeated here.

[0155] Embodiment 4

[0156] A computer readable storage medium 400, such as Figure 5 As shown, a program instruction 401 is stored thereon, and when the program instruction is executed, a safe path navigation method for a blind stick is implemented. For a detailed description of the method, reference may be made to the corresponding description in the above method embodiment, and no further description is given here.

[0157] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and implementation modes. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A safe path navigation method for a blind stick, characterized in that: The specific steps include: Plan a path based on the user's current location and target location and generate an initial path; instructing the user to follow the initial path; Establishing a path width model, and obtaining a safe path width through the path width model; Monitor the user's position in real time during travel to ensure that the user is always within the width of the safe path.

2. The safe path navigation method according to claim 1, characterized in that: The planning of the path according to the user's current location and target location specifically includes: Acquire the current position through a positioning device, and acquire the target position through voice recognition; The current position and the target position are integrated into map data, and an initial path is obtained through a path planning algorithm.

3. The safe path navigation method for a blind stick according to claim 1, characterized in that: The establishment of the path width model specifically includes: Scan the surrounding environment to determine whether there are obstacles; If there is no obstacle, then a reasonable safe path width is set based on the initial path according to the user status; Optionally, establishing the path width model further includes: If there is an obstacle, obtain the obstacle image; Obtaining obstacle information according to the obstacle image; the obstacle information includes obstacle position and obstacle shape; Determine the minimum safety distance around the obstacle according to the obstacle information and pedestrian passage standards; Updating the path based on the minimum safety distance and the obstacle information to obtain a new path; On the basis of the new path, combined with the environment and user status, set a reasonable safe path width; Wherein, obtaining obstacle information according to the obstacle image specifically includes: Acquire a depth image of the obstacle, and establish a three-dimensional point cloud model according to the depth image; The obstacle information is acquired based on the three-dimensional point cloud model.

4. The safe path navigation method for a blind stick according to claim 1, characterized in that: Ensuring that the user is always within the safe path width specifically includes: determining a center position according to the width of the safety path; Obtaining the distance between the cane and the center position, recorded as the center distance; A graded vibration feedback is initiated according to the center distance to remind the user to always be within the safe path width.

5. The safe path navigation method for a blind stick according to claim 4, characterized in that: Initiating graded vibration feedback according to the distance specifically includes: Comparing the center distance with the first preset threshold; If the center distance is greater than the first preset threshold, it means that the cane is no longer within the width of the safe path, and the cane vibrates strongly; If the center distance is less than or equal to the first preset threshold, it means that the cane is within the width of the safe path, and then the position relationship between the cane and the edge of the path is compared.

6. The safe path navigation method for a blind stick according to claim 5, characterized in that: The comparing the position relationship between the cane and the path edge specifically includes: Determining the position of the path edge according to the safe path width; Obtain the distance between the cane and the nearest path edge, recorded as the edge distance; Comparing the edge distance with a second preset threshold; If the edge distance is greater than or equal to a second preset threshold, it means that the cane is close to the edge of the path but has not reached the edge of the path, then the cane vibrates slightly; If the edge distance is less than a second preset threshold, it means that the cane has reached the edge of the path, and the cane vibrates moderately.

7. The safe path navigation method for a blind stick according to claim 5, characterized in that: The reminder to the user that they are within the safe path width specifically includes: Use voice prompts to guide users to adjust the direction of travel based on vibration feedback: After starting graded vibration feedback, obtaining the position of the cane, and determining the positional relationship between the cane and the center position; If the cane is to the left of the center position, instruct the user to move to the right; If the cane is to the right of the center position, the user is guided to move to the left.

8. A blind stick, characterized in that: The method according to any one of claims 1 to 7 is applied.

9. An electronic device, characterized in that: include: A memory having program code stored therein; A processor is connected to the memory, and when the program code is executed by the processor, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: Program instructions are stored thereon, and when the program instructions are executed, the method according to any one of claims 1 to 7 is implemented.

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