Navigation method and device, electronic equipment and readable medium

Abstract

The embodiment of the invention provides a navigation method and device, electronic equipment and a readable medium. The method comprises the following steps: acquiring ultrasonic sensing data of a surrounding environment through the ultrasonic sensor, and acquiring infrared sensing data of the surrounding environment through the infrared sensor; determining the position of an obstacle in the surrounding environment based on the ultrasonic sensing data, the infrared sensing data and preset weight information; determining a current navigation path based on the position of the obstacle and a preset target position; and generating navigation prompt information according to the navigation path and sending the navigation prompt information to the user. Therefore, user navigation can be carried out for the blind through the navigation helmet, meanwhile, the navigation prompt information is generated based on the obstacle position obtained through fusion of the ultrasonic sensing data and the infrared sensing data, high accuracy is achieved, clear and safe navigation prompt can be provided for the blind, and the blind can be prevented from colliding with the obstacle while the blind is prevented from colliding with the obstacle. The blind person is assisted to safely reach the target position.

Description

Technical Field

[0001] The present invention relates to the field of navigation technology, and in particular to a navigation method, a navigation device, an electronic device and a computer-readable medium. Background Art

[0002] In the prior art, in order to improve the convenience of blind people's travel, navigation can be provided for the blind people, so that they can move safely and independently in their daily lives.

[0003] Generally speaking, navigation for the blind usually relies on guide dogs, canes, and some electronic navigation devices. Guide dogs can guide the blind to safely pass through the streets and avoid obstacles. However, they require long-term training and can usually only provide simple information to the blind. The cane is the most commonly used auxiliary tool for the blind. It senses the obstacles on the ground and in front through touch, but it relies on touch and cannot sense long-distance obstacles. Electronic navigation devices such as handheld devices, wearable devices, and smartphone applications can provide navigation support using sensors, GPS, and voice prompts. However, these electronic navigation devices are usually not set up for the blind, which makes it difficult for the blind to use them. Summary of the invention

[0004] The embodiments of the present invention provide a navigation method, device, electronic device and computer-readable storage medium to solve the problem of travel inconvenience for the blind.

[0005] An embodiment of the present invention discloses a navigation method, which is applied to a navigation helmet. The navigation helmet includes an ultrasonic sensor and an infrared sensor. The method includes:

[0006] Acquire ultrasonic sensing data of the surrounding environment through the ultrasonic sensor, and acquire infrared sensing data of the surrounding environment through the infrared sensor;

[0007] Determine the location of obstacles in the surrounding environment based on the ultrasonic sensor data, the infrared sensor data, and preset weight information;

[0008] Determining a current navigation path based on the location of the obstacle and a preset target location;

[0009] Navigation prompt information is generated according to the navigation path and sent to the user.

[0010] Optionally, the step of determining the position of the obstacle in the surrounding environment based on the ultrasonic sensor data, the infrared sensor data, and preset weight information includes:

[0011] Determine the distance between the obstacle in the surrounding environment and the navigation helmet based on the ultrasonic sensor data and / or the infrared sensor data;

[0012] Determining weight information based on the distance between the obstacle in the surrounding environment and the navigation helmet;

[0013] The positions of obstacles in the surrounding environment are determined based on the ultrasonic sensing data, the infrared sensing data, and the weight information.

[0014] Optionally, the step of determining the position of the obstacle in the surrounding environment based on the ultrasonic sensor data, the infrared sensor data, and preset weight information includes:

[0015] Determine fusion environment data based on the ultrasonic sensor data, the infrared sensor data, and preset weight information;

[0016] Obstacles are identified in the fused environment data, and positions of the obstacles are determined.

[0017] Optionally, the method further comprises:

[0018] Determine the direction of obstacles in the surrounding environment relative to the navigation helmet based on the ultrasonic sensor data and / or the infrared sensor data;

[0019] Obstacle indication information is generated and sent to the user according to the distance between the obstacle in the surrounding environment and the navigation helmet, and the direction of the obstacle in the surrounding environment relative to the navigation helmet.

[0020] Optionally, the step of generating obstacle indication information and sending it to the user according to the distance between the obstacle in the surrounding environment and the navigation helmet, and the direction of the obstacle in the surrounding environment relative to the navigation helmet, comprises:

[0021] Generate obstacle indication information according to the distance between the obstacle in the surrounding environment and the navigation helmet, and the direction of the obstacle in the surrounding environment relative to the navigation helmet;

[0022] The obstacle indication information is played to the user in voice form; and / or, in the direction of the obstacle in the surrounding environment of the navigation helmet relative to the navigation helmet, the obstacle prompt is performed using a vibration intensity corresponding to the distance between the obstacle and the navigation helmet.

[0023] Optionally, the method further comprises:

[0024] If the distance between the obstacle in the surrounding environment and the navigation helmet is less than a preset threshold, an emergency obstacle avoidance prompt message is generated and sent to the user.

[0025] Optionally, the step of determining the current navigation path based on the position of the obstacle and the preset target position includes:

[0026] Constructing a surrounding environment model based on the location of the obstacle and preset map data;

[0027] The current navigation path is determined according to the surrounding environment model and the preset target location.

[0028] Optionally, the step of generating navigation prompt information according to the navigation path and sending the navigation prompt information to the user includes:

[0029] generating navigation prompt information according to the navigation path;

[0030] The navigation prompt information is sent to the user in voice form and / or vibration form.

[0031] Optionally, the step of sending the navigation prompt information to the user in voice form and / or vibration form includes:

[0032] Playing the navigation prompt information to the user in the voice form; and / or,

[0033] Based on the navigation prompt information, the direction of travel is determined, and a helmet portion corresponding to the direction of travel in the navigation helmet is vibrated.

[0034] Optionally, the method further comprises:

[0035] Collect surrounding environment parameters;

[0036] Based on the surrounding environment parameters, the emission intensities of the ultrasonic sensor and the infrared sensor are adjusted.

[0037] The embodiment of the present invention further provides a navigation device, which is applied to a navigation helmet. The navigation helmet includes an ultrasonic sensor and an infrared sensor. The device includes:

[0038] A sensor data acquisition module, used to acquire ultrasonic sensor data of the surrounding environment through the ultrasonic sensor, and to acquire infrared sensor data of the surrounding environment through the infrared sensor;

[0039] A position determination module, used to determine the position of obstacles in the surrounding environment based on the ultrasonic sensor data, the infrared sensor data, and preset weight information;

[0040] A navigation path determination module, used to determine a current navigation path based on the location of the obstacle and a preset target location;

[0041] The prompt module is used to generate navigation prompt information according to the navigation path and send it to the user.

[0042] Optionally, the location determination module includes:

[0043] A distance determination submodule, used to determine the distance between the obstacle in the surrounding environment and the navigation helmet based on the ultrasonic sensor data and / or the infrared sensor data;

[0044] A weight determination submodule, used to determine weight information based on the distance between the obstacle in the surrounding environment and the navigation helmet;

[0045] The position determination submodule is used to determine the position of obstacles in the surrounding environment based on the ultrasonic sensor data, the infrared sensor data, and the weight information.

[0046] Optionally, the location determination module includes:

[0047] A fusion data determination submodule, used to determine fusion environment data based on the ultrasonic sensor data, the infrared sensor data, and preset weight information;

[0048] The obstacle recognition submodule is used to recognize obstacles in the fused environment data and determine the positions of the obstacles.

[0049] Optionally, the device further comprises:

[0050] A relative direction determination module, used to determine the direction of obstacles in the surrounding environment relative to the navigation helmet based on the ultrasonic sensor data and / or the infrared sensor data;

[0051] The indication information acquisition module is used to generate obstacle indication information and send it to the user according to the distance between the obstacle in the surrounding environment and the navigation helmet, and the direction of the obstacle in the surrounding environment relative to the navigation helmet.

[0052] Optionally, the indication information acquisition module includes:

[0053] An indication information generating submodule, configured to generate obstacle indication information according to a distance between an obstacle in the surrounding environment and the navigation helmet, and a direction of the obstacle in the surrounding environment relative to the navigation helmet;

[0054] The indication information prompt submodule is used to play the obstacle indication information to the user in voice form; and / or, in the direction of the obstacle in the surrounding environment relative to the navigation helmet in the navigation helmet, use the vibration intensity corresponding to the distance between the obstacle and the navigation helmet to provide obstacle prompts.

[0055] Optionally, the device further comprises:

[0056] The avoidance information acquisition module is used to generate emergency obstacle avoidance prompt information and send it to the user if the distance between the obstacle in the surrounding environment and the navigation helmet is less than a preset threshold.

[0057] Optionally, the navigation path determination module includes:

[0058] An environment model building submodule, used to build a surrounding environment model based on the location of the obstacle and preset map data;

[0059] The navigation path determination submodule is used to determine the current navigation path according to the surrounding environment model and the preset target position.

[0060] Optionally, the prompt module includes:

[0061] A navigation information generating submodule, used for generating navigation prompt information according to the navigation path;

[0062] The navigation information sending submodule is used to send the navigation prompt information to the user in the form of voice and / or vibration.

[0063] Optionally, the navigation information sending submodule includes:

[0064] a navigation information playing unit, configured to play the navigation prompt information to the user in the voice form; and / or,

[0065] The navigation helmet vibration unit is used to determine the travel direction based on the navigation prompt information, and vibrate the helmet part corresponding to the travel direction in the navigation helmet.

[0066] Optionally, the device further comprises:

[0067] Environmental parameter collection module, used to collect surrounding environmental parameters;

[0068] The emission intensity adjustment module is used to adjust the emission intensity of the ultrasonic sensor and the infrared sensor based on the surrounding environment parameters.

[0069] The embodiment of the present invention further discloses an electronic device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0070] The memory is used to store computer programs;

[0071] The processor is used to implement the method described in the embodiment of the present invention when executing the program stored in the memory.

[0072] The embodiment of the present invention further discloses one or more computer-readable media on which instructions are stored. When executed by one or more processors, the processors are enabled to execute the method described in the embodiment of the present invention.

[0073] The embodiments of the present invention include the following advantages:

[0074] Through the navigation method provided by the embodiment of the present invention, the ultrasonic sensor obtains the ultrasonic sensor data of the surrounding environment, and the infrared sensor obtains the infrared sensor data of the surrounding environment; based on the ultrasonic sensor data, the infrared sensor data, and the preset weight information, the position of the obstacle in the surrounding environment is determined; based on the position of the obstacle and the preset target position, the current navigation path is determined; and navigation prompt information is generated according to the navigation path and sent to the user. In this way, user navigation for the blind can be achieved through the navigation helmet, and the navigation prompt information is generated based on the obstacle position obtained by the fusion of ultrasonic sensor data and infrared sensor data, with high accuracy, and can provide clear and safe navigation prompts for the blind, while preventing the blind from colliding with obstacles and assisting the blind to reach the target position safely. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] Figure 1 is a flowchart of the steps of a navigation method provided in an embodiment of the present invention;

[0076] Figure 2 is a structural block diagram of a navigation device provided in an embodiment of the present invention;

[0077] Figure 3 is a block diagram of an electronic device provided in an embodiment of the present invention;

[0078] Figure 4 is a schematic diagram of a computer-readable medium provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0079] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0080] Reference Figure 1 , shows a flowchart of the steps of a navigation method provided in an embodiment of the present invention, which is applied to a navigation helmet, the navigation helmet includes an ultrasonic sensor and an infrared sensor, and specifically may include the following steps:

[0081] Step 101, acquiring ultrasonic sensing data of the surrounding environment through the ultrasonic sensor, and acquiring infrared sensing data of the surrounding environment through the infrared sensor;

[0082] In an embodiment of the present invention, a navigation helmet for navigation can be provided for the blind. The navigation helmet can be worn on the head of the blind, and can provide navigation information for the blind while protecting the head of the blind, so as to assist the blind to reach their desired target location.

[0083] In order to better perceive possible obstacles in the surrounding environment when the blind are traveling, infrared sensors and ultrasonic sensors can be set in the navigation helmet.

[0084] Among them, infrared sensors use the reflection or radiation characteristics of infrared light to detect changes in objects or environments. Its core principle can be to determine the position, distance or existence of an object by emitting infrared light and receiving the reflected infrared light.

[0085] Ultrasonic sensors can use the reflection characteristics of ultrasonic waves (sound waves with a frequency higher than 20kHz) to detect objects or measure distances. The core principle is to transmit ultrasonic pulses, receive the reflected ultrasonic waves, and calculate the distance between the object and the sensor by measuring the time difference between transmission and reception.

[0086] In a specific implementation, at least 4 ultrasonic sensors can be evenly distributed on the front, sides and rear of the navigation helmet to form 360° all-round coverage. These sensors are embedded inside the helmet shell and firmly installed through special brackets or fixtures to ensure that the sensors will not loosen or affect the field of vision during user use. Ultrasonic sensors use high-frequency transmitting / receiving modules to improve ranging accuracy and the ability to resolve tiny obstacles. Data synchronization and transmission between sensors are carried out through low-power wireless communication protocols (such as Zigbee) to ensure data consistency, while reducing cable constraints and improving the comfort and aesthetics of the helmet.

[0087] At the same time, a high-density infrared sensor matrix can be installed in the center of the front of the helmet, consisting of multiple infrared transmitters and receivers, forming a high-sensitivity detection area for close-range (<1 meter) obstacles. The infrared matrix uses raster scanning technology to quickly scan the space in front. The outside of the infrared sensor matrix is ​​designed with a transparent protective cover, which allows the transmission of infrared light while preventing the intrusion of dust and dirt. At the same time, the protective cover adopts a wear-resistant and waterproof design to adapt to various complex environments.

[0088] Thus, the infrared sensor and the ultrasonic sensor can be used to sense objects around the blind person's environment, so that the conditions of the surrounding environment can be known. Specifically, the ultrasonic sensor can be used to obtain ultrasonic sensing data of the surrounding environment, and the infrared sensor can be used to obtain infrared sensing data of the surrounding environment.

[0089] Among them, the ultrasonic sensing data and the infrared sensing data can be used to indicate objects existing in the surrounding environment respectively.

[0090] Step 102, determining the location of obstacles in the surrounding environment based on the ultrasonic sensor data, the infrared sensor data, and preset weight information;

[0091] In a specific implementation, in order to improve the accuracy of obstacle detection, the location of obstacles in the surrounding environment can be determined based on ultrasonic sensor data and infrared sensor data at the same time. Specifically, ultrasonic sensor data and infrared sensor data can respectively indicate the location, size, shape and other information of objects in the surrounding environment, and the ultrasonic sensor data and infrared sensor data can be combined to indicate the information of objects in the surrounding environment respectively, and the accurate location, size, shape and other information of the objects can be determined. Therefore, by improving the accuracy of obstacle location recognition, the safety of blind people's travel can be improved.

[0092] Ultrasonic sensors and infrared sensors can have different advantages in different environments. For example, ultrasonic sensors can usually detect objects at a long distance and are not affected by light. They can still work normally in complex environments (such as at night, strong light, haze, etc.). However, their reflection signals for small objects are weak, which may result in failure to detect objects. In addition, for transparent glass, dark objects, etc., the reflection signals of ultrasonic waves are weak, making it difficult to detect accurately.

[0093] Infrared sensors can usually detect objects that are closer, and the detection speed is fast. They can easily detect small obstacles, such as wires and small branches, and for transparent glass, dark objects, etc., infrared sensors can detect through reflected light or thermal radiation. However, they may not work properly in strong light or complex light environments.

[0094] Therefore, the location of obstacles in the surrounding environment can be determined based on ultrasonic sensor data and infrared sensor data at the same time, realizing all-round perception of the surrounding environment. At the same time, different weights can be assigned to ultrasonic sensor data and infrared sensor data respectively according to the characteristics of the current surrounding environment, thereby further improving the accuracy of ultrasonic and infrared fusion perception of the surrounding environment.

[0095] Step 103, determining a current navigation path based on the position of the obstacle and a preset target position;

[0096] In a specific implementation, after determining the location of the obstacle, a navigation path to the target location can be provided for the blind person based on considerations of avoiding the obstacle and the convenience of the blind person's movement. The navigation path can reach the target location as quickly as possible while considering avoiding the obstacle and avoiding sharp turns that may affect the blind person's safety.

[0097] Step 104: Generate navigation prompt information according to the navigation path and send it to the user.

[0098] Afterwards, the current direction of travel can be confirmed based on the navigation path, and navigation prompt information can be generated and sent to the user wearing the navigation helmet to remind the user of the current direction of travel, which can help blind users reach their destination as quickly as possible while avoiding obstacles.

[0099] Through the navigation method provided by the embodiment of the present invention, the ultrasonic sensor obtains the ultrasonic sensor data of the surrounding environment, and the infrared sensor obtains the infrared sensor data of the surrounding environment; based on the ultrasonic sensor data, the infrared sensor data, and the preset weight information, the position of the obstacle in the surrounding environment is determined; based on the position of the obstacle and the preset target position, the current navigation path is determined; and navigation prompt information is generated according to the navigation path and sent to the user. In this way, user navigation for the blind can be achieved through the navigation helmet, and the navigation prompt information is generated based on the obstacle position obtained by the fusion of ultrasonic sensor data and infrared sensor data, with high accuracy, and can provide clear and safe navigation prompts for the blind, while preventing the blind from colliding with obstacles and assisting the blind to reach the target position safely.

[0100] In one embodiment of the present invention, the step of determining the position of the obstacle in the surrounding environment based on the ultrasonic sensor data, the infrared sensor data, and preset weight information includes:

[0101] S11, determining the distance between the obstacle in the surrounding environment and the navigation helmet based on the ultrasonic sensor data and / or the infrared sensor data;

[0102] Specifically, the ultrasonic sensor data and / or infrared sensor data can roughly indicate the obstacles in the surrounding environment. Therefore, based on the ultrasonic sensor data and / or infrared sensor data, it is possible to preliminarily determine the objects in the surrounding environment that may be obstacles and determine the distance between the obstacles and the navigation helmet.

[0103] S12, determining weight information based on the distance between the obstacle in the surrounding environment and the navigation helmet;

[0104] In a specific implementation, since ultrasonic sensors can usually detect distances from a few centimeters to a few meters or even farther, they are more suitable for detecting long-distance obstacles. Infrared sensors have a very fast detection speed for close-range objects and are more suitable for distances from a few centimeters to a few meters. Therefore, when the surrounding obstacles are close, you can tend to give a higher weight to the infrared sensor data, and when the surrounding obstacles are far away, you can tend to give a higher weight to the ultrasonic sensor data.

[0105] S13, determining the location of obstacles in the surrounding environment based on the ultrasonic sensing data, the infrared sensing data, and the weight information.

[0106] In an embodiment of the present invention, ultrasonic sensor data and infrared sensor data can be fused according to weight information. By fusing ultrasonic sensor data and infrared sensor data with weights, the navigation helmet can accurately identify various types of obstacles, thereby improving the obstacle avoidance accuracy of the navigation helmet.

[0107] In a specific implementation, the ultrasonic sensor data and the infrared sensor data may be preprocessed first.

[0108] For ultrasonic sensor data, filtering can be performed to remove environmental noise and noise interference from the sensor itself. Filtering methods can include low-pass filtering, median filtering, and Kalman filtering. Low-pass filtering can be used to remove high-frequency noise, retain low-frequency signals, and ensure the smoothness of ultrasonic sensor data. Median filtering can be used to remove sudden outliers and improve the stability of ultrasonic sensor data. Kalman filtering can be used to dynamically predict and correct ultrasonic sensor data to further improve the accuracy of ultrasonic sensor data.

[0109] At the same time, the data of infrared sensors are easily affected by lighting conditions, so it is necessary to set a reasonable threshold and adjust it dynamically according to changes in ambient lighting. Specifically, an initial threshold can be set according to the characteristics of the infrared sensor to distinguish obstacles from the background. Thereafter, the threshold is dynamically adjusted according to different lighting conditions (such as strong light, weak light, night, etc.) to reduce the false alarm rate and missed alarm rate. In addition, raster scanning technology can be used to quickly scan the space ahead and extract the location and shape information of obstacles. Through multi-angle and multi-directional infrared light scanning, a two-dimensional or three-dimensional obstacle distribution map of the space ahead is generated, and then the outline and location information of the obstacle are extracted according to the intensity and time difference of the reflected light.

[0110] Thereafter, the ultrasonic sensor data and the infrared sensor data may be fused and processed.

[0111] Since the sampling frequencies and response times of ultrasonic sensors and infrared sensors are different, it is first necessary to synchronize the ultrasonic sensor data and the infrared sensor data to ensure that the data are aligned on the time axis.

[0112] Specifically, a timestamp marking method may be used to add a timestamp to each set of sensor data, and the time of data from different sensors may be aligned through an interpolation or alignment algorithm.

[0113] On the basis of time synchronization, a weighted fusion algorithm can be used to dynamically adjust the weights of ultrasonic and infrared data according to factors such as the distance, shape, and reflectivity of the obstacle to achieve high-precision obstacle recognition.

[0114] When the obstacle is close, the weight of the infrared sensor can be increased because the infrared sensor has higher sensitivity and response speed in close-range detection. When the obstacle has a complex shape, the weight of the infrared sensor can be increased because the infrared sensor can better capture complex contours. When the obstacle has a high reflectivity, the weight of the infrared sensor can be increased because the infrared sensor is more sensitive to objects with high reflectivity. Conversely, when the obstacle is far away or has a low reflectivity, the weight of the ultrasonic sensor is increased because the ultrasonic sensor has more advantages in detecting long-distance and low-reflectivity objects.

[0115] The weights of ultrasonic sensor data and infrared sensor data can be calculated in real time according to the characteristics of the obstacle (such as distance, shape, reflectivity). The ultrasonic sensor data and infrared sensor data are weighted fused according to the calculated weights to generate fused environment data and determine the location of the obstacle in the surrounding environment.

[0116] In one embodiment of the present invention, the step of determining the position of the obstacle in the surrounding environment based on the ultrasonic sensor data, the infrared sensor data, and preset weight information includes:

[0117] S21, determining fused environment data based on the ultrasonic sensor data, the infrared sensor data, and preset weight information;

[0118] S22, identifying obstacles in the fused environment data, and determining the positions of the obstacles.

[0119] In a specific implementation, the weights of the ultrasonic sensor data and the infrared sensor data are determined, and the ultrasonic sensor data and the infrared sensor data are weighted fused according to the calculated weights to generate fused environmental data.

[0120] Afterwards, the Kalman filter algorithm can be used to smooth the fused data. Specifically, the Kalman filter algorithm can include a dynamic model and a measurement model. The state at the current moment can be predicted based on the dynamic model, and then the predicted value can be corrected based on the measured value to obtain a more accurate state estimate. Thus, the position and speed of the object in the fused environment data can be predicted by Kalman filtering, and the abnormal measured values ​​in the fused environment data can be smoothed based on the predicted value, thereby achieving smoothing of the fused data.

[0121] Thereafter, obstacles may be identified in the fused environment data, and the locations of the obstacles may be determined.

[0122] Specifically, characteristic information of objects such as position, distance, shape, size, moving speed and reflectivity can be extracted from the fused environmental data.

[0123] According to the characteristic information of the object, the object can be classified, the type of the object can be identified, and the confidence score of the corresponding type can be output. Among them, the object of type obstacle is determined as an obstacle.

[0124] Specifically, the objects may be classified using classification models such as support vector machines, neural networks, or decision trees, and the present invention does not impose any limitation on this.

[0125] In one embodiment of the present invention, the method further comprises:

[0126] S31, determining a direction of an obstacle in the surrounding environment relative to the navigation helmet based on the ultrasonic sensor data and / or the infrared sensor data;

[0127] S32: Generate obstacle indication information and send it to the user according to the distance between the obstacle in the surrounding environment and the navigation helmet, and the direction of the obstacle in the surrounding environment relative to the navigation helmet.

[0128] Specifically, after obtaining ultrasonic sensor data, infrared sensor data, or fused environmental data obtained by fusing ultrasonic sensor data and infrared sensor data, the position of the obstacle can be extracted from the ultrasonic sensor data, infrared sensor data, or the fused environmental data obtained by fusing ultrasonic sensor data and infrared sensor data, and the direction of the obstacle in the surrounding environment relative to the navigation helmet can be determined based on the position of the obstacle and the position of the navigation helmet, and the distance between the obstacle in the surrounding environment and the navigation helmet can be obtained.

[0129] Afterwards, obstacle indication information can be generated and sent to the user based on the distance between the obstacles in the surrounding environment and the navigation helmet, as well as the direction of the obstacles in the surrounding environment relative to the navigation helmet, so as to prompt the user that there are obstacles around, thereby helping the blind to avoid obstacles better.

[0130] In an embodiment of the present invention, the step of generating obstacle indication information and sending it to the user according to the distance between the obstacle in the surrounding environment and the navigation helmet, and the direction of the obstacle in the surrounding environment relative to the navigation helmet, comprises:

[0131] S41, generating obstacle indication information according to the distance between the obstacle in the surrounding environment and the navigation helmet, and the direction of the obstacle in the surrounding environment relative to the navigation helmet;

[0132] S42, playing the obstacle indication information to the user in voice form; and / or, in the direction of the obstacle in the surrounding environment of the navigation helmet relative to the navigation helmet, using a vibration intensity corresponding to the distance between the obstacle and the navigation helmet to provide an obstacle prompt.

[0133] Specifically, the navigation helmet can also be provided with a voice module and a vibration module. The vibration module can be a built-in vibration motor around the helmet, close to the user's ear. The vibration motor adopts a low-power, high-efficiency design, and can provide vibration feedback of different intensities and frequencies according to different obstacle distances and directions, thereby enhancing the user's spatial perception ability.

[0134] After generating obstacle indication information based on the distance between obstacles in the surrounding environment and the navigation helmet, and the direction of obstacles in the surrounding environment relative to the navigation helmet, TTS (Text-To-Speech) technology is used to convert the obstacle indication information into voice output to inform the blind user of the distance, direction, and size of the obstacle.

[0135] At the same time, in the direction of the obstacle in the surrounding environment of the navigation helmet relative to the navigation helmet, the obstacle prompt can be performed using the vibration intensity corresponding to the distance between the obstacle and the navigation helmet. In this way, the user can perceive the direction of the obstacle through vibration, and at the same time, the distance of the obstacle can be known according to the vibration intensity. The greater the vibration intensity, the closer the distance, so that the situation of obstacles in the surrounding environment can be better perceived and obstacles can be avoided.

[0136] In addition, different vibration modes are used to indicate the size of obstacles. For example, a long vibration can be used to indicate that there is a large obstacle ahead, and a short vibration can indicate a small obstacle that can be safely passed.

[0137] In one embodiment of the present invention, the method further comprises:

[0138] S51: If the distance between the obstacle in the surrounding environment and the navigation helmet is less than a preset threshold, generate an emergency obstacle avoidance prompt message and send it to the user.

[0139] Specifically, if the distance between an obstacle in the surrounding environment and the navigation helmet is less than a preset threshold, it can be considered that the distance between the obstacle and the navigation helmet is already relatively small, and the blind user may have a greater risk of collision. At this time, an emergency obstacle avoidance prompt message can be generated and sent to the user, prompting the user to avoid the obstacle in time.

[0140] In one embodiment of the present invention, the step of determining the current navigation path based on the position of the obstacle and the preset target position includes:

[0141] S61, constructing a surrounding environment model based on the location of the obstacle and preset map data;

[0142] S62: Determine a current navigation path according to the surrounding environment model and a preset target location.

[0143] Specifically, a surrounding environment model may be constructed based on the location of the obstacle and preset map data to simulate the current surrounding environment, wherein the surrounding environment model may include information such as the location, size, and type of the obstacle.

[0144] In the specific implementation, information such as the location, size and type of obstacles can be extracted from the fused environmental data; then, this information is matched and fused with the built-in map data to generate a digital model containing obstacle and map information to obtain the surrounding environment model.

[0145] Afterwards, the currently applicable navigation path can be determined based on the surrounding environment model and the preset target location.

[0146] In a specific implementation, a path search algorithm (such as A* algorithm, Dijkstra algorithm or genetic algorithm) can be used to find the optimal path from the current position to the target position in the model. The algorithm can determine the current applicable navigation path by considering factors such as the length, safety (avoiding high-confidence obstacles) and smoothness (avoiding sharp turns) of the path.

[0147] Afterwards, when the user moves, the position of obstacles in the user's surrounding environment can be re-identified, and the surrounding environment model can be re-built based on the position of the obstacles and the preset map data to further determine the updated navigation path. In this way, the current optimal navigation path can be explored for the user in real time, providing the user with a better navigation experience.

[0148] In an embodiment of the present invention, the step of generating navigation prompt information according to the navigation path and sending it to the user includes:

[0149] S71, generating navigation prompt information according to the navigation path;

[0150] S72, sending the navigation prompt information to the user in voice form and / or vibration form.

[0151] In the embodiment of the present invention, after the navigation path is determined, navigation prompt information may be generated, and the navigation prompt information may record the direction suggested for the user to travel.

[0152] Thereafter, navigation prompt information may be sent to the user in voice form and / or vibration form, so that the user may be aware of the currently recommended walking route.

[0153] In one embodiment of the present invention, the step of sending the navigation prompt information to the user in voice form and / or vibration form includes:

[0154] S81, playing the navigation prompt information to the user in the voice form; and / or,

[0155] S82, determining a traveling direction based on the navigation prompt information, and vibrating a portion of the navigation helmet corresponding to the traveling direction.

[0156] In a specific implementation, when the navigation prompt information is sent to the user in voice form, the text can be converted into voice form and played through the language module.

[0157] When sending navigation prompt information to the user in the form of vibration, the helmet part corresponding to the travel direction in the navigation helmet can be vibrated, so that the user can perceive the travel direction through the vibration.

[0158] At the same time, the vibration mode for indicating the direction of travel can be distinguished from the vibration mode for indicating obstacles, so that the user can distinguish the direction in which they can move forward and the direction that needs to be avoided.

[0159] In the specific implementation, natural language processing technology can be used in the process of generating voice to make voice navigation more natural, smooth and easy to understand. At the same time, a variety of voice style options can be provided according to user preferences, such as gentle type, command type, etc., to enhance the user experience.

[0160] For the vibration module, the intensity and frequency of the vibration motor can be adjusted according to user feedback and comfort to provide a more comfortable vibration feedback experience.

[0161] In one embodiment of the present invention, the method further comprises:

[0162] S91, collecting surrounding environment parameters;

[0163] S92: Adjust the emission intensity of the ultrasonic sensor and the infrared sensor based on the ambient environment parameters.

[0164] In the specific implementation, the sensitivity of the infrared sensor and the transmission frequency of the ultrasonic sensor can be automatically adjusted according to the light intensity, temperature and other parameters of the current environment to ensure that the system can maintain optimal performance in different environments.

[0165] In environmental parameter assessment, the role of automatically adjusting the sensitivity of the infrared sensor and the transmission frequency of the ultrasonic sensor according to the current environmental parameters such as light intensity and temperature is to improve the stability and accuracy of the system.

[0166] Specifically, environmental factors such as light intensity and temperature will affect the performance of the sensor. For example, too strong or too weak light will cause the sensitivity of the infrared sensor to decrease; too high or too low temperature will affect the transmission frequency and ranging accuracy of the ultrasonic sensor.

[0167] By automatically adjusting the parameters of the sensor, the system can maintain optimal performance in different environments, thereby improving the stability and accuracy of the system. This can not only improve the accuracy of obstacle recognition, but also reduce false alarms and missed alarms, providing users with more reliable navigation services.

[0168] At the same time, environmental parameter assessments can be performed regularly (such as every 10 minutes) to dynamically adjust system parameters, reduce environmental interference, and improve system stability and accuracy.

[0169] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0170] Reference Figure 2 , shows a structural block diagram of a navigation device provided in an embodiment of the present invention, which is applied to a navigation helmet. The navigation helmet includes an ultrasonic sensor and an infrared sensor, and specifically may include the following modules:

[0171] A sensor data acquisition module 201 is used to acquire ultrasonic sensor data of the surrounding environment through the ultrasonic sensor, and to acquire infrared sensor data of the surrounding environment through the infrared sensor;

[0172] A position determination module 202, configured to determine the position of obstacles in the surrounding environment based on the ultrasonic sensor data, the infrared sensor data, and preset weight information;

[0173] A navigation path determination module 203, used to determine a current navigation path based on the location of the obstacle and a preset target location;

[0174] The prompt module 204 is used to generate navigation prompt information according to the navigation path and send it to the user.

[0175] Optionally, the location determination module includes:

[0176] A distance determination submodule, used to determine the distance between the obstacle in the surrounding environment and the navigation helmet based on the ultrasonic sensor data and / or the infrared sensor data;

[0177] A weight determination submodule, used to determine weight information based on the distance between the obstacle in the surrounding environment and the navigation helmet;

[0178] The position determination submodule is used to determine the position of obstacles in the surrounding environment based on the ultrasonic sensor data, the infrared sensor data, and the weight information.

[0179] Optionally, the location determination module includes:

[0180] A fusion data determination submodule, used to determine fusion environment data based on the ultrasonic sensor data, the infrared sensor data, and preset weight information;

[0181] The obstacle recognition submodule is used to recognize obstacles in the fused environment data and determine the positions of the obstacles.

[0182] Optionally, the device further comprises:

[0183] A relative direction determination module, used to determine the direction of obstacles in the surrounding environment relative to the navigation helmet based on the ultrasonic sensor data and / or the infrared sensor data;

[0184] The indication information acquisition module is used to generate obstacle indication information and send it to the user according to the distance between the obstacle in the surrounding environment and the navigation helmet, and the direction of the obstacle in the surrounding environment relative to the navigation helmet.

[0185] Optionally, the indication information acquisition module includes:

[0186] An indication information generating submodule, configured to generate obstacle indication information according to a distance between an obstacle in the surrounding environment and the navigation helmet, and a direction of the obstacle in the surrounding environment relative to the navigation helmet;

[0187] The indication information prompt submodule is used to play the obstacle indication information to the user in voice form; and / or, in the direction of the obstacle in the surrounding environment relative to the navigation helmet in the navigation helmet, use the vibration intensity corresponding to the distance between the obstacle and the navigation helmet to provide obstacle prompts.

[0188] Optionally, the device further comprises:

[0189] The avoidance information acquisition module is used to generate emergency obstacle avoidance prompt information and send it to the user if the distance between the obstacle in the surrounding environment and the navigation helmet is less than a preset threshold.

[0190] Optionally, the navigation path determination module includes:

[0191] An environment model building submodule, used to build a surrounding environment model based on the location of the obstacle and preset map data;

[0192] The navigation path determination submodule is used to determine the current navigation path according to the surrounding environment model and the preset target position.

[0193] Optionally, the prompt module includes:

[0194] A navigation information generating submodule, used for generating navigation prompt information according to the navigation path;

[0195] The navigation information sending submodule is used to send the navigation prompt information to the user in the form of voice and / or vibration.

[0196] Optionally, the navigation information sending submodule includes:

[0197] a navigation information playing unit, configured to play the navigation prompt information to the user in the voice form; and / or,

[0198] The navigation helmet vibration unit is used to determine the travel direction based on the navigation prompt information, and vibrate the helmet part corresponding to the travel direction in the navigation helmet.

[0199] Optionally, the device further comprises:

[0200] Environmental parameter collection module, used to collect surrounding environmental parameters;

[0201] The emission intensity adjustment module is used to adjust the emission intensity of the ultrasonic sensor and the infrared sensor based on the surrounding environment parameters.

[0202] Through the navigation device provided by the embodiment of the present invention, the ultrasonic sensor obtains the ultrasonic sensor data of the surrounding environment, and the infrared sensor obtains the infrared sensor data of the surrounding environment; based on the ultrasonic sensor data, the infrared sensor data, and the preset weight information, the position of the obstacle in the surrounding environment is determined; based on the position of the obstacle and the preset target position, the current navigation path is determined; and navigation prompt information is generated according to the navigation path and sent to the user. In this way, user navigation for the blind can be achieved through the navigation helmet, and the navigation prompt information is generated based on the obstacle position obtained by the fusion of the ultrasonic sensor data and the infrared sensor data, with high accuracy, and can provide clear and safe navigation prompts for the blind, while preventing the blind from colliding with obstacles and assisting the blind to reach the target position safely.

[0203] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0204] In addition, an embodiment of the present invention further provides an electronic device, such as Figure 3 As shown, it includes a processor 301, a communication interface 302, a memory 303 and a communication bus 304, wherein the processor 301, the communication interface 302, and the memory 303 communicate with each other through the communication bus 304.

[0205] Memory 303, used for storing computer programs;

[0206] The processor 301 is used to execute the program stored in the memory 303 to implement the following steps:

[0207] Acquire ultrasonic sensing data of the surrounding environment through the ultrasonic sensor, and acquire infrared sensing data of the surrounding environment through the infrared sensor;

[0208] Determine the location of obstacles in the surrounding environment based on the ultrasonic sensor data, the infrared sensor data, and preset weight information;

[0209] Determining a current navigation path based on the location of the obstacle and a preset target location;

[0210] Navigation prompt information is generated according to the navigation path and sent to the user.

[0211] Optionally, the step of determining the position of the obstacle in the surrounding environment based on the ultrasonic sensor data, the infrared sensor data, and preset weight information includes:

[0212] Determine the distance between the obstacle in the surrounding environment and the navigation helmet based on the ultrasonic sensor data and / or the infrared sensor data;

[0213] Determining weight information based on the distance between the obstacle in the surrounding environment and the navigation helmet;

[0214] The positions of obstacles in the surrounding environment are determined based on the ultrasonic sensing data, the infrared sensing data, and the weight information.

[0215] Optionally, the step of determining the position of the obstacle in the surrounding environment based on the ultrasonic sensor data, the infrared sensor data, and preset weight information includes:

[0216] Determine fusion environment data based on the ultrasonic sensor data, the infrared sensor data, and preset weight information;

[0217] Obstacles are identified in the fused environment data, and positions of the obstacles are determined.

[0218] Optionally, the method further comprises:

[0219] Determine the direction of obstacles in the surrounding environment relative to the navigation helmet based on the ultrasonic sensor data and / or the infrared sensor data;

[0220] Obstacle indication information is generated and sent to the user according to the distance between the obstacle in the surrounding environment and the navigation helmet, and the direction of the obstacle in the surrounding environment relative to the navigation helmet.

[0221] Optionally, the step of generating obstacle indication information and sending it to the user according to the distance between the obstacle in the surrounding environment and the navigation helmet, and the direction of the obstacle in the surrounding environment relative to the navigation helmet, comprises:

[0222] Generate obstacle indication information according to the distance between the obstacle in the surrounding environment and the navigation helmet, and the direction of the obstacle in the surrounding environment relative to the navigation helmet;

[0223] The obstacle indication information is played to the user in voice form; and / or, in the direction of the obstacle in the surrounding environment of the navigation helmet relative to the navigation helmet, the obstacle prompt is performed using a vibration intensity corresponding to the distance between the obstacle and the navigation helmet.

[0224] Optionally, the method further comprises:

[0225] If the distance between the obstacle in the surrounding environment and the navigation helmet is less than a preset threshold, an emergency obstacle avoidance prompt message is generated and sent to the user.

[0226] Optionally, the step of determining the current navigation path based on the position of the obstacle and the preset target position includes:

[0227] Constructing a surrounding environment model based on the location of the obstacle and preset map data;

[0228] The current navigation path is determined according to the surrounding environment model and the preset target location.

[0229] Optionally, the step of generating navigation prompt information according to the navigation path and sending the navigation prompt information to the user includes:

[0230] generating navigation prompt information according to the navigation path;

[0231] The navigation prompt information is sent to the user in voice form and / or vibration form.

[0232] Optionally, the step of sending the navigation prompt information to the user in voice form and / or vibration form includes:

[0233] Playing the navigation prompt information to the user in the voice form; and / or,

[0234] Based on the navigation prompt information, the direction of travel is determined, and a helmet portion corresponding to the direction of travel in the navigation helmet is vibrated.

[0235] Optionally, the method further comprises:

[0236] Collect surrounding environment parameters;

[0237] Based on the surrounding environment parameters, the emission intensities of the ultrasonic sensor and the infrared sensor are adjusted.

[0238] The communication bus mentioned in the above terminal can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0239] The communication interface is used for communication between the above terminal and other devices.

[0240] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0241] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0242] like Figure 4 As shown, in another embodiment provided by the present invention, a computer-readable storage medium 401 is further provided, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes the navigation method described in the above embodiment.

[0243] In yet another embodiment of the present invention, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute the navigation method described in the above embodiment.

[0244] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk (SSD)), etc.

[0245] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0246] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0247] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A navigation method, characterized in that: The method is applied to a navigation helmet, the navigation helmet includes an ultrasonic sensor and an infrared sensor, and the method includes: Acquire ultrasonic sensing data of the surrounding environment through the ultrasonic sensor, and acquire infrared sensing data of the surrounding environment through the infrared sensor; Determine the location of obstacles in the surrounding environment based on the ultrasonic sensor data, the infrared sensor data, and preset weight information; Determining a current navigation path based on the location of the obstacle and a preset target location; Navigation prompt information is generated according to the navigation path and sent to the user.

2. The method according to claim 1, characterized in that The step of determining the position of the obstacle in the surrounding environment based on the ultrasonic sensor data, the infrared sensor data, and preset weight information includes: Determine the distance between the obstacle in the surrounding environment and the navigation helmet based on the ultrasonic sensor data and / or the infrared sensor data; Determining weight information based on the distance between the obstacle in the surrounding environment and the navigation helmet; The positions of obstacles in the surrounding environment are determined based on the ultrasonic sensing data, the infrared sensing data, and the weight information.

3. The method according to claim 1 or 2, characterized in that: The step of determining the position of the obstacle in the surrounding environment based on the ultrasonic sensor data, the infrared sensor data, and preset weight information includes: Determine fusion environment data based on the ultrasonic sensor data, the infrared sensor data, and preset weight information; Obstacles are identified in the fused environment data, and positions of the obstacles are determined.

4. The method according to claim 2, characterized in that: The method further comprises: Determine the direction of obstacles in the surrounding environment relative to the navigation helmet based on the ultrasonic sensor data and / or the infrared sensor data; Obstacle indication information is generated and sent to the user according to the distance between the obstacle in the surrounding environment and the navigation helmet, and the direction of the obstacle in the surrounding environment relative to the navigation helmet.

5. The method according to claim 4, characterized in that The step of generating obstacle indication information and sending it to the user according to the distance between the obstacle in the surrounding environment and the navigation helmet, and the direction of the obstacle in the surrounding environment relative to the navigation helmet, comprises: Generate obstacle indication information according to the distance between the obstacle in the surrounding environment and the navigation helmet, and the direction of the obstacle in the surrounding environment relative to the navigation helmet; The obstacle indication information is played to the user in voice form; and / or, in the direction of the obstacle in the surrounding environment of the navigation helmet relative to the navigation helmet, the obstacle prompt is performed using a vibration intensity corresponding to the distance between the obstacle and the navigation helmet.

6. The method according to claim 2, characterized in that The method further comprises: If the distance between the obstacle in the surrounding environment and the navigation helmet is less than a preset threshold, an emergency obstacle avoidance prompt message is generated and sent to the user.

7. The method according to claim 1, characterized in that The step of determining the current navigation path based on the position of the obstacle and the preset target position includes: Constructing a surrounding environment model based on the location of the obstacle and preset map data; The current navigation path is determined according to the surrounding environment model and the preset target location.

8. The method according to claim 1, characterized in that The step of generating navigation prompt information according to the navigation path and sending it to the user comprises: generating navigation prompt information according to the navigation path; The navigation prompt information is sent to the user in voice form and / or vibration form.

9. The method according to claim 8, characterized in that The step of sending the navigation prompt information to the user in voice form and / or vibration form includes: Playing the navigation prompt information to the user in the voice form; and / or, Based on the navigation prompt information, the direction of travel is determined, and a helmet portion corresponding to the direction of travel in the navigation helmet is vibrated.

10. The method according to claim 1, characterized in that The method further comprises: Collect surrounding environment parameters; Based on the surrounding environment parameters, the emission intensities of the ultrasonic sensor and the infrared sensor are adjusted.

11. A navigation device, characterized in that: It is applied to a navigation helmet, the navigation helmet includes an ultrasonic sensor and an infrared sensor, and the device includes: A sensor data acquisition module, used to acquire ultrasonic sensor data of the surrounding environment through the ultrasonic sensor, and to acquire infrared sensor data of the surrounding environment through the infrared sensor; A position determination module, used to determine the position of obstacles in the surrounding environment based on the ultrasonic sensor data, the infrared sensor data, and preset weight information; A navigation path determination module, used to determine a current navigation path based on the location of the obstacle and a preset target location; The prompt module is used to generate navigation prompt information according to the navigation path and send it to the user.

12. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; The memory is used to store computer programs; The processor is used to implement the method according to any one of claims 1 to 10 when executing the program stored in the memory.

13. A computer-readable medium having instructions stored thereon, which, when executed by one or more processors, cause the processors to perform the method according to any one of claims 1 to 10.

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