Indoor navigation interaction system and method for blind people

Abstract

The invention discloses an indoor navigation interaction system and method for blind people. The indoor navigation interaction system comprises a mobile terminal, an enhanced tactile stick and a local server. The mobile terminal provides an indoor space information and destination query function for a user. The enhanced tactile stick is provided with a sensor module which is used for sensing indoor environment information and user pose data in real time, providing a navigation instruction for a user through a tactile feedback device and transmitting the data and destination information of the user to a local server. The local server receives sensor data and destination information, calculates an optimal navigation path, optimizes a navigation instruction, and finally transmits the navigation instruction to a user through the tactile feedback device of the enhanced tactile stick to realize accurate navigation. By combining a high-precision indoor positioning technology with multi-modal information interaction, the problems that blind users are insufficient in spatial perception ability in an indoor environment, positioning is difficult, navigation instructions are impaired to follow and the like are solved, the interactivity, accuracy and safety of navigation are remarkably improved, and the method has high mobility and market application potential.

Description

Technical Field

[0001] The invention relates to indoor navigation and positioning, and in particular to an indoor navigation interaction system and method for the blind. Background Art

[0002] Simultaneous Localization and Mapping (SLAM): Simultaneous Localization and Mapping refers to the technology in which a robot equipped with sensors builds an environmental model and completes its own positioning in an unknown environment.

[0003] Haptic Interface: The tactile interface consists of a 3*2 flexible electret ultra-low voltage drive array, which can realize real tactile flow direction navigation based on the tactile illusion model. The tactile interface can realize the directional flow of tactile perception between two points by controlling the vibration time and vibration amplitude of the driving signal at different points.

[0004] With the rapid development of modern science and technology, indoor positioning and navigation technologies have gradually matured and have been widely used in the fields of indoor robots and the Internet of Things. For example, RFID radio frequency positioning technology, UWB ultra-wideband technology, Wi-Fi positioning technology, and SLAM technology have been widely used in smart devices for various indoor scenes. However, these technologies and indoor navigation devices developed based on these technologies are mostly designed for the needs of sighted people, and pay less attention to the special needs of blind users in traveling and navigating in indoor public spaces. In the indoor travel of the blind group, they usually face the following major technical and practical application problems:

[0005] 1. Lack of spatial perception: During indoor travel, blind users need to perceive the specific spatial environment around them and understand the information of points of interest (POI) contained in the space in order to choose a travel destination and complete route planning. However, this spatial information is usually presented in the form of visual signs (such as maps, signboards, etc.). Due to the lack of visual perception, blind users find it difficult to obtain and understand this information, which makes it impossible for them to build a complete understanding of the indoor space they are in. Studies have shown that on the basis of learning environmental spatial knowledge in advance, blind people can obtain enough spatial information to successfully complete travel tasks, further improving the operability and efficiency of indoor navigation.

[0006] 2. Difficulty in indoor spatial positioning: In the absence of visual signs, it is difficult for blind users to accurately determine their position in indoor spaces. Traditional indoor positioning methods (such as GPS) are limited by signal attenuation and multipath interference, and the positioning accuracy in indoor environments is usually low, which cannot meet the blind's needs for high-precision posture reference. Therefore, blind users urgently need to rely on more accurate indoor positioning technology to provide position and posture references.

[0007] 3. Obstacles in following navigation paths: Since blind users lack the ability to perceive obstacles in the environment in real time, they are prone to deviate from the intended path when following navigation instructions, increasing the difficulty of travel and safety risks. Current indoor navigation systems mostly use voice instructions as the main interaction method, but voice prompts are easily disturbed in noisy indoor environments, making it difficult to ensure accurate transmission of navigation information. And because the information that voice can carry is transmitted through a single channel, the feedback method of voice instructions has an inherent lag.

[0008] In summary, most blind users still rely mainly on physical tactile maps or ask others for path selection and target positioning in indoor spaces. Although indoor positioning and navigation technologies have made significant progress in recent years, the practical application of these technologies in blind indoor navigation systems is still relatively limited. Existing indoor navigation systems often ignore the needs of blind users for spatial environmental information perception and their needs for destination planning before traveling. At the same time, most of them focus too much on the technical development of a single module, but fail to achieve systematic integration, making it difficult to meet the comprehensive navigation needs of blind users in complex indoor environments.

[0009] It should be noted that the information disclosed in the above background technology section is only used for understanding the background of the present application, and therefore may include information that does not constitute prior art known to ordinary technicians in the field. Summary of the invention

[0010] The main purpose of the present invention is to overcome the defects existing in the above-mentioned background technology and provide an indoor navigation interaction system and method for the blind.

[0011] To achieve the above object, the present invention adopts the following technical solutions:

[0012] An indoor navigation interactive system for the blind, comprising:

[0013] Mobile terminals are used to provide indoor space information and destination query to blind users;

[0014] Enhanced cane, used to sense indoor environmental information and provide tactile feedback to guide blind users in navigation and destination selection;

[0015] A local server, which receives sensor data and the destination information selected by the user, calculates the user's location and navigation path, and optimizes the navigation instructions;

[0016] The enhanced cane collects environmental data and user posture information through a sensor module, and transmits the collected data and destination information to a local server; the local server calculates the optimal navigation path based on the received data and the destination information selected by the user, and transmits the optimized navigation instructions to the blind user through the tactile feedback device of the enhanced cane to achieve precise navigation.

[0017] Furthermore, the enhanced blind stick includes a sensor module, a button control module, a command feedback module and a main control module, wherein:

[0018] The sensor module is used to collect indoor environment data and user posture information;

[0019] The button control module is used for the user to input destination information;

[0020] The instruction feedback module is used to transmit navigation instructions to the user through tactile feedback;

[0021] The main control module is used for data transmission, instruction reception and execution.

[0022] Furthermore, the sensor module includes a laser radar and an inertial measurement unit, which are used to perceive the positions of surrounding obstacles and the user's movement posture in real time.

[0023] Furthermore, the instruction feedback module is a flexible electret ultra-low voltage drive array, which can realize tactile feedback of directional flow through a tactile illusion model to guide the user's direction of travel.

[0024] Furthermore, the local server includes:

[0025] An initial map preparation module that receives indoor floor plans or LiDAR scans uploaded by building owners, sets the scale, and manages indoor point of interest (POI) information;

[0026] The user scene perception module is used to display indoor environment information and POI information to users through mobile terminals, and to assist users in perceiving the surrounding environment through voice prompts;

[0027] The system positioning and navigation module is used to calculate the user's real-time positioning and global navigation path based on the destination selected by the user and the real-time data collected by the sensor;

[0028] The system instruction optimization module is used to combine the real-time motion data of the enhanced cane, dynamically adjust the output of navigation instructions, and optimize the direction indication of tactile feedback.

[0029] Furthermore, the initial map preparation module supports uploading indoor map data through the floor plan web manager, and allows editing and management of the map scale and POI information.

[0030] Furthermore, the user scene perception module provides indoor environment information and POI clues to the user through the graphical interface or voice prompt function of the mobile terminal, and assists the user in determining the control button sequence corresponding to the destination.

[0031] Furthermore, the system positioning and navigation module calculates the user's precise location by fusing the user's real-time motion data and map data, and generates a global path to the destination.

[0032] Furthermore, the system instruction optimization module dynamically adjusts the output of the navigation instruction according to the real-time motion state of the enhanced cane, ensuring that the user can adjust the direction of travel in time when the user deviates from the path.

[0033] Furthermore, the mobile terminal assists the user in browsing the indoor scene information through a graphical interface or a voice interaction function, and transmits the destination information selected by the user to a local server.

[0034] A method for using the indoor navigation interaction system for the blind comprises:

[0035] Providing indoor space information and destination query functions to blind users through mobile terminals;

[0036] The sensor module of the enhanced cane collects indoor environment data and user posture information, selects a destination through the enhanced cane, and transmits the collected data and destination information to a local server;

[0037] The local server receives sensor data and the destination information selected by the user, calculates the user's real-time location and navigation path, and optimizes navigation instructions;

[0038] The optimized navigation instructions are transmitted to the blind user through the tactile feedback device of the enhanced cane, and the user's direction of travel is guided by tactile feedback to achieve precise navigation.

[0039] In some embodiments, the method may specifically include:

[0040] Map preparation: upload the indoor map and set the scale through the initial map preparation module;

[0041] Start the system, the blind user activates the enhanced cane and starts collecting real-time data;

[0042] Scene perception: users browse the indoor environment through mobile terminals and determine the control button sequence corresponding to the destination;

[0043] Destination selection: the user inputs the destination information through the button control module of the enhanced cane;

[0044] Command perception: the system calculates the location and path based on real-time data, and outputs navigation instructions through the tactile feedback module of the enhanced cane;

[0045] When arriving at the destination, the system prompts the user through tactile feedback that they have arrived at the designated location.

[0046] The present invention has the following beneficial effects:

[0047] The present invention proposes a multimodal indoor navigation interaction system and method for the blind. Through high-precision indoor positioning technology combined with real-time environmental perception and multimodal information interaction, it provides comprehensive indoor space environment information and convenient destination planning functions for blind users, effectively solving the shortcomings of existing navigation systems in terms of spatial perception, positioning accuracy and navigation instruction compliance. The system uses the tactile feedback device of the enhanced cane to transmit optimized navigation instructions, significantly improving the blind people's autonomous travel ability, safety and convenience in indoor environments. At the same time, it has high portability and scalability, and can be quickly promoted to different indoor public places without a large amount of hardware deployment, and has broad market application potential.

[0048] The significant advantages of the embodiments of the present invention include:

[0049] 1. Improve users' spatial perception: The mobile phone program can provide environmental information about the indoor space. Users can better perceive the indoor environment through the system and improve their sense of control over indoor travel.

[0050] 2. Improve users’ compliance with navigation instructions: The system’s navigation instruction optimization algorithm can be used to improve the problem of users easily deviating from the planned path during indoor navigation, thereby improving the safety and robustness of the blind people’s indoor travel interaction system.

[0051] 3. The system is highly portable and expandable: The indoor guide assistance interactive system for the blind proposed in the present invention does not require the deployment of a large number of beacons or hardware in advance, can be quickly deployed or migrated, and is easy to quickly promote to more indoor public places, and has broad market application potential.

[0052] Other beneficial effects of the embodiments of the present invention will be further described below. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 Schematic diagram of system composition of an embodiment of the present invention.

[0054] Figure 2 This is a prototype diagram of the enhanced blind stick according to an embodiment of the present invention.

[0055] Figure 3 This is a schematic diagram of a floor plan web manager page according to an embodiment of the present invention.

[0056] Figure 4 Schematic diagram of an indoor POI query page according to an embodiment of the present invention.

[0057] Figure 5 The system operation flow chart of the embodiment of the present invention.

[0058] Figure 6 This is a diagram of the system technology framework of an embodiment of the present invention. DETAILED DESCRIPTION

[0059] The following is a detailed description of the embodiments of the present invention. It should be emphasized that the following description is only exemplary and is not intended to limit the scope and application of the present invention.

[0060] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, connection can be used for fixing as well as for coupling or communication.

[0061] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0062] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0063] See also Figure 1The embodiment of the present invention provides an indoor navigation interactive system for the blind, comprising: a mobile terminal, used to provide indoor space information and destination query to blind users; an enhanced blind stick, used to sense indoor environmental information and provide tactile feedback to guide blind users to navigate and select destinations; a local server, used to receive sensor data and destination information selected by users, calculate user positioning and navigation paths, and optimize navigation instructions; wherein the enhanced blind stick collects environmental data and user posture information through a sensor module, and transmits the collected data and destination information to the local server through wireless communication; the local server calculates the optimal navigation path according to the received data and the destination information selected by users, and transmits the optimized navigation instructions to the blind users through the tactile feedback device of the enhanced blind stick to achieve accurate navigation.

[0064] In a preferred embodiment, the enhanced blind stick includes a sensor module, a button control module, a command feedback module and a main control module, wherein: the sensor module is used to collect indoor environment data and user posture information; the button control module is used for the user to input destination information; the command feedback module is used to transmit navigation instructions to the user through tactile feedback; the main control module is used for data transmission, command reception and execution. Preferably, the sensor module includes a laser radar and an inertial measurement unit, which are used to perceive the position of surrounding obstacles and the user's movement posture in real time. In one embodiment, the command feedback module is a flexible electret ultra-low voltage drive array, which can realize tactile feedback of directional flow through a tactile illusion model to guide the user's direction of travel.

[0065] In a preferred embodiment, the local server includes: an initial map preparation module, which is used to receive indoor floor plans or laser radar scans uploaded by building owners, set scales, and manage indoor points of interest (POI) information; a user scene perception module, which is used to display indoor environment information and POI information to users through mobile terminals, and assist users in perceiving the surrounding environment through voice prompts; a system positioning and navigation module, which is used to calculate the user's real-time positioning and global navigation path based on the destination selected by the user and the real-time data collected by the sensor; a system instruction optimization module, which is used to dynamically adjust the output of navigation instructions in combination with the real-time motion data of the enhanced cane, and optimize the direction indication of tactile feedback.

[0066] In some embodiments, the initial map preparation module supports uploading indoor map data through the floor plan web manager, and allows editing and management of the map scale and POI information. The user scene perception module provides indoor environment information and POI clues to the user through the graphical interface or voice prompt function of the mobile terminal, and assists the user in determining the control button sequence corresponding to the destination. The system positioning and navigation module calculates the user's precise location by fusing the user's real-time motion data and map data, and generates a global path to the destination. The system instruction optimization module dynamically adjusts the output of navigation instructions according to the real-time motion state of the enhanced cane to ensure that the user can adjust the direction of travel in time when deviating from the path.

[0067] In some embodiments, the mobile terminal assists the user in browsing indoor scene information through a graphical interface or voice interaction function, and transmits the destination information selected by the user to a local server.

[0068] The embodiment of the present invention further provides a method for using the indoor navigation interaction system for the blind, comprising:

[0069] Providing indoor space information and destination query functions to blind users through mobile terminals;

[0070] The sensor module of the enhanced cane collects indoor environment data and user posture information, selects a destination through the enhanced cane, and transmits the collected data and destination information to a local server;

[0071] The local server receives sensor data and the destination information selected by the user, calculates the user's real-time location and navigation path, and optimizes navigation instructions;

[0072] The optimized navigation instructions are transmitted to the blind user through the tactile feedback device of the enhanced cane, and the user's direction of travel is guided by tactile feedback to achieve precise navigation.

[0073] In some embodiments, the method may specifically include:

[0074] Map preparation: upload the indoor map and set the scale through the initial map preparation module;

[0075] Start the system, the blind user activates the enhanced cane and starts collecting real-time data;

[0076] Scene perception: users browse the indoor environment through mobile terminals and determine the control button sequence corresponding to the destination;

[0077] Destination selection: the user inputs the destination information through the button control module of the enhanced cane;

[0078] Command perception: the system calculates the location and path based on real-time data, and outputs navigation instructions through the tactile feedback module of the enhanced cane;

[0079] When arriving at the destination, the system prompts the user through tactile feedback that they have arrived at the designated location.

[0080] The present invention proposes a multimodal indoor navigation interaction system and method for the blind. Through high-precision indoor positioning technology, real-time environmental perception capability and multimodal information interaction, the system provides comprehensive spatial environment information and convenient destination planning functions for blind users, thereby realizing accurate navigation. The system collects the posture data (such as speed, acceleration, direction, etc.) and surrounding environment information of blind users in real time through sensors, and transmits these data and destination information to a local server to calculate the optimal navigation path. At the same time, the system obtains indoor map data and point of interest (POI) information from the local server to help users perceive the indoor environment and decide on travel destinations. After the navigation instructions are optimized, they are transmitted to the user through the tactile feedback device of the enhanced blind stick, providing direction guidance in a tactile manner to ensure that the user can accurately execute the navigation instructions. The present invention aims to improve the interactivity and accuracy of indoor navigation for the blind, significantly enhances the autonomous travel ability, safety and convenience of the blind in the indoor environment, and finally realizes the autonomous and safe travel of blind users in indoor spaces.

[0081] The specific embodiments of the present invention are further described below.

[0082] A blind indoor navigation interactive system based on multimodal interaction and its implementation method, such as Figure 1 . The system obtains indoor map data and POI point set data from the local server to provide blind users with indoor environment information and perception of travel destinations. At the same time, it collects surrounding environment data and blind user posture data (such as speed, acceleration, direction, etc.) in real time and transmits these data to the indoor local server to calculate the real-time positioning and navigation path information of the blind user. At the same time, the system supports the optimization of navigation direction instructions. The optimized navigation instructions are transmitted to the user through the tactile feedback device of the enhanced blind stick to help users travel in indoor spaces.

[0083] The indoor navigation interactive system for the blind is mainly composed of three core parts: an enhanced cane, a mobile phone application, and a local server. The enhanced cane is used to perceive the surrounding environment and guide the user to the designated destination through tactile feedback. The mobile phone application is used to help the blind perceive the indoor environment map and provide travel destination planning. The server is responsible for the calculation of system positioning, path planning, and command conversion, and can communicate with the enhanced cane through WI-FI or other wireless communication methods to obtain sensor data and send navigation instructions. The following describes the indoor navigation interactive system for the blind from three aspects: hardware composition, software design, and system operation process.

[0084] Hardware Composition

[0085] The present invention uses the Enhanced White Cane as the core hardware device of the system. According to the functions of each component, it can be divided into the following Figure 2 Four modules: sensor module, button control module, command feedback module and main control module.

[0086] 1. Sensor module: including laser radar (LIDAR) and inertial measurement unit (IMU) sensors, which are used for indoor space environment perception and blind user posture detection. Among them, laser radar is mainly used for spatial scanning and object detection of the environment, providing location information of surrounding obstacles; IMU helps to calculate direction and position changes in real time by providing the motion posture data of the device.

[0087] 2. Button control module: includes the destination button area and the device control area, which are used to provide convenient command input and device control functions for blind users. 1) Destination button area: contains five buttons, corresponding to five commonly used indoor destinations (stairs, toilet, rest area, information desk, exit). Users select the destination by pressing these buttons (single or in combination); 2) Device control area: contains two buttons for starting and stopping device navigation.

[0088] 3. Command feedback module: This module is a tactile interface composed of a 3*2 flexible electret ultra-low voltage drive array, which can provide tactile feedback of directional flow between two points, and transmit navigation instructions to blind users in a tactile form to help them obtain path direction information.

[0089] Including heart rate monitors, galvanic skin response (GSR) sensors, etc., which are used to monitor the physiological status of passengers, such as heart rate changes, galvanic skin response, etc., to assess their motion sickness symptoms.

[0090] 4. Main control module: The chip built into the enhanced blind stick is responsible for: 1) transmitting sensor data to the server: the main control chip receives real-time data from the connected sensor module and transmits these raw data to the local server through wireless communication; 2) transmitting the destination information selected by the user to the server for path planning: the user selects the destination through the button control module or the mobile phone, and the main control is responsible for sending information such as the target location coordinates to the server for path planning; 3) receiving and executing navigation instructions issued by the server: after the path planning is completed, the server returns the navigation direction instruction to the main control module, and the main control module sends the instruction control signal to the tactile interface to achieve tactile feedback.

[0091] System software design

[0092] 1. Initial map preparation module: Before blind users can navigate indoors, the system supports building owners to use the floor plan web manager (such as Figure 3 ) Upload indoor floor plans or LiDAR scans, set scales, add and manage POI information within the space, and provide support for subsequent user destination selection and system route planning.

[0093] 2. User scene perception module: The system supports users to perceive the surrounding POI information through mobile phone applications. Download and open the mobile phone application on the IOS system (such as Figure 4 ) and the narration function is automatically enabled. Users can click to listen to the voice information of each POI point to get clues about the indoor space they are in (such as the bathroom and its corresponding destination button sequence).

[0094] 3. System positioning and navigation module: Based on the destination button sequence selected by the user, the system confirms the destination information (X, Y coordinates). The system calculates the location of the blind user and the global path to the destination based on the real-time motion data of the user and the enhanced cane and the initial map data.

[0095] 4. System instruction optimization module: The calculation results of system positioning and navigation generate mechanical control instructions (such as linear velocity, angular velocity). The system will combine the real-time motion data of the enhanced cane to optimize and adjust the output of the direction instructions corresponding to the direction of the tactile interface to ensure that blind users can adjust their direction of travel in time when they cannot fully follow the direction instructions.

[0096] System operation process, see Figure 5 :

[0097] 1. Map preparation: Building owners upload indoor floor plans or LiDAR scans in advance through the floor plan web manager, set the scale, add and manage POI information in the space, and generate indoor POI information tables and 2D floor plans.

[0098] 2. Start the system: The blind user starts the enhanced cane before starting the wayfinding task. After startup, the system begins to obtain the user's real-time motion data through the sensor module on the enhanced cane and transmits the data to the local server.

[0099] 3. Scene perception: Blind users browse indoor scenes through mobile phone applications and determine the control button sequence corresponding to the destination.

[0100] 4. Destination selection: The user inputs the control button sequence corresponding to the destination obtained in the scene perception environment into the button control module on the enhanced blind stick to complete the pre-destination planning.

[0101] 5. Command perception: The system calculates the blind user's current location and the global path to the destination based on the user's real-time motion data, and outputs optimized direction instructions. The user perceives and follows the direction of travel through the tactile interface on the touch-enhanced cane.

[0102] 6. Arrival at the destination: After a path-finding task is completed, the system will prompt the blind user through the tactile interface that he has arrived at the designated destination.

[0103] The significant advantages of the embodiments of the present invention include:

[0104] 1. Improve users' spatial perception: The mobile phone program can provide environmental information about the indoor space. Users can better perceive the indoor environment through the system and improve their sense of control over indoor travel.

[0105] 2. Improve users’ compliance with navigation instructions: The system’s navigation instruction optimization algorithm can be used to improve the problem of users easily deviating from the planned path during indoor navigation, thereby improving the safety and robustness of the blind people’s indoor travel interaction system.

[0106] 3. The system is highly portable and expandable: The indoor guide assistance interactive system for the blind proposed in the present invention does not require the deployment of a large number of beacons or hardware in advance, can be quickly deployed or migrated, and is easy to quickly promote to more indoor public places, and has broad market application potential.

[0107] The above content is a further detailed description of the present invention in combination with specific / preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, without departing from the concept of the present invention, it can also make several substitutions or modifications to these described embodiments, and these substitutions or modifications should be regarded as belonging to the protection scope of the present invention. In the description of this specification, the description of the reference terms "an embodiment", "some embodiments", "preferred embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily target the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In the absence of mutual contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples. Although the embodiments of the present invention and their advantages have been described in detail, it should be understood that various changes, substitutions and modifications can be made herein without departing from the scope of protection of the patent application.

Claims

1. An indoor navigation interactive system for the blind, characterized in that: include: Mobile terminals are used to provide indoor space information and destination query to blind users; Enhanced cane, used to sense indoor environmental information and provide tactile feedback to guide blind users in navigation and destination selection; A local server, which receives sensor data and the destination information selected by the user, calculates the user's location and navigation path, and optimizes the navigation instructions; The enhanced cane collects environmental data and user posture information through a sensor module, and transmits the collected data and destination information to a local server; the local server calculates the optimal navigation path based on the received data and the destination information selected by the user, and transmits the optimized navigation instructions to the blind user through the tactile feedback device of the enhanced cane to achieve precise navigation.

2. The indoor navigation interactive system for the blind according to claim 1, characterized in that: The enhanced blind stick includes a sensor module, a button control module, a command feedback module and a main control module, wherein: The sensor module is used to collect indoor environment data and user posture information; The button control module is used for the user to input destination information; The instruction feedback module is used to transmit navigation instructions to the user through tactile feedback; The main control module is used for data transmission, instruction reception and execution.

3. The indoor navigation interactive system for the blind according to claim 2, characterized in that: The sensor module includes a laser radar and an inertial measurement unit, which are used to sense the position of surrounding obstacles and the user's motion posture in real time; The command feedback module is a flexible electret ultra-low voltage drive array, which can realize directional flow tactile feedback through a tactile illusion model to guide the user's direction of travel.

4. The indoor navigation interactive system for the blind according to claim 1, characterized in that: The local server comprises: An initial map preparation module that receives indoor floor plans or LiDAR scans uploaded by building owners, sets the scale, and manages indoor point of interest (POI) information; The user scene perception module is used to display indoor environment information and POI information to users through mobile terminals, and to assist users in perceiving the surrounding environment through voice prompts; The system positioning and navigation module is used to calculate the user's real-time positioning and global navigation path based on the destination selected by the user and the real-time data collected by the sensor; The system instruction optimization module is used to combine the real-time motion data of the enhanced cane, dynamically adjust the output of navigation instructions, and optimize the direction indication of tactile feedback.

5. The indoor navigation interactive system for the blind according to claim 4, characterized in that: The initial map preparation module supports uploading indoor map data through the floor plan web manager and allows editing and management of the map's scale and POI information.

6. The indoor navigation interactive system for the blind according to claim 4, characterized in that: The user scene perception module provides indoor environment information and POI clues to the user through the graphical interface or voice prompt function of the mobile terminal, and assists the user in determining the control button sequence corresponding to the destination.

7. The indoor navigation interactive system for the blind according to claim 4, characterized in that: The system positioning and navigation module calculates the user's precise location by fusing the user's real-time motion data and map data, and generates a global path to the destination.

8. The indoor navigation interactive system for the blind according to claim 4, characterized in that: The system instruction optimization module dynamically adjusts the output of navigation instructions according to the real-time motion state of the enhanced cane, ensuring that the user can adjust the direction of travel in time when deviating from the path.

9. The indoor navigation interactive system for the blind according to claim 1, characterized in that: The mobile terminal assists the user in browsing indoor scene information through a graphical interface or a voice interaction function, and transmits the destination information selected by the user to a local server.

10. A method for using the indoor navigation interactive system for the blind according to any one of claims 1 to 9, characterized in that: include: Providing indoor space information and destination query functions to blind users through mobile terminals; The sensor module of the enhanced cane collects indoor environment data and user posture information, selects a destination through the enhanced cane, and transmits the collected data and destination information to a local server; The local server receives sensor data and the destination information selected by the user, calculates the user's real-time location and navigation path, and optimizes navigation instructions; The optimized navigation instructions are transmitted to the blind user through the tactile feedback device of the enhanced cane, and the user's direction of travel is guided by tactile feedback to achieve precise navigation.

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