Tactile navigation map generation method and system based on customized SESAM laser

Abstract

The invention discloses a touch navigation map generation method and system based on a customized SESAM laser, and relates to the technical field of environment perception barrier-free assistion.The method comprises the steps that a destination is obtained, a route is planned, and the customized SESAM laser is used for environment scanning; performing data processing to generate a tactile perception navigation map model; an instant 3D printing device is used to generate a tactile navigation map, and an environment update map is detected in real time. According to the touch navigation map generation method based on the customized SESAM laser, the SESAM laser is used for high-precision environment scanning, the problem that existing laser equipment is insufficient in precision in a complex environment is effectively solved, a system can obtain complete and real environment information, a model is divided into a smooth passing area and a barrier with textures, and the system is simple in structure and convenient to operate. The simple structure enables the 3D printing cost to be lower, and a user can master the model more easily. The method has better effects in the aspects of accuracy, cost and user adaptation.

Description

Technical Field

[0001] The present invention relates to the field of environmental perception barrier-free assistance technology, and in particular to a tactile navigation map generation method and system based on a customized SESAM laser. Background Art

[0002] With the continuous advancement of navigation technology, auxiliary navigation tools for the visually impaired have gradually developed from traditional voice prompts, electronic maps and other forms to more sophisticated and diverse interactive methods. Among them, navigation methods based on three-dimensional modeling and point cloud data have gradually become a research hotspot. Environmental data is obtained through laser radar (LiDAR) or structured light scanning technology, and tactile navigation models are generated in combination with modeling algorithms, providing intuitive environmental perception tools for the visually impaired. In terms of laser technology, SESAM (semiconductor saturated absorber mirror) passive Q-switched lasers are widely used in the field of high-precision environmental modeling because of their high peak power and narrow pulse width. On the other hand, the development of 3D printing technology enables tactile navigation models to be generated quickly and provide instant feedback through physical touch, greatly improving the spatial cognitive ability of the visually impaired. The combination of these technologies provides new possibilities for barrier-free navigation.

[0003] Although the existing technology has made some progress in the field of navigation for the visually impaired, there are still many shortcomings. First, traditional voice navigation and electronic maps often rely on the user's hearing or memory ability, cannot provide direct perception of environmental details, and have limited support for navigation in complex scenes. Second, the existing laser scanning technology is mostly based on continuous wave or actively Q-switched lasers, with low scanning accuracy, and insufficient processing capabilities for multipath reflection and light scattering in complex environments, resulting in limited integrity and accuracy of environmental data. Third, the algorithms for point cloud data processing and modeling technology in noise filtering, surface optimization, etc. are still relatively rudimentary, and the generated three-dimensional model lacks tactile feature design, which makes it difficult to meet the needs of visually impaired people to perceive details through touch. In addition, the existing technology has a weak ability to update map models in real time in a dynamic environment, and cannot effectively respond to environmental changes, such as the appearance of obstacles or the temporary closure of paths. Therefore, the existing technology has not yet formed a complete and efficient system to meet the real-time navigation and tactile perception needs of the visually impaired. Summary of the invention

[0004] In view of the above-mentioned problems, the present invention is proposed.

[0005] Therefore, the technical problem solved by the present invention is that the existing navigation technology methods cannot directly provide visually impaired users with environmental detail perception, the laser scanning accuracy is greatly affected by the complex environment, the tactile characteristics of the model generation are insufficient, and it is impossible to respond to dynamic environmental changes in real time.

[0006] To solve the above technical problems, the present invention provides the following technical solutions: a method for generating a tactile navigation map based on a customized SESAM laser, comprising obtaining a destination and planning a route, using a customized SESAM laser to scan the environment; performing data processing to generate a tactile perception navigation map model; using an instant 3D printing device to generate a tactile navigation map, and detecting the environment in real time to update the map.

[0007] As a preferred solution of the tactile navigation map generation method based on customized SESAM laser described in the present invention, wherein: the acquisition of the destination and planning the route includes the user inputting the destination through voice, and the system calling the Dijkstra algorithm to plan the path based on the current location information and real-time updated map data.

[0008] As a preferred solution of the tactile navigation map generation method based on the customized SESAM laser described in the present invention, the use of the customized SESAM laser for environmental scanning includes performing environmental obstacle distance testing based on the SESAM passively Q-switched laser, and using the generated 1064nm pulsed laser to measure the distance of the surrounding environment, which is expressed as

[0009]

[0010] Wherein, d is the target distance, c is the speed of light, t is the round trip time of the laser pulse, E is the ambient light intensity, E0 is the light intensity calibration constant, σ is the medium scattering coefficient, k is the scattering gain adjustment coefficient, r is the surface roughness, r0 is the standard roughness, α is the laser incident angle, and ∈ is the roughness gain coefficient;

[0011] Combining the distance data and scanning angle obtained by laser scanning, the point cloud data of the target environment is generated, which is expressed as:

[0012] P(x,y,z)={(d i sinθ i cosφ i ,d i sinθ i sinφ i ,d i cosθ i )}

[0013] Among them, d i is the distance of the target point measured by laser, θ i and φ i are the pitch and yaw angles of the laser.

[0014] As a preferred solution of the method for generating a tactile navigation map based on a customized SESAM laser according to the present invention, the data processing includes preprocessing the point cloud data, including denoising, filtering and outlier removal, using the processed three-dimensional point cloud data to construct a three-dimensional point cloud data set W, and constructing a three-dimensional grid model based on the point cloud data, which is expressed as:

[0015]

[0016]

[0017] Among them, u i ,u j ,u k are the vertices of the triangle mesh, represents the geometric adjacent condition function, which is used to constrain the triangular mesh, ρ is the geometric texture coefficient, is the divergence of the local normal vector field of the point cloud, ξ is the influence of adjusting the normal vector divergence on the enhancement factor, ζ is the density coefficient, R(u i ) is the vertex u i The neighborhood point set of ||Q i -Q j || is the distance between point i and its neighboring point j.

[0018] As a preferred solution of the method for generating a tactile navigation map based on a customized SESAM laser according to the present invention, the generating of the tactile perception navigation map model includes performing surface optimization to make the overall model smooth, introducing a tactile texture offset term, generating a specific texture on the surface through high-frequency features, the specific texture being an obstacle texture and a path boundary texture, and the surface optimization is expressed as:

[0019]

[0020] Among them, Q m is the optimized coordinate, η is the weighted control parameter, Q m is the 3D coordinate of the original point m in the point cloud, R(m) is the neighborhood point set of point m, Q n is the three-dimensional coordinate of the neighborhood point n, η is the distance weighted intensity parameter, ||Q n -Q m || is point Q n And Q m The Euclidean distance between n -Q m ) is point Q n To point Q m vector, ν is the texture offset amplitude parameter, f is the texture frequency parameter, which controls the period of the ripple, ||Q m || is point Q mEuclidean distance to the origin of the coordinate system.

[0021] As a preferred solution of the method for generating a tactile navigation map based on a customized SESAM laser described in the present invention, the use of an instant 3D printing device to generate a tactile navigation map includes importing the generated three-dimensional model into a 3D printing software, presetting the thickness and filling rate, and performing a voice broadcast after printing is completed to inform the user that the map printing is completed.

[0022] As a preferred solution of the tactile navigation map generation method based on customized SESAM laser described in the present invention, the real-time detection of environment update map includes environmental perception based on SESAM passively Q-switched laser. When an obstacle intercepting the walking route is detected in the current route, a voice warning is issued to inform the user to pause moving and reprint the touch map with the current position as the starting point.

[0023] Another object of the present invention is to provide a tactile navigation map generation system based on a customized SESAM laser, which can generate a tactile navigation map with the ability to highly restore environmental characteristics. At the same time, the tactile texture design for obstacles and path boundaries allows users to intuitively perceive important information through touch, solving the problem that existing navigation maps lack tactile expressiveness and unclear touch characteristics.

[0024] As a preferred solution of the tactile navigation map generation system based on the customized SESAM laser described in the present invention, it includes: an environment perception module, a map generation module, and a 3D printing module; the environment perception module is used to obtain the destination and plan the route, and use the customized SESAM laser to scan the environment; the map generation module is used to perform data processing and generate a tactile perception navigation map model; the 3D printing module is used to generate a tactile navigation map using an instant 3D printing device, and detect the environment in real time to update the map.

[0025] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of a method for generating a tactile navigation map based on a customized SESAM laser.

[0026] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of a method for generating a tactile navigation map based on a customized SESAM laser.

[0027] Beneficial effects of the present invention: The tactile navigation map generation method based on the customized SESAM laser provided by the present invention uses the SESAM laser to perform high-precision environmental scanning, effectively overcoming the problem of insufficient accuracy of existing laser equipment in complex environments, enabling the system to obtain complete and real environmental information, dividing the model into smooth passage areas and textured obstacles, and the simple structure makes the 3D printing cost lower, and users are easier to master the model. The present invention achieves better results in terms of accuracy, cost and user adaptation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0029] Figure 1 An overall flow chart of a tactile navigation map generation method based on a customized SESAM laser provided in the first embodiment of the present invention.

[0030] Figure 2 A system schematic diagram of a tactile navigation map generation system based on a customized SESAM laser provided in the third embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without creative work should fall within the scope of protection of the present invention.

[0032] Example 1, reference Figure 1 , as an embodiment of the present invention, provides a method for generating a tactile navigation map based on a customized SESAM laser, comprising:

[0033] S1: Get the destination and plan the route, use the custom SESAM laser to scan the environment;

[0034] Furthermore, the acquisition of the destination and planning the route includes the user inputting the destination by voice, and the system calling the Dijkstra algorithm to plan the path based on the current location information and the map data updated in real time.

[0035] It should be noted that the laser selection:

[0036] Pump source: Use 808nm semiconductor laser as pump source to excite Nd crystal.

[0037] Laser output: Through excitation, Nd crystal produces 1064nm laser.

[0038] SESAM passive Q-switching: SESAM (semiconductor saturated absorber mirror) is introduced into the laser resonant cavity to achieve passive Q-switching. SESAM can saturate absorption under a specific light intensity, resulting in an instantaneous reduction in cavity loss and the release of high-peak, narrow-pulse-width laser pulses.

[0039] It should also be noted that the use of the customized SESAM laser for environmental scanning includes the environmental obstacle distance test based on the SESAM passively Q-switched laser, and the generated 1064nm pulsed laser is used to measure the distance of the surrounding environment, which is expressed as

[0040]

[0041] Wherein, d is the target distance, c is the speed of light, t is the round trip time of the laser pulse, E is the ambient light intensity, E0 is the light intensity calibration constant, σ is the medium scattering coefficient, k is the scattering gain adjustment coefficient, r is the surface roughness, r0 is the standard roughness, α is the laser incident angle, and ∈ is the roughness gain coefficient;

[0042] Combining the distance data and scanning angle obtained by laser scanning, the point cloud data of the target environment is generated, which is expressed as:

[0043]

[0044] Among them, d i is the distance of the target point measured by laser, θ i and φ i are the pitch and yaw angles of the laser.

[0045] S2: Perform data processing to generate a tactile perception navigation map model.

[0046] Furthermore, point cloud data will be disturbed by environmental noise during the laser scanning process, such as error points caused by dust in the environment or uneven surface reflection. These unreliable points can be effectively removed through denoising algorithms to prevent noise points from affecting the accuracy of subsequent 3D modeling. Filtering technology removes isolated points or abnormal points in low-density areas by analyzing the spatial distribution characteristics of point cloud data. This process further ensures the uniformity of point cloud data and enhances the stability of the 3D mesh model. Statistical analysis-based methods are used to eliminate outliers (such as extreme distance points or isolated height points) to ensure that only points that meet the true characteristics of the environment are retained to avoid false structural information in the model. Data processing includes preprocessing the point cloud data, including denoising, filtering, and outlier removal. The processed 3D point cloud data is used to construct a 3D point cloud dataset W, and a 3D mesh model is constructed based on the point cloud data, which is expressed as:

[0047]

[0048] Among them, u i ,u j ,u k are the vertices of the triangle mesh, represents the geometric adjacent condition function, which is used to constrain the triangular mesh, ρ is the geometric texture coefficient, is the divergence of the local normal vector field of the point cloud, ξ is the influence of adjusting the normal vector divergence on the enhancement factor, ζ is the density coefficient, R(u i ) is the vertex u i The neighborhood point set of ||Q i -Q j || is the distance between point i and its neighboring point j.

[0049] It should be noted that through surface optimization, the coordinates of the points will be adjusted to make the surface smoother, and a distance-based smoothing operation will be applied to each point to make the relationship between neighboring points more coherent. A tactile texture offset function is added to generate specific textures on the surface through high-frequency features. These high-frequency textures can identify specific areas, which is convenient for users to perceive with touch. The optimized point cloud data has a more regular distribution, which is conducive to the subsequent generation of triangular meshes and 3D printing. The combination of smooth surface and enhanced texture makes the printed model both beautiful and practical.

[0050] Generating a tactile perception navigation map model includes surface optimization to make the overall model smooth, introducing a tactile texture offset term, and generating specific textures on the surface through high-frequency features. The specific textures are obstacle textures and path boundary textures. The surface optimization is expressed as:

[0051]

[0052] Among them, Q m is the optimized coordinate, η is the weighted control parameter, Qm is the 3D coordinate of the original point m in the point cloud, R(m) is the neighborhood point set of point m, Q n is the three-dimensional coordinate of the neighborhood point n, η is the distance weighted intensity parameter, ||Q n -Q m || is point Q n And Q m The Euclidean distance between n -Q m ) is point Q n To point Q m vector, ν is the texture offset amplitude parameter, f is the texture frequency parameter, which controls the period of the ripple, ||Q m || is point Q m Euclidean distance to the origin of the coordinate system.

[0053] It should also be noted that the reliability of the data is significantly improved through the preprocessing of the point cloud data (denoising, filtering, and outlier removal). The optimized triangular mesh model strengthens the geometric features of important areas through geometric adjacent condition functions and geometric texture coefficients, while reducing redundant information to ensure that the generated three-dimensional model is both smooth and has sufficient detail.

[0054] S3: Generate tactile navigation maps using instant 3D printing equipment and update the maps in real time by detecting the environment.

[0055] Furthermore, using an instant 3D printing device to generate a tactile navigation map includes importing the generated three-dimensional model into 3D printing software, presetting the thickness and fill rate, and performing a voice announcement after printing is completed to inform the user that the map printing is completed.

[0056] It should be noted that real-time detection of the environment and updating of the map include environmental perception based on the SESAM passively Q-switched laser. When an obstacle blocking the walking route is detected in the current route, a voice warning is issued to inform the user to pause moving and reprint the touch map with the current position as the starting point.

[0057] Example 2, an embodiment of the present invention, provides a tactile navigation map generation method based on a customized SESAM laser. In order to verify the beneficial effects of the present invention, scientific demonstration is carried out through economic benefit calculation and simulation experiments.

[0058] First, the experimental environment is a simulated urban block, including roads, buildings, green areas, and multiple dynamic obstacles (such as pedestrians and moving vehicles). The experimental subject is a visually impaired user model, aiming to test the system's path planning accuracy, environment scanning quality, tactile map generation speed, and dynamic update performance.

[0059] The experiment sets the user's starting point as the "block entrance" and the destination as the "bus stop". The user enters the destination information through voice. The system calls the Dijkstra algorithm to generate the optimal path from the block entrance to the bus stop based on the current location information and real-time updated map data. The path planning takes into account the obstacle distribution, path length and environmental safety, and replans after each obstacle update.

[0060] Customized SESAM lasers are used for environmental scanning, using 1064nm pulsed lasers for distance testing and combining scanning angles to generate point cloud data. The laser uses an optimized distance measurement algorithm to handle the effects of ambient light intensity, multipath reflection, and surface roughness to ensure high-precision distance measurement. The point cloud data has higher resolution in critical path areas (such as intersections and turning points).

[0061] The acquired point cloud data is pre-processed to remove noise, filter and remove outliers to generate a 3D point cloud data set. Based on the point cloud data, the system constructs a triangular mesh model containing the obstacle boundary and path structure, and enhances the geometric features of the obstacle for tactile recognition.

[0062] The optimized mesh model is used to generate a tactile navigation map. The obstacle texture and path boundary texture are designed on the surface of the model through high-frequency texture enhancement technology. The real-time 3D printing device prints the model as a tactile map and provides a voice prompt to indicate that the printing is complete. The experiment sets up dynamic obstacle interference (such as construction fences), and the tactile map reflects environmental changes through real-time updates.

[0063] Table 1 Experimental data comparison table

[0064]

[0065] The average path planning time of the SESAM laser-based system is 3.2 seconds, which is significantly shorter than the 5.6 seconds of the traditional navigation system. This is due to the system's use of the Dijkstra algorithm, which can quickly process real-time updated map data, especially in complex environments, where path calculation efficiency is higher.

[0066] Through the high peak power of the SESAM laser and the optimization algorithm, the environmental scanning accuracy reaches 1.5cm, while the traditional navigation system is only 8.3cm. This high-precision ranging capability effectively reduces the measurement errors caused by complex surface roughness and light scattering, ensuring the accuracy of the point cloud data.

[0067] The point cloud data density based on SESAM laser reaches 500 points / m 2 , the traditional system is only 150 points / m 2 This high-density data can restore environmental features in a more detailed manner, especially in complex structural areas (such as intersections), and the identification of obstacle boundaries is more accurate.

[0068] The average time it takes for the instant 3D printing system to generate a tactile map is 40 seconds, which is half the time of the 85 seconds required by traditional systems. The optimized triangular mesh construction algorithm and surface texture design reduce redundant calculations and improve generation efficiency.

[0069] Based on the ability of real-time scanning and path replanning, the SESAM laser system has an average response time of 8 seconds when an obstacle appears, while traditional systems take 25 seconds. This fast update capability significantly improves navigation safety in dynamic environments.

[0070] The SESAM laser system achieved an obstacle recognition rate of 98% and a user navigation success rate of 94% in the experiment, which is much higher than the 82% and 76% of traditional systems. High-precision environmental scanning and detailed optimization of tactile maps are the key to improving navigation performance.

[0071] Example 3, reference Figure 2 , as an embodiment of the present invention, provides a tactile navigation map generation system based on a customized SESAM laser, including an environment perception module, a map generation module, and a 3D printing module.

[0072] Among them, the environmental perception module is used to obtain the destination and plan the route, and uses a customized SESAM laser to scan the environment; the map generation module is used to process data and generate a tactile perception navigation map model; the 3D printing module is used to generate a tactile navigation map using an instant 3D printing device, and to detect the environment in real time to update the map.

[0073] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0074] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0075] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0076] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc. It should be noted that the above embodiments are only used to illustrate the technical solution of the present invention and are not limited. Although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

[0077] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A method for generating a tactile navigation map based on a customized SESAM laser, characterized in that: include: Get the destination and plan the route, use the custom SESAM laser to scan the environment; Perform data processing to generate a tactile perception navigation map model; Use instant 3D printing equipment to generate tactile navigation maps and update the map in real time by detecting the environment.

2. The method for generating a tactile navigation map based on a customized SESAM laser as claimed in claim 1, characterized in that: The obtaining of the destination and planning of the route includes the user inputting the destination by voice, and the system calling the Dijkstra algorithm to plan the route based on the current location information and the map data updated in real time.

3. The method for generating a tactile navigation map based on a customized SESAM laser as claimed in claim 2, characterized in that: The use of the customized SESAM laser for environmental scanning includes performing environmental obstacle distance testing based on the SESAM passively Q-switched laser, and using the generated 1064nm pulsed laser to measure the distance of the surrounding environment, which is expressed as Wherein, d is the target distance, c is the speed of light, t is the round trip time of the laser pulse, E is the ambient light intensity, E0 is the light intensity calibration constant, σ is the medium scattering coefficient, k is the scattering gain adjustment coefficient, r is the surface roughness, r0 is the standard roughness, α is the laser incident angle, and ∈ is the roughness gain coefficient; Combining the distance data and scanning angle obtained by laser scanning, the point cloud data of the target environment is generated, which is expressed as: P(x,y,z)={(d i sinθ i cosφ i ,d i sinθ i sinφ i ,d i cosθ i )} Among them, d i is the distance of the target point measured by laser, θ i and φ i are the pitch and yaw angles of the laser.

4. The method for generating a tactile navigation map based on a customized SESAM laser as claimed in claim 3, characterized in that: The data processing includes preprocessing the point cloud data, including denoising, filtering and outlier removal, using the processed three-dimensional point cloud data to construct a three-dimensional point cloud data set W, and constructing a three-dimensional grid model based on the point cloud data, which is expressed as: Among them, u i ,u j ,u k are the vertices of the triangle mesh, represents the geometric adjacent condition function, which is used to constrain the triangular mesh, ρ is the geometric texture coefficient, is the divergence of the local normal vector field of the point cloud, ξ is the influence of adjusting the normal vector divergence on the enhancement factor, ζ is the density coefficient, R(u i ) is the vertex u i The neighborhood point set of ||Q i -Q j || is the distance between point i and its neighboring point j.

5. The method for generating a tactile navigation map based on a customized SESAM laser as claimed in claim 4, characterized in that: The generation of the tactile perception navigation map model includes performing surface optimization to make the overall model smooth, introducing a tactile texture offset term, and generating specific textures on the surface through high-frequency features. The specific textures are obstacle textures and path boundary textures. The surface optimization is expressed as: Among them, Q m is the optimized coordinate, η is the weighted control parameter, Q m is the 3D coordinate of the original point m in the point cloud, R(m) is the neighborhood point set of point m, Q n is the three-dimensional coordinate of the neighborhood point n, η is the distance weighted intensity parameter, ||Q n -Q m || is point Q n And Q m The Euclidean distance between n -Q m ) is point Q n To point Q m vector, ν is the texture offset amplitude parameter, f is the texture frequency parameter, which controls the period of the ripple, ||Q m || is point Q m Euclidean distance to the origin of the coordinate system.

6. The method for generating a tactile navigation map based on a customized SESAM laser as claimed in claim 5, characterized in that: The method of using an instant 3D printing device to generate a tactile navigation map includes importing the generated three-dimensional model into 3D printing software, presetting the thickness and filling rate, and performing a voice broadcast after printing is completed to inform the user that the map printing is completed.

7. The method for generating a tactile navigation map based on a customized SESAM laser according to claim 6, characterized in that: The real-time detection of the environment and updating of the map include environmental perception based on the SESAM passively Q-switched laser. When an obstacle blocking the walking route is detected in the current route, a voice warning is issued to inform the user to stop moving and reprint the touch map with the current position as the starting point.

8. A system using the method for generating a tactile navigation map based on a customized SESAM laser as claimed in any one of claims 1 to 7, characterized in that: Including environment perception module, map generation module, and 3D printing module; The environmental perception module is used to obtain the destination and plan the route, using a customized SESAM laser to scan the environment; The map generation module is used to perform data processing and generate a tactile perception navigation map model; The 3D printing module is used to generate a tactile navigation map using an instant 3D printing device and to detect the environment in real time to update the map.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method for generating a tactile navigation map based on a customized SESAM laser according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for generating a tactile navigation map based on a customized SESAM laser according to any one of claims 1 to 7 are implemented.

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