A Method and System for Generating Tactile Navigation Maps Based on Customized SESAM Lasers

Abstract

This invention discloses a method and system for generating tactile navigation maps based on a custom SESAM laser, belonging to the field of environmental perception and accessibility technology. The method includes obtaining the destination and planning the route, performing environmental scanning using a custom SESAM laser, processing the data to generate a tactile navigation map model, generating the tactile navigation map using an instant 3D printing device, and updating the map in real time. The tactile navigation map generation method based on a custom SESAM laser provided by this invention effectively overcomes the problem of insufficient accuracy of existing laser devices in complex environments by using a SESAM laser for high-precision environmental scanning. This allows the system to acquire complete and realistic environmental information, dividing the model into smooth passage areas and textured obstacles. The simplified structure lowers 3D printing costs and makes the model easier for users to master. This invention achieves better results in terms of accuracy, cost, and user adaptability.

Description

Technical Field

[0001] This invention relates to the field of environmental perception and barrier-free assistive technology, specifically to a method and system for generating tactile navigation maps based on a customized SESAM laser. Background Technology

[0002] With the continuous advancement of navigation technology, assistive navigation tools for visually impaired individuals have gradually evolved from traditional voice prompts and electronic maps to more refined and diverse interactive methods. Among these, navigation methods based on 3D modeling and point cloud data have become a research hotspot. Environmental data is acquired through LiDAR or structured light scanning technology, and then combined with modeling algorithms to generate tactile navigation models, providing visually impaired individuals with intuitive environmental perception tools. In terms of laser technology, SESAM (Semiconductor Saturable Absorber Mirror) passively Q-switched lasers, due to their high peak power and narrow pulse width, excel in precise ranging and 3D scanning, and are widely used in high-precision environmental modeling. On the other hand, the development of 3D printing technology enables the rapid generation of tactile navigation models, providing instant feedback through physical touch, significantly improving the spatial cognitive abilities of visually impaired individuals. The combination of these technologies offers new possibilities for accessible navigation.

[0003] Despite some progress in navigation for the visually impaired, existing technologies still have several shortcomings. First, traditional voice navigation and electronic maps often rely on the user's hearing or memory, failing to provide direct environmental detail perception and offering limited support for navigation in complex scenarios. Second, current laser scanning technologies primarily use continuous wave or actively Q-switched lasers, resulting in low scanning accuracy and insufficient ability to handle multipath reflections and light scattering in complex environments, thus limiting the completeness and accuracy of environmental data. Third, point cloud data processing and modeling algorithms, particularly in noise filtering and surface optimization, remain relatively rudimentary, and the generated 3D models lack tactile design features, failing to meet the needs of visually impaired individuals for tactile detail perception. Furthermore, existing technologies have limited ability to update map models in real-time in dynamic environments, failing to effectively respond to environmental changes such as the appearance of obstacles or temporary path closures. Therefore, current technologies have 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 existing navigation technologies and methods cannot directly provide visually impaired users with detailed perception of the environment, the accuracy of laser scanning is greatly affected by complex environments, the tactile characteristics of the generated models are insufficient, and they cannot respond to dynamic environmental changes in real time.

[0006] To address the aforementioned technical problems, this invention provides the following technical solution: a method for generating a tactile navigation map based on a custom SESAM laser, comprising: acquiring a destination and planning a route; performing environmental scanning using a custom SESAM laser; processing the data to generate a tactile navigation map model; generating the tactile navigation map using an instantaneous 3D printing device; and updating the map in real time by detecting environmental changes.

[0007] As a preferred embodiment of the tactile navigation map generation method based on a customized SESAM laser described in this invention, the step of obtaining the destination and planning the route includes the user inputting the destination via voice, and the system calling the Dijkstra algorithm to plan the route based on the current location information and real-time updated map data.

[0008] As a preferred embodiment of the tactile navigation map generation method based on a customized SESAM laser described in this invention, the environmental scanning using a customized SESAM laser includes using a passively Q-switched SESAM laser to test the distance to environmental obstacles, and using the generated 1064nm pulsed laser to measure the distance to the surrounding environment, expressed as follows:

[0009]

[0010] Where 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] By combining the distance data and scanning angle obtained from laser scanning, point cloud data of the target environment is generated, represented as follows:

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

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

[0014] As a preferred embodiment of the tactile navigation map generation method based on a customized SESAM laser described in this invention, the data processing includes preprocessing the point cloud data, including noise reduction, filtering, and outlier removal; using the processed 3D point cloud data, a 3D point cloud dataset W is constructed; and a 3D mesh model is constructed based on the point cloud data, represented as follows:

[0015]

[0016]

[0017] Among them, u i ,u j ,u k For the vertices of the triangular mesh, This represents the geometric adjacency condition function, used for triangular mesh constraints, where ρ is the geometric texture coefficient. Let ξ be the divergence of the local normal vector field of the point cloud, ξ be the effect of adjusting the normal vector divergence on the enhancement factor, and ζ be the density coefficient. R(u i ) is the vertex u i The set of neighborhood points, ||Q i -Q j || represents the distance between point i and its neighboring point j.

[0018] As a preferred embodiment of the tactile navigation map generation method based on a customized SESAM laser described in this invention, the generation of the tactile navigation map model includes surface optimization to smooth the overall model, introducing a tactile texture offset term, and generating specific textures on the surface through high-frequency features. These specific textures are obstacle textures and path boundary textures. The surface optimization is expressed as follows:

[0019]

[0020] Among them, Q m The coordinates are the optimized coordinates, η is the weighted control parameter, and Q is the weighted control parameter. m Let R(m) be the 3D coordinates of the original point m in the point cloud, and let R(m) be the set of neighborhood points of point m. n Let be the three-dimensional coordinates of the neighboring point n, and η be the distance-weighted intensity parameter, ||Q n -Q m ||For Q n and point Q m The Euclidean distance between them, (Q) n -Q m Let Q be a point. n Q at the appointed time m The vector, ν, represents the texture offset amplitude parameter, f is the texture frequency parameter, controlling the period length of the ripples, ||Q m ||For Q mThe Euclidean distance to the origin of the coordinate system.

[0021] As a preferred embodiment of the tactile navigation map generation method based on a customized SESAM laser described in this invention, the step of generating the tactile navigation map using an instant 3D printing device includes importing the generated three-dimensional model into 3D printing software, presetting the thickness and infill rate, and then providing a voice announcement after printing to inform the user that the map printing is complete.

[0022] As a preferred embodiment of the tactile navigation map generation method based on a customized SESAM laser described in this invention, the real-time detection and map update includes environmental perception based on a passively Q-switched SESAM 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 starting from the current position.

[0023] Another objective of this invention is to provide a tactile navigation map generation system based on a customized SESAM laser. This system can generate tactile navigation maps with a high degree of environmental feature reproduction. It also features tactile texture design for obstacles and path boundaries, allowing users to intuitively perceive important information through touch. This solves the problem of existing navigation maps lacking tactile expressiveness and having unclear touch characteristics.

[0024] As a preferred embodiment of the tactile navigation map generation system based on a custom SESAM laser described in this invention, it includes an environment perception module, a map generation module, and a 3D printing module; the environment perception module is used to acquire the destination and plan the route, and to perform environmental scanning using a custom SESAM laser; the map generation module is used to process data and generate a tactile navigation map model; the 3D printing module is used to generate a tactile navigation map using an instant 3D printing device and to detect and update the map in real time.

[0025] A computer device includes a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement a tactile navigation map generation method based on a custom SESAM laser.

[0026] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a tactile navigation map generation method based on a custom SESAM laser.

[0027] The beneficial effects of this invention are as follows: The tactile navigation map generation method based on a customized SESAM laser provided by this invention effectively overcomes the problem of insufficient accuracy of existing laser equipment in complex environments by using a SESAM laser for high-precision environmental scanning. This enables the system to acquire complete and realistic environmental information, dividing the model into smooth passage areas and textured obstacles. The simple structure reduces 3D printing costs and makes the model easier for users to master. This invention achieves better results in terms of accuracy, cost, and user adaptability. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 The first embodiment of the present invention provides an overall flowchart of a tactile navigation map generation method based on a customized SESAM laser.

[0030] Figure 2 This is a schematic diagram of a tactile navigation map generation system based on a customized SESAM laser, provided as a third embodiment of the present invention. Detailed Implementation

[0031] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0032] Example 1, referring to Figure 1 As one embodiment of the present invention, a method for generating tactile navigation maps based on a customized SESAM laser is provided, comprising:

[0033] S1: Obtain the destination and plan the route, and use a custom SESAM laser to perform environmental scanning;

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

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

[0036] Pump source: An 808nm semiconductor laser is used as the pump source to excite the Nd crystal.

[0037] Laser output: The Nd crystal generates a 1064nm laser through excitation.

[0038] SESAM passive Q-switching: Passive Q-switching is achieved by introducing SESAM (saturable absorber mirror) into the laser resonator. SESAM can saturate absorb at a specific light intensity, resulting in an instantaneous reduction in cavity loss and the release of a high-peak-value, narrow-pulse laser pulse.

[0039] It should also be noted that environmental scanning using a custom SESAM laser includes environmental obstacle distance testing using a passively Q-switched SESAM laser, and ranging of the surrounding environment using the generated 1064nm pulsed laser, expressed as...

[0040]

[0041] Where 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] By combining the distance data and scanning angle obtained from laser scanning, point cloud data of the target environment is generated, represented as follows:

[0043]

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

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

[0046] Furthermore, point cloud data is susceptible to environmental noise interference during laser scanning, such as error points caused by dust or uneven surface reflection. Denoising algorithms can effectively remove these unreliable points, preventing noise from affecting the accuracy of subsequent 3D modeling. Filtering techniques analyze the spatial distribution characteristics of point cloud data to remove isolated points or outliers in low-density areas. This process further ensures the uniformity of the point cloud data and enhances the stability of the 3D mesh model. Statistical analysis-based methods for removing outliers (such as extreme distance points or isolated height points) ensure that only points consistent with the true characteristics of the environment are retained, avoiding false structural information in the model. Data processing includes preprocessing of the point cloud data, including denoising, filtering, and outlier removal. Using the processed 3D point cloud data, a 3D point cloud dataset W is constructed. Based on the point cloud data, a 3D mesh model is built, represented as:

[0047]

[0048] Among them, u i ,u j ,u k For the vertices of the triangular mesh, This represents the geometric adjacency condition function, used for triangular mesh constraints, where ρ is the geometric texture coefficient. Let ξ be the divergence of the local normal vector field of the point cloud, ξ be the effect of adjusting the normal vector divergence on the enhancement factor, and ζ be the density coefficient. R(u i ) is the vertex u i The set of neighborhood points, ||Q i -Q j || represents the distance between point i and its neighboring point j.

[0049] It should be noted that through surface optimization, the coordinates of points are adjusted to make the surface smoother. Distance-based smoothing is applied to each point, making the relationships between neighboring points more coherent. A tactile texture offset function is added to generate specific textures on the surface using high-frequency features. These high-frequency textures can identify specific areas, facilitating tactile perception for users. The optimized point cloud data has a more regular distribution, which is beneficial for subsequent triangular mesh generation and 3D printing. The combination of a smooth surface and enhanced textures makes the printed model both aesthetically pleasing and practical.

[0050] Generating a tactile navigation map model involves surface optimization to smooth the overall model, introducing a tactile texture offset term, and generating specific textures on the surface using high-frequency features. These specific textures include obstacle textures and path boundary textures. The surface optimization is represented as follows:

[0051]

[0052] Among them, Q″ m The coordinates are the optimized coordinates, η is the weighted control parameter, and Q is the weighted control parameter.m Let R(m) be the 3D coordinates of the original point m in the point cloud, and let R(m) be the set of neighborhood points of point m. n Let be the three-dimensional coordinates of the neighboring point n, and η be the distance-weighted intensity parameter, ||Q n -Q m ||For Q n and point Q m The Euclidean distance between them, (Q) n -Q m Let Q be a point. n Q at the appointed time m The vector, ν, represents the texture offset amplitude parameter, f is the texture frequency parameter, controlling the period length of the ripples, ||Q m ||For Q m The Euclidean distance to the origin of the coordinate system.

[0053] It should also be noted that the reliability of the point cloud data was significantly improved through preprocessing (denoising, filtering, and outlier removal). The optimized triangular mesh model enhanced the geometric features of important regions through geometric adjacency condition functions and geometric texture coefficients, while reducing redundant information, ensuring that the generated 3D model is both smooth and has sufficient detail.

[0054] S3: Uses instant 3D printing equipment to generate haptic navigation maps and detects environmental changes in real time.

[0055] Furthermore, using instant 3D printing equipment to generate tactile navigation maps involves importing the generated 3D model into 3D printing software, setting the thickness and infill rate, and then providing a voice announcement after printing to inform the user that the map printing is complete.

[0056] It should be noted that the real-time detection and map update function includes environmental perception based on a SESAM passively Q-switched laser. When an obstacle blocking the walking route is detected, a voice warning is issued to inform the user to stop moving and reprint the touch map starting from the current location.

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

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

[0059] The experiment was set up with the user's starting point as "street entrance" and the destination as "bus stop," with the user inputting the destination information via voice. The system invoked Dijkstra's algorithm to generate the optimal path from the street entrance to the bus stop based on the current location information and real-time updated map data. Path planning considered obstacle distribution, path length, and environmental safety, and was replanned after each obstacle update.

[0060] A custom-designed SESAM laser is used for environmental scanning, employing a 1064nm pulsed laser for distance measurement and generating point cloud data based on the scanning angle. The laser utilizes an optimized ranging algorithm to handle the effects of ambient light intensity, multipath reflections, and surface roughness, ensuring high-precision distance measurements. The point cloud data exhibits higher resolution in critical path regions (such as intersections and turning points).

[0061] The acquired point cloud data is preprocessed to remove noise, filter, and outliers to generate a 3D point cloud dataset. Based on the point cloud data, the system constructs a triangular mesh model that includes obstacle boundaries and path structures, and enhances the geometric features of obstacles to facilitate tactile recognition.

[0062] A haptic navigation map is generated using an optimized mesh model. Obstacle textures and path boundary textures are designed on the model surface using high-frequency texture enhancement technology. An instant 3D printing device prints the model as a haptic map and provides voice prompts upon completion. Dynamic obstacle interference (such as construction fences) is introduced in the experiment, and the haptic map reflects environmental changes in real time.

[0063] Table 1 Comparison of Experimental Data

[0064]

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

[0066] By leveraging the high peak power of the SESAM laser and optimized algorithms, an environmental scanning accuracy of 1.5 cm was achieved, compared to only 8.3 cm for traditional navigation systems. This high-precision ranging capability effectively reduces measurement errors caused by complex surface roughness and light scattering, ensuring the accuracy of point cloud data.

[0067] Point cloud data density based on SESAM laser reaches 500 points / m². 2 Traditional systems only have 150 points / m 2 This high-density data can more accurately reproduce environmental features, especially in complex structural areas (such as intersections), and can more accurately identify obstacle boundaries.

[0068] The instant 3D printing system generates tactile maps in an average of 40 seconds, half the 85 seconds of traditional systems. Optimized triangular mesh construction algorithms and surface texture design reduce redundant computations and improve generation efficiency.

[0069] Thanks to its real-time scanning and path replanning capabilities, the SESAM laser system has an average response time of 8 seconds when obstacles appear, compared to 25 seconds for traditional systems. This rapid update capability significantly improves navigation safety in dynamic environments.

[0070] The SESAM laser system achieved a 98% obstacle recognition rate and a 94% user navigation success rate in experiments, far exceeding the 82% and 76% of traditional systems, respectively. High-precision environmental scanning and detailed optimization of haptic maps are key to improving navigation performance.

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

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

[0073] If a function is implemented as 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 this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

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

[0075] More specific examples (a non-exhaustive list) of computer-readable media include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0076] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc. It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within 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 and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for generating tactile navigation maps based on a custom SESAM laser, characterized in that, include: Obtain the destination and plan the route, then use a custom SESAM laser to perform an environmental scan; The environmental scanning using a custom SESAM laser includes testing the distance to environmental obstacles using a passively Q-switched SESAM laser, and measuring the distance to the surrounding environment using the generated 1064nm pulsed laser, as shown in the figure. Where 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. By combining the distance data and scanning angle obtained from laser scanning, point cloud data of the target environment is generated, represented as follows: P(x,y,z)={(d i sinθ i cosφ i ,d i sinθ i sinφ i ,d i cosθ i )} Where, d i θ is the distance to the target point measured by laser. i and φ i For the pitch and yaw angles of the laser; Perform data processing to generate a tactile navigation map model; The data processing includes preprocessing the point cloud data, including denoising, filtering, and outlier removal. Using the processed 3D point cloud data, a 3D point cloud dataset W is constructed. Based on the point cloud data, a 3D mesh model is built, represented as follows: Among them, u i ,u j ,u k For the vertices of the triangular mesh, This represents the geometric adjacency condition function, used for triangular mesh constraints, where ρ is the geometric texture coefficient. Let ξ be the divergence of the local normal vector field of the point cloud, ξ be the effect of adjusting the normal vector divergence on the enhancement factor, and ζ be the density coefficient. R(u i ) is the vertex u i The set of neighborhood points, ||Q i -Q j || represents the distance between point i and its neighboring point j; Use instant 3D printing equipment to generate tactile navigation maps and update the maps in real time by detecting the environment. The generation of the tactile navigation map model includes surface optimization to smooth the overall model, introducing a tactile texture offset term, and generating specific textures on the surface using high-frequency features. These specific textures are obstacle textures and path boundary textures. The surface optimization is represented as follows: Among them, Q” m The coordinates are the optimized coordinates, η is the weighted control parameter, and Q is the weighted control parameter. m Let R(m) be the 3D coordinates of the original point m in the point cloud, and let R(m) be the set of neighborhood points of point m. n Let be the three-dimensional coordinates of the neighboring point n, and η be the distance-weighted intensity parameter, ||Q n -Q m ||For Q n and point Q m The Euclidean distance between them, (Q) n -Q m Let Q be a point. n Q at the appointed time m The vector, ν, represents the texture offset amplitude parameter, f is the texture frequency parameter, controlling the period length of the ripples, ||Q m ||For Q m The Euclidean distance to the origin of the coordinate system.

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

3. The tactile navigation map generation method based on a customized SESAM laser as described in claim 2, characterized in that: The process of generating a tactile navigation map using an instant 3D printing device includes importing the generated 3D model into 3D printing software, setting the thickness and infill rate, and then providing a voice announcement after printing to inform the user that the map printing is complete.

4. The tactile navigation map generation method based on a customized SESAM laser as described in claim 3, characterized in that: The real-time detection and environmental map update includes environmental perception using a passively Q-switched SESAM laser. When an obstacle blocking the walking route is detected, a voice warning is issued to inform the user to stop moving and reprint the touch map starting from the current location.

5. A system employing the tactile navigation map generation method based on a customized SESAM laser as described in any one of claims 1 to 4, characterized in that: Includes an environmental perception module, a map generation module, and a 3D printing module; The environmental perception module is used to acquire the destination and plan the route, and uses a custom SESAM laser to perform environmental scanning. The map generation module is used to process data and generate a tactile navigation map model. The 3D printing module is used to generate tactile navigation maps using instant 3D printing equipment and to detect and update the maps in real time.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the tactile navigation map generation method based on a custom SESAM laser as described in any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the tactile navigation map generation method based on a custom SESAM laser as described in any one of claims 1 to 4.

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