Spatial perception device and method for visually impaired people

Abstract

The invention provides a spatial perception device for visually impaired people and a method thereof, and relates to the technical field of blind guiding tools. The spatial perception device for the visually impaired people comprises a working platform, a spatial perception assembly and a touch feedback assembly, the space sensing assembly and the touch feedback assembly are both arranged on the working platform; the space sensing assembly comprises a space sensing piece and a calculation unit, and the space sensing piece is connected with the calculation unit; the touch feedback assembly comprises lifting power pieces and lifting touch pieces, the lifting power pieces can drive the lifting touch pieces to move up and down, the number of the lifting power pieces and the number of the lifting touch pieces are multiple, and the multiple lifting power pieces are all connected with the calculation unit; the multiple lifting power pieces are arranged on the working platform in an array mode. The technical effect of improving the travel convenience of the visually impaired people is achieved.

Description

Technical Field

[0001] This invention relates to the field of guide tools technology, and more specifically, to a spatial perception device and method for visually impaired individuals. Background Technology

[0002] Blindness refers to people with visual impairments. Visually impaired individuals are mainly divided into two categories: total blindness and partial blindness. Total blindness (i.e., atrophy or calcification of the eyeball) results in a loss of responsiveness to light. Partial blindness (lower than 60% of normal vision) restricts the activities of blind people due to their visual impairment.

[0003] The most common guide tool for visually impaired people is the white cane. However, the effective perception distance of the white cane is only about 1 meter. Therefore, it is not possible to perceive spatial information further away with the white cane. For example, it is difficult for visually impaired people to cross the road independently with the white cane. They cannot use the white cane to determine the direction of walking, road information, their own position on the road, and the position information of other traffic participants (pedestrians, motorcycles, motor vehicles) around them. Summary of the Invention

[0004] The purpose of this invention is to provide a spatial perception device and method for visually impaired individuals, so as to alleviate the technical problems of inconvenience in travel for visually impaired individuals in the prior art.

[0005] In a first aspect, embodiments of the present invention provide a spatial perception device for visually impaired individuals, including a work platform, a spatial perception component, and a touch feedback component;

[0006] Both the spatial sensing component and the touch feedback component are mounted on the working platform;

[0007] The spatial sensing component includes a spatial sensing element and a computing unit, wherein the spatial sensing element is connected to the computing unit.

[0008] The touch feedback component includes a lifting power component and a lifting touch component. The lifting power component can drive the lifting touch component to move up and down. There are multiple lifting power components and lifting touch components, and all of the multiple lifting power components are connected to the computing unit.

[0009] Multiple lifting power components are arranged in an array on the working platform.

[0010] In conjunction with the first aspect, the present invention provides a possible implementation of the first aspect, wherein the aforementioned spatial sensing device includes a depth camera, and the depth camera is connected to the computing unit.

[0011] In conjunction with the first aspect, the present invention provides a possible implementation of the first aspect, wherein the aforementioned spatial sensing device further includes an electronic gyroscope, the electronic gyroscope being connected to the computing unit.

[0012] In conjunction with the first aspect, the present invention provides a possible implementation of the first aspect, wherein the above-mentioned lifting power component adopts a micro motor, the output end of the micro motor is provided with a drive screw, the drive screw is provided with a screw nut, and the lifting touch component is provided on the screw nut;

[0013] The working platform is provided with multiple guide channels so that the lifting power component can drive the lead screw nut to move up and down.

[0014] In conjunction with the first aspect, the present invention provides a possible implementation of the first aspect, wherein the above-mentioned lifting power component adopts a micro motor, and the output end of the micro motor is provided with a drive worm gear;

[0015] The lifting touch component includes a lifting worm gear and a touch housing. The lifting worm gear meshes with the driving worm gear, and the touch housing is disposed on the lifting worm gear. The working platform has multiple guide channels adapted to the touch housing so that the lifting power component drives the touch housing to move up and down.

[0016] In conjunction with the first aspect, the present invention provides a possible implementation of the first aspect, wherein the above-mentioned lifting power component includes a drive motor, an eccentric wheel and a lifting plate, the drive motor is mounted on the working platform, the eccentric wheel is mounted on the output end of the drive motor, and the eccentric wheel abuts against the bottom of the lifting plate;

[0017] The lifting touch component includes a first return spring, a lifting rod, an outer sleeve, and multiple locking rods. One end of the first return spring is connected to the lifting rod, and the other end is connected to the lifting plate.

[0018] The outer sleeve has a lifting channel and multiple locking channels. The locking channels are perpendicular to the lifting channel. The lifting rod is inserted into the lifting channel. Multiple locking rods are respectively inserted into the locking channels. A second return spring and an electromagnetic coil are provided in the locking channels. The lifting rod has a locking groove for matching the locking rod.

[0019] In conjunction with the first aspect, the present invention provides a possible implementation of the first aspect, wherein the above-mentioned working platform is provided with a wireless connection unit for connecting to a wireless communication device, the working platform is provided with a speaker, and both the speaker and the wireless connection unit are connected to the computing unit.

[0020] In conjunction with the first aspect, the present invention provides a possible implementation of the first aspect, wherein a positioning chip is provided in the above-mentioned working platform, and the positioning chip is connected to the computing unit.

[0021] Secondly, embodiments of the present invention provide a spatial perception method for visually impaired individuals, used in the spatial perception device for visually impaired individuals, comprising the following steps:

[0022] The spatial sensing device acquires the scene in front of the user, obtains a depth map, and performs coordinate system transformation on the depth map to obtain three-dimensional coordinate information in the XYZ spatial coordinate system;

[0023] Acquire electronic gyroscope data and correct the pitch and tilt angles of the three-dimensional coordinate information based on the electronic gyroscope data;

[0024] The corrected three-dimensional coordinate information is mapped to multiple lifting power components, and the lifting height of the multiple lifting power components is adjusted according to the height information of the three-dimensional coordinate information in order to adjust the height of the lifting touch component.

[0025] In conjunction with the second aspect, the present invention provides a possible implementation of the second aspect, wherein the above-mentioned lifting power component has three adjustable levels: low, medium, and high. The low, medium, and high levels correspond to a gradually increasing height of the lifting touch component. The low level adjustment corresponds to the current road being passable, the medium level adjustment corresponds to the current road being passed cautiously, and the high level adjustment corresponds to the current road being impassable.

[0026] Beneficial effects:

[0027] This invention provides a spatial perception device for visually impaired individuals, comprising a working platform, a spatial perception component, and a touch feedback component. Both the spatial perception component and the touch feedback component are mounted on the working platform. The spatial perception component includes a spatial sensing element and a computing unit, with the spatial sensing element connected to the computing unit. The touch feedback component includes a lifting power element and a lifting touch element. The lifting power element can drive the lifting touch element to move up and down. There are multiple lifting power elements and lifting touch elements, and each of the multiple lifting power elements is connected to the computing unit. An array of multiple lifting power elements is arranged on the working platform.

[0028] Specifically, when visually impaired users use the platform, they wear it on their chest or strap it to their waist, ensuring the spatial sensing components on the platform face the direction of travel. Upon powering on, the spatial sensing components acquire the scene in the direction of travel and transmit the recorded scene data to the computing unit. The computing unit converts the spatial data acquired by the spatial sensing components into xyz three-dimensional coordinates and maps these coordinates to multiple lifting mechanisms. These lifting mechanisms adjust the height of the lifting touch component based on the height information of the xyz three-dimensional coordinates, thus simulating the scene in the direction of travel. Visually impaired users can then touch the lifting touch component to obtain the scene in the direction of travel, thus guiding them.

[0029] This invention provides a spatial perception method for visually impaired individuals, used in a spatial perception device for visually impaired individuals, comprising the following steps: acquiring the scene in front of the user through a spatial perception component, acquiring a depth map, performing coordinate system transformation on the depth map to obtain three-dimensional coordinate information in an XYZ spatial coordinate system; acquiring electronic gyroscope data, correcting the pitch angle of the three-dimensional coordinate information based on the electronic gyroscope data; associating the corrected three-dimensional coordinate information with multiple lifting power components, and adjusting the lifting height of the multiple lifting power components based on the height information of the three-dimensional coordinate information, thereby adjusting the height of the lifting touch component.

[0030] Specifically, the system acquires the scene in the user's direction of travel through a spatial sensing device, then transmits the depth map from the spatial sensing device to a computing unit. The computing unit then converts the depth map into xyz three-dimensional coordinate information, and then corrects the pitch angle of the three-dimensional coordinate information based on an electronic gyroscope, so that the three-dimensional data corresponds to the three-dimensional data of the scene in front of the user. Multiple lifting motion devices can be regarded as pixels. The three-dimensional image data is divided equally and mapped with multiple lifting motion devices, and then the height data of each pixel is acquired. This height data is used to control the output of the lifting motion devices, and then the lifting motion devices drive the height of the lifting touch device so that the user can obtain the scene in front of them by touching the lifting touch device. Attached Figure Description

[0031] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0032] Figure 1 A schematic diagram of a spatial perception device for visually impaired individuals provided in an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of a first embodiment of the touch feedback component in a spatial perception device for visually impaired persons provided in an embodiment of the present invention.

[0034] Figure 3 This is a schematic diagram of a second embodiment of the touch feedback component in a spatial perception device for visually impaired persons provided in an embodiment of the present invention.

[0035] Figure 4 This is a schematic diagram of a third embodiment of the touch feedback component in a spatial perception device for visually impaired persons provided in this invention.

[0036] Figure 5The locking lever drive structure is shown in the third embodiment of the touch feedback component in the spatial perception device for visually impaired persons provided in this invention.

[0037] icon:

[0038] 100-Work Platform;

[0039] 200 - Spatial sensing component; 210 - Spatial sensing element;

[0040] 300 - Touch feedback component; 310 - Lifting power component; 320 - Lifting touch component; 331 - Micro motor; 332 - Drive screw; 333 - Screw nut; 341 - Drive worm; 342 - Lifting worm; 351 - Drive motor; 352 - Eccentric wheel; 353 - Lifting plate; 354 ​​- First return spring; 355 - Lifting rod; 356 - Outer sleeve; 357 - Locking rod; 358 - Second return spring; 359 - Electromagnetic coil; 360 - Magnet. Detailed Implementation

[0041] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0043] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0044] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0045] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings.

[0046] See Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, this embodiment provides a spatial perception device for visually impaired individuals, including a work platform 100, a spatial perception component 200, and a touch feedback component 300. Both the spatial perception component 200 and the touch feedback component 300 are mounted on the work platform 100. The spatial perception component 200 includes a spatial sensing element 210 and a computing unit, with the spatial sensing element 210 connected to the computing unit. The touch feedback component 300 includes a lifting power component 310 and a lifting touch element 320. The lifting power component 310 can drive the lifting touch element 320 to move up and down. There are multiple lifting power components 310 and lifting touch elements 320, and each of the multiple lifting power components 310 is connected to the computing unit. The multiple lifting power components 310 are arranged in an array on the work platform 100.

[0047] Specifically, when used by visually impaired individuals, the work platform 100 is worn on the chest or strapped to the waist, with the spatial perception component 200 on the work platform 100 facing the direction of travel. Upon powering on, the spatial perception component 200 acquires the scene in the direction of travel and transmits the recorded scene data to the computing unit. The computing unit converts the spatial data acquired by the spatial perception component 210 into xyz three-dimensional coordinates and maps these xyz three-dimensional coordinates to multiple lifting power components 310. The multiple lifting power components 310 adjust the height of the lifting touch component 320 based on the height information of the xyz three-dimensional coordinates, thereby simulating the scene in the direction of travel. At this time, the visually impaired individual can obtain the scene in the direction of travel by touching the lifting touch component 320 with their fingers, thus guiding them.

[0048] The spatial sensing device 210 can be a camera, lidar, or other similar device. Those skilled in the art can choose according to their actual needs, as long as it can acquire digital data of the scene in the forward direction.

[0049] It should be noted that a power supply for providing power to the spatial sensing component 200 and the touch feedback component 300 is provided inside the work platform 100, and a charging interface is provided on the work platform 100, which is connected to the power supply.

[0050] See Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, in an optional embodiment, the spatial sensing device 210 includes a depth camera, which is connected to the computing unit.

[0051] Specifically, the spatial sensing component 210 can use a binocular depth camera. The binocular depth camera can acquire a depth map of the scene in the forward direction. Then, coordinate transformation of the depth map can obtain xyz three-dimensional coordinate data, so that the coordinate data can be matched and mapped with the multiple lifting power components 310 of the spatial sensing component 200.

[0052] It should be noted that the spatial sensing device 210 can also be a structured light depth camera or a lidar, etc. Those skilled in the art can choose the type of spatial device 210 as long as it can acquire the data coordinate map of the scene in the forward direction, which will not be elaborated here.

[0053] The specific mapping method involves dividing the xyz three-dimensional coordinate system data into blocks, with the number of blocks equal to the number of lifting power components 310. After dividing, each block of data is marked, such as X1Y1, X1Y2, X1Y3, etc. Furthermore, multiple lifting power components 310 are arranged in an array, also marked, such as x1y1, x1y2, x1y3, etc. Then, the blocks of the foreground scene are matched and mapped with multiple lifting power components 310. Finally, the maximum height information of the corresponding block is obtained, and the height of the lifting touch component 320 is controlled by the lifting power components 310 based on this height information.

[0054] It should be noted that the multiple lifting power components 310 are arranged in an array, for example, in a 20x20 array or a 30x30 array. Those skilled in the art can set it according to actual needs.

[0055] In addition, when adjusting the height of the lifting power component 310, the original data needs to be partitioned and each partition is mapped to the corresponding lifting power component 310. Then, the highest point in the point cloud of each partition is found, and the highest point is compared and analyzed with the set height. Then, the height of the lifting touch component 320 is adjusted through the lifting power component 310.

[0056] It should be noted that the height information of the scene ahead is categorized into three ranges. For example, when the height data is less than 10cm, the lifting mechanism 310 does not activate, and it operates at a low setting. When the height data is greater than 10cm but less than 20cm, the lifting mechanism 310 drives the lifting touch component 320 to raise it to half of its total travel, operating at a medium setting. When the height data is greater than 20cm, the lifting mechanism 310 drives the lifting touch component 320 to raise it to its maximum travel, operating at a high setting. This configuration provides visually impaired individuals with information about whether they can proceed or need to avoid obstacles.

[0057] In an optional embodiment, the spatial sensing device 210 further includes an electronic gyroscope, which is connected to the computing unit.

[0058] Specifically, the spatial sensing component 210 also includes an electronic gyroscope, which obtains the tilt angle of the working platform 100, thereby correcting the data from the binocular depth camera to ensure that the data obtained by the binocular depth camera is horizontal, thus guaranteeing the accuracy of the lifting data of the lifting power component 310 driving the lifting touch component 320.

[0059] See Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, in the optional scheme of this embodiment, the lifting power component 310 adopts a micro motor 331, the output end of the micro motor 331 is provided with a drive screw 332, the drive screw 332 is provided with a screw nut 333, and the lifting touch component 320 is provided on the screw nut 333; the working platform 100 is provided with multiple guide channels so that the lifting power component 310 drives the screw nut 332 to move up and down.

[0060] Specifically, when the lifting power needs to drive the lifting touch component 320 to lift, the micro motor 331 starts, and the micro motor 331 drives the drive screw 332 to rotate. The drive rotation can drive the screw nut 333 to move up and down. The screw nut and the lifting touch component 320 move vertically up and down under the action of the guide channel on the work platform 100.

[0061] See Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, in the optional scheme of this embodiment, the lifting power component 310 adopts a micro motor 331, and the output end of the micro motor 331 is provided with a drive worm gear 341; the lifting touch component 320 includes a lifting worm gear 342 and a touch shell, the lifting worm gear 342 meshes with the drive worm gear 341, the touch shell is disposed on the lifting worm gear 342, and the working platform 100 is provided with multiple guide channels adapted to the touch shell so that the lifting power component 310 drives the touch shell to move up and down.

[0062] Specifically, when the lifting power needs to drive the lifting touch component 320 to lift, the micro motor 331 works to drive the drive worm gear 341 to rotate, the drive worm gear 341 drives the lifting worm gear 342 to rotate, and the lifting worm gear 342 drives the touch shell to rise.

[0063] The touch housing and the lifting worm gear 342 are rotatably connected. The touch housing is covered on the lifting worm gear 342. When the lifting worm gear 342 rises, the touch housing can move up and down along the guide channel of the work platform 100.

[0064] See Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, in the optional embodiment, the lifting power component 310 includes a drive motor 351, an eccentric wheel 352, and a lifting plate 353. The drive motor 351 is mounted on the working platform 100, and the eccentric wheel 352 is mounted on the output end of the drive motor 351. The eccentric wheel 352 abuts against the bottom of the lifting plate 353. The lifting touch component 320 includes a first return spring 354, a lifting rod 355, an outer sleeve 356, and multiple locking rods 357. One end of the first return spring 354 is connected to the lifting rod 355, and the other end is connected to the lifting plate 353. The outer sleeve 356 has a lifting channel and multiple locking channels. The locking channels are perpendicular to the lifting channel. The lifting rod 355 is inserted into the lifting channel, and the multiple locking rods 357 are respectively inserted into the locking channels. A second return spring 358 and an electromagnetic coil are provided in the locking channels. The lifting rod 355 has a locking groove for matching the locking rods 357.

[0065] Specifically, when the lifting power needs to drive the lifting touch component 320 to move up and down, the drive motor 351 works to drive the eccentric wheel 352 to rotate. The rotation of the eccentric wheel 352 can drive the lifting plate 353 to move up and down. When the touch feedback component 300 needs to be adjusted, the drive motor 351 drives the eccentric wheel 352 to rotate, so that the lifting plate 353 is raised to the highest position. Then, the electromagnetic coil of the corresponding locking rod 357 of the lifting touch component 320 works, thereby triggering the corresponding locking rod 357 to pop out. At this time, the locking rod 357 abuts against the outer wall of the lifting rod 355 under the action of the second return spring 358. After all the locking rods 357 of the lifting touch components 320 are adjusted into place, the drive motor 351 drives the eccentric wheel 352 to rotate, so that the lifting plate 353 descends. The descent of the lifting plate 353 can drive the locking rod 357 to descend. As the lifting rod 355 descends, the locking rod 357 is locked into the locking groove of the lifting rod 355. Through this setting, the adjustment of multiple lifting rods 355 can be completed.

[0066] The lifting rod 355 is inserted into the lifting channel of the outer sleeve 356, and the locking rod 357 is inserted into the locking channel. The locking channel of the outer sleeve 356 is connected to the lifting channel, and the electromagnetic coil can attract the locking rod 357 and retract it into the locking channel.

[0067] It should be noted that a magnet 360 is provided at the end of the locking rod 357 near the electromagnetic coil.

[0068] In an optional embodiment, the working platform 100 is provided with a wireless connection unit for connecting to a wireless communication device, and a speaker is provided on the working platform 100. Both the speaker and the wireless connection unit are connected to the computing unit.

[0069] The work platform 100 is equipped with a positioning chip, which is connected to the computing unit.

[0070] Specifically, a wireless connection unit is provided in the work platform 100. Through the wireless connection unit, the spatial perception device for visually impaired people provided in this embodiment can be connected to the user's mobile phone or mobile communication device, so that the user can use the mobile phone or other mobile device to perform navigation operations, and then broadcast through the speaker of the work platform 100.

[0071] In addition, the computing unit within the work platform 100 can employ a computing chip to enable the spatial perception device for visually impaired persons in this embodiment to be used independently. For example, visually impaired persons can use the spatial perception device for visually impaired persons in this embodiment without relying on a mobile phone.

[0072] This embodiment provides a spatial perception method for visually impaired individuals, used in a spatial perception device for visually impaired individuals, comprising the following steps: acquiring the scene in front of the user through a spatial perception component 210, acquiring a depth map, performing coordinate system transformation on the depth map to obtain three-dimensional coordinate information in the XYZ spatial coordinate system; acquiring electronic gyroscope data, correcting the pitch angle of the three-dimensional coordinate information based on the electronic gyroscope data; associating the corrected three-dimensional coordinate information with multiple lifting power components 310, and adjusting the lifting height of the multiple lifting power components 310 according to the height information of the three-dimensional coordinate information, thereby adjusting the height of the lifting touch component 320.

[0073] Specifically, the spatial sensing element 210 acquires the scene in the user's forward direction, then transmits the depth map of the spatial sensing element 210 to the computing unit, and then the computing unit converts the depth map into xyz three-dimensional coordinate information. Then, the pitch and tilt angle of the three-dimensional coordinate information is corrected according to the electronic gyroscope, so that the three-dimensional data corresponds to the three-dimensional data of the scene in front of the user. Multiple lifting motion elements 310 can be regarded as pixels. The three-dimensional image data is divided equally and mapped with multiple lifting motion elements 310. Then, the height data of each pixel is acquired. This height data is used to control the output of the lifting motion element 310. Then, the lifting motion element 310 drives the height of the lifting touch element 320 so that the user can obtain the scene in front by touching the lifting touch element 320.

[0074] Among them, the lifting power component 310 has three adjustable levels: low, medium, and high. The low, medium, and high levels correspond to the gradually increasing height of the lifting touch component 320. The low level adjustment corresponds to the current road being passable, the medium level adjustment corresponds to the current road being passed with caution, and the high level adjustment corresponds to the current road being impassable.

[0075] In addition, the lifting power component 310 has a vibration mode. When the depth camera detects that the ground height in the direction of travel is suitable for passage but is uneven, the lifting power component 310 will be in a low-adjustment and vibration mode. Visually impaired people can touch the lifting touch component 320 to see that the road ahead is passable. However, at this time, the lifting touch component 320 is vibrating due to the vibration mode of the lifting power component 310. At this time, visually impaired people will know that the road ahead is uneven and needs to be traversed with caution.

[0076] In addition, the vibration mode of the lifting power component 310 can be used in conjunction with low-speed, medium-speed and high-speed adjustment. Furthermore, those skilled in the art can set the vibration mode according to actual needs and the road condition information, not just limited to road potholes.

[0077] It should be noted that the spatial data acquired by the binocular depth camera is in spherical coordinates. This data needs to be converted, transforming the depth information detected by the spatial sensing device 210 into coordinates in the xyz spatial three-dimensional coordinate system. The output of the spatial sensing device 210 is depth data based on spherical coordinates, which requires a spherical coordinate to XYZ spatial coordinate transformation. The spherical coordinate to XYZ spatial coordinate transformation process is as follows: If the coordinates of a point p in space in the spherical coordinate system are (dist, a, b), where dist represents the distance from point p to the center of the spherical coordinate system circle, a represents the elevation angle, and b represents the azimuth angle, then the coordinates of point p in the xyz spatial coordinate system can be given by trigonometric functions:

[0078] x = dist * cos(a) * cos(b)

[0079] y=dist*cos(a)*sin(b)

[0080] z = dis t*sin(a).

[0081] It should be noted that the array of lifting touch units 320 can not only simulate the scene of the direction of travel, but also display directional arrows based on the height information of the objects in front. For example, when the area in front of the visually impaired person is flat or there is an obstacle less than 10cm, the array of multiple lifting touch units 320 displays a forward-moving arrow. When there is an obstacle greater than 10cm but less than 20cm in front of the visually impaired person, the array of multiple lifting touch units 320 displays a circle to remind the visually impaired person to pass carefully. When there is an obstacle greater than 20cm that is impassable in front of the visually impaired person, the array of multiple lifting touch units 320 displays a turning arrow pointing outward. Furthermore, when using the spatial perception device for the visually impaired person provided in this embodiment, the visually impaired person can set the obstacle height according to their needs and can also set the prompt graphics themselves.

[0082] Finally, 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 them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A spatial perception device for visually impaired individuals, characterized in that, include: Work platform (100), spatial perception component (200), and touch feedback component (300); Both the spatial sensing component (200) and the touch feedback component (300) are mounted on the work platform (100); The spatial sensing component (200) includes a spatial sensing element (210) and a computing unit, wherein the spatial sensing element (210) is connected to the computing unit; The touch feedback component (300) includes a lifting power component (310) and a lifting touch component (320). The lifting power component (310) can drive the lifting touch component (320) to move up and down. There are multiple lifting power components (310) and lifting touch components (320). All of the multiple lifting power components (310) are connected to the computing unit. Multiple lifting power components (310) are arranged in an array on the work platform (100).

2. The spatial perception device for visually impaired persons according to claim 1, characterized in that, The spatial sensing device (210) includes a depth camera, which is connected to the computing unit.

3. The spatial perception device for visually impaired persons according to claim 2, characterized in that, The spatial sensing device (210) also includes an electronic gyroscope, which is connected to the computing unit.

4. The spatial perception device for visually impaired persons according to claim 1, characterized in that, The lifting power component (310) adopts a micro motor (331), the output end of the micro motor (331) is provided with a drive screw (332), the drive screw (332) is provided with a screw nut (333), and the lifting touch component (320) is provided on the screw nut (333); The working platform (100) is provided with multiple guide channels so that the lifting power component (310) drives the lead screw nut (333) to move up and down.

5. The spatial perception device for visually impaired persons according to claim 1, characterized in that, The lifting power component (310) adopts a micro motor (331), and the output end of the micro motor (331) is provided with a drive worm gear (341); The lifting touch component (320) includes a lifting worm gear (342) and a touch housing. The lifting worm gear (342) meshes with the driving worm gear (341). The touch housing is disposed on the lifting worm gear (342). The working platform (100) has multiple guide channels adapted to the touch housing so that the lifting power component (310) drives the touch housing to move up and down.

6. The spatial perception device for visually impaired persons according to claim 1, characterized in that, The lifting power component (310) includes a drive motor (351), an eccentric wheel (352), and a lifting plate (353). The drive motor (351) is mounted on the working platform (100), the eccentric wheel (352) is mounted on the output end of the drive motor (351), and the eccentric wheel (352) abuts against the bottom of the lifting plate (353). The lifting touch component (320) includes a first return spring (354), a lifting rod (355), an outer sleeve (356), and a plurality of locking rods (357). One end of the first return spring (354) is connected to the lifting rod (355), and the other end is connected to the lifting plate (353). The outer sleeve (356) is provided with a lifting channel and multiple locking channels. The locking channels are perpendicular to the lifting channel. The lifting rod (355) is inserted into the lifting channel. Multiple locking rods (357) are respectively inserted into the locking channels. A second return spring (358) and an electromagnetic coil are provided in the locking channels. The lifting rod (355) is provided with a locking groove for matching the locking rod (357).

7. The spatial perception device for visually impaired persons according to claim 1, characterized in that, The working platform (100) is provided with a wireless connection unit for connecting to a wireless communication device. The working platform (100) is provided with a speaker. Both the speaker and the wireless connection unit are connected to the computing unit.

8. The spatial perception device for visually impaired persons according to claim 1, characterized in that, The working platform (100) is equipped with a positioning chip, which is connected to the computing unit.

9. A spatial perception method for visually impaired individuals, used in the spatial perception device for visually impaired individuals as described in any one of claims 1-8, characterized in that, Includes the following steps: The spatial sensing device (210) acquires the scene in front of the user, acquires a depth map, and performs coordinate system transformation on the depth map to obtain the three-dimensional coordinate information of the XYZ spatial coordinate system. Acquire electronic gyroscope data and correct the pitch and tilt angles of the three-dimensional coordinate information based on the electronic gyroscope data; The corrected three-dimensional coordinate information is matched with multiple lifting power components (310), and the lifting height of the multiple lifting power components (310) is adjusted according to the height information of the three-dimensional coordinate information, so as to adjust the height of the lifting touch component (320).

10. The spatial perception method for visually impaired individuals according to claim 9, characterized in that, The lifting power component (310) has three adjustable levels: low, medium, and high. The low, medium, and high levels correspond to the gradually increasing height of the lifting touch component (320). The low level corresponds to the current road being passable, the medium level corresponds to the current road being passed with caution, and the high level corresponds to the current road being impassable. The lifting power component (310) has a vibration mode, which corresponds to the current poor road conditions.

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