A wearable tactile array spatial awareness warning system and method

Abstract

This invention relates to the field of spatial perception and early warning technology, and particularly to a wearable tactile array spatial perception and early warning system and method. The system includes: a wearable garment with multiple tactile pixels on its inner side; a spatial perception component for collecting distance and orientation information between the human body and obstacles; a data analysis component for determining a target area based on the obstacle's orientation information; calculating the relative approach speed based on the trend of the obstacle's distance information changing over time, and obtaining a collision prediction time based on the relative approach speed; determining the target air pressure and pressure change rate inside each tactile pixel based on the collision prediction time and a preset effective pressure range for each tactile pixel; and a tactile array adjustment component for inflating or deflating the tactile pixels in the target area according to the pressure change rate. The technical solution of this invention can provide multi-directional spatial perception and early warning, thereby improving the safety of visually impaired individuals or users in visually limited scenarios.

Description

Technical Field

[0001] This invention relates to the field of spatial perception and early warning technology, and in particular to a wearable tactile array spatial perception and early warning system and method. Background Technology

[0002] Vision is the most powerful and reliable non-contact way for humans to perceive their environment. However, for visually impaired individuals, or in situations where vision is limited, such as in dense smoke, darkness, or extreme weather, visual ability becomes completely ineffective, exposing individuals to unknown risks. On the other hand, while human touch is sensitive and reliable, it is essentially a contact-based perception, requiring physical contact to transmit information, thus losing the space for early warning and buffering.

[0003] In related technologies, for visually impaired individuals or in scenarios with limited vision, physical information is typically conveyed to the human body by amplifying tactile sensation. For example, a cane is used to detect the presence of obstacles in front. However, a cane can only detect obstacles within a limited range in front, cannot perceive risks in other directions, has a significantly limited sensing distance, and the human body cannot obtain the movement trend between itself and the obstacle, resulting in poor safety.

[0004] Therefore, there is an urgent need to provide a wearable tactile array spatial perception early warning system and method to solve the above-mentioned technical problems. Summary of the Invention

[0005] This invention provides a wearable tactile array spatial perception early warning system and method, which can provide multi-directional spatial perception early warning to improve the safety of visually impaired people or users in visually limited scenarios.

[0006] In a first aspect, the present invention provides a wearable tactile array spatial perception early warning system, comprising: The inside of the garment is divided into several different areas according to their orientation. Multiple inflatable and deflated tactile pixels are respectively disposed in different areas on the inside of the garment; At least two spatial sensing components are respectively disposed on the front and rear sides of the wearable garment, for collecting distance and orientation information between the human body and obstacles in the surrounding environment; A data analysis component, connected to the spatial perception component, is used to perform the following operations: determining the target area where the air pressure inside the tactile pixel needs to be adjusted based on the obstacle's orientation information; calculating the relative approach speed between the human body and the obstacle based on the trend of the obstacle's distance information changing over time, and determining the collision prediction time of a collision between the human body and the obstacle based on the relative approach speed; and determining the target air pressure and pressure change rate inside the tactile pixel based on the collision prediction time and the preset effective pressure range of each tactile pixel. The tactile array adjustment component is connected to the data analysis component and the tactile pixel respectively, and is used to inflate or deflate the tactile pixel in the target area according to the pressure change rate, so that the air pressure inside the tactile pixel approaches the target air pressure, so as to provide tactile perception warning of obstacles in the corresponding direction to the human body.

[0007] In a second aspect, the present invention provides a wearable tactile array spatial perception early warning method, applied to the system described in the first aspect of the present invention, the method comprising: The spatial perception component is used to collect distance and orientation information between the human body and obstacles in the surrounding environment; The data analysis component performs the following operations: Based on the obstacle's location information, it determines the target area where the air pressure inside the tactile pixel needs adjustment; based on the distance information of the obstacle changing over time, it calculates the relative approach speed between the human body and the obstacle, and obtains the collision prediction time based on the relative approach speed; based on the collision prediction time and the preset effective pressure range of each tactile pixel, it determines the target air pressure and pressure change rate inside the tactile pixel. The tactile array adjustment component is used to inflate or deflate the tactile pixels in the target area according to the pressure change rate, so that the air pressure inside the tactile pixels approaches the target air pressure, so as to provide tactile perception warning of obstacles in the corresponding direction to the human body.

[0008] This invention provides a wearable tactile array spatial perception and early warning system and method. It can simultaneously collect obstacle information in front of and behind the wearable body through spatial perception components on the clothing, providing multi-directional spatial perception and early warning. The system calculates the relative approach speed and collision prediction time between the wearer and obstacles, and converts these parameters into target air pressure and pressure change rate of the tactile pixels inside the clothing. The wearer can intuitively judge the distance and approach level of obstacles by sensing the magnitude and rate of pressure change through their skin, without relying on vision or hearing. This system is suitable for visually impaired individuals and various visually limited scenarios, achieving precise closed-loop control of tactile feedback, ensuring the accuracy and reliability of the information transmitted to the wearer, and improving the safety of visually impaired individuals or users in visually limited scenarios. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the 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 based on these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram of a wearable tactile array spatial perception and early warning system provided in an embodiment of the present invention; Figure 2 It is based on Figure 1 The diagram shows the functional architecture of a wearable tactile array spatial perception and early warning system.

[0011] Figure label: 10. Wearing clothes; 20-Haptic pixels; 30 - Spatial perception components; 40 - Data Analysis Components; 50-Haptic Array Adjustment Component; 51-Air pump; 52 - Vacuum pump; 53-Solenoid valve array. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0013] Please refer to Figure 1 and Figure 2 This invention provides a wearable tactile array spatial perception and early warning system, comprising: The clothing consists of 10 garments, with the inner side divided into several different areas according to orientation. Multiple inflatable and deflated tactile pixels 20 are respectively disposed in different areas inside the garment 10; At least two spatial sensing components 30 are respectively disposed on the front and rear sides of the wearable clothing 10, for collecting distance and orientation information between the human body and obstacles in the surrounding environment; The data analysis component 40, connected to the spatial perception component 30, performs the following operations: determining the target area where the air pressure inside the tactile pixel 20 needs to be adjusted based on the obstacle's orientation information; calculating the relative approach speed between the human body and the obstacle based on the trend of the obstacle's distance information changing over time, and determining the collision prediction time when the human body and the obstacle will collide based on the relative approach speed; and determining the target air pressure and pressure change rate inside the tactile pixel 20 based on the collision prediction time and the preset effective pressure range of each tactile pixel 20. The tactile array adjustment component 50 is connected to the data analysis component 40 and the tactile pixel 20 respectively. It is used to inflate or deflate the tactile pixel 20 in the target area according to the pressure change rate, so that the air pressure inside the tactile pixel 20 approaches the target air pressure, so as to provide tactile perception warning of obstacles in the corresponding direction to the human body.

[0014] In this embodiment of the invention, the garment 10 can be worn on the torso of the human body. A plurality of tactile pixels 20 are provided on the inner side of the garment 10 that is close to the human body. The tactile pixels 20 are located in different areas, and each area corresponds to the position of the obstacle relative to the human body.

[0015] At least two spatial sensing components 30 are used, positioned at the front and rear of the wearable garment 10 respectively, to collect obstacle information around the front and rear of the human body. When there are two spatial sensing components 30, their data collection range must cover 360° around the human body. The data collected by the spatial sensing component 30 at the front of the human body undergoes translation transformation, while the data collected by the spatial sensing component 30 at the rear undergoes both translation and 180° rotation transformation. Then, overlapping area processing and noise filtering are performed on the data from the two spatial sensing components 30 to obtain a unified environmental obstacle map centered on the human body and encompassing 360°. Multi-frame association and filtering are performed on targets in the obstacle map to obtain a stable distance sequence of the same obstacle over continuous time, providing basic data for subsequent relative velocity estimation. Based on this obstacle map information, a spherical model of the body can be generated. ,in The distance from the obstacle to the center of the body. It is the azimuth angle, representing the angle between the projection of an obstacle onto the horizontal plane and the direction directly in front of the person. It is the pitch angle, which represents the angle of the obstacle relative to the center of the human body in the vertical direction.

[0016] After receiving distance and orientation information, the data analysis component 40 determines the target area where the internal air pressure of the tactile pixels 20 needs adjustment based on the obstacle's orientation information. Based on the trend of distance information to the same obstacle changing over time, it calculates the relative approach speed between the human body and the obstacle, and calculates the collision prediction time based on this relative approach speed. Based on the collision prediction time and the preset effective pressure range of each tactile pixel 20, it determines the target air pressure and pressure change rate within the tactile pixels 20 in the target area, and sends these control parameters to the tactile array adjustment component 50. Upon receiving the control parameters, the tactile array adjustment component 50 inflates or deflates the tactile pixels 20 in the target area according to the pressure change rate, gradually bringing the actual air pressure inside the tactile pixels 20 closer to the target air pressure. The wearer can perceive the distance and approach of obstacles in the corresponding direction by observing the pressure intensity and rate of pressure change applied to the skin by the tactile pixels 20, thus achieving tactile warning of obstacles in the corresponding direction.

[0017] In addition, it is understandable that the system also includes a battery to power the spatial sensing component 30, the data analysis component 40, the tactile array adjustment component 50, etc.

[0018] In one embodiment of the present invention, the different regions inside the garment 10 include a front chest region, a back region, a left side region, and a right side region; The obstacle azimuth angle ranges for the front chest area and back area are [-45°, 45°], [90°, 180°] and [-180°, -90°], [45°, 135°], and [-135°, -45°], respectively. The azimuth angle is the angle between the projection of the obstacle onto the horizontal plane and the direction directly in front of the human body.

[0019] In this embodiment, to achieve orientation perception of obstacles within a 360° range around the human body, the inner side of the garment 10 is divided into multiple different regions according to azimuth angles, specifically including the front chest region, back region, left side region, and right side region. The center of the human torso is taken as the origin, and the front of the human body is defined as the azimuth angle reference direction of 0°. The positive direction of the azimuth angle is defined as counterclockwise (i.e., viewed from above, rotating to the left is positive). That is, the front of the human body is 0°, the left side of the human body is +90°, the rear side of the human body is +180° (which is also -180°), and the right side of the human body is -90°. The obstacle azimuth range for the front chest area is [-45°, 45°], for the back area it is [90°, 180°] and [-180°, -90°], for the left side it is [45°, 135°], and for the right side it is [-135°, -45°]. The angle range for each region can be adjusted based on pixel resolution, for example, by dividing the area into 15° sectors. It should be noted that there is some angular overlap between these regions, primarily to achieve a smooth transition in tactile perception, avoid jumps in tactile feedback when crossing regions, and enhance perceptual redundancy in the rear (high-risk direction), thereby improving the reliability of warnings in high-risk areas.

[0020] In one embodiment of the present invention, the tactile array adjustment component 50 includes: Air pump 51 is electrically connected to data analysis component 40 and communicates with tactile pixel 20. It is used to inflate the tactile pixel 20 according to the target air pressure and adjust the inflation rate according to the pressure change rate. Vacuum pump 52 is electrically connected to data analysis component 40 and communicates with tactile pixel 20. It is used to evacuate the tactile pixel 20 according to the target air pressure to release the air from the tactile pixel 20, and adjust the release rate according to the pressure change rate. The solenoid valve array 53 has each solenoid valve corresponding to a tactile pixel 20. The solenoid valve is set in the air path that connects the air pump 51 or vacuum pump 52 to the tactile pixel 20. It is used to open the air path that connects each tactile pixel 20 to the air pump 51 or vacuum pump 52 in the target area during the inflation and deflation process.

[0021] In this embodiment, the air pump 51 and vacuum pump 52 are connected to the tactile pixel 20 via air passages, allowing them to inflate or deflate the tactile pixel 20 according to the target pressure, while adjusting the inflation / deflation rate based on the pressure change rate. In the solenoid valve array 53, each solenoid valve corresponds to one tactile pixel 20 and is positioned on the air passage connecting the air pump 51 or vacuum pump 52 to that tactile pixel 20. After the data analysis component 40 determines the target area based on the obstacle's location information, it controls the solenoid valve corresponding to the tactile pixel 20 in that target area to open the corresponding air passage. When inflation is needed, the air passage between the tactile pixel 20 and the air pump 51 is opened; when deflation is needed, the air passage between the tactile pixel 20 and the vacuum pump 52 is opened. Through this method, independent and precise control of the tactile pixel 20 in the target area is achieved.

[0022] In one embodiment of the present invention, the relative approach speed is calculated using the following formula:

[0023] For relative approximation speed, This represents a distance sequence that varies over time with the distance to the same obstacle. The sampling time interval of the spatial sensing component 30 is such that when the relative approach speed is greater than 0, it indicates that the human body is approaching the obstacle, and when the relative approach speed is less than 0, it indicates that the human body is moving away from the obstacle.

[0024] In this embodiment, the distance sequence of the same obstacle over time is filtered (to suppress noise interference) to obtain a filtered distance sequence. In this distance sequence, the relative approach speed between the human body and the obstacle is obtained by dividing the distance difference between two adjacent time points by the sampling time interval. This relative approach speed describes the trend of the human body approaching the obstacle. When the relative approach speed is greater than 0, it indicates that the human body is approaching the obstacle; when the relative approach speed is less than 0, it indicates that the human body is moving away from the obstacle; and when the relative approach speed is equal to 0, it indicates that the human body is stationary relative to the obstacle.

[0025] In one embodiment of the present invention, the collision prediction time is calculated using the following formula:

[0026] For collision prediction time, To prevent the minimum value of division by zero, For relative approximation speed, This is a distance sequence that varies with time for the same obstacle.

[0027] In this embodiment, when the relative approach speed is greater than zero, the distance to the obstacle at the current moment is divided by the relative approach speed to obtain the collision prediction time. This time represents the remaining time required for the human body to collide with the obstacle at the current relative speed. When the relative approach speed is less than or equal to zero, it indicates that the human body is not approaching the obstacle, and there is no risk of collision. To prevent division by zero errors, a very small positive number is introduced as a protection value in the denominator during the calculation process, resulting in an infinitely large collision prediction time.

[0028] In one embodiment of the present invention, the target air pressure is calculated using the following formula:

[0029] For the target air pressure, This is the risk intensity coefficient. , For collision prediction time, The preset collision time reference threshold, The maximum target air pressure for tactile pixels 20. The minimum target air pressure for tactile pixel 20.

[0030] In this embodiment, based on the collision prediction time, through a The function calculates the risk intensity coefficient. When the collision prediction time is greater than or equal to a preset collision time reference threshold, the risk intensity coefficient is zero, indicating no collision risk. When the collision prediction time approaches zero, the risk intensity coefficient approaches one, indicating an extremely high collision risk. When the collision prediction time is between these two values, the risk intensity coefficient increases as the collision prediction time decreases. The target air pressure is calculated based on the risk intensity coefficient, the minimum target air pressure, and the maximum target air pressure of haptic pixel 20. When the risk intensity coefficient is zero, the target air pressure equals the minimum target air pressure; when the risk intensity coefficient is one, the target air pressure equals the maximum target air pressure; when the risk intensity coefficient is between zero and one, the target air pressure changes linearly between the minimum and maximum target air pressure.

[0031] In addition, the data analysis component 40 also calculates the barometric pressure coefficient based on the distance to the obstacle. Specifically, the barometric pressure coefficient is calculated using the following formula:

[0032] This is the pressure intensity coefficient. This indicates the maximum effective sensing distance of the spatial sensing component 30. The minimum effective sensing distance of the spatial sensing component 30 is represented by a barometric pressure coefficient between 0 and 1.

[0033] In one embodiment of the present invention, the pressure change rate is calculated using the following formula:

[0034] For the rate of pressure change, The preset fastest inflation / deflation rate, The preset slowest inflation / deflation rate, For collision prediction time, This is a preset collision time reference threshold.

[0035] In this embodiment, the data analysis component 40 determines the pressure change rate based on the collision prediction time. When the collision prediction time is short, the pressure change rate is faster; when the collision prediction time is long, the pressure change rate is slower.

[0036] After determining the target air pressure and pressure change rate, the haptic array adjustment component 50 executes inflation or deflation actions according to the control commands output by the data analysis component 40. When the target air pressure increases, inflation is performed, and the inflation rate is positively correlated with the pressure change rate; when the target air pressure decreases, deflation is performed, and the deflation rate is positively correlated with the pressure change rate. Individual control of each haptic pixel 20 is achieved through the solenoid valve array 53: for haptic pixels 20 that need inflation, the corresponding air pump 51 solenoid valve is turned on, the vacuum pump 52 solenoid valve is turned off, and the PWM duty cycle or valve opening of the air pump 51 is adjusted according to the pressure change rate. For haptic pixels 20 that need deflation, the corresponding air pump 51 solenoid valve is turned off, the vacuum pump 52 solenoid valve is turned on, and the PWM duty cycle or valve opening of the vacuum pump 52 is adjusted according to the pressure change rate. Through the above method, independent closed-loop control of each area of ​​haptic pixels 20 is achieved, so that the actual air pressure inside the haptic pixel 20 approaches the target air pressure in real time, thereby transmitting accurate spatial warning information to the wearer.

[0037] In one embodiment of the present invention, the tactile pixel 20 is a bubble.

[0038] In this embodiment, the tactile pixel 20 is a TPU bubble, specifically an inflatable airbag made of thermoplastic polyurethane. This TPU bubble is connected to the air pump 51 and vacuum pump 52 in the tactile array adjustment assembly 50 via an air tube. When obstacle information needs to be provided to the wearer, the data analysis assembly 40 controls the tactile array adjustment assembly 50 to inflate or deflate the TPU bubble in the target area, causing the TPU bubble to expand or contract, creating a corresponding squeezing sensation on the wearer's skin. By controlling the air pressure intensity inside the TPU bubble and the rate of air pressure change, the distance and proximity of the obstacle are transmitted to the wearer through touch, achieving tactile perception and warning of obstacles in the corresponding location on the body.

[0039] In one embodiment of the present invention, the spatial sensing component 30 is a lidar.

[0040] In this embodiment, the spatial perception component 30 is a lidar. There are at least two lidars, respectively positioned on the front and rear sides of the wearable garment 10. These lidars are used to collect real-time distance and orientation information of obstacles in the surrounding environment in front of and behind the wearer, and transmit the collected data to the data analysis component 40 for fusion processing.

[0041] Furthermore, this invention provides a wearable tactile array spatial perception early warning method, applied to a wearable tactile array spatial perception early warning system, the method comprising: The spatial perception component is used to collect distance and orientation information between the human body and obstacles in the surrounding environment; The data analysis component performs the following operations: Based on the obstacle's location information, it determines the target area where the air pressure inside the tactile pixel needs adjustment; based on the distance information of the obstacle changing over time, it calculates the relative approach speed between the human body and the obstacle, and obtains the collision prediction time based on the relative approach speed; based on the collision prediction time and the preset effective pressure range of each tactile pixel, it determines the target air pressure and pressure change rate inside the tactile pixel. The tactile array adjustment component is used to inflate or deflate the tactile pixels in the target area according to the pressure change rate, so that the air pressure inside the tactile pixels approaches the target air pressure, so as to provide tactile perception warning of obstacles in the corresponding direction to the human body.

[0042] It is understood that the method embodiments and system embodiments provided by the present invention are based on the same inventive concept and have the same beneficial effects. The beneficial effects of the method embodiments will not be elaborated here.

[0043] In summary, this invention provides a wearable tactile array spatial perception and early warning system and method. By setting spatial perception components on the front and back of the garment, it can simultaneously collect obstacle information in front of and behind the wearer. The data analysis component determines the target area to be adjusted based on the obstacle's orientation information and controls the tactile pixels in the corresponding area to inflate or deflate, enabling the wearer to perceive obstacles in different directions through touch, thus achieving spatial perception and early warning for both the front and back of the wearer. By calculating the relative approach speed between the wearer and the obstacle and the collision prediction time, the target air pressure and pressure change rate of the tactile pixels are dynamically determined. When the wearer rapidly approaches the obstacle, the target air pressure increases and the pressure change rate accelerates, resulting in more intense and urgent tactile feedback, allowing the wearer to perceive danger in time and take evasive action, achieving proactive and predictive safety warning. Inflating or deflating the tactile pixels in the target area according to the pressure change rate ensures that the actual air pressure inside the tactile pixels approaches the target air pressure in real time, achieving precise closed-loop control of tactile feedback, ensuring that the information transmitted to the wearer is accurate and reliable, and improving the safety of visually impaired individuals or users in visually limited scenarios.

[0044] It should be noted that, in this invention, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0045] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is only used to illustrate the technical solution of the present invention, and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A wearable tactile array spatial perception and early warning system, characterized in that, include: The inside of the garment is divided into several different areas according to their orientation. Multiple inflatable and deflated tactile pixels are respectively disposed in different areas on the inside of the garment; At least two spatial sensing components are respectively disposed on the front and rear sides of the wearable garment, for collecting distance and orientation information between the human body and obstacles in the surrounding environment; A data analysis component, connected to the spatial perception component, is used to perform the following operations: determining the target area where the air pressure inside the tactile pixel needs to be adjusted based on the obstacle's orientation information; calculating the relative approach speed between the human body and the obstacle based on the trend of the obstacle's distance information changing over time; and determining the collision prediction time when a collision occurs between the human body and the obstacle based on the relative approach speed. Based on the collision prediction time and the preset effective pressure range of each tactile pixel, the target air pressure and pressure change rate inside the tactile pixel are determined. The tactile array adjustment component is connected to the data analysis component and the tactile pixel respectively, and is used to inflate or deflate the tactile pixel in the target area according to the pressure change rate, so that the air pressure inside the tactile pixel approaches the target air pressure, so as to provide tactile perception warning of obstacles in the corresponding direction to the human body.

2. The system according to claim 1, characterized in that, The different areas inside the garment include the front chest area, the back area, the left side area, and the right side area; The obstacle azimuth angle range of the front chest area is [-45°, 45°], the obstacle azimuth angle range of the back area is [90°, 180°] and [-180°, -90°], the obstacle azimuth angle range of the left side area is [45°, 135°], and the obstacle azimuth angle range of the right side area is [-135°, -45°]. The azimuth angle is the angle between the projection of the obstacle on the horizontal plane and the direction directly in front of the human body.

3. The system according to claim 1, characterized in that, The tactile array adjustment component includes: An air pump, electrically connected to the data analysis component and in communication with the tactile pixel, is used to inflate the tactile pixel with air according to the target air pressure and adjust the inflation rate according to the pressure change rate. A vacuum pump, electrically connected to the data analysis component and in communication with the tactile pixel, is used to evacuate the interior of the tactile pixel according to the target air pressure to release air from the tactile pixel, and to adjust the release rate according to the pressure change rate. An array of solenoid valves, wherein each solenoid valve corresponds to a tactile pixel, and the solenoid valve is disposed in the air path connecting the air pump or vacuum pump to the tactile pixel, for opening the air path connecting each tactile pixel in the target area to the air pump or vacuum pump during the inflation and deflation process.

4. The system according to claim 1, characterized in that, The relative approach speed is calculated using the following formula: For relative approximation speed, This represents a distance sequence that varies over time with the distance to the same obstacle. The sampling time interval of the spatial sensing component. When the relative approach speed is greater than 0, it indicates that the human body is approaching the obstacle. When the relative approach speed is less than 0, it indicates that the human body is moving away from the obstacle.

5. The system according to claim 4, characterized in that, The collision prediction time is calculated using the following formula: For collision prediction time, To prevent the minimum value of division by zero, For relative approximation speed, This is a distance sequence that varies with time for the same obstacle.

6. The system according to claim 5, characterized in that, The target air pressure is calculated using the following formula: For the target air pressure, This is the risk intensity coefficient. , For collision prediction time, The preset collision time reference threshold, The maximum target air pressure for the tactile pixel. The minimum target air pressure for the tactile pixel.

7. The system according to claim 6, characterized in that, The rate of pressure change is calculated using the following formula: For the rate of pressure change, The preset fastest inflation / deflation rate, The preset slowest inflation / deflation rate, For collision prediction time, This is a preset collision time reference threshold.

8. The system according to claim 1, characterized in that, The tactile pixels are bubbles.

9. The system according to claim 1, characterized in that, The spatial sensing component is a lidar.

10. A wearable tactile array spatial perception early warning method, characterized in that, The method, applied to the system of any one of claims 1-9, comprises: The spatial perception component is used to collect distance and orientation information between the human body and obstacles in the surrounding environment; The data analysis component performs the following operations: Based on the obstacle's location information, it determines the target area where the air pressure inside the tactile pixel needs adjustment; based on the distance information of the obstacle changing over time, it calculates the relative approach speed between the human body and the obstacle, and obtains the collision prediction time based on the relative approach speed; based on the collision prediction time and the preset effective pressure range of each tactile pixel, it determines the target air pressure and pressure change rate inside the tactile pixel. The tactile array adjustment component is used to inflate or deflate the tactile pixels in the target area according to the pressure change rate, so that the air pressure inside the tactile pixels approaches the target air pressure, so as to provide tactile perception warning of obstacles in the corresponding direction to the human body.

Images