CN-116421400-B - Visual impairment auxiliary sensing method and device, electronic equipment and storage medium

CN116421400BCN 116421400 BCN116421400 BCN 116421400BCN-116421400-B

Abstract

The application provides a vision barrier auxiliary sensing method, a device, electronic equipment and a storage medium, wherein the method comprises the steps of obtaining position information of a target obstacle, wherein the position information of the target obstacle comprises distance information of the target obstacle, angle information of the target obstacle and azimuth information of the target obstacle, controlling a first stimulation device to output a first stimulation signal and controlling a second stimulation device to output a second stimulation signal according to the position information of the target obstacle, wherein the stimulation intensities of the first stimulation signal and the second stimulation signal are inversely related to the distance information, the azimuth information is represented by a sequence relation between the starting moment of the first stimulation signal and the starting moment of the second stimulation signal, and the time difference between the starting moment of the first stimulation signal and the starting moment of the second stimulation signal is positively related to the angle information. The scheme of the application improves the accuracy of vision-impaired auxiliary sensing.

Inventors

WANG ZHAO
HONG JIE
WANG XIN
WANG KAI
ZHANG WENXIA
JIA HAITAO
SUN YIPING
WANG TIAN

Assignees

中国联合网络通信集团有限公司

Dates

Publication Date: 20260505
Application Date: 20230425

Claims (12)

1. A vision-impaired assisting perception method, applied to a vision-impaired assisting perception apparatus, the vision-impaired assisting perception apparatus comprising a first stimulation device characterizing a first direction and a second stimulation device characterizing a second direction, the first direction being opposite to the second direction, the method comprising: The method comprises the steps of acquiring position information of a target obstacle, wherein the position information of the target obstacle comprises distance information of the target obstacle, angle information of the target obstacle and azimuth information of the target obstacle, wherein the angle information of the target obstacle is an offset angle of the position of the target obstacle compared with the position of the target obstacle in front of a user, and the azimuth information of the target obstacle is an offset direction of the position of the target obstacle compared with the position of the target obstacle in front of the user; The method comprises the steps of controlling first stimulation equipment to output a first stimulation signal and controlling second stimulation equipment to output a second stimulation signal according to position information of a target obstacle, carrying out correlation calculation on angle information of the target obstacle to obtain a time difference, determining starting time of the first stimulation signal if the azimuth information is in the first direction, taking the time corresponding to the sum of the starting time of the first stimulation signal and the time difference as the starting time of the second stimulation signal, determining the starting time of the second stimulation signal if the azimuth information is in the second direction, taking the time corresponding to the sum of the starting time of the second stimulation signal and the time difference as the starting time of the first stimulation signal, and determining the starting time of the first stimulation signal and the starting time of the second stimulation signal if the azimuth information is in the absence of offset, wherein the starting time of the first stimulation signal and the starting time of the second stimulation signal is the same, and the correlation between the starting time of the first stimulation signal and the second stimulation signal is positive in time, and the correlation information of the second stimulation signal and the second azimuth information.
2. The method of claim 1, wherein before controlling the first stimulation device to output a first stimulation signal and controlling the second stimulation device to output a second stimulation signal according to the location information of the target obstacle, further comprises: Calculating the product of the reciprocal of the distance information and a preset intensity coefficient to obtain a calculation result; and according to the calculation result, obtaining the intensity amplitude of the first stimulation signal and the intensity amplitude of the second stimulation signal.
3. The method according to claim 2, wherein obtaining the intensity amplitude of the first stimulation signal and the intensity amplitude of the second stimulation signal based on the calculation comprises: If the azimuth information is in the first direction, taking the calculated result as the intensity amplitude of the second stimulation signal, and calculating the sum of the calculated result and a preset amplitude increment to obtain the intensity amplitude of the first stimulation signal; if the azimuth information is in the second direction, taking the calculated result as the intensity amplitude of the first stimulation signal, and calculating the sum of the calculated result and a preset amplitude increment to obtain the intensity amplitude of the second stimulation signal; And if the azimuth information is that no offset exists, the calculated result is used as the intensity amplitude of the first stimulation signal and the intensity amplitude of the second stimulation signal.
4. The method of claim 1, wherein the acquiring the location information of the target obstacle comprises: Detecting an obstacle within a predetermined range around the user; and if a plurality of obstacles are detected, acquiring distance information of each obstacle, taking the obstacle with the smallest distance information as the target obstacle, and acquiring azimuth information of the target obstacle and angle information of the target obstacle.
5. The method of any one of claims 1-4, wherein the first stimulus signal and the second stimulus signal are digital signals, the method further comprising: acquiring the moving speed of the target obstacle; and determining the stimulation frequency of the first stimulation signal and the second stimulation signal according to the moving speed, wherein the stimulation frequency is positively related to the moving speed.
6. The vision-impairment assisting sensing device is characterized by comprising first stimulation equipment representing a first direction, second stimulation equipment representing a second direction, a position acquisition module, a control module, a first calculation module and a time determination module, wherein the first direction is opposite to the second direction; The position acquisition module is used for acquiring position information of a target obstacle, wherein the position information of the target obstacle comprises distance information of the target obstacle, angle information of the target obstacle and azimuth information of the target obstacle, and the angle information of the target obstacle is an offset angle of the position of the target obstacle compared with the position of the user in front; The control module is used for controlling the first stimulation device to output a first stimulation signal and controlling the second stimulation device to output a second stimulation signal according to the position information of the target obstacle; wherein the stimulus intensities of the first stimulus signal and the second stimulus signal are inversely related to the distance information, the precedence relationship between the start time of the first stimulus signal and the start time of the second stimulus signal characterizes the azimuth information, and the time difference between the start time of the first stimulus signal and the start time of the second stimulus signal is positively related to the angle information; The first calculation module is used for performing correlation calculation on the angle information of the target obstacle to obtain the time difference; The time determining module is configured to determine a start time of the first stimulation signal if the azimuth information is in the first direction; the method comprises the steps of receiving azimuth information, determining the first stimulation signal, determining the second stimulation signal, determining the first stimulation signal and the second stimulation signal, determining the first stimulation signal and the second stimulation signal, and determining the first stimulation signal and the second stimulation signal, wherein the first stimulation signal and the second stimulation signal are identical in initial time if the azimuth information is offset, and the second stimulation signal are identical in initial time.
7. The apparatus of claim 6, wherein the apparatus further comprises: the second calculation module is used for calculating the product of the reciprocal of the distance information and a preset intensity coefficient to obtain a calculation result; And the intensity determining module is used for obtaining the intensity amplitude of the first stimulation signal and the intensity amplitude of the second stimulation signal according to the calculation result.
8. The apparatus of claim 7, wherein the intensity determination module is specifically configured to: If the azimuth information is in the first direction, taking the calculated result as the intensity amplitude of the second stimulation signal, and calculating the sum of the calculated result and a preset amplitude increment to obtain the intensity amplitude of the first stimulation signal; if the azimuth information is in the second direction, taking the calculated result as the intensity amplitude of the first stimulation signal, and calculating the sum of the calculated result and a preset amplitude increment to obtain the intensity amplitude of the second stimulation signal; And if the azimuth information is that no offset exists, the calculated result is used as the intensity amplitude of the first stimulation signal and the intensity amplitude of the second stimulation signal.
9. The apparatus of claim 6, wherein the location acquisition module comprises: a detection unit configured to detect an obstacle within a predetermined range around the user; And the acquisition unit is used for acquiring the distance information of each obstacle if a plurality of obstacles are detected, taking the obstacle with the smallest distance information as the target obstacle, and acquiring the azimuth information of the target obstacle and the angle information of the target obstacle.
10. The apparatus of any one of claims 6-9, wherein the first stimulus signal and the second stimulus signal are digital signals, the apparatus further comprising: A speed acquisition module for acquiring a moving speed of the target obstacle; And the frequency determining module is used for determining the stimulation frequency of the first stimulation signal and the second stimulation signal according to the moving speed, and the stimulation frequency is positively related to the moving speed.
11. An electronic device comprising a processor and a memory communicatively coupled to the processor; the memory stores computer-executable instructions; the processor executes computer-executable instructions stored in the memory to implement the method of any one of claims 1-5.
12. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the method of any one of claims 1-5.

Description

Visual impairment auxiliary sensing method and device, electronic equipment and storage medium Technical Field The present application relates to communication technologies, and in particular, to a visual impairment auxiliary sensing method, a device, an electronic apparatus, and a storage medium. Background The vision function of the visually impaired person is partially or totally impaired, and the obstacle cannot be perceived autonomously. Currently, visually impaired people mainly perceive obstacles by means of a blind stick or an electronic blind guiding device. When the visually impaired people sense the obstacles by means of the blind stick, the distance of the obstacles is mostly determined by the electronic blind guiding equipment in a single information source feedback mode, and the accurate sensing of the obstacles in different directions by the visually impaired people cannot be assisted can not be realized. In the prior art, accurate perception of the position of the obstacle by the visually impaired person cannot be assisted, and the accuracy of the visually impaired assisting perception is low. Disclosure of Invention The application provides a vision-impairment auxiliary sensing method, a device, electronic equipment and a storage medium, and aims to solve the problem of low accuracy of vision-impairment auxiliary sensing. The visual barrier auxiliary sensing method is applied to a visual barrier auxiliary sensing device, the visual barrier auxiliary sensing device comprises first stimulation equipment representing a first direction and second stimulation equipment representing a second direction, the first direction is opposite to the second direction, the method comprises the steps of obtaining position information of a target barrier, wherein the position information of the target barrier comprises distance information of the target barrier, angle information of the target barrier and azimuth information of the target barrier, the angle information of the target barrier is an offset angle of the position of the target barrier compared with the position of a user right in front of the target barrier, the azimuth information of the target barrier is an offset direction of the position of the target barrier compared with the position of the user right in front of the target barrier, the first stimulation equipment is controlled to output a first stimulation signal and the second stimulation signal is controlled to output according to the position information of the target barrier, the stimulus intensity of the first stimulation signal and the second stimulation signal are inversely related to the distance information, the first stimulus signal and the second stimulus signal are controlled to be in a first stimulus signal and a second stimulus signal are sequentially related to the first stimulus signal and the second stimulus signal are sequentially, and the first stimulus signal and the second stimulus signal are sequentially related to the first stimulus signal are sequentially are different in time. Optionally, before the first stimulation device is controlled to output the first stimulation signal and the second stimulation device is controlled to output the second stimulation signal according to the position information of the target obstacle, the method further comprises the step of performing correlation calculation on the angle information of the target obstacle to obtain the time difference. Optionally, before the first stimulation device is controlled to output a first stimulation signal and the second stimulation device is controlled to output a second stimulation signal according to the position information of the target obstacle, the method further comprises determining the starting time of the first stimulation signal if the azimuth information is in the first direction, determining the starting time of the first stimulation signal and the starting time of the second stimulation signal as the starting time of the second stimulation signal if the azimuth information is in the second direction, determining the starting time of the second stimulation signal and the time corresponding to the sum of the time differences as the starting time of the first stimulation signal, and determining the starting time of the first stimulation signal and the starting time of the second stimulation signal if the azimuth information is in the absence of offset, wherein the starting time of the first stimulation signal and the starting time of the second stimulation signal are identical. Optionally, before the first stimulation device is controlled to output the first stimulation signal and the second stimulation device is controlled to output the second stimulation signal according to the position information of the target obstacle, the method further comprises the steps of calculating the product of the reciprocal of the distance information and a preset intensity coefficient to obtain a calculat