WO2018076814A1

WO2018076814A1 - Navigation method and system, and unmanned aerial vehicle

Info

Publication number: WO2018076814A1
Application number: PCT/CN2017/093164
Authority: WO
Inventors: 李伟
Original assignee: 中兴通讯股份有限公司
Priority date: 2016-10-25
Filing date: 2017-07-17
Publication date: 2018-05-03
Also published as: CN107976199A

Abstract

Disclosed is a navigation method, comprising: an unmanned aerial vehicle determining the position where a navigation object is currently located and a facial orientation of the navigation object (S102); the unmanned aerial vehicle detecting, by taking the navigation object as a baseline, an obstacle within a pre-set range, and determining a detection result, wherein the detection result comprises positional information about the obstacle (S104); the unmanned aerial vehicle generating navigation prompt information according to the detection result combined with the position where the navigation object is currently located and the facial orientation thereof (S106); and the unmanned aerial vehicle sending the navigation prompt information to an audio-output device, so that the audio-output device provides a voice prompt to the navigation object according to the navigation prompt information (S108).

Description

导航方法、***及无人机Navigation method, system and drone

技术领域Technical field

本申请涉及但不限于导航领域，尤其是一种导航方法、***及无人机。The application relates to, but is not limited to, the field of navigation, and in particular to a navigation method, system and drone.

背景技术Background technique

随着公共设施的完善，马路上不可避免地会出现消防栓、指示牌以及行道树等，对于常人来说，道路上的这些障碍物可以轻松避过，但是对于盲人来说，尽管集中精力避免道路上的各种障碍物，还是有受伤的可能。导盲犬的出现，为盲人带来了很大的便利，导盲犬作为盲人的眼睛，为绝大多数盲人解决了一定程度上的出行问题，成为了盲人生活的伴侣。With the improvement of public facilities, fire hydrants, signs and street trees will inevitably appear on the roads. For ordinary people, these obstacles on the road can be easily avoided, but for the blind, although they concentrate on avoiding the road There are still various obstacles on the obstacles. The emergence of guide dogs has brought great convenience to the blind. Guide dogs, as blind eyes, have solved a certain degree of travel problems for the majority of blind people and become a companion for blind life.

发明内容Summary of the invention

以下是对本文详细描述的主题的概述。本概述并非是为了限制权利要求的保护范围。The following is an overview of the topics detailed in this document. This Summary is not intended to limit the scope of the claims.

本发明实施例提供导航方法、***及无人机，能够解决相关技术中利用导盲犬为盲人引路的方案中所存在的不方便、成本高、工作寿命短的技术问题。The embodiment of the invention provides a navigation method, a system and a drone, which can solve the technical problems of inconvenience, high cost and short working life in the scheme of using the guide dog as a blind person in the related art.

本发明实施例提供一种导航方法，包括：The embodiment of the invention provides a navigation method, including:

无人机确定导航对象当前所处位置以及所述导航对象的面部朝向；The drone determines the current location of the navigation object and the face orientation of the navigation object;

所述无人机以所述导航对象为基准探测预设范围内的障碍物，并确定探测结果，所述探测结果包括所述障碍物的位置信息；The UAV detects an obstacle within a preset range with the navigation object as a reference, and determines a detection result, where the detection result includes position information of the obstacle;

所述无人机根据所述探测结果结合所述导航对象当前所处位置及面部朝向生成导航提示信息；The UAV generates navigation prompt information according to the detection result combined with the current location and the orientation of the navigation object;

所述无人机将所述导航提示信息发送给音频输出设备，以供所述音频输出设备根据所述导航提示信息向所述导航对象进行语音提示。The UAV sends the navigation prompt information to the audio output device, so that the audio output device provides a voice prompt to the navigation object according to the navigation prompt information.

本发明实施例还提供一种无人机，包括： The embodiment of the invention further provides a drone, comprising:

对象信息确定模块，设置为：确定导航对象当前所处位置以及所述导航对象的面部朝向；An object information determining module, configured to: determine a current location of the navigation object and a face orientation of the navigation object;

障碍信息确定模块，设置为：以所述导航对象为基准探测预设范围内的障碍物，并确定探测结果，所述探测结果包括所述障碍物的位置信息；The obstacle information determining module is configured to: detect an obstacle within a preset range by using the navigation object as a reference, and determine a detection result, where the detection result includes location information of the obstacle;

音频信息生成模块，设置为：根据所述探测结果结合所述导航对象当前所处位置及面部朝向生成导航提示信息；The audio information generating module is configured to generate navigation prompt information according to the detection result combined with the current location and the orientation of the navigation object;

音频信息发送模块，设置为：将所述导航提示信息发送给音频输出设备，以供所述音频输出设备根据所述导航提示信息向所述导航对象进行语音提示。The audio information sending module is configured to: send the navigation prompt information to the audio output device, so that the audio output device provides a voice prompt to the navigation object according to the navigation prompt information.

本发明实施例还提供一种导航***，包括音频输出设备和如上所述的无人机。Embodiments of the present invention also provide a navigation system including an audio output device and a drone as described above.

本发明实施例还提供一种计算机存储介质，所述计算机存储介质中存储有计算机可执行指令，所述计算机可执行指令被执行时实现前述的任一项的导航方法。The embodiment of the invention further provides a computer storage medium, wherein the computer storage medium stores computer executable instructions, and when the computer executable instructions are executed, the navigation method of any one of the foregoing is implemented.

本发明实施例的有益效果是：The beneficial effects of the embodiments of the present invention are:

根据本发明实施例提供的导航方法、***及无人机以及计算机存储介质，通过无人机确定导航对象当前所处的位置以及其面部朝向，探测以导航对象为基准的预设范围内的障碍物并确定出探测结果，结合导航对象当前所处的位置以及其面部朝向对探测结果进行处理生成导航提示信息，将导航提示信息发送给音频输出设备，使音频输出设备根据导航提示信息向导航对象进行语音提示。当盲人作为导航对象时，虽然导航对象不能视物，但是无人机获取了导航对象周围的障碍物情况，并根据导航对象的面部朝向生成了导航提示信息，让音频输出设备根据导航提示信息对导航对象进行语音提示，就能使得不能视物的导航对象了解到自己周围的障碍物情况，从而及时确定出针对障碍物的避让策略和行走路线，避免遭遇障碍物而受伤的情况发生。在本发明实施例中，利用了无人机相对于导盲犬拥有体型小、几乎不占用地面空间，而且无人机成本低、工作寿命长的优点，解决了相关技术中通过导盲犬导航所存在的体型不方便、成本高、工作寿命短的技术问题，不仅降低了盲人的经济负担，也提高了其出行的用户体验。According to the navigation method and system provided by the embodiment of the present invention, the UAV and the computer storage medium determine the current position of the navigation object and the face orientation thereof by the drone, and detect obstacles in the preset range based on the navigation object. And determining the detection result, combining the current position of the navigation object and the face orientation thereof to process the detection result to generate navigation prompt information, and transmitting the navigation prompt information to the audio output device, so that the audio output device can navigate to the navigation object according to the navigation prompt information. Make a voice prompt. When the blind person is the navigation object, although the navigation object cannot view the object, the drone acquires the obstacle situation around the navigation object, and generates navigation prompt information according to the face orientation of the navigation object, so that the audio output device according to the navigation prompt information When the navigation object makes a voice prompt, the navigation object that cannot view the object can understand the obstacle situation around the object, thereby timely determining the avoidance strategy and the walking route for the obstacle, and avoiding the injury caused by the obstacle. In the embodiment of the present invention, the utility model utilizes the advantages that the drone has a small body shape and hardly occupies the ground space, and the utility model has the advantages of low cost and long working life, and solves the related art in guiding the navigation through the guide dog. The technical problems of inconvenient body size, high cost and short working life not only reduce blindness The economic burden of people also increases the user experience of their travel.

在阅读并理解了附图和详细描述后，可以明白其他方面。Other aspects will be apparent upon reading and understanding the drawings and detailed description.

附图概述BRIEF abstract

图1为本发明实施例一提供的导航方法的一种流程图；FIG. 1 is a flowchart of a navigation method according to Embodiment 1 of the present invention;

图2为本发明实施例中无人机确定导航对象面部朝向的一种示意图；2 is a schematic diagram of determining a head orientation of a navigation object by a drone according to an embodiment of the present invention;

图3为本发明实施例中无人机确定导航对象面部朝向的另一种示意图；3 is another schematic diagram of determining a face orientation of a navigation object by a drone according to an embodiment of the present invention;

图4为本发明实施例中无人机探测预设范围内障碍物的一种示意图；4 is a schematic diagram of detecting an obstacle in a preset range by a drone according to an embodiment of the present invention;

图5为本发明实施例中无人机探测预设范围内障碍物的另一种示意图；FIG. 5 is another schematic diagram of detecting an obstacle in a preset range by a drone according to an embodiment of the present invention; FIG.

图6为本发明实施例中导航对象下一时刻可能行进并进入的区域的一种示意图；FIG. 6 is a schematic diagram of an area that a navigation object may travel and enter at a next moment according to an embodiment of the present invention; FIG.

图7为本发明实施例中预设范围的一种示意图；FIG. 7 is a schematic diagram of a preset range in an embodiment of the present invention; FIG.

图8为本发明实施例中障碍物相对于导航对象偏角大小的一种示意图；FIG. 8 is a schematic diagram showing the magnitude of an off-angle of an obstacle relative to a navigation object according to an embodiment of the present invention; FIG.

图9为本发明实施例中多个障碍物相对于导航对象的偏角大小的一种示意图；FIG. 9 is a schematic diagram showing the magnitude of the off-angle of a plurality of obstacles relative to the navigation object in the embodiment of the present invention; FIG.

图10为本发明实施例二提供的无人机的一种结构示意图；FIG. 10 is a schematic structural diagram of a drone according to Embodiment 2 of the present invention; FIG.

图11为本发明实施例二提供的导航***的一种结构示意图。FIG. 11 is a schematic structural diagram of a navigation system according to Embodiment 2 of the present invention.

本发明的较佳实施方式Preferred embodiment of the invention

下面结合附图对本发明的实施方式进行描述。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的各种方式可以相互组合。Embodiments of the present invention will be described below with reference to the accompanying drawings. It should be noted that the embodiments in the present application and the various manners in the embodiments may be combined with each other without conflict.

虽然导盲犬已经得到社会公众的认可，可以出入很多公众场合，在盲人家庭以外的地方为盲人提供服务，但是由于导盲犬体型的问题，携带导盲犬外出人有诸多不便，例如在各种公共交通工具上，导盲犬占据一席之地。这不仅使得与导盲犬共享公共交通工具的其他人感到不便，而且由于公共交通的拥挤与繁忙，也可能导致导盲犬的身体或精神受到伤害，进而无法正常为盲人提供服务。 Although guide dogs have been recognized by the public, they can enter and exit many public places to provide services for the blind outside the blind family. However, due to the problem of guide dogs, there are many inconveniences for carrying guide dogs. Guide dogs occupy a place on public transport. This not only makes it inconvenient for others who share public transport with guide dogs, but also because of the crowded and busy public transportation, it may also cause the guide dog to be physically or mentally injured, and thus unable to provide services for the blind.

另外一方面，导盲犬的训练成本较高，其需要专业的训练人员耗费大量的时间进行训练，通常导盲犬至少经历一年半的时间才能成为合格的工作犬因导盲犬训练的专业性强、时间长、耗资巨，加之驯成后无偿捐献给盲人使用，无资金回收，国内导盲犬训练公益机构陷入困境，导盲犬的数目供不应求导盲犬的价格大约在2.5-3万美元。这对于大多数盲人来说，是一笔巨大的开销，承担起来比较困难。同时导盲犬的共组寿命大越在8到10年之间，这相对于人的寿命来说，比较短暂。当一只导盲犬的工作寿命结束后，盲人可能又需要新的导盲犬，除了大量的金钱开销以外，还需要盲人与新的导盲犬互相适应，这在一定程度上会影响到盲人的正常生活。On the other hand, the guide dog has a higher training cost, which requires professional trainers to spend a lot of time on training. Usually, the guide dog will take at least one and a half years to become a qualified work dog. Strong, long time, costly, plus donated to the blind for use after taming, no funds to recover, domestic guide dog training public welfare institutions are in trouble, the number of guide dogs is in short supply, the price of guide dogs is about 2.5-3 million Dollar. For most blind people, this is a huge expense and it is difficult to bear. At the same time, the life span of guide dogs is between 8 and 10 years, which is relatively short-lived. When the working life of a guide dog is over, the blind person may need a new guide dog. In addition to a large amount of money, the blind person needs to adapt to the new guide dog, which will affect the blind person to some extent. Normal life.

综上，目前亟需提供一种新的、为盲人导航的方式，用以解决相关技术中利用导盲犬为盲人引路的方案中所存在的不方便、成本高、工作寿命短的技术问题。In summary, there is an urgent need to provide a new way of navigating for the blind to solve the technical problems of inconvenient, high cost and short working life in the related art using the guide dog as a guide for the blind.

实施例一：Embodiment 1:

本实施例提供一种导航方法，该方法可由无人机执行，下面结合图1对导航方法进行介绍：This embodiment provides a navigation method, which can be performed by a drone, and the navigation method is introduced below with reference to FIG. 1:

在本实施例中导航对象指的可以是由于某些原因不能视物的人。无人机可以先将导航对象周围的路障情况了解清楚之后，根据路障情况和导航对象当前的面部朝向生成导航提示信息。然后可由无人机与导航对象随身携带的音频输出设备进行通信，将导航提示信息发送给音频输出设备，由音频输出设备对导航对象进行语音提示。In the present embodiment, the navigation object refers to a person who cannot view the object for some reason. The drone can first understand the roadblock situation around the navigation object, and then generate navigation prompt information according to the roadblock condition and the current face orientation of the navigation object. Then, the drone can communicate with the audio output device carried by the navigation object, and the navigation prompt information is sent to the audio output device, and the audio output device provides a voice prompt to the navigation object.

S102、无人机确定导航对象当前所处位置以及导航对象的面部朝向。S102. The drone determines a current location of the navigation object and a face orientation of the navigation object.

无人机确定导航对象当前所处位置的方式可包括多种，例如，无人机中预先存储了导航对象的面部特征，在导航过程中，无人机可以利用自身的可旋转摄像头获取到周围的图像，然后将图像中采集到的任务面部信息与预存的导航对象的面部特征信息进行匹配，当匹配成功之后就能确定导航对象是哪一个，从而就可以确定导航对象当前所处的位置信息。除此种方式以外，由于导航对象需要随身携带音频输出设备以便获得语音提示，因此，音频输出设备通常与导航对象处于相同的地理位置，所以，一般地，无人机只要确定音频输出设备的地理位置便可以确定导航对象当前所处位置。 The manner in which the drone determines the current location of the navigation object may include various types. For example, the facial features of the navigation object are pre-stored in the drone, and during the navigation process, the drone can obtain the surrounding by using its own rotatable camera. And then matching the facial information collected in the image with the facial feature information of the pre-stored navigation object. After the matching is successful, it can determine which one of the navigation objects is, thereby determining the current location information of the navigation object. . In addition to this, since the navigation object needs to carry the audio output device with it in order to obtain the voice prompt, the audio output device is usually in the same geographical position as the navigation object, so generally, the drone only needs to determine the geography of the audio output device. The location determines where the navigation object is currently located.

尽管无人机在确定导航对象当前所处位置之后，仅需要确定障碍物的位置信息就能确定出导航对象与障碍物之间的相对关系，但是这种相对关系只是相对于无人机而言是清楚的，这对于导航对象来说，特别是针对无法视物的盲人来说，辨别方向通常都是以自己为中心，简单地区分前后或者左右，而以导航对象为基准的前后左右与导航对象当前的面部朝向有关：例如，与导航对象面部朝向方向相同的是“前”，与导航对象面部朝向向背的是“后”；同样，“左”和“右”也是相对于导航对象的正面才有的概念。所以，在本实施例中，无人机还需要确定导航对象的面部朝向，以便确定出障碍物相对于导航对象的偏角信息，即障碍物相对于导航对象的方位信息。Although the UAV only needs to determine the position information of the obstacle after determining the current position of the navigation object, the relative relationship between the navigation object and the obstacle can be determined, but the relative relationship is only relative to the drone. It is clear that for navigation objects, especially for blind people who cannot see things, the direction of discrimination is usually centered on themselves, simply distinguishing before and after or around, and using navigation objects as the benchmark for front and rear and navigation. The current face orientation of the object is related: for example, "front" is the same as the direction of the face of the navigation object, and "back" is facing backward with the face of the navigation object; likewise, "left" and "right" are also relative to the front of the navigation object. The concept that exists. Therefore, in the embodiment, the drone also needs to determine the face orientation of the navigation object in order to determine the off-angle information of the obstacle relative to the navigation object, that is, the orientation information of the obstacle relative to the navigation object.

无人机确定导航对象面部朝向的方式可包括这样几种:The manner in which the drone determines the orientation of the face of the navigation object may include several types:

第一种，无人机可通过面部识别技术确定所述导航对象的面部朝向。例如无人机可以通过盘旋飞行，并利用可旋转摄像头获得导航对象标准的正面面部图像，标准的正面面部图像指的是从导航对象冠状面获取的面部图像。无人机可确定为了获得导航对象标准的正面面部图像时，可旋转摄像头的朝向。如图2所示，导航对象21当前的面部朝向是正西方向，为了获得导航对象21标准的正面面部图像，则无人机20上的可旋转摄像头需要旋转至正东方向，当无人机20的可旋转摄像头从正东方向获得了导航对象21标准的正面面部图像时，则无人机20可以反推出导航对象21当前的面部朝向是朝西。First, the drone can determine the face orientation of the navigation object by facial recognition technology. For example, a drone can fly by hovering and obtain a frontal face image of a navigation object standard using a rotatable camera, and a standard frontal face image refers to a face image acquired from a coronal plane of the navigation object. The drone can determine the orientation of the camera that can be rotated in order to obtain a frontal face image of the navigation object standard. As shown in FIG. 2, the current face orientation of the navigation object 21 is the west direction. In order to obtain the standard front face image of the navigation object 21, the rotatable camera on the drone 20 needs to be rotated to the east direction, when the drone 20 When the rotatable camera obtains the standard frontal face image of the navigation object 21 from the east direction, the drone 20 can reversely push the current face orientation of the navigation object 21 to face west.

另外，无人机还可以根据导航对象面部的两个或两个以上器官的组合来确定导航对象的面部朝向，例如，确定导航对象双眼连线与正东(或西、或南、或北)方向间的夹角。如果采用了多个器官来确定面部朝向，则可以在计算出多个面部朝向后再取统计值，例如取平均结果。In addition, the drone can also determine the face orientation of the navigation object according to the combination of two or more organs of the navigation target face, for example, determining the navigation object's binocular connection and the east (or west, or south, or north) The angle between the directions. If multiple organs are used to determine the face orientation, statistical values may be taken after calculating a plurality of face orientations, such as an average result.

第二种，无人机可确定导航对象的运动趋向，并根据运动趋向确定导航对象的面部朝向。由于人在行走的时候，通常是向前行，因此导航对象在前行的时候，其面部朝向通常与运动趋向相同，所以，在本实施例，为了确定导航对象的面部朝向，可以先确定导航对象的运动趋向。确定运动趋向的时候，可以根据导航对象在两个不同时刻所处的不同位置来确定。如图3所示，导航对象在t1时刻的位置在图3中的A点，而t2时刻，导航对象则到了图3中的B点，根据A、B之间的连线以及地理方向上的东西南北来确定导航对象的运动趋向为东偏北60°的方向，从而确定出导航对象的面部朝向为东偏北60°方向。Secondly, the drone can determine the moving tendency of the navigation object and determine the face orientation of the navigation object according to the moving tendency. Since the person is walking forward, it is usually forward. Therefore, when the navigation object is moving forward, the face orientation is generally the same as the movement tendency. Therefore, in the embodiment, in order to determine the face orientation of the navigation object, the navigation may be determined first. The movement of the object tends. When determining the trend of motion, it can be determined according to the different positions of the navigation object at two different moments. As shown in FIG. 3, the position of the navigation object at time t1 is at point A in FIG. 3, and at time t2, the navigation object reaches point B in FIG. 3, according to the connection between A and B and the geographic direction. East and West to determine navigation The motion of the object tends to be 60° east to north, thereby determining that the face of the navigation object is oriented 60° east and north.

在第二种方式当中，t1时刻与t2时刻之间的间隔不可以太长，因为太长的话，导航对象可能已经更改了前行方向，在这种情形下，导航对象在两个时刻所处位置的连线已经无法代表导航对象的运动趋向了。如图3所示，导航对象在t2的时候更改了前进方向，则t1时刻与t2时刻之间的连线几乎没有任何象征意义。同样地，t1时刻与t2时刻之间的间隔也不可以太短，因为按照人的行走习惯，在前行的过程中并不是走的完全的直线，有时候可能或有一点偏差，但这种偏差会很快被纠正回来，但如果将t1与t2之间的间隔设置得过短，则无人机可能会将这种偏差错误作为计算导航对象面部朝向的依据，从而造成较大的误差。In the second mode, the interval between time t1 and time t2 cannot be too long, because if it is too long, the navigation object may have changed the forward direction. In this case, the navigation object is at two moments. The connection has not been able to represent the movement of the navigation object. As shown in Figure 3, the navigation object changes the direction of advancement at t2, and the connection between time t1 and time t2 has almost no symbolic meaning. Similarly, the interval between time t1 and time t2 should not be too short, because according to people's walking habits, in the process of going forward, it is not a complete straight line, sometimes there may be a slight deviation, but this deviation It will be corrected soon, but if the interval between t1 and t2 is set too short, the drone may use this deviation error as the basis for calculating the orientation of the face of the navigation object, resulting in a large error.

S104、无人机以导航对象为基准探测预设范围内的障碍物，并确定探测结果，所述探测结果包括障碍物的位置信息。S104. The UAV detects an obstacle within a preset range based on the navigation object, and determines a detection result, where the detection result includes position information of the obstacle.

无人机与导航对象之间的水平位置可以不相同，由于无人机是为导航对象服务的，因此，无人机可以以导航对象为中心，在预设的范围内进行飞行，以便探测预设范围内的障碍物情况。如图4所示，Q点所在的位置表征导航对象当前所处位置。无人机可以以Q点为圆心，在半径为n的范围内飞行活动。例如，当n等于5米(m)的时候，无人机可以活动的区域面积为π*n²，也就是说，无人机可以活动飞行的区域为78.5m²。The horizontal position between the drone and the navigation object can be different. Since the drone is serving the navigation object, the drone can fly within the preset range with the navigation object as the center, so as to detect the pre- Set the obstacle situation within the scope. As shown in Figure 4, the location of the Q point represents the current location of the navigation object. The drone can fly around the Q point and fly within a radius of n. For example, when n is equal to 5 meters (m), the area in which the drone can move is π*n ² , that is, the area where the drone can fly is 78.5 m ² .

当然，可以理解的是，无人机可以活动的预设范围也可以是其他形状，例如正方形，如图5所示，导航对象处于P点，P点处于正方形两条对角线的交点处。Of course, it can be understood that the preset range in which the drone can move can also be other shapes, such as a square. As shown in FIG. 5, the navigation object is at point P, and the point P is at the intersection of two diagonal lines of the square.

由于本实施例的上述示例当中，无人机探测预设范围的时候，是以导航对象为中心进行探测的，例如以导航对象当前所处位置作为圆心，探测预设半径构成的圆以内的障碍物，或者以导航对象当前所处位置为预设边长的正方形的对角线交点，探测正方形范围内的障碍物。除此以外，无人机还可以以导航对象为三角形的重心、垂心等在三角形的范围内进行探测。由于在这种以导航对象所处位置为中心进行探测的方式中，无人机可以探测到导航对象四面八方的障碍物情况，而在实际行走的过程中，导航对象有可能仅会向着一定的方向前进，至少导航对象向着不同方向前进的几率是不相等的。如图6所示，导航对象当前面向正北方，以东西为界，靠北的区域为第一区域61，而靠南的区域为第二区域62，这样，导航对象下一时刻走进第一区域62的可能性远大于走进第二区域62的可能性。因此，导航对象下一时刻遭遇的障碍物绝大部分可能都是第一区域61内的。故，在无人机进行探测的时候，还可以仅以导航对象作为基准，探测一定大小的扇形区域。如图7所示，导航对象当前处于M点，无人机仅会以M点为基准，确定一个半径为R，圆心角为θ的扇形区域作为预设区域进行探测。或者可以以导航对象所在位置为长方形如正方形的边长中点，探测一定大小的方形区域内的障碍物。In the above example of the embodiment, when the UAV detects the preset range, the UAV is detected centering on the navigation object, for example, detecting the current position of the navigation object as the center of the circle, and detecting the obstacle within the circle formed by the preset radius. Objects, or diagonal intersections of squares with the current position of the navigation object as the preset side length, detect obstacles within the square range. In addition to this, the drone can also detect within the range of the triangle with the center of gravity of the navigation object as a triangle, the center of gravity, and the like. In the manner of detecting the position of the navigation object as the center, the drone can detect obstacles in all directions of the navigation object, and in the actual walking process, the navigation object may only be directed to Advancing in a certain direction, at least the probability of the navigation objects moving in different directions is not equal. As shown in FIG. 6 , the navigation object is currently facing the north, with the east and west as the boundary, the north area is the first area 61, and the south area is the second area 62, so that the navigation object enters the first moment at the next moment. The likelihood of region 62 is much greater than the likelihood of entering second region 62. Therefore, most of the obstacles encountered by the navigation object at the next moment may be within the first area 61. Therefore, when the UAV is detecting, it is also possible to detect a certain size of the sector by using only the navigation object as a reference. As shown in Fig. 7, the navigation object is currently at point M, and the drone will only use the M point as a reference to determine a sector with a radius of R and a central angle of θ as a preset area for detection. Alternatively, the position of the navigation object may be a rectangle such as a midpoint of a square, and an obstacle in a square area of a certain size may be detected.

无人机在预设范围内探测障碍物时，可以采用的方式可包括这样几种：When the drone detects obstacles within a preset range, the methods that can be used include:

第一种，无人机可以以导航对象为基准通过红外探测技术探测障碍物并确定障碍物的位置信息。红外线是一种电磁波，具有与可见光相似的特性，服从反射和折射定律，也有干涉、衍射和偏振等现象；同时它又具有离子型，即它可以以光量子的形式发射和吸收。因此，红外探测器可包括两种类型，一种是热探测器，另外一种是光子探测器。First, the drone can detect obstacles and determine the position information of the obstacles by infrared detection technology based on the navigation object. Infrared is an electromagnetic wave that has similar characteristics to visible light, obeys the laws of reflection and refraction, and also has phenomena of interference, diffraction, and polarization. At the same time, it has an ionic type, that is, it can be emitted and absorbed in the form of photons. Therefore, infrared detectors can be of two types, one is a heat detector and the other is a photon detector.

热探测器利用红外辐射引起敏感元件的温度变化，进而使敏感元件的有关物理参数或性能发生相应变化。通过测量有关物理参数或性能的变化可确定探测器所吸收的红外辐射。热探测器大致可包括热电阻型、热电偶型和热释电型和高莱气动型等几种类型。光子探测器可以是利用某些半导体材料在红外辐射下，产生光子效应，使材料的电学性质发生变化。通过测量电学性质的变化，可以确定红外辐射的强弱。按照光子探测器的工作原理，一般光子探测器可以包括外光电和内光电探测器两种。内光电探测器又可包括光电探测器、光电伏特探测器和光磁电探测器三种。The heat detector uses infrared radiation to cause a temperature change of the sensitive component, thereby causing a corresponding change in the relevant physical parameter or performance of the sensitive component. The infrared radiation absorbed by the detector can be determined by measuring changes in physical parameters or performance. Heat detectors can generally include several types, such as thermistor type, the thermocouple type, and the pyroelectric type. Photon detectors can use some semiconductor materials to generate photon effects under infrared radiation, which changes the electrical properties of the material. By measuring changes in electrical properties, the intensity of infrared radiation can be determined. According to the working principle of the photon detector, the general photon detector can include two kinds of external photoelectric and internal photodetectors. The internal photodetector may further comprise three types of photodetectors, photoelectric volt detectors and magneto-optical detectors.

第二种，无人机可通过图像识别技术确定以导航对象为基准的预设范围内的障碍物及障碍物的位置信息。无人机可以利用摄像头采集导航对象周围的图像信息，并对采集到的图片进行处理，利用边缘提取技术等图像处理技术从图片中确定障碍物，并确定障碍物的位置信息。Secondly, the drone can determine the position information of obstacles and obstacles within a preset range based on the navigation object by image recognition technology. The drone can use the camera to collect image information around the navigation object, process the captured image, and use image processing techniques such as edge extraction technology to determine obstacles from the image and determine the location information of the obstacle.

第三种，无人机可以以导航对象为基准通过超声探测技术探测障碍物并确定障碍物的位置信息。超声波是一种频率高于人耳能听到的频率(20Hz～ 20KHz)的声波。超声波在传输过程中服从波的传输规律。例如：超声波在材料中保持直线行进；在两种不同材料的界面处发生反射。当无人机通过发射超声波在预设范围进行探测时，超声波遇到障碍物的时候将会出现反射现象，因此，无人机可以通过超声波探测到有无障碍物。同时由于超声波的传播速度服从波的传输定理：ν＝λf，ν为波速，λ为波长，f为波的频率。因此，无人机还可以确定出障碍物与自身之间的距离，进而确定障碍物的位置信息。Third, the drone can detect obstacles and determine the position information of the obstacles by ultrasonic detection technology based on the navigation object. Ultrasound is a frequency that is higher than the human ear can hear (20Hz~ 20KHz) sound waves. Ultrasonic waves obey the transmission law of waves during transmission. For example: Ultrasonic waves travel in a straight line in the material; reflections occur at the interface of two different materials. When the drone is detected by transmitting ultrasonic waves in a preset range, the ultrasonic wave will be reflected when it encounters an obstacle. Therefore, the drone can detect obstacles by ultrasonic waves. At the same time, the propagation velocity of the ultrasonic wave obeys the wave propagation theorem: ν = λf, ν is the wave velocity, λ is the wavelength, and f is the frequency of the wave. Therefore, the drone can also determine the distance between the obstacle and itself, and then determine the position information of the obstacle.

S106、无人机根据探测结果结合导航对象当前所处位置及面部朝向生成导航提示信息。S106. The UAV generates navigation prompt information according to the detection result combined with the current location of the navigation object and the orientation of the face.

当无人机确定障碍物的位置信息之后，就能根据障碍物的位置信息以及导航对象当前所处的位置信息确定出导航提示信息。导航提示信息中通常可以包括障碍物相对于导航对象的方位信息，以及障碍物距离导航对象的距离信息。障碍物相对于导航对象的方位信息，即可以为障碍物与导航对象在水平面上的连线相对于导航对象正前方的偏角。如图8所示，导航对象21当前面朝北方，则障碍物22与导航对象21之间的方位信息即障碍物22与导航对象21之间的连线相对于正北方向的偏角。可以理解的是，偏角信息也可以是障碍物22与导航对象21在水平面连线同导航对象21右方的夹角，或者障碍物22与导航对象21在水平面连线同导航对象21左方的夹角。After the drone determines the position information of the obstacle, the navigation prompt information can be determined according to the position information of the obstacle and the position information of the navigation object. The navigation prompt information may generally include orientation information of the obstacle relative to the navigation object, and distance information of the obstacle from the navigation object. The orientation information of the obstacle relative to the navigation object may be an off-angle of the line connecting the obstacle and the navigation object on the horizontal plane with respect to the front side of the navigation object. As shown in FIG. 8, the navigation object 21 is facing north, and the orientation information between the obstacle 22 and the navigation object 21, that is, the angle between the line between the obstacle 22 and the navigation object 21 with respect to the true north direction. It can be understood that the declination information may also be an angle between the obstacle 22 and the navigation object 21 in the horizontal plane and the right side of the navigation object 21, or the obstacle 22 and the navigation object 21 are connected to the left side of the navigation object 21 at the horizontal plane. The angle of the.

较简单地，导航提示信息中可以将障碍物相对于导航对象的方向分为前、后、左、右四个方向，如障碍物在导航对象的正前方。当然，在实际应用过程中，障碍物与导航对象的相对位置关系并不是如此简单，有可能障碍物并不是在正前方、正左方、正右方或者正后方，而是介于两个方向之间，例如，在导航对象左前方有障碍物，且与导航对象正前方的偏角为45°。In a simple manner, the navigation prompt information may divide the direction of the obstacle relative to the navigation object into four directions: front, back, left, and right, such as the obstacle is directly in front of the navigation object. Of course, in the actual application process, the relative positional relationship between the obstacle and the navigation object is not so simple. It is possible that the obstacle is not in the front, the left side, the right side or the right side, but in two directions. For example, there is an obstacle in the left front of the navigation object, and an off angle directly in front of the navigation object is 45°.

可选地，针对一个障碍物，既要包含该障碍物与导航对象之间的偏角信息，又要有该障碍物与导航对象之间的距离信息。由于某些情况下，会存在多个障碍物，因此，在一个导航提示信息中可以包含针对多个障碍物相对于导航对象的偏角信息与距离信息。当然，可以理解的是，也可以在一个导航提示信息中仅包括一个障碍物的偏角信息与距离信息，当存在多个障碍物的时候，可生成多个导航提示信息。 Optionally, for an obstacle, both the off-angle information between the obstacle and the navigation object and the distance information between the obstacle and the navigation object are included. Since there are some obstacles in some cases, the eccentricity information and the distance information for the plurality of obstacles relative to the navigation object may be included in one navigation prompt information. Of course, it can be understood that only one yaw angle information and distance information of one obstacle may be included in one navigation prompt information, and when there are multiple obstacles, multiple navigation prompt information may be generated.

在本实施例中，若无人机探测障碍物的预设范围是以导航对象当前所处位置为中心确定的，则无人机会探测导航对象四面八方的障碍物，但是由于导航对象下一刻的会遭遇这些障碍物的可能性并不相同，因此，为了将导航对象较有可能遭遇到的障碍物信息提示给导航对象，避免提示一些无用的信息干扰导航对象的判断，同时减少音频输出设备的工作量，则无人机在确定一个或多个障碍物中每个障碍物相对于导航对象偏角信息与距离信息之后，可以先为每个障碍物设置提示优先级，设置的原则是该障碍物相对于导航对象面部朝向的偏角越大，则该障碍物的提示优先级越小。如图9所示，当前存在A、B、C三个障碍物，A、B、C与导航对象在水平面上的位置关系如图所示，由于导航对象21面向正北方向，则A、B、C的偏角大小分别为30°、150°和75°因此，A、B、C这三个障碍物当中，A相对于正北的偏角最小，C次之，B最大，所以，A的提示优先级最高，C的提示优先级次之，B的提示优先级最低。当无人机确定每个障碍物的提示优先级之后可以筛选出优先级满足第一预设条件的至少一个障碍物，并根据筛选出的至少一个障碍物各自的偏角信息与距离信息生成导航提示信息。在上述示例当中，无人机可以筛选出优先级最高的两个障碍物，即筛选出A和C，并根据A和C各自相对于导航对象的偏角信息与距离信息生成导航提示信息。In this embodiment, if the preset range of the obstacle detected by the drone is determined centering on the current location of the navigation object, the unmanned object detects the obstacle of the navigation object in all directions, but the next moment of the navigation object The possibility of encountering these obstacles is not the same. Therefore, in order to prompt the navigation object to the obstacle information that the navigation object is more likely to encounter, avoid prompting some useless information to interfere with the judgment of the navigation object, and reduce the work of the audio output device. The amount, after the drone determines the angling information and the distance information of each obstacle relative to the navigation object in one or more obstacles, the priority of the obstacle may be set for each obstacle first, and the principle of setting is the obstacle The larger the off angle with respect to the orientation of the face of the navigation object, the smaller the priority of the cue of the obstacle. As shown in FIG. 9 , there are currently three obstacles A, B, and C. The positional relationship between A, B, and C and the navigation object on the horizontal plane is as shown in the figure. Since the navigation object 21 faces the north direction, A and B The declination of C is 30°, 150° and 75°. Therefore, among the three obstacles A, B and C, A has the smallest declination relative to the true north, C is the second, and B is the largest. Therefore, A The prompt has the highest priority, the C prompt has the second priority, and the B prompt has the lowest priority. After the drone determines the prompt priority of each obstacle, the at least one obstacle whose priority meets the first preset condition may be screened, and the navigation is generated according to the selected off-angle information and the distance information of the at least one obstacle. Prompt message. In the above example, the drone can filter out the two obstacles with the highest priority, that is, filter out A and C, and generate navigation prompt information according to the off-angle information and distance information of each of A and C with respect to the navigation object.

为了避免提示无用的信息干扰导航对象的判断，除了上述方式以外，无人机还可以采用以下方式排出导航对象遭遇可能性小的障碍物：In order to avoid prompting the useless information to interfere with the judgment of the navigation object, in addition to the above manner, the drone can also discharge the obstacle that the navigation object encounters with a small possibility in the following manner:

无人机可筛选出偏角信息满足第二预设条件的障碍物，第二预设条件可以是相对于导航对象面部朝向的偏角小于某一个值，例如，针对图9的示例，第二预设条件为偏角小于60°的障碍物。则无人机根据第二预设条件筛选出的需要进行提示的障碍物为A。筛选出来障碍物以后，无人机可以根据障碍物相对导航对象的偏角信息及距离信息生成导航提示信息。The drone may select an obstacle whose off-angle information satisfies the second preset condition, and the second preset condition may be that the declination relative to the face orientation of the navigation object is less than a certain value, for example, for the example of FIG. 9, the second The preset condition is an obstacle with an off angle of less than 60°. Then, the obstacle that needs to be prompted by the drone according to the second preset condition is A. After the obstacles are screened out, the drone can generate navigation prompt information according to the off-angle information and the distance information of the obstacle relative to the navigation object.

可以注意的是，由于人类对角度数值并不十分敏感，因此，在生成导航提示信息的时候，无人机还可以将导航提示信息转换成符合人类方向辨别习惯的语音提示，例如，将“您当前前行方向向东偏转30度的地方存在xx障碍物”转换为“在您的1点钟方向存在xx障碍物”。It can be noted that since humans are not very sensitive to the angle value, when generating the navigation prompt information, the drone can also convert the navigation prompt information into a voice prompt that conforms to the human direction discrimination habit, for example, "you There is a xx obstacle in the current direction of the eastward deflection of 30 degrees" and "there is a xx obstacle in your 1 o'clock direction".

S108、无人机将导航提示信息发送给音频输出设备，以供音频输出设备根据导航提示信息向导航对象进行语音提示。S108. The drone sends the navigation prompt information to the audio output device for the audio output device. The voice prompt is presented to the navigation object according to the navigation prompt information.

无人机与导航对象随身携带的音频输出设备之间通信的方式可以包括蓝牙、WiFi等无线通信方式。本实施例中音频输出设备可以包括便携式音箱或者是耳机。当无人机将生成的导航提示信息发送给便携式音箱或者耳机时，便携式音箱或者耳机可以直接根据导航提示信息输出声音信号以对导航对象进行提示。The manner of communication between the drone and the audio output device carried by the navigation object may include wireless communication methods such as Bluetooth and WiFi. The audio output device in this embodiment may include a portable speaker or an earphone. When the drone sends the generated navigation prompt information to the portable speaker or the earphone, the portable speaker or the earphone can directly output a sound signal according to the navigation prompt information to prompt the navigation object.

另外，由于导航对象在出行的时候并不是漫无目的的，因此无人机还可以根据导航对象的目的地和路况信息规划前行路径，生成行进策略并将行进策略发送给音频输出设备，使音频输出设备根据行进策略对导航对象进行提示，例如在需要拐弯的时候提示拐弯。In addition, since the navigation object is not purposeless when traveling, the drone can also plan the forward path according to the destination and road condition information of the navigation object, generate a travel strategy, and send the travel strategy to the audio output device, so that The audio output device prompts the navigation object according to the travel strategy, such as prompting a turn when a turn is needed.

本发明实施例提供的导航方法，通过无人机确定导航对象的位置和面部朝向，以及导航对象周围障碍物的情况，生成针对障碍物的导航提示信息，并将导航提示信息发送给音频输出设备，使音频输出设备根据导航提示信息对导航对象进行语音提示。使导航对象了解到自己周围的障碍物情况，从而及时确定出针对障碍物的避让策略和行走路线，避免遭遇障碍物而受伤的情况发生。在本发明实施例中，利用无人机成本低、工作寿命长的优点，解决了相关技术中通过导盲犬导航所存在的体型不方便、成本高、工作寿命短的技术问题。更进一步地，由于无人机会对探测出的障碍物进行筛选，避免将所有障碍物的信息提示给导航对象，会导致导航对象因为受到无用导航提示信息的干扰而无法迅速确定出前行方向的规划，从而遭遇障碍物而受伤的情况，提高了导航对象的体验。The navigation method provided by the embodiment of the present invention determines the position and face orientation of the navigation object and the obstacle around the navigation object by the drone, generates navigation prompt information for the obstacle, and transmits the navigation prompt information to the audio output device. And causing the audio output device to perform voice prompting on the navigation object according to the navigation prompt information. The navigation object can understand the obstacles around him, so as to timely determine the avoidance strategy and the walking route for the obstacles, and avoid the injury caused by the obstacles. In the embodiment of the present invention, the utility model has the advantages of low cost and long working life of the unmanned aerial vehicle, and solves the technical problem that the body type inconvenience, high cost and short working life existed by the guide dog navigation in the related art. Furthermore, since the unmanned opportunity screens the detected obstacles and avoids prompting all the obstacle information to the navigation object, the navigation object cannot quickly determine the forward direction planning because of the interference of the useless navigation prompt information. In order to be injured by encountering obstacles, the experience of the navigation object is improved.

本发明实施例能够解决相关技术中通过导盲犬来辅助盲人行走的方案当中，导盲犬出行不方便、成本高、服务寿命短等技术问题，The embodiments of the present invention can solve the technical problems in the related art that the guide dog is inconvenient to travel, the cost is high, and the service life is short, among the programs for guiding the blind person to walk through the guide dog.

实施例二：Embodiment 2:

本实施例先提供一种无人机，如图10所示，无人机20包括对象信息确定模块202、障碍信息确定模块204、音频信息生成模块206和音频信息发送模块208。对象信息确定模块202设置为：确定导航对象当前所处位置以及导航对象的面部朝向；障碍信息确定模块204设置为：以导航对象为基准探测预设范围内的障碍物，并确定探测结果，探测结果包括障碍物的位置信息；音频信息生成模块206设置为：根据探测结果结合导航对象当前所处位置及面部朝向生成导航提示信息；音频信息发送模块208设置为：将导航提示信息发送给音频输出设备，以供音频输出设备根据所述导航提示信息向导航对象进行语音提示。The embodiment first provides a drone. As shown in FIG. 10, the drone 20 includes an object information determining module 202, an obstacle information determining module 204, an audio information generating module 206, and an audio information transmitting module 208. The object information determining module 202 is configured to: determine a current location of the navigation object and a face orientation of the navigation object; the obstacle information determining module 204 is configured to: detect an obstacle within the preset range by using the navigation object as a reference, and determine the detection result, and detect The result includes location information of the obstacle; The audio information generating module 206 is configured to generate navigation prompt information according to the detection result in combination with the current location and the orientation of the navigation object; the audio information sending module 208 is configured to: send the navigation prompt information to the audio output device, for the audio output device to The navigation prompt information is voice prompted to the navigation object.

在本实施例中导航对象指的可以是由于某些原因不能视物的人。无人机20可先将导航对象周围的路障情况了解清楚之后，根据路障情况和导航对象当前的面部朝向生成导航提示信息。然后可由无人机20与导航对象随身携带的音频输出设备进行通信，将导航提示信息发送给音频输出设备，由音频输出设备对导航对象进行语音提示。In the present embodiment, the navigation object refers to a person who cannot view the object for some reason. The drone 20 can first understand the roadblock situation around the navigation object, and then generate the navigation prompt information according to the roadblock condition and the current face orientation of the navigation object. The drone 20 can then communicate with the audio output device carried by the navigation object, and the navigation prompt information is sent to the audio output device, and the audio output device provides a voice prompt to the navigation object.

对象信息确定模块202确定导航对象当前所处位置的方式可以包括多种，例如，无人机20中预先存储了导航对象的面部特征，在导航过程中，对象信息确定模块202可以利用自身的可旋转摄像头获取到周围的图像，然后将图像中采集到的任务面部信息与预存的导航对象的面部特征信息进行匹配，当匹配成功之后就能确定导航对象是哪一个，从而就可以确定导航对象当前所处的位置信息。除此种方式以外，由于导航对象需要随身携带音频输出设备以便获得语音提示，因此，音频输出设备通常与导航对象处于相同的地理位置，所以，一般地，无人机只要确定音频输出设备的地理位置便可以确定导航对象当前所处位置。The manner in which the object information determining module 202 determines that the navigation object is currently located may include various types. For example, the facial features of the navigation object are pre-stored in the drone 20, and the object information determining module 202 may utilize its own The rotating camera acquires the surrounding image, and then matches the collected facial information of the image with the pre-stored facial feature information of the navigation object. After the matching is successful, it can determine which one of the navigation objects is, thereby determining the current navigation object. Location information. In addition to this, since the navigation object needs to carry the audio output device with it in order to obtain the voice prompt, the audio output device is usually in the same geographical position as the navigation object, so generally, the drone only needs to determine the geography of the audio output device. The location determines where the navigation object is currently located.

尽管对象信息确定模块202在确定导航对象当前所处位置之后，仅需要确定障碍物的位置信息就能确定出导航对象与障碍物之间的相对关系，但是这种相对关系只是相对于对象信息确定模块202而言是清楚的，这对于导航对象来说，特别是针对无法视物的盲人来说，辨别方向通常都是以自己为中心，简单地区分前后或者左右，而以导航对象为基准的前后左右与导航对象当前的面部朝向有关：例如，与导航对象面部朝向方向相同的是“前”，与导航对象面部朝向向背的是“后”；同样，“左”和“右”也是相对于导航对象的正面才有的概念。所以，在本实施例中，对象信息确定模块202还需要确定导航对象的面部朝向，以便确定出障碍物相对于导航对象的偏角信息，即障碍物相对于导航对象的方位信息。Although the object information determining module 202 determines the relative relationship between the navigation object and the obstacle only after determining the current location of the navigation object, the relative relationship between the navigation object and the obstacle is determined, but the relative relationship is only determined with respect to the object information. The module 202 is clear, for the navigation object, especially for blind people who cannot view the object, the direction of discrimination is usually centered on itself, simply distinguishing before and after or around, and based on the navigation object. The front, rear, left and right are related to the current face orientation of the navigation object: for example, the same as the direction of the face of the navigation object is "front", and the face of the navigation object is "back" toward the back; likewise, "left" and "right" are also relative to The concept of the front side of the navigation object. Therefore, in the embodiment, the object information determining module 202 also needs to determine the face orientation of the navigation object in order to determine the off-angle information of the obstacle relative to the navigation object, that is, the orientation information of the obstacle relative to the navigation object.

对象信息确定模块202确定导航对象面部朝向的方式可包括这样几种: The manner in which the object information determining module 202 determines the orientation of the navigation object's face may include several types:

第一种，对象信息确定模块202可通过面部识别技术确定所述导航对象的面部朝向。例如无人机20可以通过盘旋飞行，并利用可旋转摄像头获得导航对象标准的正面面部图像，标准的正面面部图像指的是从导航对象冠状面获取的面部图像。对象信息确定模块202可确定为了获得导航对象标准的正面面部图像时，可旋转摄像头的朝向。如图2所示，导航对象21当前的面部朝向是正西方向，为了获得导航对象21标准的正面面部图像，则无人机20上的可旋转摄像头需要旋转至正东方向，当无人机20的可旋转摄像头从正东方向获得了导航对象21标准的正面面部图像时，则对象信息确定模块202可以反推出导航对象21当前的面部朝向是朝西。First, the object information determining module 202 can determine the face orientation of the navigation object by facial recognition technology. For example, the drone 20 can fly by hovering and obtain a frontal face image of the navigation object standard using a rotatable camera, and the standard frontal face image refers to a face image acquired from the coronal plane of the navigation object. The object information determination module 202 can determine the orientation of the camera that can be rotated in order to obtain a frontal face image of the navigation object standard. As shown in FIG. 2, the current face orientation of the navigation object 21 is the west direction. In order to obtain the standard front face image of the navigation object 21, the rotatable camera on the drone 20 needs to be rotated to the east direction, when the drone 20 When the rotatable camera obtains the front face image of the navigation object 21 standard from the east direction, the object information determining module 202 can reversely push the current face orientation of the navigation object 21 to face west.

另外，对象信息确定模块202还可以根据导航对象面部的两个或两个以上器官的组合来确定导航对象的面部朝向，例如，确定导航对象双眼连线与正东(或西、或南、或北)方向间的夹角。如果对象信息确定模块202采用了多个器官来确定面部朝向，则可以在计算出多个面部朝向后再取统计值，例如取平均结果。In addition, the object information determining module 202 may further determine a face orientation of the navigation object according to a combination of two or more organs of the navigation target face, for example, determining that the navigation object is connected with the east eye (or west, or south, or North) The angle between the directions. If the object information determining module 202 employs a plurality of organs to determine the face orientation, the statistical value may be taken after calculating the plurality of face orientations, for example, the average result.

第二种，对象信息确定模块202可确定导航对象的运动趋向，并根据运动趋向确定导航对象的面部朝向。由于人在行走的时候，通常是向前行，因此导航对象在前行的时候，其面部朝向通常与运动趋向相同，所以，在本实施例，为了确定导航对象的面部朝向，可以先确定导航对象的运动趋向。确定运动趋向的时候，可以根据导航对象在两个不同时刻所处的不同位置来确定。如图3所示，导航对象在t1时刻的位置在图3中的A点，而t2时刻，导航对象则到了图3中的B点，根据A、B之间的连线以及地理方向上的东西南北来确定导航对象的运动趋向为东偏北60°的方向，从而确定出导航对象的面部朝向为东偏北60°方向。Second, the object information determining module 202 can determine the moving tendency of the navigation object and determine the face orientation of the navigation object according to the moving trend. Since the person is walking forward, it is usually forward. Therefore, when the navigation object is moving forward, the face orientation is generally the same as the movement tendency. Therefore, in the embodiment, in order to determine the face orientation of the navigation object, the navigation may be determined first. The movement of the object tends. When determining the trend of motion, it can be determined according to the different positions of the navigation object at two different moments. As shown in FIG. 3, the position of the navigation object at time t1 is at point A in FIG. 3, and at time t2, the navigation object reaches point B in FIG. 3, according to the connection between A and B and the geographic direction. From east to west, the direction of the navigation object is determined to be 60° east to north, so that the face orientation of the navigation object is determined to be 60° east and north.

在第二种方式当中，t1时刻与t2时刻之间的间隔不可以太长，因为太长的话，导航对象可能已经更改了前行方向，在这种情形下，导航对象在两个时刻所处位置的连线已经无法代表导航对象的运动趋向了。如图3所示，导航对象在t2的时候更改了前进方向，则t1时刻与t2时刻之间的连线几乎没有任何象征意义。同样地，t1时刻与t2时刻之间的间隔也不可以太短，因为按照人的行走习惯，在前行的过程中并不是走的完全的直线，有时候可能或有一点偏差，但这种偏差会很快被纠正回来，但如果将t1与t2之间的间隔设置得过短，则无人机可能会将这种偏差错误作为计算导航对象面部朝向的依据，从而造成较大的误差。In the second mode, the interval between time t1 and time t2 cannot be too long, because if it is too long, the navigation object may have changed the forward direction. In this case, the navigation object is at two moments. The connection has not been able to represent the movement of the navigation object. As shown in Figure 3, the navigation object changes the direction of advancement at t2, and the connection between time t1 and time t2 has almost no symbolic meaning. Similarly, the interval between time t1 and time t2 should not be too short, because according to people's walking habits, in the process of going forward, it is not a complete straight line, sometimes it may or There is a slight deviation, but this deviation will be corrected soon, but if the interval between t1 and t2 is set too short, the drone may use this deviation error as the basis for calculating the face orientation of the navigation object. This causes a large error.

障碍信息确定模块204以导航对象为基准探测预设范围内的障碍物，并确定探测结果，所述探测结果包括障碍物的位置信息。无人机20与导航对象之间的水平位置可以不相同，由于无人机20是为导航对象服务的，因此，无人机20可以以导航对象为中心，在预设的范围内进行飞行，以便探测预设范围内的障碍物情况。如图4所示，Q点所在的位置表征导航对象当前所处位置。无人机20可以以Q点为圆心，在半径为n的范围内飞行活动。例如，当n等于5m的时候，无人机20可以活动的区域面积为π*n²，也就是说，无人机20可以活动飞行的区域为78.5m²。The obstacle information determining module 204 detects an obstacle within a preset range with reference to the navigation object, and determines a detection result, where the detection result includes position information of the obstacle. The horizontal position between the drone 20 and the navigation object may be different. Since the drone 20 is for the navigation object, the drone 20 may fly within a preset range centering on the navigation object. In order to detect obstacles within the preset range. As shown in Figure 4, the location of the Q point represents the current location of the navigation object. The drone 20 can fly at a radius of n with the Q point as the center. For example, when n is equal to 5 m, the area in which the drone 20 can move is π*n ² , that is, the area in which the drone 20 can fly is 78.5 m ² .

当然，可以理解的是，无人机20可以活动的预设范围也可以是其他形状，例如正方形，如图5所示，导航对象处于P点，P点处于正方形两条对角线的交点处。Of course, it can be understood that the preset range in which the drone 20 can move can also be other shapes, such as a square. As shown in FIG. 5, the navigation object is at point P, and the point P is at the intersection of two diagonal lines of the square. .

由于本实施例的上述示例当中，障碍信息确定模块204探测预设范围的时候，是以导航对象为中心进行探测的，例如以导航对象当前所处位置作为圆心，探测预设半径构成的圆以内的障碍物，或者以导航对象当前所处位置为预设边长的正方形的对角线交点，探测正方形范围内的障碍物。除此以外，障碍信息确定模块204还可以以导航对象为三角形的重心、垂心等在三角形的范围内进行探测。由于在这种以导航对象所处位置为中心进行探测的方式中，障碍信息确定模块204可以探测到导航对象四面八方的障碍物情况，而在实际行走的过程中，导航对象有可能仅会向着一定的方向前进，至少导航对象向着不同方向前进的几率是不相等的。如图6所示，导航对象当前面向正北方，以东西为界，靠北的区域为第一区域61，而靠南的区域为第二区域62，这样，导航对象下一时刻走进第一区域62的可能性远大于走进第二区域62的可能性。因此，导航对象下一时刻遭遇的障碍物绝大部分可能都是第一区域61内的。故，在障碍信息确定模块204进行探测的时候，还可以仅以导航对象作为基准，探测一定大小的扇形区域。如图7所示，导航对象当前处于M点，障碍信息确定模块204仅会以M点为基准，确定一个半径为R，圆心角为θ的扇形区域作为预设区域进行探测。或者可以以导航对象所在位置为长方形如正方形的边长中点，探测一定大小的方形区域内的障碍物。In the above example of the embodiment, when the obstacle information determining module 204 detects the preset range, the detection is centered on the navigation object, for example, the circle where the current position of the navigation object is taken as the center, and the circle formed by the preset radius is detected. An obstacle, or an intersection of a square of a square whose preset position is the current position of the navigation object, detects an obstacle within the square. In addition, the obstacle information determining module 204 can also detect within the range of the triangle with the center of gravity, the center of gravity, and the like of the navigation object being a triangle. In the manner of detecting the position of the navigation object as the center, the obstacle information determining module 204 can detect the obstacle situation of the navigation object in all directions, and in the actual walking process, the navigation object may only be directed to a certain extent. The direction of advancement, at least the probability that the navigation objects are moving in different directions is not equal. As shown in FIG. 6 , the navigation object is currently facing the north, with the east and west as the boundary, the north area is the first area 61, and the south area is the second area 62, so that the navigation object enters the first moment at the next moment. The likelihood of region 62 is much greater than the likelihood of entering second region 62. Therefore, most of the obstacles encountered by the navigation object at the next moment may be within the first area 61. Therefore, when the obstacle information determination module 204 performs the detection, it is also possible to detect the sector area of a certain size with only the navigation object as a reference. As shown in FIG. 7 , the navigation object is currently at point M, and the obstacle information determining module 204 determines only one radius R based on the M point. A sector area having a central angle of θ is detected as a preset area. Alternatively, the position of the navigation object may be a rectangle such as a midpoint of a square, and an obstacle in a square area of a certain size may be detected.

障碍信息确定模块204在预设范围内探测障碍物时，可以采用的方式包括这样几种：When the obstacle information determining module 204 detects an obstacle within a preset range, the manners that can be adopted include the following:

第一种，障碍信息确定模块204可以以导航对象为基准通过红外探测技术探测障碍物并确定障碍物的位置信息。红外线是一种电磁波，具有与可见光相似的特性，服从反射和折射定律，也有干涉、衍射和偏振等现象；同时它又具有离子型，即它可以光量子的形式发射和吸收。因此，红外探测器包括两种类型，一种是热探测器，另外一种是光子探测器。First, the obstacle information determining module 204 can detect the obstacle and determine the position information of the obstacle by the infrared detecting technology based on the navigation object. Infrared is an electromagnetic wave that has similar characteristics to visible light, obeys the laws of reflection and refraction, and also has phenomena of interference, diffraction, and polarization. At the same time, it has an ionic type, that is, it can emit and absorb in the form of photons. Therefore, infrared detectors include two types, one is a heat detector and the other is a photon detector.

第二种，障碍信息确定模块204可通过图像识别技术确定以导航对象为基准的预设范围内的障碍物及障碍物的位置信息。障碍信息确定模块204可以利用摄像头采集导航对象周围的图像信息，并对采集到的图片进行处理，利用边缘提取技术等图像处理技术从图片中确定障碍物，并确定障碍物的位置信息。Secondly, the obstacle information determining module 204 can determine the position information of the obstacle and the obstacle within the preset range based on the navigation object by the image recognition technology. The obstacle information determining module 204 may use the camera to collect image information around the navigation object, process the collected image, and determine an obstacle from the image by using an image processing technique such as edge extraction technology, and determine the position information of the obstacle.

第三种，障碍信息确定模块204可以以导航对象为基准通过超声探测技术探测障碍物并确定障碍物的位置信息。超声波是一种频率高于人耳能听到的频率(20Hz～20KHz)的声波。超声波在传输过程中服从波的传输规律。例如：超声波在材料中保持直线行进；在两种不同材料的界面处发生反射。当障碍信息确定模块204通过发射超声波在预设范围进行探测时，超声波遇到障碍物的时候将会出现反射现象，因此，障碍信息确定模块204可以通过超声波探测到有无障碍物。同时由于超声波的传播速度服从波的传输定理： ν＝λf，ν为波速，λ为波长，f为波的频率，障碍信息确定模块204还可以确定出障碍物与无人机之间的距离，进而确定障碍物的位置信息。Thirdly, the obstacle information determining module 204 can detect the obstacle and determine the position information of the obstacle by the ultrasonic detecting technology based on the navigation object. Ultrasound is a sound wave with a frequency higher than the frequency that can be heard by the human ear (20 Hz to 20 kHz). Ultrasonic waves obey the transmission law of waves during transmission. For example: Ultrasonic waves travel in a straight line in the material; reflections occur at the interface of two different materials. When the obstacle information determining module 204 detects the ultrasonic wave in the preset range, the ultrasonic phenomenon will occur when the ultrasonic wave encounters the obstacle. Therefore, the obstacle information determining module 204 can detect that there is no obstacle by the ultrasonic wave. At the same time, because the propagation speed of ultrasonic waves obeys the wave transmission theorem: ν = λf, ν is the wave speed, λ is the wavelength, and f is the frequency of the wave. The obstacle information determining module 204 can also determine the distance between the obstacle and the drone to determine the position information of the obstacle.

当障碍信息确定模块204确定障碍物的位置信息之后，音频信息生成模块206就能根据障碍物的位置信息以及导航对象当前所处的位置信息确定出导航提示信息。导航提示信息中通常可以包括障碍物相对于导航对象的方位信息，以及障碍物距离导航对象的距离信息。障碍物相对于导航对象的方位信息，即可以为障碍物与导航对象在水平面上的连线相对于导航对象正前方的偏角。如图8所示，导航对象21当前面朝北方，则障碍物22与导航对象21之间的方位信息即障碍物22与导航对象21之间的连线相对于正北方向的偏角。可以理解的是，偏角信息也可以是障碍物22与导航对象21在水平面连线同导航对象21右方的夹角，或者障碍物22与导航对象21在水平面连线同导航对象21左方的夹角。After the obstacle information determining module 204 determines the position information of the obstacle, the audio information generating module 206 can determine the navigation prompt information according to the position information of the obstacle and the position information of the navigation object. The navigation prompt information may generally include orientation information of the obstacle relative to the navigation object, and distance information of the obstacle from the navigation object. The orientation information of the obstacle relative to the navigation object may be an off-angle of the line connecting the obstacle and the navigation object on the horizontal plane with respect to the front side of the navigation object. As shown in FIG. 8, the navigation object 21 is facing north, and the orientation information between the obstacle 22 and the navigation object 21, that is, the angle between the line between the obstacle 22 and the navigation object 21 with respect to the true north direction. It can be understood that the declination information may also be an angle between the obstacle 22 and the navigation object 21 in the horizontal plane and the right side of the navigation object 21, or the obstacle 22 and the navigation object 21 are connected to the left side of the navigation object 21 at the horizontal plane. The angle of the.

可选地，音频信息生成模块可以是设置为：根据所述障碍物的位置信息与所述导航对象的面部朝向确定所述障碍物相对于所述导航对象面部朝向的偏角信息，并根据所述障碍物的位置信息与所述导航对象当前所处位置确定所述障碍物相对于所述导航对象的距离信息；并根据所述障碍物相对所述导航对象的偏角信息及距离信息生成导航提示信息。Optionally, the audio information generating module may be configured to: determine an off-angle information of the obstacle relative to the face orientation of the navigation object according to the position information of the obstacle and the face orientation of the navigation object, and according to Position information of the obstacle and the current location of the navigation object determine distance information of the obstacle relative to the navigation object; and generate navigation according to the off-angle information and distance information of the obstacle relative to the navigation object Prompt message.

较简单地，音频信息生成模块206生成的导航提示信息中可以将障碍物相对于导航对象的方向分为前、后、左、右四个方向，如障碍物在导航对象的正前方。当然，在实际应用过程中，障碍物与导航对象的相对位置关系并不是如此简单，有可能障碍物并不是在正前方、正左方、正右方或者正后方，而是介于两个方向之间，例如，在导航对象左前方有障碍物，且与导航对象正前方的偏角为45°。In a simpler manner, the navigation prompt information generated by the audio information generating module 206 can divide the direction of the obstacle relative to the navigation object into four directions: front, back, left, and right, such as the obstacle is directly in front of the navigation object. Of course, in the actual application process, the relative positional relationship between the obstacle and the navigation object is not so simple. It is possible that the obstacle is not in the front, the left side, the right side or the right side, but in two directions. For example, there is an obstacle in the left front of the navigation object, and an off angle directly in front of the navigation object is 45°.

可选地，针对一个障碍物，音频信息生成模块206生成的导航提示信息中既要包含该障碍物与导航对象之间的偏角信息，又要有该障碍物与导航对象之间的距离信息。由于某些情况下，会存在多个障碍物，因此，在一个导航提示信息中可以包含针对多个障碍物相对于导航对象的偏角信息与距离信息。当然，可以理解的是，音频信息生成模块206也可以在一个导航提示信息中仅包括一个障碍物的偏角信息与距离信息，当存在多个障碍物的时候，可生成多个导航提示信息。Optionally, for an obstacle, the navigation prompt information generated by the audio information generating module 206 includes both the off-angle information between the obstacle and the navigation object, and the distance information between the obstacle and the navigation object. . Since there are some obstacles in some cases, the eccentricity information and the distance information for the plurality of obstacles relative to the navigation object may be included in one navigation prompt information. Of course, it can be understood that the audio information generating module 206 can also include only the angling information and distance information of an obstacle in a navigation prompt information. When there are multiple obstacles, Multiple navigation prompts can be generated.

在本实施例中，若障碍信息确定模块204探测障碍物的预设范围是以导航对象当前所处位置为中心确定的，则障碍信息确定模块204会探测导航对象四面八方的障碍物，但是由于导航对象下一刻的会遭遇这些障碍物的可能性并不相同，因此，为了将导航对象较有可能遭遇到的障碍物信息提示给导航对象，避免提示一些无用的信息干扰导航对象的判断，同时减少音频输出设备的工作量，则障碍信息确定模块204在确定一个或多个障碍物中每个障碍物相对于导航对象偏角信息与距离信息之后，音频信息生成模块206可以先为每个障碍物设置提示优先级，设置的原则是该障碍物相对于导航对象面部朝向的偏角越大，则该障碍物的提示优先级越小。如图9所示，当前存在A、B、C三个障碍物，A、B、C与导航对象在水平面上的位置关系如图所示，由于导航对象21面向正北方向，则A、B、C的偏角大小分别为30°、150°和75°因此，A、B、C这三个障碍物当中，A相对于正北的偏角最小，C次之，B最大，所以，A的提示优先级最高，C的提示优先级次之，B的提示优先级最低。当音频信息生成模块206确定每个障碍物的提示优先级之后可以筛选出优先级满足第一预设条件的至少一个障碍物，并根据筛选出的至少一个障碍物各自的偏角信息与距离信息生成导航提示信息。在上述示例当中，音频信息生成模块206可以筛选出优先级最高的两个障碍物，即筛选出A和C，并根据A和C各自相对于导航对象的偏角信息与距离信息生成导航提示信息。In this embodiment, if the obstacle information determining module 204 detects that the preset range of the obstacle is determined centering on the current location of the navigation object, the obstacle information determining module 204 detects the obstacle of the navigation object in all directions, but because of the navigation The possibility that the object will encounter these obstacles in the next moment is not the same. Therefore, in order to prompt the navigation object to the obstacle information that the navigation object is more likely to encounter, avoid prompting some useless information to interfere with the judgment of the navigation object, and reduce The workload of the audio output device, after the obstacle information determining module 204 determines the obstacle information and the distance information of each obstacle relative to the navigation object in the one or more obstacles, the audio information generating module 206 may first for each obstacle The prompt priority is set, and the principle is set that the larger the off angle of the obstacle relative to the face orientation of the navigation object, the smaller the priority of the obstacle is. As shown in FIG. 9 , there are currently three obstacles A, B, and C. The positional relationship between A, B, and C and the navigation object on the horizontal plane is as shown in the figure. Since the navigation object 21 faces the north direction, A and B The declination of C is 30°, 150° and 75°. Therefore, among the three obstacles A, B and C, A has the smallest declination relative to the true north, C is the second, and B is the largest. Therefore, A The prompt has the highest priority, the C prompt has the second priority, and the B prompt has the lowest priority. After the audio information generating module 206 determines the prompt priority of each obstacle, the at least one obstacle whose priority meets the first preset condition may be filtered, and according to the selected off-angle information and distance information of the at least one obstacle selected. Generate navigation prompts. In the above example, the audio information generating module 206 may filter out two obstacles with the highest priority, that is, filter out A and C, and generate navigation prompt information according to the off-angle information and distance information of each of A and C relative to the navigation object. .

为了避免提示无用的信息干扰导航对象的判断，除了上述方式以外，音频信息生成模块206还可以采用以下方式排出导航对象遭遇可能性小的障碍物：In order to avoid prompting the useless information to interfere with the judgment of the navigation object, in addition to the above manner, the audio information generating module 206 may also discharge the obstacle that the navigation object encounters a small possibility in the following manner:

音频信息生成模块206可筛选出偏角信息满足第二预设条件的障碍物，第二预设条件可以是相对于导航对象面部朝向的偏角小于某一个值，例如，针对图9的示例，第二预设条件为偏角小于60°的障碍物。则音频信息生成模块206根据第二预设条件筛选出的需要进行提示的障碍物为A。筛选出来障碍物以后，音频信息生成模块206可以根据障碍物相对导航对象的偏角信息及距离信息生成导航提示信息。 The audio information generating module 206 may filter out an obstacle whose angling information satisfies a second preset condition, and the second preset condition may be that the yaw angle with respect to the face orientation of the navigation object is less than a certain value, for example, for the example of FIG. The second predetermined condition is an obstacle with an off angle of less than 60°. Then, the obstacle that needs to be prompted by the audio information generating module 206 according to the second preset condition is A. After the obstacle is screened out, the audio information generating module 206 may generate the navigation prompt information according to the off-angle information and the distance information of the obstacle relative to the navigation object.

可以注意的是，由于人类对角度数值并不十分敏感，因此，在生成导航提示信息的时候，音频信息生成模块206还可以将导航提示信息转换成符合人类方向辨别习惯的语音提示，例如，将“您当前前行方向向东偏转30度的地方存在xx障碍物”转换为“在您的1点钟方向存在xx障碍物”。It can be noted that, since the human is not very sensitive to the angle value, when generating the navigation prompt information, the audio information generating module 206 can also convert the navigation prompt information into a voice prompt that conforms to the human direction discrimination habit, for example, “You have a xx obstacle in the direction you are heading 30 degrees to the east” and convert to “There are xx obstacles in your 1 o'clock direction”.

音频信息发送模块208与导航对象随身携带的音频输出设备之间通信的方式可以包括蓝牙、无线高保真(WiFi，Wireless Fidelity)等无线通信方式。本实施例中音频输出设备可以包括便携式音箱或者是耳机。当音频信息发送模块208将生成的导航提示信息发送给便携式音箱或者耳机时，便携式音箱或者是耳机可以直接根据导航提示信息输出声音信号以对导航对象进行提示。The manner of communication between the audio information sending module 208 and the audio output device carried by the navigation object may include wireless communication methods such as Bluetooth and Wireless Fidelity. The audio output device in this embodiment may include a portable speaker or an earphone. When the audio information transmitting module 208 transmits the generated navigation prompt information to the portable speaker or the earphone, the portable speaker or the earphone may directly output a sound signal according to the navigation prompt information to prompt the navigation object.

另外，由于导航对象在出行的时候并不是漫无目的的，因此无人机20还可以根据导航对象的目的地和路况信息规划前行路径，生成行进策略并将行进策略发送给音频输出设备，使音频输出设备根据行进策略对导航对象进行提示，例如在需要拐弯的时候提示拐弯。In addition, since the navigation object is not purposeless when traveling, the drone 20 can also plan the forward path according to the destination and the road condition information of the navigation object, generate a travel strategy, and send the travel strategy to the audio output device. The audio output device is prompted to navigate the navigation object according to the travel strategy, for example, when a turn is needed.

本实施例提供的无人机，对象信息确定模块的功能可以通过摄像头与处理器共同实现，也可以通过通信装置获取音频输出设备的位置信息，然后通信装置可将获取的音频输出设备的位置信息发送给处理器，由处理器解析出音频输出设备的位置作为导航对象当前所处的位置。障碍信息确定模块可以由红外探测器、超声探测器或者是摄像头与处理器来实现。而音频信息生成模块的功能则可以由处理器来实现，处理器获取到导航对象当前所处位置、面部朝向和障碍物的位置信息后，可以根据障碍物的位置信息与导航对象的面部朝向确定障碍物相对于导航对象面部朝向的偏角信息，并根据障碍物的位置信息与导航对象当前所处位置确定障碍物相对于导航对象的距离信息。然后可由通信装置实现音频信息发送模块的功能，将导航提示信息发送给音频输出设备。In the drone provided by this embodiment, the function of the object information determining module may be implemented by the camera and the processor, and the position information of the audio output device may be acquired by the communication device, and then the communication device may obtain the position information of the obtained audio output device. Sended to the processor, the processor parses out the location of the audio output device as the current location of the navigation object. The obstacle information determination module can be implemented by an infrared detector, an ultrasound probe, or a camera and a processor. The function of the audio information generating module can be implemented by the processor. After the processor acquires the current location of the navigation object, the orientation of the face, and the position information of the obstacle, the processor can determine the position of the obstacle according to the position information of the obstacle and the face orientation of the navigation object. The angling information of the obstacle relative to the face orientation of the navigation object, and the distance information of the obstacle relative to the navigation object is determined according to the position information of the obstacle and the current location of the navigation object. The function of the audio information transmitting module can then be implemented by the communication device, and the navigation prompt information is sent to the audio output device.

如图11，本实施例还提供一种导航***11，其包括音频输出设备10和上述无人机20。无人机20将导航提示信息发送给音频输出设备10之后，音频输出设备可以通过输出声音信号的方式向导航对象进行语音提示，使得导航对象根据语音提示确定规避障碍物的策略及方案。 As shown in FIG. 11, the embodiment further provides a navigation system 11 including an audio output device 10 and the above-described drone 20. After the UAV 20 sends the navigation prompt information to the audio output device 10, the audio output device can perform a voice prompt to the navigation object by outputting the sound signal, so that the navigation object determines a strategy and a scheme for evading the obstacle according to the voice prompt.

本发明实施例提供的无人机以及导航***，通过无人机确定导航对象和导航对象周围障碍物的情况，生成针对障碍物的导航提示信息，并将导航提示信息发送给音频输出设备，使音频输出设备根据导航提示信息对导航对象进行语音提示。使导航对象了解到自己周围的障碍物情况，从而及时确定出针对障碍物的避让策略和行走路线，避免遭遇障碍物而受伤的情况发生。在本发明实施例中，利用无人机成本低、工作寿命长的优点，解决了相关技术中通过导盲犬导航所存在的体型不方便、成本高、工作寿命短的技术问题。更进一步地，由于无人机会对探测出的障碍物进行筛选，避免将所有障碍物的信息提示给导航对象，会导致导航对象因为受到无用导航提示信息的干扰而无法迅速确定出前行方向的规划，从而遭遇障碍物而受伤的情况，提高了导航对象的体验。The UAV and the navigation system provided by the embodiments of the present invention determine the navigation object and the obstacles around the navigation object by using the UAV, generate navigation prompt information for the obstacle, and send the navigation prompt information to the audio output device, so that The audio output device provides a voice prompt to the navigation object according to the navigation prompt information. The navigation object can understand the obstacles around him, so as to timely determine the avoidance strategy and the walking route for the obstacles, and avoid the injury caused by the obstacles. In the embodiment of the present invention, the utility model has the advantages of low cost and long working life of the unmanned aerial vehicle, and solves the technical problem that the body type inconvenience, high cost and short working life existed by the guide dog navigation in the related art. Furthermore, since the unmanned opportunity screens the detected obstacles and avoids prompting all the obstacle information to the navigation object, the navigation object cannot quickly determine the forward direction planning because of the interference of the useless navigation prompt information. In order to be injured by encountering obstacles, the experience of the navigation object is improved.

本发明实施例还提供了一种计算机存储介质，所述计算机存储介质中存储有计算机可执行指令，所述计算机可执行指令被执行时实现前述的任一项的导航方法。该计算机存储介质可以为计算机可读存储介质。The embodiment of the invention further provides a computer storage medium, wherein the computer storage medium stores computer executable instructions, and when the computer executable instructions are executed, the navigation method of any one of the foregoing is implemented. The computer storage medium can be a computer readable storage medium.

本领域的技术人员可以明白，上述本发明实施例的模块或步骤可以用通用的计算装置来实现，它们可以集中在单个的计算装置上，或者分布在多个计算装置所组成的网络上，可选地，它们可以用计算装置可执行的程序代码来实现，从而，可以将它们存储在计算机存储介质(只读存储器(ROM，Read-Only Memory)/随机存取存储器(RAM，Random Access Memory)、磁碟、光盘)中由计算装置来执行，并且在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤，或者将它们分别制作成不同集成电路模块，或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。所以，本发明实施例可不限制于任何特定的硬件和软件结合。Those skilled in the art will appreciate that the above-described modules or steps of the embodiments of the present invention may be implemented by a general-purpose computing device, which may be centralized on a single computing device or distributed over a network of multiple computing devices. Alternatively, they can be implemented by program code executable by the computing device, so that they can be stored in a computer storage medium (Read-Only Memory (RAM), Random Access Memory (RAM). , a disk, an optical disk) are executed by a computing device, and in some cases, the steps shown or described may be performed in an order different from that herein, or they may be separately fabricated into different integrated circuit modules, or Multiple of these modules or steps are fabricated as a single integrated circuit module. Therefore, embodiments of the invention may not be limited to any particular combination of hardware and software.

本领域普通技术人员可以理解上述实施例的全部或部分步骤可以使用计算机程序流程来实现，所述计算机程序可以存储于一计算机可读存储介质中，所述计算机程序在相应的硬件平台上(如***、设备、装置、器件、处理器等)执行，在执行时，包括方法实施例的步骤之一或其组合。One of ordinary skill in the art will appreciate that all or a portion of the steps of the above-described embodiments can be implemented using a computer program flow, which can be stored in a computer readable storage medium, such as on a corresponding hardware platform (eg, The system, device, device, device, processor, etc. are executed, and when executed, include one or a combination of the steps of the method embodiments.

可选地，上述实施例的全部或部分步骤也可以使用集成电路来实现，这些步骤可以被分别制作成一个个集成电路模块，或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。Optionally, all or part of the steps of the foregoing embodiments may also be implemented by using an integrated circuit, and the steps may be separately fabricated into integrated circuit modules, or multiple modules thereof or The steps are made into a single integrated circuit module.

上述实施例中的装置/功能模块/功能单元可以采用通用的计算装置来实现，它们可以集中在单个的计算装置上，也可以分布在多个计算装置所组成的网络上。The devices/function modules/functional units in the above embodiments may be implemented by a general-purpose computing device, which may be centralized on a single computing device or distributed over a network of multiple computing devices.

上述实施例中的装置/功能模块/功能单元以软件功能模块的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。上述提到的计算机可读取存储介质可以是只读存储器，磁盘或光盘等。When the device/function module/functional unit in the above embodiment is implemented in the form of a software function module and sold or used as a stand-alone product, it can be stored in a computer readable storage medium. The above mentioned computer readable storage medium may be a read only memory, a magnetic disk or an optical disk or the like.

本领域的普通技术人员可以理解，可以对本申请的技术方案进行修改或者等同替换，而不脱离本申请技术方案的精神和范围。本申请的保护范围以权利要求所定义的范围为准。A person skilled in the art can understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present application. The scope of protection of this application is defined by the scope defined by the claims.

工业实用性Industrial applicability

根据本发明实施例提供的导航方法、***及无人机以及计算机存储介质，通过无人机确定导航对象当前所处的位置以及其面部朝向，探测以导航对象为基准的预设范围内的障碍物并确定出探测结果，结合导航对象当前所处的位置以及其面部朝向对探测结果进行处理生成导航提示信息，将导航提示信息发送给音频输出设备，使音频输出设备根据导航提示信息向导航对象进行语音提示。当盲人作为导航对象时，虽然导航对象不能视物，但是无人机获取了导航对象周围的障碍物情况，并根据导航对象的面部朝向生成了导航提示信息，让音频输出设备根据导航提示信息对导航对象进行语音提示，就能使得不能视物的导航对象了解到自己周围的障碍物情况，从而及时确定出针对障碍物的避让策略和行走路线，避免遭遇障碍物而受伤的情况发生。在本发明实施例中，利用了无人机相对于导盲犬拥有体型小、几乎不占用地面空间，而且无人机成本低、工作寿命长的优点，解决了相关技术中通过导盲犬导航所存在的体型不方便、成本高、工作寿命短的技术问题，不仅降低了盲人的经济负担，也提高了其出行的用户体验。 According to the navigation method and system provided by the embodiment of the present invention, the UAV and the computer storage medium determine the current position of the navigation object and the face orientation thereof by the drone, and detect obstacles in the preset range based on the navigation object. And determining the detection result, combining the current position of the navigation object and the face orientation thereof to process the detection result to generate navigation prompt information, and transmitting the navigation prompt information to the audio output device, so that the audio output device can navigate to the navigation object according to the navigation prompt information. Make a voice prompt. When the blind person is the navigation object, although the navigation object cannot view the object, the drone acquires the obstacle situation around the navigation object, and generates navigation prompt information according to the face orientation of the navigation object, so that the audio output device according to the navigation prompt information When the navigation object makes a voice prompt, the navigation object that cannot view the object can understand the obstacle situation around the object, thereby timely determining the avoidance strategy and the walking route for the obstacle, and avoiding the injury caused by the obstacle. In the embodiment of the present invention, the utility model utilizes the advantages that the drone has a small body shape and hardly occupies the ground space, and the utility model has the advantages of low cost and long working life, and solves the related art in guiding the navigation through the guide dog. The technical problems of inconvenient body size, high cost and short working life not only reduce the economic burden of the blind but also improve the user experience of the trip.

Claims

一种导航方法，包括：A navigation method comprising:

无人机确定导航对象当前所处位置以及所述导航对象的面部朝向；The drone determines the current location of the navigation object and the face orientation of the navigation object;

所述无人机以所述导航对象为基准探测预设范围内的障碍物，并确定探测结果，所述探测结果包括所述障碍物的位置信息；The UAV detects an obstacle within a preset range with the navigation object as a reference, and determines a detection result, where the detection result includes position information of the obstacle;

所述无人机根据所述探测结果结合所述导航对象当前所处位置及面部朝向生成导航提示信息；The UAV generates navigation prompt information according to the detection result combined with the current location and the orientation of the navigation object;

所述无人机将所述导航提示信息发送给音频输出设备，以供所述音频输出设备根据所述导航提示信息向所述导航对象进行语音提示。The UAV sends the navigation prompt information to the audio output device, so that the audio output device provides a voice prompt to the navigation object according to the navigation prompt information.
如权利要求1所述的导航方法，其中，所述无人机确定导航对象当前所处位置包括：The navigation method of claim 1, wherein the drone determines that the current location of the navigation object comprises:

所述无人机获取所述音频输出设备的定位信号，对所述定位信号进行解析获得所述音频输出设备所在的位置，并以所述音频输出设备所在的位置表征所述导航对象当前所处位置；Obtaining a positioning signal of the audio output device, parsing the positioning signal to obtain a location where the audio output device is located, and characterizing, where the audio output device is located, where the navigation object is currently located position;

或，or,

所述无人机利用可旋转的摄像头获取周围图像，通过面部识别技术从获取的图像中识别出所述导航对象，并确定所述导航对象当前所述位置。The drone acquires a surrounding image using a rotatable camera, identifies the navigation object from the acquired image by facial recognition technology, and determines the current position of the navigation object.
如权利要求1所述的导航方法，其中，所述无人机确定所述导航对象的面部朝向包括：The navigation method of claim 1, wherein the drone determining the face orientation of the navigation object comprises:

所述无人机通过面部识别技术确定所述导航对象的面部朝向；Determining, by the facial recognition technology, a face orientation of the navigation object;

或，or,

所述无人机确定所述导航对象的运动趋向，并根据所述运动趋向确定所述导航对象的面部朝向。The drone determines a trend of motion of the navigation object, and determines a face orientation of the navigation object according to the motion trend.
如权利要求1所述的导航方法，其中，所述无人机以所述导航对象为基准探测预设范围内的障碍物，并确定所述探测结果的方式包括以下多种中的任意一种：The navigation method according to claim 1, wherein the drone detects an obstacle within a preset range with the navigation object as a reference, and the manner of determining the detection result includes any one of the following :

所述无人机以所述导航对象为基准通过红外探测技术探测预设范围内的障碍物并确定障碍物的位置信息；The UAV detects the preset range by infrared detection technology based on the navigation object Obstacle and determine the location information of the obstacle;

所述无人机通过图像识别技术确定以所述导航对象为基准的预设范围内的障碍物及障碍物的位置信息；Determining, by the image recognition technology, position information of an obstacle and an obstacle within a preset range based on the navigation object;

所述无人机以所述导航对象为基准通过超声探测技术探测预设范围内的障碍物并确定障碍物的位置信息。The drone detects an obstacle within a preset range and determines position information of the obstacle by using an ultrasonic detecting technique on the basis of the navigation object.
如权利要求1所述的导航方法，还包括：The navigation method of claim 1 further comprising:

所述无人机根据预设的目的地为所述导航对象规划前行路径；The UAV plans a forward path for the navigation object according to a preset destination;

基于所述导航对象当前所述位置和所述前行路径确定所述导航对象下一时段的行进策略；Determining a travel strategy of the next time period of the navigation object based on the current location of the navigation object and the forward path;

所述无人机将所述行进策略发送给所述音频输出设备，以供所述音频输出设备根据所述行进策略向所述导航对象进行语音提示。The drone sends the travel strategy to the audio output device for the audio output device to make a voice prompt to the navigation object according to the travel strategy.
如权利要求1-5任一项所述的导航方法，其中，所述无人机根据所述探测结果结合所述导航对象当前所处位置及面部朝向生成导航提示信息包括：The navigation method according to any one of claims 1 to 5, wherein the generating, by the unmanned aerial vehicle, the navigation prompt information according to the detection result in combination with the current location and the orientation of the navigation object comprises:

所述无人机根据所述障碍物的位置信息与所述导航对象的面部朝向确定所述障碍物相对于所述导航对象面部朝向的偏角信息，并根据所述障碍物的位置信息与所述导航对象当前所处位置确定所述障碍物相对于所述导航对象的距离信息；Determining, according to the position information of the obstacle and the face orientation of the navigation object, an off-angle information of the obstacle relative to the face orientation of the navigation object, and according to the position information of the obstacle Determining, by the current location of the navigation object, distance information of the obstacle relative to the navigation object;

所述无人机根据所述障碍物相对所述导航对象的偏角信息及距离信息生成导航提示信息。The drone generates navigation prompt information according to the off-angle information and the distance information of the obstacle relative to the navigation object.
如权利要求6所述的导航方法，其中，当所述障碍物有两个及以上时，所述无人机根据所述障碍物相对所述导航对象的偏角信息及距离信息生成导航提示信息包括：The navigation method according to claim 6, wherein when the obstacle has two or more, the drone generates navigation prompt information according to the off-angle information and the distance information of the obstacle relative to the navigation object include:

所述无人机根据一个或多个所述障碍物中每个所述障碍物相对于所述导航对象的偏角信息确定针对每个所述障碍物的提示优先级，该障碍物相对于所述导航对象面部朝向的偏角越大，则针对该障碍物的提示优先级越小；Determining, by the drone, a cue priority for each of the obstacles based on angling information of each of the obstacles in the one or more obstacles relative to the navigation object, the obstacle relative to the The larger the declination of the orientation of the face of the navigation object, the smaller the priority of the cue for the obstacle;

所述无人机筛选出提示优先级满足第一预设条件的所述障碍物，并根据所述障碍物相对所述导航对象的偏角信息及距离信息生成导航提示信息。 The UAV selects the obstacle indicating that the priority meets the first preset condition, and generates navigation prompt information according to the off-angle information and the distance information of the obstacle relative to the navigation object.
如权利要求6所述的导航方法，其中，当所述障碍物有两个及以上时，所述无人机根据所述障碍物相对所述导航对象的偏角信息及距离信息生成导航提示信息包括：The navigation method according to claim 6, wherein when the obstacle has two or more, the drone generates navigation prompt information according to the off-angle information and the distance information of the obstacle relative to the navigation object include:

所述无人机筛选出偏角信息满足第二预设条件的所述障碍物，并根据所述障碍物相对所述导航对象的偏角信息及距离信息生成导航提示信息。The UAV selects the obstacle whose angling information satisfies the second preset condition, and generates navigation prompt information according to the angling information and the distance information of the obstacle relative to the navigation object.
一种无人机，包括：A drone that includes:

对象信息确定模块，设置为：确定导航对象当前所处位置以及所述导航对象的面部朝向；An object information determining module, configured to: determine a current location of the navigation object and a face orientation of the navigation object;

障碍信息确定模块，设置为：以所述导航对象为基准探测预设范围内的障碍物，并确定探测结果，所述探测结果包括所述障碍物的位置信息；The obstacle information determining module is configured to: detect an obstacle within a preset range by using the navigation object as a reference, and determine a detection result, where the detection result includes location information of the obstacle;

音频信息生成模块，设置为：根据所述探测结果结合所述导航对象当前所处位置及面部朝向生成导航提示信息；The audio information generating module is configured to generate navigation prompt information according to the detection result combined with the current location and the orientation of the navigation object;

音频信息发送模块，设置为：将所述导航提示信息发送给音频输出设备，以供所述音频输出设备根据所述导航提示信息向所述导航对象进行语音提示。The audio information sending module is configured to: send the navigation prompt information to the audio output device, so that the audio output device provides a voice prompt to the navigation object according to the navigation prompt information.
如权利要求9所述的无人机，其中，音频信息生成模块是设置为：根据所述障碍物的位置信息与所述导航对象的面部朝向确定所述障碍物相对于所述导航对象面部朝向的偏角信息，并根据所述障碍物的位置信息与所述导航对象当前所处位置确定所述障碍物相对于所述导航对象的距离信息；并根据所述障碍物相对所述导航对象的偏角信息及距离信息生成导航提示信息。The drone according to claim 9, wherein the audio information generating module is configured to determine the orientation of the obstacle relative to the navigation object based on the position information of the obstacle and the face orientation of the navigation object Deflection information, and determining distance information of the obstacle relative to the navigation object according to position information of the obstacle and a current location of the navigation object; and according to the obstacle relative to the navigation object The declination information and the distance information generate navigation prompt information.
一种导航***，包括音频输出设备和如权利要求9或10所述的无人机。A navigation system comprising an audio output device and a drone as claimed in claim 9 or 10.
如权利要求11所述的导航***，所述音频输出设备包括耳机。The navigation system of claim 11 wherein said audio output device comprises an earphone.
一种计算机存储介质，存储有计算机可执行指令，所述计算机可执行指令被执行时实现如权利要求1至8中任一权利要求所述的导航方法。 A computer storage medium storing computer executable instructions that, when executed, implement the navigation method of any of claims 1-8.