阅读说明：本技术 一种盲道识别导航系统及方法 (Blind road identification navigation system and method ) 是由 贺涛 于 2021-07-21 设计创作，主要内容包括：本发明公开了一种盲道识别导航系统,包括盲人鞋和导航设备,盲人鞋和导航设备通信连接；盲人鞋包括盲道图形存储模块、压力传感器组和信号处理模块；压力传感器组阵列分布在盲人鞋的鞋底；图形存储模块内存储有盲道图形特征；信号处理模块分别与图形存储模块和压力传感器组电连接,信号处理模块用于识别盲人鞋是否走在盲道上；导航设备包括地图存储模块、路线分析模块和提醒模块；地图存储模块用于存储地图数据；路线分析模块用于分析当前盲道是否为断路或死路；提醒模块用于提醒盲人；盲人鞋或导航设备上还设置有定位模块,用于定位盲人当前位置；本发明的好处是当盲人行走在错误方向的盲道或者通向死路的盲道上时进行提醒。(The invention discloses a blind road identification navigation system, which comprises blind shoes and navigation equipment, wherein the blind shoes are in communication connection with the navigation equipment; the blind shoes comprise a blind road graph storage module, a pressure sensor group and a signal processing module; the pressure sensor groups are distributed on the sole of the blind person shoe in an array manner; the graph storage module stores the characteristics of the blind road graph; the signal processing module is respectively and electrically connected with the graph storage module and the pressure sensor group and is used for identifying whether the blind person shoes walk on the blind road or not; the navigation equipment comprises a map storage module, a route analysis module and a reminding module; the map storage module is used for storing map data; the route analysis module is used for analyzing whether the current blind road is an open circuit or a dead road; the reminding module is used for reminding the blind; the blind shoes or the navigation equipment are also provided with a positioning module for positioning the current position of the blind; the blind person walking reminding device has the advantage that the blind person can remind when walking on a blind road with wrong direction or a blind road leading to a dead road.)

1. A blind road recognition navigation system is characterized in that: the blind shoes are in communication connection with the navigation equipment;

the blind shoes comprise a blind road graph storage module, a pressure sensor group and a signal processing module;

the pressure sensor groups are distributed on the soles of the blind shoes in an array manner and are used for transmitting pressure signals generated when the soles and the ground bulges are extruded to the signal processing module;

the graph storage module stores the graph characteristics of the blind road;

the signal processing module is respectively and electrically connected with the graph storage module and the pressure sensor group and is used for identifying whether the blind person shoes walk on the blind road or not;

the navigation equipment comprises a map storage module, a route analysis module and a reminding module;

the map storage module is used for storing map data;

the route analysis module is used for analyzing whether the current blind road is a dead road;

the reminding module is used for reminding the blind;

the blind shoes or the navigation equipment are also provided with a positioning module for positioning the current position of the blind.

2. The blind road identification navigation system of claim 1, wherein: the blind road graph characteristics comprise a strip-shaped blind road graph and a round-point blind road graph.

3. The blind road identification navigation system of claim 1, wherein: the navigation equipment comprises at least one of a blind guiding stick, a mobile terminal and wearable electronic equipment.

4. The blind road identification navigation system of claim 3, wherein: the navigation equipment is a blind guiding stick or wearable electronic equipment, and the reminding module is a micro vibration motor.

5. A blind road identification navigation method is characterized in that: comprises a blind road analysis step:

the navigation equipment acquires a walking road identification result of the blind shoes;

if the walking road identification result is a blind road, the navigation equipment analyzes whether the path of the blind road is a dead road according to map data;

and if the blind road is a dead road, the navigation equipment initiates a dead road prompt.

6. The blind road identification navigation method according to claim 5, characterized in that: the step that the navigation equipment analyzes whether the path of the blind road is dead road according to the map data comprises the following steps:

acquiring current positioning;

searching corresponding road data on the map data according to the current positioning;

if the identification result of the walking road is a straight walking blind road and no pedestrian path is arranged in front of the straight walking path in the road data, the front of the straight walking blind road is a dead road;

if the walking road identification result is a prompt blind road and no pedestrian walk exists on the path in any direction in the road data, the corresponding direction of the prompt blind road is a dead road;

and if the three directions of the prompt blind road are dead roads, the vicinity of the prompt blind road is a dead road.

7. The blind road identification navigation method according to claim 6, characterized in that:

when the front of the straight blind road is a dead road, marking the corresponding road data in the map data as 'the straight blind road is wrong';

when the position near the prompting blind road is a dead road, marking the corresponding road data in the map data as 'the prompting blind road is wrong'.

8. The blind road identification navigation method according to claim 5, characterized in that: further comprises a step of analyzing the walking road:

the method comprises the steps that a blind person shoe obtains a pressure signal of a pressure sensor group of a sole;

drawing a pressure distribution diagram according to the pressure signal;

identifying whether the pressure distribution map has a strip-shaped blind road graph and/or a round-point-shaped blind road graph;

if the pressure distribution map has a strip-shaped blind road graph, the walking road is a straight walking blind road;

if the pressure distribution map has a round-point blind road graph distributed in an array mode, the walking road is a prompt blind road;

if the pressure distribution map does not have the strip-shaped blind road graph and the round-point blind road graph, the walking road is a non-blind road;

and sending the walking road identification result to the navigation equipment.

9. The blind road identification navigation method according to claim 8, characterized in that: the blind person shoes further store the previous N-time walking road identification results;

and when the identification results of the previous N-time walking roads are all straight-going blind roads or prompting blind roads and the identification result of the current walking road is a non-blind road, judging that the current blind road is an open circuit.

10. The blind road identification navigation method according to claim 9, characterized in that: if the current blind road is an open circuit, the blind shoes send open circuit information to the navigation equipment;

the navigation equipment initiates a disconnection prompt;

the navigation equipment acquires a current location;

the navigation equipment searches corresponding road data on the map data according to the current positioning;

the navigation device marks the corresponding road data in the map data as 'open blind road'.

Technical Field

The invention belongs to the field of blind person navigation systems, and particularly relates to a blind road identification navigation system and a blind road identification navigation method.

Background

The blind sidewalk is an obstacle-free facility in a city, the blind sidewalk arranged on a main street and a sidewalk in the city is a normal state, but the phenomenon that the blind sidewalk occupies is more and more prominent, so that the blind people are difficult to go out, the intelligent health field is increasingly concerned by people along with the development of electronic science and technology, and equipment capable of helping the blind people to walk becomes an object concerned by a plurality of manufacturers.

Application number CN201910840772.9 discloses an intelligent blind guiding system based on blind road, which comprises the following steps: the blind road navigation device carries out blind road positioning and navigation, draws a blind road route in a blind guide map, and guides the blind to correctly find the blind road position through GPS positioning. Step 2: the blind road identification device acquires blind road state information, wherein the blind road identification device judges whether the blind person deviates from the blind road through the image identification module and judges whether an obstacle exists on the blind road through the obstacle identification module; and step 3: the information processing system analyzes and processes the navigation information and the blind road state information, judges whether the blind person deviates from the blind road and whether an obstacle exists on the blind road, and converts the result into a corresponding voice prompt signal; and 4, step 4: the voice prompt device generates a voice prompt signal and transmits the voice signal to the blind person to guide the blind person to move forward. The invention realizes the conversion of the blind road route and state information into the voice information which can be recognized by the blind person, and is convenient for the blind person to control the blind road route and the blind road state at any time so as to safely go out.

However, the above patent also has the following problems:

due to municipal planning negligence and private building and modification of some developers, some blind roads can lead to dead roads, so that the blind people can walk on the blind roads leading to the dead roads;

due to weather reasons or the condition that some blind roads are broken and damaged due to the long-term maintenance, the blind person can not identify the subsequent walking direction when walking on the part of blind roads;

the above problems all cause troubles to the blind and even cause the blind to be trapped in dangerous situations.

Disclosure of Invention

Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: how to provide a blind road identification system for assisting a blind person to walk and remind the blind person when the blind person walks on a blind road with wrong direction or a blind road leading to a dead road.

In order to solve the technical problems, the invention adopts the following technical scheme: a blind road identification navigation system comprises blind shoes and navigation equipment, wherein the blind shoes are in communication connection with the navigation equipment;

the blind shoes comprise a blind road graph storage module, a pressure sensor group and a signal processing module;

the pressure sensor groups are distributed on the soles of the blind shoes in an array manner and are used for transmitting pressure signals generated when the soles and the ground bulges are extruded to the signal processing module;

the graph storage module stores the graph characteristics of the blind road;

the signal processing module is respectively and electrically connected with the graph storage module and the pressure sensor group, and is used for identifying whether a blind person walks on a blind road or not and judging whether the blind road is an open circuit or not;

the navigation equipment comprises a map storage module, a route analysis module and a reminding module;

the map storage module is used for storing map data;

the route analysis module is used for analyzing whether the current blind road is a dead road;

the reminding module is used for reminding the blind;

the blind shoes or the navigation equipment are also provided with a positioning module for positioning the current position of the blind.

The working principle of the system is as follows:

if the blind-person shoes are provided with the positioning modules, the blind-person shoes position the current position of the blind person through the positioning modules, and then transmit the current position data (position data, namely coordinates and longitude and latitude data) of the blind person to the navigation equipment, at the moment, the navigation equipment can realize indication without the positioning modules, and if the navigation equipment is provided with the positioning modules, the navigation equipment can directly acquire the current position data of the blind person;

the blind person walks with the blind person shoes, because the array of the soles of the blind person shoes is provided with the pressure sensors, when the soles of the blind person shoes are extruded due to the ground bulges to generate pressure signals, the signal processing module processes the pressure signals into graphic features to be recognized, and then compares the graphic features to be recognized with the blind road graphic features stored in the graphic storage module, if the graphic features to be recognized are matched, the blind person shoes are stepped on the blind road, and if the graphic features are not matched, the blind person shoes are not stepped on the blind road; if the blind shoes judge that the blind shoes are not positioned on the blind road, the blind shoes can send out reminding signals to the navigation equipment, and the navigation equipment controls the reminding module to remind the blind after receiving the reminding signals;

when the blind person shoes walk on the blind road, the positioning modules of the blind person shoes/navigation equipment can acquire real-time position data of the blind persons, then corresponding road data in the map data are searched according to the real-time position data of the blind persons, whether the blind persons walk on the road in front of the blind road is a dead road or not is analyzed, and if the blind persons walk on the road in front of the blind road is the dead road, the reminding module is controlled to remind the blind persons to ask for help or remind the blind persons to change the traveling direction.

Furthermore, the blind road graph characteristics comprise a strip-shaped blind road graph and a round-point blind road graph.

When the pattern to be identified obtained by the blind shoes is compared with the blind road pattern characteristics and the result is a strip-shaped blind road pattern, the blind road at the moment is a straight-going blind road;

when the blind person shoes process the graph to be identified and the blind road graph characteristic are compared, and the result is a round-point blind road graph, the blind road at the moment is indicated as a prompt blind road.

Further, the navigation device comprises at least one of a blind guiding stick, a mobile terminal and a wearable electronic device.

The blind guiding stick is a common article for the blind, and the blind guiding stick is usually held by a hand when the blind guiding stick walks, so that the blind guiding stick is used as a navigation device to be convenient for reminding the blind. Because the blind person is not high in demand for the display screen, hardware cost can be reduced by selecting and using equipment such as an electronic bracelet and a Bluetooth earphone as navigation equipment, the equipment is convenient for the blind person to carry and does not bring inconvenience to normal travel of the blind person, the work of the invention can be finished only by embedding map data in the hardware equipment, and the reminding mode can also follow the original functions of the equipment: vibration or voice prompts, etc.

Furthermore, the navigation equipment is a blind guiding stick or wearable electronic equipment, and the reminding module is a micro vibration motor.

The invention mainly aims to remind the blind person whether to walk to a blind road leading to a dead road, so the reminding mode is simplified, hardware can be realized by a blind guiding stick with built-in map data and a motor without an expensive electronic terminal product, and the blind person can feel more easily by vibrating and reminding through close-fitting wearable electronic equipment or a blind guiding stick held by hands at any time.

A blind road identification navigation method comprises the steps of blind road analysis:

the navigation equipment acquires a walking road identification result of the blind shoes;

if the walking road identification result is a blind road, the navigation equipment analyzes whether the path of the blind road is a dead road according to map data;

and if the blind road is a dead road, the navigation equipment initiates a dead road prompt.

The navigation equipment searches corresponding road data in the map data according to the real-time position data of the blind, analyzes whether the road in front of the blind road where the blind walks is a dead road, if the road in front of the blind road is free of a pedestrian path, the blind road is the dead road, and if the road in front of the blind road is the dead road, the navigation equipment controls the reminding module to remind the blind after receiving the reminding signal;

the blind can timely receive the prompt of the road condition in front, and when the front side is dead, the condition that the blind cannot move ahead continuously without warning and is harmed is avoided.

Further, the step of analyzing, by the navigation device, whether the path of the blind road is a dead road according to the map data includes:

acquiring current positioning;

searching corresponding road data on the map data according to the current positioning;

if the identification result of the walking road is a straight walking blind road and no pedestrian path is arranged in front of the straight walking path in the road data, the front of the straight walking blind road is a dead road;

if the walking road identification result is a prompt blind road and no pedestrian walk exists on the path in any direction in the road data, the corresponding direction of the prompt blind road is a dead road;

and if the three directions of the prompt blind road are dead roads, the vicinity of the prompt blind road is a dead road.

Because the blind sidewalks are divided into the straight-going blind sidewalk and the prompting blind sidewalk, the directions of the routes needing to be traveled are different when two different blind sidewalks are met, and corresponding analysis is carried out according to different traveling route directions, so that the blind can safely travel on various blind sidewalks.

Further, when the front of the straight blind road is a dead road, marking the corresponding road data in the map data as 'the straight blind road is wrong';

when the position near the prompting blind road is a dead road, marking the corresponding road data in the map data as 'the prompting blind road is wrong'.

When the blind person walks to the same position next time, the navigation equipment compares the position data to directly judge whether a dead road exists in front of the current blind road, so that the blind person does not need to analyze again, the calculation force is saved, and the reminding and navigation efficiency is improved.

Further, the method also comprises a step of analyzing the walking road:

the method comprises the steps that a blind person shoe obtains a pressure signal of a pressure sensor group of a sole;

drawing a pressure distribution diagram according to the pressure signal;

identifying whether the pressure distribution map has a strip-shaped blind road graph and/or a round-point-shaped blind road graph;

if the pressure distribution map has a strip-shaped blind road graph, the walking road is a straight walking blind road;

if the pressure distribution map has a round-point blind road graph distributed in an array mode, the walking road is a prompt blind road;

if the pressure distribution map does not have the strip-shaped blind road graph and the round-point blind road graph, the walking road is a non-blind road;

and sending the walking road identification result to the navigation equipment.

According to the different pressure distribution maps, whether the blind person is on the blind road or not can be accurately judged, and the type of the blind road can also be judged.

Furthermore, the blind shoes also store the previous N-time walking road identification results;

and when the identification results of the previous N-time walking roads are all straight-going blind roads or prompting blind roads and the identification result of the current walking road is a non-blind road, judging that the current blind road is an open circuit.

And comparing the historical walking data with the current pressure distribution map, judging whether the blind road is an open circuit or not, and ensuring that the blind person can move along the correct direction.

Further, if the current blind road is an open circuit, the blind shoes send open circuit information to the navigation equipment;

the navigation equipment initiates a disconnection prompt;

the navigation equipment acquires a current location;

the navigation equipment searches corresponding road data on the map data according to the current positioning;

the navigation device marks the corresponding road data in the map data as 'open blind road'.

When the blind person walks on the straight-going blind road/the prompt blind road with the open circuit, the map data can mark the straight-going blind road/the prompt blind road according to the current position coordinates, the position data of the straight-going blind road/the prompt blind road with the open circuit is recorded and stored in the map data as the open circuit record, and when the blind person walks to the same position next time, the navigation equipment can directly judge whether the current blind road is the open circuit or not after comparing according to the position data, so that the analysis is not needed again, the calculation force is saved, and the reminding and navigation efficiency is improved.

The beneficial effect of this system:

when a blind road leading to a dead road is created due to municipal planning negligence and private construction and modification of some developers, even if the blind person encounters the condition, the blind person can obtain a reminding notice through the navigation equipment, and can seek help or adjust the navigation direction in time to prevent the blind person from bringing troubles or being trapped in a dangerous condition;

when the broken and damaged blind road appears due to weather reasons or due to long-term maintenance, the blind person can obtain reminding notice through the matching processing of the blind person shoes and the navigation equipment when walking on the blind road, so that the blind person can be aware of the condition in time, and accidents are prevented.

Drawings

Fig. 1 is a schematic structural diagram of the system.

Fig. 2 is a schematic structural view of a blind shoe.

Fig. 3 is a schematic view of the sole structure of a blind shoe.

Fig. 4 is a schematic view of a walking road analysis.

Fig. 5 is a schematic view of a walking road analysis.

Fig. 6 is a schematic view of a walking road analysis.

Fig. 7 is a schematic view of a walking road analysis.

FIG. 8 is a flowchart of the procedure of embodiment 1 of the present method.

Fig. 9 is a reminding flowchart of the navigation device in case of the disconnection in embodiment 1.

FIG. 10 is a flowchart of the procedure of embodiment 2 of the present method.

FIG. 11 is a reminding flowchart of the navigation device in case of disconnection in embodiment 2.

Reference numerals: a blind person shoe 1 and a pressure sensor group 2.

Detailed Description

The following is described in further detail with reference to the accompanying drawings: as shown in fig. 1-3:

a blind road identification navigation system comprises a blind shoe 1 and navigation equipment, wherein the blind shoe 1 is in communication connection with the navigation equipment;

the blind person shoe 1 comprises a blind road graph storage module, a pressure sensor group 2 and a signal processing module;

the pressure sensor groups 2 are distributed on the soles of the blind shoes 1 in an array manner and used for transmitting pressure signals generated when the soles and the ground bulges are extruded to the signal processing module;

the graph storage module stores the characteristics of the blind road graph;

the signal processing module is respectively and electrically connected with the graph storage module and the pressure sensor group 2 and is used for identifying whether the blind person shoes 1 walk on the blind road or not;

the navigation equipment comprises a map storage module, a route analysis module and a reminding module;

the map storage module is used for storing map data;

the route analysis module is used for analyzing whether the current blind road is a dead road or not;

the reminding module is used for reminding the blind;

the blind shoe 1 or the navigation equipment is also provided with a positioning module for positioning the current position of the blind.

The blind road graph characteristics comprise a strip-shaped blind road graph and a round-point blind road graph.

The navigation equipment comprises at least one of a blind guiding stick, a mobile terminal and wearable electronic equipment.

The navigation equipment is a blind guiding stick or wearable electronic equipment, and the reminding module is a micro vibration motor.

Example 1 of the present system: when only blind shoes and navigation equipment are needed for blind road analysis:

the navigation equipment positions the current position of the blind person through the positioning module and obtains the current position data (position data, namely coordinates and longitude and latitude data) of the blind person;

when the blind walks, the pressure sensors are distributed on the sole array of the blind shoes, when the soles of the blind shoes are extruded by the ground bulges to generate pressure signals, the signal processing module processes the pressure signals into graphic features to be recognized, then the graphic features to be recognized are compared with the blind road graphic features stored in the graphic storage module, if the graphic features to be recognized are matched, the blind shoes step on the blind road, and if the graphic features are not matched, the blind shoes do not step on the blind road;

if the blind person shoes judge that the blind persons are not located on the blind road, the blind person shoes can send out reminding signals to the navigation equipment, and the navigation equipment controls the reminding module to remind the blind persons after receiving the reminding signals;

if the blind person shoes judge that the blind persons are located on the blind road, the navigation equipment searches corresponding road data in the map data according to the real-time position data of the blind persons and analyzes whether the road in front of the blind road where the blind persons walk is a dead road or not;

if the road in front of the blind road is a dead road, the navigation equipment controls the reminding module to remind the blind person after receiving the reminding signal;

when the blind-person shoes walk on the blind road, the positioning module of the blind-person shoes/navigation equipment can acquire the real-time position data of the blind person, then the corresponding road data in the map data is searched according to the real-time position data of the blind person, and whether the road in front of the blind road where the blind person walks is a dead road or not is analyzed.

Example 2 of the present system: when the navigation equipment is required to navigate:

if the blind shoes are provided with the positioning modules, the blind shoes position the current position of the blind through the positioning modules, and then transmit the current position data (position data, namely coordinates and longitude and latitude data) of the blind to the navigation equipment, and at the moment, the navigation equipment can realize indication without the positioning modules; the blind person inputs a destination to be reached into the navigation equipment through voice recognition, and the navigation equipment acquires the position data of the destination;

the navigation equipment combines the map data provided by the map storage module with the current position data of the blind person to set the current position of the blind person as a starting point, the navigation equipment combines the map data with the position data of a destination to set the position of the destination as an end point, and then the route analysis module plans a navigation route according to the starting point and the end point and starts navigation;

the blind person wears the blind person shoes to advance according to the navigation route, because the array of the soles of the blind person shoes is provided with the pressure sensors, when the soles of the blind person shoes are extruded due to the ground bulges to generate pressure signals, the signal processing module processes the pressure signals into graphic features to be recognized, then the graphic features to be recognized are compared with the blind road graphic features stored in the graphic storage module, if the graphic features to be recognized are matched, the blind person shoes step on the blind road, and if the graphic features are not matched, the blind person shoes do not step on the blind road; if the blind shoes judge that the blind shoes are not positioned on the blind road, the blind shoes can send reminding signals to the navigation equipment, the navigation equipment controls the reminding module to remind the blind after receiving the reminding signals, the navigation equipment can change the advancing direction, and the navigation route is planned again;

when the blind person shoes walk on the blind road, the positioning modules of the blind person shoes/navigation equipment acquire real-time position data of the blind persons, then corresponding road data in the map data are searched according to the real-time position data of the blind persons, whether the blind person walks on the road in front of the blind road is a dead road or not is analyzed, if the blind person walks on the road in front of the blind road, the reminding module is controlled to remind the blind persons, the navigation equipment changes the traveling direction, and the navigation route is planned again.

In embodiment 1 and embodiment 2, if the navigation device is a blind guiding stick, the reminding module is a micro vibrating motor, so that the blind can know reminding through vibration sensed on hand, and if the navigation device is a mobile terminal or a wearable electronic device, the reminding module can be provided with both the micro vibrating motor and a speaker, so that the blind can be reminded by voice and vibration, and the sensing success rate of the blind is improved.

The embodiment 1 of the system corresponds to the following implementation method: the blind person shoes are b, and the navigation equipment is a;

b 100: the pressure sensor group of the sole is extruded with the ground bulge to generate a pressure signal when the user travels according to the navigation route;

b 200: and drawing a pressure distribution map according to the pressure signal, enabling a signal processing module to analyze the pressure distribution map, and obtaining a road recognition result according to the pressure distribution map and the characteristics of the blind road graph.

At the moment, if the open circuit analysis is required, the working steps of the blind shoes are firstly continued:

b 300: analyzing whether the road is open circuit or not according to the walking road identification result and the road identification result;

and returning to the working step of the navigation equipment if dead road analysis is required:

a 100: analyzing whether the road is a dead road or not according to the map data and the road identification result;

as shown in fig. 4-7:

the road identification process of the blind shoes is as follows:

b 201: the pressure distribution map only comprises a strip-shaped blind road graph, and the walking road is a straight walking blind road;

b 202: the pressure distribution map only comprises circular blind road graphs distributed in an array manner, and the walking road is a prompt blind road;

b 203: when the pressure distribution diagram has both a strip-shaped blind road graph and a round-point blind road graph;

b204 is executed if the area of the strip-shaped blind track graph in the pressure distribution diagram is larger than the area of the round-point blind track graph, otherwise b205 is executed

b 204: identifying the walking road as a straight walking blind road;

b 205: identifying the walking road as a prompting blind road;

b 206: the pressure distribution map has no strip-shaped blind road graph and round-point blind road graph, and the walking road is a non-blind road;

the steps b201 to b206 are not sequentially divided, and the analysis of the pressure distribution map and the blind road graphic features should be performed simultaneously, which is only an example in this embodiment;

the analysis process for analyzing whether the road is a dead road according to the map data and the road recognition result is as follows:

a 101: the navigation equipment positions the current position of the blind in real time;

a 102: searching corresponding road data on the map data according to the current positioning;

a 103: judging the front road condition according to the current positioning and the road data;

a 104: judging that the front of the straight-going blind road is a dead road if the road identification result on the current positioning is the straight-going blind road and no pedestrian walk road is in front of the straight-going path in the road data;

because the straight blind road has two directions, there are two situations:

the first condition is as follows: when the navigation equipment collects the walking path of the blind, the advancing direction of the blind can be identified when the blind walks on the straight-going blind road, at the moment, the front of the straight-going blind road refers to the advancing direction of the blind, the direction which the blind has already walked is not included, and at the moment, only the direction towards which the blind faces on the current straight-going blind road is analyzed;

case two: when the navigation equipment only collects data at the current moment, the traveling direction of the blind cannot be known, and then the two directions pointed by the straight-bar shape need to be analyzed after the straight-going blind road is identified, at the moment, the front of the straight-going blind road comprises the two directions, and at the moment, the two directions of the straight-going blind road at the current position need to be analyzed;

it should be noted that the above-mentioned unmanned footpath means a road on which passersby cannot walk, and can be regarded as a situation that neither blind road nor non-blind road exists ahead, and pedestrians cannot pass through, and this situation can be determined as a situation that a blind road is constructed by mistake;

when a non-blind road exists in front of the straight-going path in the road data, the navigation equipment can control the reminding module to initiate a reminding notification according to the navigation route.

a 105: when the front of the straight blind road is a dead road, marking the corresponding road data in the map data as 'the straight blind road is wrong';

the navigation equipment can control the reminding module to initiate reminding notification according to the navigation route, and the blind can wait for help from surrounding passers-by in situ after perceiving the dead road reminding;

a 106: the identification result of the walking road on the current positioning is a prompt blind road, but no pedestrian footpath exists on the path in any direction in the road data, and the corresponding direction of the prompt blind road is a dead road;

a 107: when the position near the prompting blind road is a dead road, marking the corresponding road data in the map data as 'the prompting blind road has errors';

the analysis of the prompting blind road also has the condition that whether the navigation equipment collects the blind walking path to identify the advancing direction of the blind, and the analysis of the straight walking blind road is correspondingly referred to, wherein the difference is that the prompting blind road has four directions, if the blind walking path can be identified, the road in the direction is correspondingly ignored, and at the moment:

if no pedestrian path exists on the left, the blind road is indicated to be a dead road after the blind road is prompted to turn left, and the navigation equipment controls the prompting module to prompt the blind person to turn left to be the dead road according to the navigation route;

if no pedestrian path exists in front, the blind road is indicated to be a dead road after the blind road is prompted to walk straight, and the navigation equipment controls the prompting module to prompt the blind person that the front of the blind person is the dead road according to the navigation route;

if no pedestrian path exists on the right, the blind road is indicated to be a dead road after the blind road is prompted to turn right, and the navigation equipment controls the reminding module to remind the blind person to turn right to be the dead road according to the navigation route;

when the navigation equipment does not identify the walking path, analyzing and prompting each direction of the prompting blind road;

when more than one direction is dead road, simultaneously prompting a plurality of dead road directions, for example:

if no pedestrian walk exists on the left side and the front side, the blind road is a dead road after being prompted to turn left or go straight, and the navigation equipment controls the reminding module to remind the blind person to turn left or go straight to be a dead road according to the navigation route;

if no pedestrian path exists on the left side and the right side, the blind road is a dead road after the blind road is prompted to turn left or turn right, and the navigation equipment controls the reminding module to remind the blind person that the blind person turns left or turns right and the blind person is a dead road according to the navigation route;

if no pedestrian walk path exists on the right side and the front side, the blind road is indicated to be a dead road after being prompted to turn right or go straight, and the navigation equipment controls the reminding module to remind the blind person to turn right or go straight to be the dead road according to the navigation route;

in conclusion, when the straight-going path in the road data has a non-blind road, the navigation equipment controls the reminding module to initiate voice notification according to the navigation route, so that the blind can call the passerby for help in situ.

If no pedestrian walkway exists on the left, the front and the right, the blind road is prompted to be positioned on a completely dead road (dead alley), and the navigation equipment controls the prompting module to prompt the blind person to enter the dead alley according to the navigation route;

at the moment, the blind person equipment can initiate a dead road prompt to enable the blind person to wait for help from surrounding passers-by in situ;

when the real-time position coordinates of the blind people are positioned by the next positioning module and correspond to any coordinate of the straight blind road error or the prompting blind road error, the navigation equipment directly controls the reminding module to remind the blind people;

the above steps a104-a107 are not sequentially distinguished, and the step of analyzing, by the navigation device, whether the path of the blind road is a dead road according to the map data should be executed at the same time, which is only exemplified in this embodiment as an illustration;

the process of analyzing whether the road is open circuit or not according to the walking road identification result and the road identification result is as follows:

b 301: the blind shoes are internally stored with walking road identification historical result data;

b 302: when the historical result of the walking road identification is a straight-going blind road, but no long-strip-shaped blind road graph or round-point-shaped blind road graph exists in the pressure distribution map during the current walking, judging that the current blind road is an open circuit;

b 303: when the historical walking road recognition result indicates that the blind sidewalk is indicated, and no long-strip-shaped blind sidewalk graph or round-point-shaped blind sidewalk graph exists in the pressure distribution map during the current walking, judging that the current blind sidewalk is an open circuit;

the above steps b302-b303 are not sequentially distinguished, and the process of analyzing whether the blind shoe is an open circuit or not should be executed at the same time, which is only exemplified in this embodiment;

the blind person shoes send the open circuit information to the navigation equipment, and the navigation equipment is executed at the moment:

as shown in fig. 9:

a 201: the navigation equipment controls the reminding module to initiate a disconnection reminding notice according to the navigation route, and informs the blind person that the position is disconnected;

a 202: acquiring current position data of the blind;

a 203: searching corresponding road data on the map data according to the current position data of the blind;

a 204: marking the corresponding road data in the map data as 'open blind road';

after the corresponding road data in the map data is marked with 'open circuit of blind road', the coordinates of the 'open circuit of blind road' are updated into the map data, and when the next positioning module positions the real-time position coordinates of the blind person to correspond to the coordinates of the 'open circuit of blind road', the navigation device directly controls the reminding module to remind the blind person.

The embodiment 2 of the system corresponds to the following implementation method: as shown in fig. 8: b, blind shoes and A navigation equipment;

a100: acquiring current position data and destination position data of the blind person to obtain a starting point and a terminal point;

a200: planning a navigation route according to the starting point and the end point and by combining map data and starting navigation;

entering the working step of the blind shoes:

b100: the pressure sensor group of the sole is extruded with the ground bulge to generate a pressure signal when the user travels according to the navigation route;

b200: and drawing a pressure distribution map according to the pressure signal, enabling a signal processing module to analyze the pressure distribution map, and obtaining a road recognition result according to the pressure distribution map and the characteristics of the blind road graph.

At the moment, if the open circuit analysis is required, the working steps of the blind shoes are firstly continued:

b300: analyzing whether the road is open circuit or not according to the walking road identification result and the road identification result;

and returning to the working step of the navigation equipment if dead road analysis is required:

a300: analyzing whether the road is a dead road or not according to the map data and the road identification result;

as shown in fig. 4-7:

the road identification process of the blind shoes is as follows:

b201: the pressure distribution map only comprises a strip-shaped blind road graph, and the walking road is a straight walking blind road;

b202: the pressure distribution map only comprises circular blind road graphs distributed in an array manner, and the walking road is a prompt blind road;

b203: when the pressure distribution diagram has both a strip-shaped blind road graph and a round-point blind road graph;

if the area of the strip-shaped blind track graph in the pressure distribution diagram is larger than the area of the round-point blind track graph, executing B204, otherwise executing B205

B204: identifying the walking road as a straight walking blind road;

b205: identifying the walking road as a prompting blind road;

b206: the pressure distribution map has no strip-shaped blind road graph and round-point blind road graph, and the walking road is a non-blind road;

the steps B201 to B206 are not sequentially divided, and the analysis of the pressure distribution map and the blind road graphic features should be performed simultaneously, which is only an example in this embodiment;

the analysis process for analyzing whether the road is a dead road according to the map data and the road recognition result is as follows:

a301: the navigation equipment positions the current position of the blind in real time;

a302: searching corresponding road data on the map data according to the current positioning;

a303: judging the front road condition according to the current positioning and the road data;

a304: judging that the front of the straight-going blind road is a dead road if the road identification result on the current positioning is the straight-going blind road and no pedestrian walk road is in front of the straight-going path in the road data;

because the straight blind road has two directions, there are two situations:

the first condition is as follows: when the navigation equipment collects the walking path of the blind, the advancing direction of the blind can be identified when the blind walks on the straight-going blind road, at the moment, the front of the straight-going blind road refers to the advancing direction of the blind, the direction which the blind has already walked is not included, and at the moment, only the direction towards which the blind faces on the current straight-going blind road is analyzed;

case two: when the navigation equipment only collects data at the current moment, the traveling direction of the blind cannot be known, and then the two directions pointed by the straight-bar shape need to be analyzed after the straight-going blind road is identified, at the moment, the front of the straight-going blind road comprises the two directions, and at the moment, the two directions of the straight-going blind road at the current position need to be analyzed;

it should be noted that the above-mentioned unmanned footpath means a road on which passersby cannot walk, and can be regarded as a situation that neither blind road nor non-blind road exists ahead, and pedestrians cannot pass through, and this situation can be determined as a situation that a blind road is constructed by mistake;

when a non-blind road exists in front of a straight-going path in the road data, the navigation equipment can also guide the blind person to search for a new blind road along the navigation route direction, and the specific guiding mode can refer to the existing electronic map route navigation mode and is not described herein again;

a305: when the front of the straight blind road is a dead road, marking the corresponding road data in the map data as 'the straight blind road is wrong';

at the moment, the navigation equipment can initiate dead road reminding, and if passersby exist around, the blind can wait for help from the passersby around in situ after perceiving the dead road reminding;

the navigation equipment can control the reminding module to initiate reminding notification according to the navigation route, and if no passerby around can seek help, the navigation equipment can also guide the blind person to seek a new blind road along the navigation route direction;

a306: the identification result of the walking road on the current positioning is a prompt blind road, but no pedestrian footpath exists on the path in any direction in the road data, and the corresponding direction of the prompt blind road is a dead road;

a307: when the position near the prompting blind road is a dead road, marking the corresponding road data in the map data as 'the prompting blind road has errors';

because the cue blind road has a plurality of directions, at least the following two situations are included:

if no pedestrian path exists on the left, the blind road is indicated to be a dead road after the blind road is prompted to turn left, and the navigation equipment controls the prompting module to prompt the blind person to turn left to be the dead road according to the navigation route;

if no pedestrian path exists in front, the blind road is indicated to be a dead road after the blind road is prompted to walk straight, and the navigation equipment controls the prompting module to prompt the blind person that the front of the blind person is the dead road according to the navigation route;

if no pedestrian path exists on the right, the blind road is indicated to be a dead road after the blind road is prompted to turn right, and the navigation equipment controls the reminding module to remind the blind person to turn right to be the dead road according to the navigation route;

when the navigation equipment does not identify the walking path, analyzing and prompting each direction of the prompting blind road;

when more than one direction is dead road, simultaneously prompting a plurality of dead road directions, for example:

if no pedestrian walk exists on the left side and the front side, the blind road is a dead road after being prompted to turn left or go straight, and the navigation equipment controls the reminding module to remind the blind person to turn left or go straight to be a dead road according to the navigation route;

if no pedestrian path exists on the left side and the right side, the blind road is a dead road after the blind road is prompted to turn left or turn right, and the navigation equipment controls the reminding module to remind the blind person that the blind person turns left or turns right and the blind person is a dead road according to the navigation route;

if no pedestrian walk path exists on the right side and the front side, the blind road is indicated to be a dead road after being prompted to turn right or go straight, and the navigation equipment controls the reminding module to remind the blind person to turn right or go straight to be the dead road according to the navigation route;

in conclusion, when the straight-going path in the road data has a non-blind road, the navigation equipment controls the reminding module to initiate voice notification according to the navigation route, so that the blind can call the passerby for help in situ.

If no pedestrian walkway exists on the left, the front and the right, the blind road is prompted to be positioned on a completely dead road (dead alley), and the navigation equipment controls the prompting module to prompt the blind person to enter the dead alley according to the navigation route;

in conclusion, when the straight-going path in the road data has the non-blind road, the navigation equipment controls the reminding module to initiate voice notification according to the navigation route, if passersby exist around, the blind person can call for help of the passersby in situ, and if no passersby exists around, the navigation equipment can guide the blind person to search for a new blind road along the navigation route direction;

when the real-time position coordinates of the blind people are positioned by the next positioning module and correspond to any coordinate of the straight blind road error or the prompting blind road error, the navigation equipment directly controls the reminding module to remind the blind people;

the above steps a304-a307 are not sequentially distinguished, and the step of analyzing, by the navigation device, whether the path of the blind road is a dead road according to the map data should be executed at the same time, which is only exemplified in this embodiment as an illustration;

the process of analyzing whether the road is open circuit or not according to the walking road identification result and the road identification result is as follows:

b301: the blind shoes are internally stored with walking road identification historical result data;

b302: when the historical result of the walking road identification is a straight-going blind road, but no long-strip-shaped blind road graph or round-point-shaped blind road graph exists in the pressure distribution map during the current walking, judging that the current blind road is an open circuit;

b303: when the historical walking road recognition result indicates that the blind sidewalk is indicated, and no long-strip-shaped blind sidewalk graph or round-point-shaped blind sidewalk graph exists in the pressure distribution map during the current walking, judging that the current blind sidewalk is an open circuit;

the above steps B302-B303 are not sequentially determined, and the process of analyzing whether the blind shoe is an open circuit should be executed at the same time, which is only exemplified in this embodiment;

the blind person shoes send the open circuit information to the navigation equipment, and the navigation equipment is executed at the moment:

as shown in fig. 9:

a401: the navigation equipment controls the reminding module to initiate a disconnection reminding notice according to the navigation route, and informs the blind person that the position is disconnected;

a402: acquiring current position data of the blind;

a403: searching corresponding road data on the map data according to the current position data of the blind;

a404: marking the corresponding road data in the map data as 'open blind road';

after the corresponding road data in the map data is marked with 'open circuit of blind road', the coordinates of the 'open circuit of blind road' are updated into the map data, and when the next positioning module positions the real-time position coordinates of the blind person to correspond to the coordinates of the 'open circuit of blind road', the navigation device directly controls the reminding module to remind the blind person.

The above is only a preferred embodiment of the present invention, and it should be noted that several modifications and improvements made by those skilled in the art without departing from the technical solution should also be considered as falling within the scope of the claims.