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WO2015131857A2 - 集成摄像头模组和光传感器的视觉辅助方法及装置 - Google Patents

集成摄像头模组和光传感器的视觉辅助方法及装置 Download PDF

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Publication number
WO2015131857A2
WO2015131857A2 PCT/CN2015/082633 CN2015082633W WO2015131857A2 WO 2015131857 A2 WO2015131857 A2 WO 2015131857A2 CN 2015082633 W CN2015082633 W CN 2015082633W WO 2015131857 A2 WO2015131857 A2 WO 2015131857A2
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WO
WIPO (PCT)
Prior art keywords
user
visual
camera module
prompt
light sensor
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PCT/CN2015/082633
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English (en)
French (fr)
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WO2015131857A3 (zh
Inventor
邓雪冰
宫见棠
Original Assignee
青岛歌尔声学科技有限公司
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Application filed by 青岛歌尔声学科技有限公司 filed Critical 青岛歌尔声学科技有限公司
Priority to KR1020167017715A priority Critical patent/KR101708832B1/ko
Priority to US15/115,111 priority patent/US20170007459A1/en
Priority to JP2016558300A priority patent/JP6117451B1/ja
Publication of WO2015131857A2 publication Critical patent/WO2015131857A2/zh
Publication of WO2015131857A3 publication Critical patent/WO2015131857A3/zh

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F9/00Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
    • A61F9/08Devices or methods enabling eye-patients to replace direct visual perception by another kind of perception
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F4/00Methods or devices enabling patients or disabled persons to operate an apparatus or a device not forming part of the body 
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/56Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70Circuitry for compensating brightness variation in the scene
    • H04N23/71Circuitry for evaluating the brightness variation
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70Circuitry for compensating brightness variation in the scene
    • H04N23/74Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2250/00Special features of prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof
    • A61F2250/0001Means for transferring electromagnetic energy to implants
    • A61F2250/0002Means for transferring electromagnetic energy to implants for data transfer
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/301Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision

Definitions

  • the invention belongs to a visual aid device, and in particular relates to a visual aid method and device for integrating a camera module and a light sensor.
  • the invention provides a visual aiding method for integrating a camera module and a light sensor, comprising the following steps:
  • a detecting the ambient light intensity data in real time by using the light sensor, and giving the user the first kind of visual assistance when the detected ambient light intensity continues to be higher than the first preset value for a set period of time;
  • the second visual aid process in the second visual aid process, further detecting that the ambient light intensity continuously changes within a certain period of time, starting the camera module to collect image data of the user's surrounding environment, and according to the image data of the surrounding environment and When the ambient light intensity determines that there is a passing vehicle, the user is given a third type of visual assistance.
  • the user opens the camera module to capture image data of the surrounding environment or close the camera module through a manual switch; and according to the surrounding environment
  • the image data and ambient light intensity give the user a fourth type of visual aid, which is in the first visual aid process and the second visual aid process.
  • a first prompt is accompanied
  • a second prompt is accompanied
  • a third visual assisting process is accompanied by a third prompt
  • the fourth type of prompt is accompanied by four kinds of visual assistance processes, wherein the first prompt, the second prompt, the third prompt, and the fourth prompt use one of a voice prompt, a vibration prompt, and an LED light flashing prompt.
  • the first prompt, the second prompt, the third prompt, and the fourth prompt use one of a voice prompt, a vibration prompt, and an LED light flashing prompt.
  • the user can be prompted to judge the failure.
  • the invention also provides a visual aid device for integrating a camera module and a light sensor, comprising:
  • At least one light sensor for detecting ambient light intensity data in real time
  • a camera module for capturing video or images of the surrounding environment
  • Processing chip for receiving data of the light sensor and the camera module, and after determining that the ambient light intensity continues to be higher than the first preset value for a set period of time, giving the user the first kind of visual assistance;
  • the ambient light intensity is given a second visual aid when the ambient light intensity continues to be lower than the second preset value for a set period of time; and in the second visual aid process, the ambient light intensity is further determined to be within a certain time
  • the camera module is activated to collect image data of the user's surrounding environment, and when the passing vehicle is determined according to the image data of the surrounding environment and the ambient light intensity, the user is given a third type of visual assistance.
  • the device further includes at least one location indicating module, connected to the processing chip, The user location is indicated to the population in the surrounding environment under the control of the processing chip.
  • the position indicating module can indicate the user's position to a crowd in the surrounding environment by voice, LED light or vibration.
  • the device further includes a second switch for manually turning on and off the camera module, for collecting image data of the surrounding environment at any time during the first visual assisting process and the second visual assisting process, and according to the The image data and ambient light intensity of the surrounding environment are given to the user a fourth type of visual aid, the fourth type of visual aid fusion being in the first visual aid process and the second visual aid process.
  • the device further includes a prompting module, connected to the processing chip, for performing a first prompt to the user in the first visual assisting process under the control of the processing chip, and in the second visual aid
  • the second prompt is performed in the process
  • the third prompt is performed in the third visual assisting process
  • the fourth prompt is performed in the fourth visual assisting process, wherein the first prompt, the second prompt,
  • the third prompt and the fourth prompt use one or more of a voice prompt, a vibration prompt, and an LED light blinking prompt.
  • the light sensor includes a front light sensor and a rear light sensor, which can sense light conditions in front of and behind the user and transmit signals to the processing chip; or the light sensor includes a front light sensor and a rear light.
  • the sensor, the left light sensor, and the right light sensor sense the light in the front, rear, left, and right directions of the user and transmit the signal to the processing chip.
  • the device further includes a light source module, and the light source includes a front light source module and/or a rear light source module for illuminating the road in a dark environment, and assisting the camera module in photographing work.
  • the device further includes a GPS module connected to the processing chip, configured to locate a geographic location of the user, and feed the geographic location to a processing chip, where the processing chip combines the geographic location and the The data captured by the camera module confirms the user's surrounding environment and assists the user in navigation.
  • a GPS module connected to the processing chip, configured to locate a geographic location of the user, and feed the geographic location to a processing chip, where the processing chip combines the geographic location and the The data captured by the camera module confirms the user's surrounding environment and assists the user in navigation.
  • the common auxiliary prompting methods are: the LED light flashes to alert the passerby around, the oscillator vibrates to prompt the user and prompts the user by voice.
  • the voice prompt content may include: in a dark environment, please pay attention to the warning; traffic lights at the front intersection, please pay attention; red light, please do not pass; green light, please pass; front down step, please note; front step, please note; Come to the car, Please turn right; come to the car, please lean to the left; turn left in front, please pay attention; turn right in front, please pay attention; ahead escalator, please pay attention; front tunnel, please note; etc., including but not limited to this.
  • the processing chip determines that the dark state is such as a tunnel, an underground passage or a night, and the user is in a dark environment state through the prompting module, and controls the position indicating module to perform LED.
  • the light flashes to remind the surrounding passers-by to avoid the dodge avoidance user.
  • the position indication module is turned off, and the device will actively open the camera module to the road condition. By shooting, the processing chip can determine that the light intensity is changed to the hardware facility change by comparing the image, and the position indication module is prompted to prompt the user position.
  • the vehicle is considered to be the source, the data source and the light intensity change are analyzed, and the vehicle is judged. Position and estimate the approximate distance, and capture the image through the camera module, through the oscillator vibration reminder and voice prompt module to voice the direction of the user to dodge and how to avoid.
  • the invention can timely and effectively judge the road condition in front of the road/sidewalk/grass and the like, and can remind the road condition, and can also judge the intersection or the traffic light situation, and can detect the front and rear vehicles through the built-in front and rear light sensing at night or inside the tunnel, and pass the warning.
  • the voice prompt module voice prompts to avoid the flash direction, and blinks through the LED light to remind the people in the surrounding environment to pay attention to the visually impaired person, which can not only remind the user in real time, but also can indicate and alert to the surrounding, and provide the user with personal safety. The guarantee.
  • FIG. 1 is a flow chart of a visual aiding method for an integrated camera module and a light sensor according to the present invention
  • FIG. 2 is a block diagram of a first embodiment of a visual aid device for an integrated camera module and a light sensor according to the present invention
  • FIG. 3 is a flowchart of an operation mode of an optical sensor according to an embodiment of the present invention.
  • FIG. 4 is a flowchart of a working mode of a camera module according to an embodiment of the present invention.
  • FIG. 5 is a block diagram of a second embodiment of a visual aid device for an integrated camera module and a light sensor according to the present invention.
  • Reference numerals 11, processing chip, 21, front light sensor, 22, front light source module, 32, voice prompt module, 33, front/rear indicator LED, 34, oscillator, 41, camera module, 42, Two switches, 43, GPRS module, 51, rear light sensor, 52, rear light source module.
  • the embodiment provides a visual assist method for integrating a camera module and a light sensor, including the following steps:
  • a detecting the ambient light intensity data in real time by using the light sensor, and giving the user the first kind of visual assistance when the detected ambient light intensity continues to be higher than the first preset value for a set period of time;
  • the second visual aid process in the second visual aid process, further detecting that the ambient light intensity continuously changes within a certain period of time, starting the camera module to collect image data of the user's surrounding environment, and according to the image data of the surrounding environment and When the ambient light intensity determines that there is a passing vehicle, the user is given a third type of visual assistance.
  • the specific principle is as follows: when the current backlight sensor detects that the ambient light is lower than the set value, the processor chip determines that the user is in a dark environment such as a tunnel, an underground road or a black sky, and the processing chip turns the front and rear indicator LEDs to blink.
  • the reminder and the voice prompt module are used to inform the user that the user is currently in a dark environment, and the prompt module is turned off after the real-time detection of the light sensor data rises to a preset value for a preset period of time.
  • any light sensor detects that the light intensity has changed to a set state within a preset time, The equipment will automatically open the camera module to shoot the road conditions.
  • the processing chip can determine whether the light intensity changes to hardware facilities (such as entering tunnels, underground tunnels, foreign objects, etc.) or non-hardware facilities changes (vehicles, etc.). If the hardware facility changes, the location indication module prompts the location, if it is changed for non-hardware facilities, it is considered as the vehicle exchange, analyzes the data source and the intensity change, determines the location of the vehicle and infers the approximate distance, and captures through the camera module. The image, the vibrating reminder plus the voice prompts the user to dodge the direction and how to avoid it. Because there are light sensors in front and back, you can judge the direction of the car.
  • hardware facilities such as entering tunnels, underground tunnels, foreign objects, etc.
  • non-hardware facilities changes vehicle exchange
  • the algorithm of light intensity change per unit time it can avoid the phenomenon that no front placement or angle offset can not be judged, and the light intensity sensor is real-time. Detection, if it is found that the light intensity is lower than a certain value for more than a certain period of time, it is considered to be blocked by foreign objects. At this time, it will also vibrate and voice reminder to prevent failure due to occlusion judgment.
  • the camera module switch can be turned on, and the front light sensor tests the ambient light intensity to determine whether it is necessary to turn on the light source module to assist shooting, and then The camera module takes a picture and transmits the photo back to the processing chip.
  • the processing chip compares the returned photo with the picture in the image library to determine the road condition in front of the user, for example, judging whether the red light or the green light is for the intersection, judging After the completion, the oscillator vibration prompt is controlled, and the user is prompted to make a voice prompt, and then the voice prompt module is used to guide the user to perform corresponding actions.
  • the embodiment provides a visual aid device for integrating a camera module and a light sensor, including:
  • a light sensor for detecting ambient light intensity data in real time
  • a camera module 41 for capturing a video or image of a surrounding environment
  • the processing chip 11 is configured to receive data of the photo sensor and the camera module 41, and after determining that the ambient light intensity continues to be higher than the first preset value for a set period of time, giving the user the first type of visual assistance. Including notifying the user that it is currently a daytime or a bright spot; and when determining that the ambient light intensity continues to be lower than the second preset value for a set period of time, giving the user a second visual aid, including notifying the user that it is currently black In the day or dark environment, or into the tunnel, etc.; and in the second visual aid process, further determining that the ambient light intensity continues to change for a certain period of time, the camera module 41 is activated.
  • the light sensor includes a front light sensor 21 and a rear light sensor 51, which can sense light conditions in front of and behind the user and transmit signals to the processing chip 11; or the light sensor includes a front light sensor 21 and a rear
  • the light sensor 51, the left light sensor, and the right sensor can sense the light in the front, rear, left, and right directions of the user and transmit the signal to the processing chip 11.
  • the device further includes a light source module, and the light source includes a front light source module 22 and a rear light source module 52.
  • the light source module uses an LED light to illuminate the road in a dark environment, and the auxiliary camera module 41 is photographed. .
  • the device further includes a second switch 42 for manually opening and closing the camera module 41, for collecting image data of the surrounding environment at any time during the first visual assisting process and the second visual assisting process. And giving the user a fourth type of visual assistance based on image data of the surrounding environment and ambient light intensity, the fourth type of visual aid fusion being in the first visual aid process and the second visual aid process.
  • the device further includes a prompting module, where the prompting module includes a voice prompting module 32, a front/back indicating LED 33 and an oscillator 34 connected to the processing chip 11 for controlling under the control of the processing chip 11.
  • the first prompt is performed by the user in the first visual assisting process, and the oscillator 34 is used to cooperate with the voice prompt module 32 to notify the user that the user is currently in a daytime or bright environment, and can combine the camera module 41 to capture the result.
  • the voice prompting module 32 provides voice guidance to the user to assist the user to walk; in the second visual assisting process, the second prompt is triggered by the indicator LED to alert the user around the crowd, thereby causing the passerby to pay attention and use
  • the third visual assist process is accompanied by a third prompt, and the front light sensor 21 and/or the rear light source sensor 51 detect the change of the ambient light intensity to determine the vehicle, and the front light source module 22 is activated.
  • the rear light source module 52 and the camera module 41 capture the surrounding road conditions, and remind the user through the oscillator 34 and combine the voice prompt mode 32 gives the user guide, which guide how to dodge the escape; fourth visual aid during the fourth accompanied prompts for user guidance by opening the camera module in conjunction with the light source module.
  • FIG. 3 is a flow chart showing the operation mode of the optical sensor according to the embodiment of the present invention, showing the working process of the optical sensor, when the front light sensor 21 or the rear light sensor 51 of the device detects the ambient light data in real time. After that, the data is synchronously transmitted to the processing chip 11 of the device, and the processing chip 11 determines the change of the ambient light.
  • the device When the ambient light continues to be lower than the preset value, the device turns on the front/rear indication LED 33, and performs a flashing warning around to make the surroundings
  • the pedestrian can perform the dodge avoidance on the user; when the processing chip 11 detects the sudden change of the ambient light in the unit time, the processing chip 11 controls the camera module 41 to open, captures the road condition, and the captured road condition data is transmitted back to the processing chip 11, and the processing is performed.
  • the chip 11 compares the road condition data returned by the camera module 41 with the image of the image library to determine the road condition.
  • the front/rear indication LED 33 is turned on to flash the warning, if it is because of the non-facilities
  • the change is determined by the data source and the change of the light intensity per unit time as having a car, then the processing chip 11 controls the oscillator 34 And prompting the car through the voice prompt module and combining the image of the camera module 41 to remind the user to dodge avoidance; if the processing chip 11 fails to compare the picture, the oscillator 34 is controlled to oscillate to remind the judgment to fail.
  • FIG. 4 is a flow chart showing the operation mode of the camera module 41 according to the embodiment of the present invention.
  • the processing chip 11 receives the signal and reads the light intensity information through the front light sensor 21 when the light intensity signal is used.
  • the camera module 41 is opened to take a picture.
  • the processing chip 11 controls to turn on the front light source module 22 and/or the rear light source module 52 and then turn on the camera module 41 to shoot.
  • the camera module 41 transmits the captured image data to the processing chip 11, and the processing chip 11 makes a judgment by comparing the image returned by the camera module 41 with the image of the image library, and if the determination fails, the processing chip 11 controls.
  • the oscillator 34 vibrates to alert the user to the result of the determination. If the determination is successful, the processing chip 11 controls the oscillator 34 to vibrate and communicates with the voice prompting module 32 to inform the user of the road condition.
  • the processing chip 11 determines that the dark state is such as a tunnel, an underground passage or a night, and turns on the front indicator LED and/or the rear indicator LED to perform a flashing reminder when real time
  • the front/back indicator LED 33 is turned off, and the device actively opens the camera module 41 to shoot the road condition, and the processing chip 11 can judge the light by comparing the image. Strong mutations for hardware facilities change before opening instructions The LED and/or the rear indicator LED prompts the user to position the vehicle.
  • the embodiment of the invention can timely and effectively determine the road condition in front of the road/sidewalk/grass and so on, and can also remind the road condition, and can also judge the intersection or traffic light condition, and can detect the vibration of the vehicle before and after the vehicle through the built-in front and rear light sensing at night or inside the tunnel. And through the flashing front indicator LED and / or the rear indicator LED to remind the surrounding visually impaired personnel, not only can the user be reminded in real time, but also can indicate the surrounding warning, which provides a guarantee for the user's personal safety.
  • the apparatus of this embodiment may be further divided into two modes: a light sensing mode and an imaging mode;
  • the light sensing mode is a normally open state, that is, the light sensor is in a working state in the first type of visual aid, the second type of visual aid, the third type of visual aid, and the fourth type of visual aid, such as the current light sensor 21 and /
  • the processing chip 11 can determine that the surrounding environment of the user is a weak state such as a tunnel, an underground road or a black sky state, and the front and rear indicator LEDs are turned on to perform a flashing reminder.
  • the indication LED is turned off after a certain time below the set value.
  • the processing chip 11 actively opens the camera module 41 to shoot the surrounding environment (for example, road conditions), and compares the images. It can be judged that the change of light intensity is caused by changes in hardware facilities (into tunnels, underpasses, foreign objects occlusion, etc.) or non-hardware facilities (vehicles, etc.), such as changing the indication position of LEDs for hardware facilities changes, such as non-hardware
  • the change of the facility is determined as the vehicle travel, the data source and the light intensity change amount are analyzed, the approximate position of the vehicle position is determined, the vibration reminder or the voice prompts the user to dodge, and the image of the camera module 41 is used to remind the user to avoid the direction.
  • the camera mode is the trigger mode, and the camera module 41 can be automatically triggered by the processing chip 11 as needed, or can be manually triggered according to the subjective needs of the user, thereby reducing the power consumption of the device.
  • the user has a subjective need to determine the road condition (such as the need to determine the traffic signal, whether there is a blind road or whether there is an obstacle step, etc.)
  • you can press the manual switch at this time, the front light sensor test environment
  • the light intensity determines whether it is necessary to turn on the LED light source to assist the shooting, and then the camera module 41 takes a picture, and the photo is transmitted back to the processing chip 11.
  • the processing chip 11 determines the situation of the front image by comparing the image library, for example, at the intersection.
  • the red light is still green, and after the judgment is completed, the vibration of the control oscillator 34 prompts the user to make a voice prompt, and then the voice prompt module 32 reports the traffic light condition.
  • the difference between this embodiment and the first embodiment is that the processing chip 11 is also connected with a GPS module.
  • the present invention can be combined with the camera module 41 to more accurately confirm the real-time road condition and environmental facility change, and can be combined with the voice prompt module 32 to navigate the user, thereby ensuring the user's personal safety on the road and guiding the user to find. Going home, avoiding the situation that you can't get back home because you get lost.
  • the apparatus further includes a clock chip, and the processing chip 11 is capable of collecting clock information and giving a voice announcement to the user based on the clock information, and determining whether it is day or night in conjunction with the clock information.
  • the apparatus further includes a weather forecasting module that updates the weather forecast through a WIFI, a mobile communication network, etc., and the processing chip 11 can collect weather forecast information and provide the user with the weather forecast information.
  • the weather broadcast of the weather combined with weather forecast information to determine whether it is sunny or cloudy.

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  • Signal Processing (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
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  • Emergency Alarm Devices (AREA)

Abstract

本发明提供一种集成摄像头模组和光传感器的视觉辅助方法及装置,包括处理芯片、光传感器、摄像头模组、指示模块。通过光传感器侦测到环境光线亮度低于预设值时,将指示模块打开进行闪烁提醒,当光强度达到预设值以上并达到设定的时间后关闭指示模块,设备会主动打开摄像头模组对路况进行拍摄,处理芯片通过对比图像可以判断出光强突变为硬件设施变化则打开指示模块灯提示使用者位置,还能够判断来车位置并推算大致距离,并通过摄像头模组捕捉的图像向使用者震动提醒加语音提示躲闪方向避让。既能够对使用者进行实时提醒,也能对周围进行指示预警,为使用者的人身安全提供了保障。

Description

集成摄像头模组和光传感器的视觉辅助方法及装置 技术领域
本发明属于视觉辅助装置,具体涉及一种集成摄像头模组和光传感器的视觉辅助方法及装置。
发明背景
众所周知,眼部疾病一直是卫生领域的一个主要问题之一,就国际国内方面的统计,残疾人中有五分之一是视力残疾。人类的主要信息是通过视觉来获取的,所以视觉残疾是残疾人中最严重和最痛苦的残疾之一。国内外一般采用超声波或者红外线探头来找寻障碍的方式来助盲,但效果较差;一些高档类似产品向着机器人的方向发展,但是由于机器人复杂的机械结构以及高端的人工智能开发,使得成本居高不下,难以普及。
随着科技的发展,摄像头模组和传感器等电子元件越来越多的应用到各种场景,使用方案也越来越成熟,对人们的帮助也越来越大。同时,为了使视觉障碍的人更好的感受科技带来的创新,针对视觉障碍人的产品也逐渐增加,盲人阅读器,盲人定位装置等设备层出不穷,但是针对行走环境的实时侦测判断,前后车辆提醒等设备还是空白,盲人独自外出还是有很大的安全风险。
因此,需要一种视觉辅助装置,以避免上述缺陷。
发明内容
本发明的目的在于提供一种集成摄像头模组和光传感器的视觉辅助方法及装置,能够对使用者进行视觉辅助,并且进行语音提示,保障使用者人身安全。
本发明提供一种集成摄像头模组和光传感器的视觉辅助方法,包括如下步骤:
a:利用光传感器实时侦测环境光强度数据,当侦测到的环境光强度在设定的一段时间内持续高于第一预设值后,给予使用者第一种视觉辅助;
b:当侦测到的环境光强度在设定的一段时间内持续低于第二预设值时,给 予使用者第二种视觉辅助;
c:在第二种视觉辅助过程中,进一步侦测到环境光强度在一定时间内持续变化时,启动摄像头模组采集使用者周边环境的图像数据,并当根据所述周边环境的图像数据和环境光强度判定出有来往车辆时,给予使用者第三种视觉辅助。
进一步的,在第一种视觉辅助过程中和第二种视觉辅助过程中,使用者随时通过一手动开关开启摄像头模组采集周边环境的图像数据或者关闭摄像头模组;以及根据所述周边环境的图像数据和环境光强度给予使用者第四种视觉辅助,所述第四种视觉辅助融合在第一种视觉辅助过程中和第二种视觉辅助过程中。
进一步的,在所述第一种视觉辅助过程中伴有第一种提示,在第二种视觉辅助过程中伴有第二种提示,第三种视觉辅助过程中伴有第三种提示,第四种视觉辅助过程中伴有第四种提示,其中,所述第一种提示、第二种提示、第三种提示以及第四种提示采用语音提示、震动提示以及LED灯闪烁提示中的一种或几种。
进一步的,当判定结果失败时,能够提示使用者判断失败。
本发明还提供一种集成摄像头模组和光传感器的视觉辅助装置,包括:
至少一光传感器,用以实时侦测环境光强度数据;
摄像头模组,用以拍摄周边环境的视频或图像;
处理芯片,用于接收光传感器和摄像头模组的数据,并在判定出环境光强度在设定的一段时间内持续高于第一预设值后,给予使用者第一种视觉辅助;在判断出环境光强度在设定的一段时间内持续低于第二预设值时,给予使用者第二种视觉辅助;以及在第二种视觉辅助过程中,进一步判断出环境光强度在一定时间内持续变化时,启动摄像头模组采集使用者周边环境的图像数据,并当根据所述周边环境的图像数据和环境光强度判定出有来往车辆时,给予使用者第三种视觉辅助。
进一步的,所述装置还包括至少一位置指示模块,连接所述处理芯片,用 以在处理芯片的控制下向周边环境中的人群指示使用者位置。该位置指示模块可以通过语音、LED灯或震动向周边环境中的人群指示使用者位置。
进一步的,所述装置还包括手动开启和关闭所述摄像头模组的第二开关,用于在第一种视觉辅助过程和第二种视觉辅助过程中随时采集周边环境的图像数据,并根据所述周边环境的图像数据和环境光强度给予使用者第四种视觉辅助,所述第四种视觉辅助融合在第一种视觉辅助过程中和第二种视觉辅助过程中。
进一步的,所述装置还包括提示模块,连接所述处理芯片,用以在处理芯片的控制下对使用者在所述第一种视觉辅助过程中进行第一种提示,在第二种视觉辅助过程中进行第二种提示,在第三种视觉辅助过程中进行第三种提示,在第四种视觉辅助过程中进行第四种提示,其中,所述第一种提示、第二种提示、第三种提示以及第四种提示采用语音提示、震动提示以及LED灯闪烁提示中的一种或几种。
进一步的,所述光传感器包括前置光传感器和后置光传感器,能够感应使用者前方及后方的光线情况并将信号传递给处理芯片;或者所述光传感器包括前置光传感器、后置光传感器、左方光传感器和右方光传感器,能够感应使用者前后左右方向的光线情况并将信号传递给处理芯片。
进一步的,所述装置还包括光源模块,所述光源包括前光源模块和/或后光源模块,用以在黑暗环境中照亮道路,辅助摄像头模组拍摄工作。
进一步的,所述装置还包括连接所述处理芯片的GPS模组,用于定位使用者的地理位置,并将所述地理位置反馈至处理芯片,所述处理芯片结合所述地理位置以及所述摄像头模组拍摄的数据确认使用者周边环境,对使用者进行导航辅助。
在对使用者进行视觉辅助时,常见的辅助提示方法有:LED灯闪烁示警周围路人,振荡器震动提示使用者及通过语音提示使用者。其中语音提示内容可以包括:处于较暗环境中,请注意示警;前方路口红绿灯,请注意;红灯,请不要通过;绿灯,请通过;前方下台阶,请注意;前方上台阶,请注意;来车, 请靠右;来车,请靠左;前方左转,请注意;前方右转,请注意;前方扶梯,请注意;前方隧道,请注意;等等,包括但不局限于此。
本发明通过光传感器侦测到环境光线亮度低于预设值时,处理芯片判断为隧道、地下通道或者夜晚等黑暗状态,通过提示模块告诉使用者处于黑暗环境状态,并且控制位置指示模块进行LED灯闪烁提醒,以引起周围路人注意躲闪避让使用者,当实时侦测到光传感器数据升高到预设值以上并达到设定的时间后关闭位置指示模块,设备会主动打开摄像头模组对路况进行拍摄,处理芯片通过对比图像可以判断出光强突变为硬件设施变化则打开位置指示模块提示使用者位置,如为非硬件设施变化则认为车辆往来,分析数据来源和光强变化,判断来车位置并推算大致距离,并通过摄像头模组捕捉的图像,通过振荡器震动提醒以及语音提示模块进行语音提示使用者躲闪的方向及如何避让。本发明能够及时有效地判断前方路况为马路/人行道/草丛等并进行路况提醒,还可以判断路口或红绿灯情况,在夜间或者隧道内部还可通过内置前后光传感判断前后车辆进行预警,并通过语音提示模块语音提示躲闪方向,并通过LED灯闪烁向周边环境中的人群提醒注意有视觉障碍人员,既能够对使用者进行实时提醒,也能对周围进行指示预警,为使用者的人身安全提供了保障。
本申请的其它特征和优点将在随后的说明书中阐述,并且,部分地从说明书中变得显而易见,或者通过实施本申请而了解。本申请的目的和其他优点可通过在所写的说明书、权利要求书、以及附图中所特别指出的结构来实现和获得。
附图简要说明
附图用来提供对本发明的进一步理解,并且构成说明书的一部分,与本发明实施例一起用于解释本发明,并不构成对本发明的限制。在附图中:
图1为本发明集成摄像头模组和光传感器的视觉辅助方法流程图;
图2为本发明集成摄像头模组和光传感器的视觉辅助装置实施例一的方框图;
图3为本发明实施例一光传感器工作模式的流程图;
图4为本发明实施例一摄像头模组工作模式的流程图;
图5为本发明集成摄像头模组和光传感器的视觉辅助装置实施例二的方框图。
附图标记:11、处理芯片,21、前置光传感器,22、前光源模块,32、语音提示模块,33、前/后指示LED,34、振荡器,41、摄像头模组,42、第二开关,43、GPRS模组,51、后置光传感器,52、后光源模块。
具体实施方式
为使本发明的目的、特征更明显易懂,下面结合附图对本发明的具体实施方式作进一步的说明,然而,本发明可以用不同的形式实现,不应认为只是局限在所述的实施例。
如图1所示,本实施例提供一种集成摄像头模组和光传感器的视觉辅助方法,包括如下步骤:
a:利用光传感器实时侦测环境光强度数据,当侦测到的环境光强度在设定的一段时间内持续高于第一预设值后,给予使用者第一种视觉辅助;
b:当侦测到的环境光强度在设定的一段时间内持续低于第二预设值时,给予使用者第二种视觉辅助;
c:在第二种视觉辅助过程中,进一步侦测到环境光强度在一定时间内持续变化时,启动摄像头模组采集使用者周边环境的图像数据,并当根据所述周边环境的图像数据和环境光强度判定出有来往车辆时,给予使用者第三种视觉辅助。
具体原理为:当前后光传感器侦测到环境光低于设定值时,处理器芯片判断使用者所处环境为隧道,地下道或者黑天等黑暗环境,处理芯片将前后指示LED打开,进行闪烁提醒并结合语音提示模块告知使用者目前处于黑暗环境中,当实时侦测前后光传感器数据升高到设定值以上预设的一段时间之后关闭提示模块。另外,当任意光传感器侦测在预设时间内光强度突变到设定状态时,设 备会主动打开摄像头模组对路况进行拍摄,处理芯片通过比对图像可以判断出光强突变为硬件设施变化(如进入隧道,地下道,外物遮挡等)还是非硬件设施变化(车辆来往等),如为硬件设施变化则打开位置指示模块提示位置,如为非硬件设施变化则认为为车辆往来,分析数据来源和光强变化量,判断来车位置并推断大致距离,并通过摄像头模组捕捉的图像,震动提醒加语音提示使用者躲闪的方向及如何避让。因前后均有光传感器,可以判断出来车方向,另外因为采用的是单位时间内光强度变化的算法,所以可以避免没有正面放置或者角度偏置造成判断不出的现象,又因为光强度传感器实时侦测,如果发现光强低于一个很低的值超过一定时间就被认为被外物遮挡,此时也会震动和语音提醒,防止因遮挡判断失败。
当视觉障碍的人员有判断路况的需求时(如没有盲道或遇到障碍物台阶等情况)可以打开摄像头模组开关,前置光传感器测试环境光强度,判断是否需要打开光源模块辅助拍摄,然后摄像头模组进行拍照,将照片回传到处理芯片,处理芯片通过将传回的照片比对图像库中的图片,判断出使用者前方为何种路况,如为路口判断出红灯还是绿灯,判断完成后控制振荡器震动提示,并对使用者进行语音提示,然后通过语音提示模块指导使用者做出相应动作。
实施例一
如图2所示,本实施例提供一种集成摄像头模组和光传感器的视觉辅助装置,包括:
光传感器,用以实时侦测环境光强度数据;
摄像头模组41,用以拍摄周边环境的视频或图像;
处理芯片11,用于接收光传感器和摄像头模组41的数据,并在判定出环境光强度在设定的一段时间内持续高于第一预设值后,给予使用者第一种视觉辅助,包括告知使用者目前是白天或者光亮地段;在判断出环境光强度在设定的一段时间内持续低于第二预设值时,给予使用者第二种视觉辅助,包括告知使用者目前是黑天或者黑暗环境、或者进入隧道等等;以及在第二种视觉辅助过程中,进一步判断出环境光强度在一定时间内持续变化时,启动摄像头模组41 采集使用者周边环境的图像数据,并当根据侦测的周边环境和环境光强度判定出有来往车辆时,给予使用者第三种视觉辅助,包括在较黑的环境中,有车辆靠近注意闪躲以及往那边闪躲等。
所述光传感器包括前置光传感器21和后置光传感器51,能够感应使用者前方及后方的光线情况并将信号传递给处理芯片11;或者所述光传感器包括前置光传感器21、后置光传感器51、左方光传感器和右方传感器,能够感应使用者前后左右方向的光线情况并将信号传递给处理芯片11。
所述装置还包括光源模块,所述光源包括前光源模块22和后光源模块52,本实施例中,光源模块采用LED灯,用以在黑暗环境中照亮道路,辅助摄像头模组41拍摄工作。
本实施例中,所述装置还包括手动开启和关闭所述摄像头模组41的第二开关42,用于在第一种视觉辅助过程和第二种视觉辅助过程中随时采集周边环境的图像数据,并根据所述周边环境的图像数据和环境光强度给予使用者第四种视觉辅助,所述第四种视觉辅助融合在第一种视觉辅助过程中和第二种视觉辅助过程中。
本实施例中,所述装置还包括提示模块,所述提示模块包括语音提示模块32,前/后指示LED33以及振荡器34,连接所述处理芯片11,用以在处理芯片11的控制下对使用者在所述第一种视觉辅助过程中进行第一种提示,通过振荡器34震动配合语音提示模块32告诉使用者目前处于白天或者光亮的环境中,并能够结合摄像头模组41拍摄结果,通过语音提示模块32对使用者进行语音指引,辅助使用者行路;在第二种视觉辅助过程中进行第二种提示通过指示LED进行闪烁,以警示使用者周围人群,从而引起路人注意并对使用者进行避让;第三种视觉辅助过程中伴有第三种提示,通过前置光传感器21和/或后置光源传感器51检测到周边环境光强度的变化判定来车,启动前光源模块22和/或后光源模块52和摄像头模组41拍摄周围路况,并通过振荡器34提醒使用者并结合语音提示模块32给予使用者指引,引导其如何进行躲闪避让;第四种视觉辅助过程中伴有第四种提示,通过打开光源模块结合摄像头模组对使用者进行指引。
如图3所示为本发明实施例一光传感器工作模式的流程图,示出了光传感器的工作流程,当装置的前置光传感器21或者后置光传感器51实时侦测到环境光的数据后,将数据同步传送到装置的处理芯片11,处理芯片11对环境光的变化进行判断,当环境光持续低于预设值时,装置打开前/后指示LED33,进行闪烁警示周围,使周围行人能够对使用者进行躲闪避让;当处理芯片11在单位时间内检测到环境光突变时,处理芯片11控制摄像头模组41打开,拍摄道路状况,拍摄的路况数据回传到处理芯片11,处理芯片11通过将摄像头模组41回传的路况数据与图像库的图像进行对比,做出路况判断,如果是因为硬件设施变化,则打开前/后指示LED33进行闪烁警示周围,如果是因为非设施变化,则通过数据来源和单位时间内光强度变化判定为有来车,那么处理芯片11控制振荡器34震动并通过语音提示模块提醒来车并结合摄像头模组41的图像提醒使用者躲闪避让;如果处理芯片11对比图片失败则会控制振荡器34振荡提醒判断失败。
如图4所示为本发明实施例一摄像头模组41工作模式的流程图,在装置工作状态下,处理芯片11接收到信号并通过前置光传感器21读取光强度信息,当光强度信号高于预设值时,打开摄像头模组41拍摄图片,当光强度信息低于预设值时,处理芯片11控制打开前光源模块22和/或后光源模块52之后再打开摄像头模组41拍摄图片,摄像头模组41将拍摄的图片数据回传到处理芯片11,处理芯片11通过将摄像头模组41回传的图片与图像库的图片对比后做出判断,如果判断失败,处理芯片11控制振荡器34震动提醒使用者判断结果,如果判断成功,处理芯片11控制振荡器34震动并结合语音提示模块32告知使用者路况。
本发明通过光传感器侦测到环境光线亮度低于预设值时,处理芯片11判断为隧道、地下通道或者夜晚等黑暗状态,将前指示LED和或/后指示LED打开进行闪烁提醒,当实时侦测到光传感器数据升高到预设值以上并达到设定的时间后关闭前/后指示LED33,设备会主动打开摄像头模组41对路况进行拍摄,处理芯片11通过对比图像可以判断出光强突变为硬件设施变化则打开前指示 LED和/或后指示LED提示使用者位置,如为非硬件设施变化则认为车辆往来,分析数据来源和光强变化,判断来车位置并推算大致距离,并通过摄像头模组41捕捉的图像震动提醒加语音提示进行躲闪方向避让。本发明实施例能够及时有效地判断前方路况为马路/人行道/草丛等并进行路况提醒,还可以判断路口或红绿灯情况,在夜间或者隧道内部还可通过内置前后光传感判断前后车辆进行震动预警,并通过闪烁前指示LED和/或后指示LED提醒周边注意有视觉障碍人员,既能够对使用者进行实时提醒,也能对周围进行指示预警,为使用者的人身安全提供了保障。
需要说明的是,本实施例的装置可以进一步的分为两种模式:光传感模式和摄像模式;
光传感模式为常开状态,即光传感器在第一种视觉辅助、第二种视觉辅助、第三种视觉辅助以及第四种视觉辅助过程中均为工作状态,例如当前光传感器21和/或后光传感器51侦测到环境光低于设定值时,处理芯片11可以判断使用者周边环境为隧道、地下道或者黑天状态等光线较弱状态,将前后指示LED打开,进行闪烁提醒,当实时侦测前光传感器21和/或后光传感器51的数据维持在到设定值以下一定时间之后关闭指示LED。另外,在光线较弱的环境中,当任意光传感器侦测在预设时间内光强度持续变化时,处理芯片11主动打开摄像头模组41对周边环境(例如路况)进行拍摄,通过比对图像可以判断出光强变化的原因为硬件设施变化(进入隧道,地下道,外物遮挡等)还是非硬件设施变化(车辆来往等),如为硬件设施变化则打开指示LED提示位置,如为非硬件设施变化则判定为车辆往来,分析数据来源和光强变化量,判断来车位置推断大致距离,震动提醒或者语音提示使用者进行躲闪,并结合摄像头模组41的图像提醒使用者避让方向。因前后均有光传感器,可以判断出前后来车方向,另外可以采用的是单位时间内光强度变化的算法,以避免没有正面放置或者角度偏置造成判断不出的现象,进一步的光传感器实时侦测,如果发现光强低于一个很低的值超过一定时间就被认为被外物遮挡,此时也会通过振荡器34震动和语音提示模块32语音提醒,防止因遮挡判断失败。
摄像模式为触发模式,摄像头模组41可以根据需要被处理芯片11自动触发,也可以根据使用者的主观需求进行手动触发,由此可以降低所述装置的功耗。例如,当使用者有判断路况的主观需求时(如需要确定交通信号灯的情况、是否有盲道或是否遇到障碍物台阶等),就可以按下手动开关,此时,前置光传感器测试环境光强度,判断是否需要打开LED光源辅助拍摄,然后摄像头模组41进行拍照,照片回传到处理芯片11,处理芯片11通过比对图像库,判断出前方图像为何种情形,例如在路口时判断出红灯还是绿灯,判断完成后控制振荡器34震动提示使用者将要进行语音提示,然后通过语音提示模块32报出所述红绿灯情况。
实施例二
如图5所示,本实施例与实施例一的区别在于:所述处理芯片11还连接有GPS模组。
本实施可以结合摄像头模组41更加精确的确认实时路况和环境设施变换,并能够结合语音提示模块32对使用者进行导航,既保障了使用者的在路上的人身安全,又可以指引使用者找到回家的路,避免其因为迷路回不了家等情况的发生。
在本发明的其他实施例中,所述装置还包括时钟芯片,处理芯片11能够收集时钟信息并根据时钟信息给使用者进行语音报时,以及结合时钟信息确定目前是白天还是黑夜。
在本发明的其他实施例中,所述装置还包括天气预报模块,所述天气预报模块通过WIFI、移动通信网络等更新天气预报,处理芯片11能够收集天气预报信息并根据天气预报信息给使用者进行天气的语音播报,以及结合天气预报信息确定目前是晴天还是阴天。
显然,本领域的技术人员可以对发明进行各种改动和变型而不脱离本发明的精神和范围。这样,倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内,则本发明也意图包含这些改动和变型在内。

Claims (10)

  1. 一种集成摄像头模组和光传感器的视觉辅助方法,其特征在于:包括如下步骤:
    a:利用光传感器实时侦测环境光强度数据,当侦测到的环境光强度在设定的一段时间内持续高于第一预设值后,给予使用者第一种视觉辅助;
    b:当侦测到的环境光强度在设定的一段时间内持续低于第二预设值时,给予使用者第二种视觉辅助;
    c:在第二种视觉辅助过程中,进一步侦测到环境光强度在一定时间内持续变化时,启动摄像头模组采集使用者周边环境的图像数据,并当根据所述周边环境的图像数据和环境光强度判定出有来往车辆时,给予使用者第三种视觉辅助。
  2. 根据权利要求1所述的集成摄像头模组和光传感器的视觉辅助方法,其特征在于:还包括:在第一种视觉辅助过程中和第二种视觉辅助过程中,使用者随时通过一手动开关开启摄像头模组采集周边环境的图像数据或者关闭摄像头模组;以及根据所述周边环境的图像数据和环境光强度给予使用者第四种视觉辅助,所述第四种视觉辅助融合在第一种视觉辅助过程中和第二种视觉辅助过程中。
  3. 根据权利要求2所述的集成摄像头模组和光传感器的视觉辅助方法,其特征在于:在所述第一种视觉辅助过程中伴有第一种提示,在第二种视觉辅助过程中伴有第二种提示,第三种视觉辅助过程中伴有第三种提示,第四种视觉辅助过程中伴有第四种提示,其中,所述第一种提示、第二种提示、第三种提示以及第四种提示采用语音提示、震动提示以及LED灯闪烁提示中的一种或几种。
  4. 一种集成摄像头模组和光传感器的视觉辅助装置,其特征在于:包括:
    至少一光传感器,用以实时侦测环境光强度数据;
    摄像头模组,用以拍摄周边环境的视频或图像;
    处理芯片,用于接收光传感器和摄像头模组的数据,并在判定出环境光强度在设定的一段时间内持续高于第一预设值后,给予使用者第一种视觉辅助;在判断出环境光强度在设定的一段时间内持续低于第二预设值时,给予使用者第二种视觉辅助;以及在第二种视觉辅助过程中,进一步判断出环境光强度在一定时间内持续变化时,启动摄像头模组采集使用者周边环境的图像数据,并当根据所述周边环境的图像数据和环境光强度判定出有来往车辆时,给予使用者第三种视觉辅助。
  5. 根据权利要求4所述的集成摄像头模组和光传感器的视觉辅助装置,其特征在于:所述装置还包括至少一位置指示模块,连接所述处理芯片,用以在处理芯片的控制下向周边环境中的人群指示使用者位置。
  6. 根据权利要求4所述的集成摄像头模组和光传感器的视觉辅助装置,其特征在于:所述装置还包括手动开启和关闭所述摄像头模组的第二开关,用于在第一种视觉辅助过程和第二种视觉辅助过程中随时采集周边环境的图像数据,并根据所述周边环境的图像数据和环境光强度给予使用者第四种视觉辅助,所述第四种视觉辅助融合在第一种视觉辅助过程中和第二种视觉辅助过程中。
  7. 根据权利要求6所述的集成摄像头模组和光传感器的视觉辅助装置,其特征在于:所述装置还包括提示模块,连接所述处理芯片,用以在处理芯片的控制下对使用者在所述第一种视觉辅助过程中进行第一种提示,在第二种视觉辅助过程中进行第二种提示,在第三种视觉辅助过程中进行第三种提示,在第四种视觉辅助过程中进行第四种提示,其中,所述第一种提示、第二种提示、第三种提示以及第四种提示采用语音提示、震动提示以及LED灯闪烁提示中的一种或几种。
  8. 根据权利要求4所述的集成摄像头模组和光传感器的视觉辅助装置,其特征在于:所述光传感器包括前置光传感器和后置光传感器,能够感应使用者前方及后方的光线情况并将信号传递给处理芯片;或者所述光传感器包括前置光传感器、后置光传感器、左方光传感器和右方光传感器,能够感应使用者前后左右方向的光线情况并将信号传递给处理芯片。
  9. 根据权利要求4所述的集成摄像头模组和光传感器的视觉辅助装置,其特征在于:所述装置还包括光源模块,所述光源包括前光源模块和/或后光源模块,用以在黑暗环境中照亮道路,辅助摄像头模组拍摄工作。
  10. 根据权利要求4-9任一项所述的集成摄像头模组和光传感器的视觉辅助装置,其特征在于:所述装置还包括连接所述处理芯片的GPS模组,用于定位使用者的地理位置,并将所述地理位置反馈至处理芯片,所述处理芯片结合所述地理位置以及所述摄像头模组拍摄的数据确认使用者周边环境,对使用者进行导航辅助。
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CN104065930B (zh) 2017-07-07
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