Visual impairment or even loss seriously affects quality of life. Benefited by the rapid development of sound/laser detection, Global Positioning System (GPS)/Beidou positioning, machine vision and other technologies, the quality of life of blind people is expected to be improved through visual substitution technology. The existing visual substitution devices still have limitations in terms of safety, robustness, and ease of operation. The remote companion system developed here fully utilizes multimodal navigation and remote communication technologies, and the positioning and interaction functions of commercial mobile phones. Together with the accumulated judgment of backend personnel, it can provide real-time, safe, and reliable navigation services for blind people, helping them complete daily activities such as independent travel, circulation, and shopping. The practical results show that the system not only has strong operability and is easy to use, but also can provide users with a strong sense of security and companionship, making it suitable for promotion. In the future, this system can also be promoted for other vulnerable groups such as the elderly.

In persistent patrol and online task discovery in environments with obstacles, unmanned aerial vehicle (UAV) swarms are constrained by limited battery capacity and frequent recharging disrupts patrol continuity. In comparison, unmanned ground vehicle (UGV) fleets have higher endurance and payload capacity and can serve as mobile charging platforms while executing ground-service tasks. In such collaborative scenarios, UAVs patrol along a coverage path and discover tasks online, whereas UGVs execute discovered ground tasks and provide mobile charging support. To cope with rendezvous uncertainty due to obstacle-induced detours and inefficient usage of UGV time during charging, this study proposes an energy-constrained UAV-UGV coordination framework based on adaptive anticipatory rendezvous and time-window scheduling. In particular, the adaptive anticipatory rendezvous module handles anticipatory rendezvous planning, while the time-window scheduling module models the post-rendezvous charging stage as a schedulable time window for opportunistic ground-task insertion. Simulations demonstrate that the proposed framework consistently reduces system energy consumption, completion time, and the number of emergency landings compared with three representative baselines. Moreover, a UAV-UGV prototype with AprilTag-based visual landing and post-landing mechanical correction is developed to validate the engineering feasibility of the key closed-loop process.