NL2029512B1

NL2029512B1 - Guiding apparatus, system comprising said apparatus and methods for using and controlling said apparatus and system

Info

Publication number: NL2029512B1
Application number: NL2029512A
Authority: NL
Inventors: Hendrik Van De Berg Meindert; Christiaan Van Den Berg Michiel
Original assignee: Blindsight Mobility B V
Priority date: 2021-03-23
Filing date: 2021-10-26
Publication date: 2022-10-07

Abstract

The invention relates to a guiding apparatus for guiding a visual impaired user, wherein the apparatus comprises: 5 - a body; — one or more sensors; - a stem having a ﬁrst end connected to the body and extending from the body to a second end which is connected to a handle conﬁgured to be held by the user; - one or more wheels that are rotatable connected with the body and conﬁgured to roll 10 the apparatus over a surface; wherein the body includes a steering module operatively connected to the one or more wheels, an obstacle detection module electronically connected to the one or more sensors and conﬁgured to detect obstacles in an area around the apparatus using measurement signals from the one and more sensors, and a battery configured to deliver power to the guiding apparatus, wherein 15 the obstacle detection module is further conﬁgured to communicate obstacle detection data to the steering module upon detection of obstacles, wherein the steering module is conﬁgured to change a trajectory of the guiding apparatus by controlling at least one of the one or more wheels based on the obstacle detection data; wherein at least one of the one or more wheels is operably connected to at least one electric generator configured to generate electricity upon rotation of the at least one of 20 the one or more wheels and wherein the at least one electric generator is connected to the battery and further conﬁgured to store generated electricity in the battery.

Description

GUIDING APPARATUS, SYSTEM COMPRISING SAID APPARATUS AND METHODS FOR

USING AND CONTROLLING SAID APPARATUS AND SYSTEM The invention relates to a guiding apparatus for guiding a visual impaired user, a system comprising the guiding apparatus, a method for using the guiding apparatus and a method for using the system.

Visual impaired person often use some kind of aid to help them navigate their environment and help them avoid obstacles. Guide dogs have been used and are still used to help the user to navigate around obstacles. However, training guide dogs is expensive and time-consuming. In addition, not all users are comfortable with a guide dog in their environment.

In recent developments, self propelled robots which can guide a user to a location while avoiding obstacles have been proposed as alternative to guide dogs. Such self-propelled robots are less expensive to maintain and relatively easy to manufacture in a short period of time.

A disadvantage of these self propelled robots is that, due to the (often limited) capacity of the batteries, the (operational) range of movement is limited. This in tar limits the user movement range. A proposed solution is to increase the capacity of the battery. This however increases weight of the robot, decreases easy handling and, due to the increased weight, also has an adverse effect on operational range.

An objective of the present invention is to provide a guiding apparatus which provides increased operational range.

This objective is achieved with the guiding apparatus according to the invention, the guiding apparatus comprising: - abody: - One Or more Sensors; - a stem having a first end connected to the body and extending from the body to a second end which is connected to a handle configured to be held by the user; - one or more wheels that are rotatable connected with the body and configured to roll the apparatus over a surface; wherein the body houses: - a steering module operatively connected to the one or more wheels and configured to change a trajectory of the guiding apparatus by controlling the one or more wheels; - an obstacle detection module electronically connected to the one or more sensors and configured to detect obstacles in an area around the apparatus using measurement signals from the one and more sensors; and, - a battery configured to deliver power to the guiding apparatus;

- wherein the obstacle detection module is further configured to communicate obstacle detection data to the steering module upon detection of obstacles, and wherein the steering module is configured to change a (projected) trajectory of the guiding apparatus by controlling at least one of the one or more wheels based on the obstacle detection data; and, wherein at least one of the one or more wheels is operably connected to at least one electric generator configured to generate electricity upon rotation of the at least one of the one or more wheels and wherein the at least one electric generator is connected to the battery and further configured to store generated electricity in the battery.

By having at least one electric generator configured to generate electricity upon rotation of the wheels, electricity can be generated during use the apparatus. More specifically, the movement of the apparatus over a ground surface by the user allows electricity to be generated to (re)charge the battery.

An advantage thereof is that, due to the generation of electricity during use, an operational or use range of the apparatus is (significantly) increased. E.g. the user can use the apparatus for a longer period of time without needing to recharge it compared to the known apparatus.

Another advantage of the invention is that the apparatus feels natural to use, where conventional devices are self driven and ‘pul!’ the user forward, the guiding apparatus according to the invention is moved by the user, which feels more natural and enables the user to maintain its autonomy.

Another advantage of the user not being pulled by the guiding apparatus is that the user experience is more in line with the experience of a (well behaving) guide dog, making it more convenient for a user to switch from a guide dog to the guiding apparatus according to the invention.

It is noted that, the trajectory of the guiding apparatus relates to a direction in which the apparatus will be moved when the handle is pushed by the user.

It is further noted that the term battery relates to a rechargeable and/or chargeable battery, which in some or all embodiments may be replaceable, removeable and/or disconnectable from the housing.

It is further noted that the battery is connect to the at least one electric generator electronically and/or electrically.

It is further noted that the battery in some or all embodiments may further comprise a plug and be configured to be recharged by the user by connecting it to a power source.

In an embodiment according to the invention the one or more sensors comprises at least one or more of: an optic sensor, an infrared sensor, a LIDAR, a RADAR, an gyroscope, a camera,

a microphone, a speed sensor, a directional sensor, a positioning sensor, a depth sensor, an ultrasonic sensor, a gyroscopic sensor.

It will be clear that the one or more sensors may comprise multiple sensors of one type, such as in the following none limiting example where the one or more sensors may comprise two optical sensors, a LIDAR, three cameras and two gyroscopes.

It will be clear that other suitable sensors are also comprised in the invention and that any combination of the abovementioned sensors fall within the scope of the invention.

An advantage of this embodiment is that different sensors can aid the user in different ways and in this manner increase the safety of the user and the environment.

It will be clear that one or more features from this embodiment can be combined with one or more features from one or more other embodiments according to the invention.

In a further embodiment the one or more sensors have a corresponding measurement range, wherein the measurement range is between 0 and 100 meter from the guiding apparatus, preferably between 0 and 50 meter from the guiding apparatus, and more preferably between 0 and 15 meter trom the guiding apparatus. It is noted that the measurement range may vary between different sensors. For example, a first camera might measure in a range from 0 to 5 meter from the guiding apparatus, while a second camera might measure in a range from 2.5 meter to 10 meter from the guiding apparatus and a third camera might measure in a range from 8 to 25 meter from the guiding apparatus.

In an embodiment according to the invention the one or more sensors may be positioned on the handle, on the stem, and/or on the body and may be positioned, during use of the apparatus, in a forward facing position, a backward facing position, a downwards facing position, a leftwards facing position, a rightwards facing position, an upwards facing position or any position in between.

In an embodiment according to the invention the guiding apparatus further comprises a marking following system configured to detect a marking on a surface and to determine a marking direction and/or to determine an alignment between the route of the user and the marking and wherein the steering module is configured to change the (projected) trajectory of the guiding apparatus in accordance with the determined marking direction and/or the determined alignment.

An advantage of this embodiment is that the user may be guided be easily by the apparatus by detecting and following markings on the surface, such as guide lines. It is in this respect noted that the term “marking” should also be considered to include a mark, a plurality or set of marks, preferably a set or plurality of related marks, which are configured to indicate a path or pathway and that are preferably configured for guiding visually impaired persons.

In an embodiment according to the invention the guiding apparatus further comprises a user input module configured to receive input from a user to adapt one or more user settings.

An advantage of this embodiment is that the user can adapt settings of the guiding apparatus according to its preferences.

In a further embodiment according to the invention the user input module comprises a user input module that is suitable for vision-impaired persons, wherein the user input module includes one or more of user interfaces such as: - buttons; - scroll wheels; - track balls; - switches; - paddles; or, - any other suitable user interfaces.

An advantage of this embodiment is that the user interfaces are suitable for user which are visual impaired.

In another further embodiment according to the invention the one or more user interfaces are positioned on the handle.

An advantage of this embodiment is that the one or more user interfaces are easily found and controlled by the user. In addition, the input by the user can be provided even during use, since the user graps the handle during movement of the user. This improves response time of the user and increases consumer easy of handling.

In a further embodiment according to the invention the user input module further comprises a speech recognition module comprising a microphone and a speech-to-text module, wherein the user input module is configured to detect a spoken instruction from the user and to determine a corresponding action in response to said detection.

An advantage of this embodiment is that the user is able to quickly supply instruction, such as user settings or destination information to the guiding apparatus, without needing to find the appropriate user interface.

In an embodiment according to the invention each of the electric generators is configured to have an adaptable resistance.

It is noted that an increase in resistance of an electric generator will result in an increase in produced electricity upon rotation of the electric generator, given that a constant rotational speed is 5 maintained.

Another advantage is that the user is, during use of the apparatus, also capable of using the apparatus as a work-out tool, by increasing the resistance of the electric generator. In such case, the resistance of the generator would be programmable or choosable by the user using the user input module.

In an embodiment according to the invention the housing further comprises a guidance module and a positioning module configured to establish a local or global position of the guiding apparatus, wherein the guidance module is electronically connected to the user module and the positioning module, wherein the user input module is configured to receive a destination position and wherein the guidance module is configured to: - receive the destination position from the user using the user input module; - receive a current position using the positioning module; and, - calculate direction information based on the destination position and current position; wherein the guidance module and steering module are further configured to exchange direction information and wherein the steering module is configured to control the one or more wheels based on the direction information.

An advantage of this embodiment is that the guiding apparatus can be used to guide the user to a location. This is especially advantage when the user is not familiar with the location and/or his surroundings.

It is noted that the current position must be understood as a present position and/or a momentarily position.

In a further embodiment according to the invention the user input module is configured to enable the user to store one or more favorite locations on a memory and wherein the user input module is further configured to enable the user to select a favorite location as destination position.

An advantage of this embodiment is that the user can quickly and conveniently select often traveled to locations, which increases user friendliness and easy of handling for the user.

It will be clear that one or more features from this embodiment can be combined with one or more features from one or more other embodiments according to the invention in combination with the previous embodiment.

In another further embodiment according to the invention the positioning system comprises a satellite navigation system such as a GPS system, a GLONASS system and/or a Galileo system.

An advantage of this embodiment is that the position of the guiding apparatus can be established in a relatively quick and accurate way.

In another further embodiment according to the invention the positioning module is configured to connect to a local positioning system in a specific location, for example a train station, a museum, an airport, a university, a hospital, a government building or any other suitable location, wherein the positioning module is configured to receive location information from the local positioning system.

An advantage of this embodiment is that route guidance can also be provided when a user is indoors.

It will be clear that one or more features from this embodiment can be combined with one or more features from one or more other embodiments according to the invention in combination with one or more of the three previous embodiments.

In another further embodiment according to the invention the guidance module is configured to only instruct the steering module to control the one or more wheels when a deviation between the established or current position and the direction information is above a routing threshold.

An advantage of this embodiment is that the guiding apparatus will only interfere with a route of the user when the user deviates too much, giving more autonomy to the user. It is noted that an established position and a current position in some embodiments can be the same position, yet may also be different positions.

In an even further embodiment the routing threshold is based on: a preference set by the user, a distance from the destination position, and/or the speed of the guiding apparatus.

An advantage of this embodiment is that the routing threshold can be adapted based on a current situation.

In an embodiment according to the invention, the obstacle detection module comprises a machine learning module comprising one or more machine learning models trained to detect obstacles using one or more measurements from the one or more sensors.

An advantage of this embodiment is that obstacles can be detected in a fast and efficient way.

Another advantage of this embodiment is that not previous known or detected obstacles can also be detected.

In a further embodiment the one or more machine learning models comprises one or more of a neural network, a convolutional neural network, a deep neural network, a random forest, a clustering model, a classification model, an ensemble model comprising multiple machine learning models, or any other machine learning model suitable for detecting obstacles using one or more measurements from the one or more sensors.

An advantage of this embodiment is that the types of the one or more machine learning models can be adapted based on different use cases and/or types of measurements from the one or more sensors.

In another further embodiment according to the invention the machine learning module is configured to enable the user to add newly trained machine learning models, to update existing machine learning models, to replace existing machine learning models and/or to remove existing machine learning models.

An advantage of this embodiment is that the machine learning models can be adapted according to new developments in machine learning techniques, new environments in which the apparatus is used, or different requirements or wishes of the user.

It will be clear that one or more features from this embodiment can be combined with one or more features from one or more other embodiments according to the invention in combination with the one or both of the previous two embodiments.

In a further embodiment according to the invention the one or more machine learning models are configured to detect one or more of specific landmarks or objects, such as in a none limiting example: cars, pedestrians, trees, lamp posts, bicycles, pedestrian crossings, traffic lights, doors, roads, cycle lanes, curbs, curb sides and/or any other objects or landmarks.

It will be clear that one or more features from this embodiment can be combined with one or more features from one or more other embodiments according to the invention. It will further be clear that this embodiment can also exist separate from the invention, optionally in combination with one or more of the other embodiments.

In an embodiment according to the invention the one or more wheels comprise at least two wheels and wherein the at least one electric generator comprises at least two electric generators, each of which is associated with one of the at least two wheels, and wherein the electric generators are configured to control the wheels by at least temporarily adapting the resistance in at least one of the two corresponding electric generators.

An advantage of this embodiment is that the trajectory of the guiding apparatus can be adapted in an energy efficient way.

Another advantage of this particular embodiment is that the direction of travel of the apparatus can be adapted without using additional energy from the battery. Instead, the variation in (electrical) and thus rotational resistance facilitates energy generation for charging the battery, while simultaneously allowing a curve, bend or turn to be made.

In a further embodiment the at least two wheels are connected to respective ends of a common rotation axis that extends substantially perpendicular to a movement or forward direction, and wherein the steering module, in use of the apparatus, 1s configured to steer the apparatus by increasing or decreasing the rotation speed of the at least two wheels relative to each other such that the apparatus is turned into a curved trajectory, and wherein the increase or decrease of the rotation speed is preferably provided by respectively decreasing or increasing the resistance of an associated electrical generator.

It is noted that by at least temporarily adapting the resistance in one of the two electric generators to obtain a curved trajectory can be provided in two ways: the trajectory being adapted towards the first side if the first resistance is higher relative to the second resistance; or the trajectory being adapted towards the second side if the first resistance is lower relative to the second resistance.

Alternatively the trajectory may be a straight trajectory with a decreasing speed by increasing both the first resistance and the second resistance. This essentially results a braking of the guiding apparatus.

An advantage of this embodiment is that a change in trajectory feels natural to the user. Another advantage is than the trajectory can be adapted in an energy efficient manner.

In another further embodiment the at least two wheels are connected to respective ends of a common rotation axis that extends substantially perpendicular to a movement or forward direction, and wherein the steering module, in use of the apparatus, is configured to steer the apparatus by increasing or decreasing the rotation speed of the at least two wheels relative to each other such that the apparatus is turned into a curved trajectory, and wherein the increase or decrease of the rotation speed is preferably provided by respectively decreasing or increasing the resistance of an associated electrical generator.

An advantage of this embodiment is that a change in trajectory feels natural to the user. Another advantage is that the trajectory can be adapted in an energy efficient manner.

In another embodiment the steering module is configured to change the trajectory of the wheels by changing the direction of a rotational axle corresponding to one or more wheels, wherein the change of direction is based to the change in trajectory.

In an embodiment to the one or more sensors further comprise a speed sensor electronically connected to one or more of: the obstacle detection module, the guidance module and/or the steering module, wherein the speed sensor is configured to measure a movement speed of the apparatus, wherein the steering module is configured to adapt a control intensity at least partly based on the movement speed.

It is noted that the control intensity must be understood as an amount of which the trajectory and/or speed of the guiding apparatus is adjusted. For example, when the control intensity is high the guiding apparatus may make a sharper turn and/or may brake with more force and when the control intensity is lower the guiding apparatus may make a mild turn and/or may brake with less force.

An advantage of this embodiment is that an amount with which is steered by the apparatus is adapted to a current speed, making the apparatus safer to use.

In a further embodiment of the invention the obstacle detection module is configured to determine a collision probability with a detected obstacle based on obstacle detection data, the movement speed of the apparatus and the trajectory of the apparatus, wherein communicating the obstacle detection data to the steering module further comprises communicating the collision probability to the steering module, wherein the steering module is further configured to adapt the control intensity based on the collision probability, wherein preferably the control intensity directly correlates with the collision probability.

An advantage of this embodiment is that a relatively quick and abrupt change to the trajectory can be made by having a relative high control intensity in response to the collision probability being high and a relatively slow and graduate change can be made to the trajectory by having a relative low control intensity in response to the collision probability being low. This makes the apparatus more comfortable to use.

In an embodiment of the invention the steering module is configured to only control one or more wheels if the determined collision probability is above a predetermined collision threshold and to cease, release and/or not control the one or more wheels if the determined collision probability is below the provided collision threshold.

An advantage of this embodiment is that less unnecessary steering controls are given.

It will be clear that one or more features from this embodiment can be combined with one or more features from one or more other embodiments according to the invention in combination with the above embodiment. It will further be clear that this embodiment can also exist separate from the invention, optionally in combination with one or more of the other embodiments.

In an embodiment of the invention the obstacle detection module is configured to determine whether a detected obstacle is moving by tracking a relative position of the obstacle over time, and in reaction of the determination that the detected obstacle is moving, track a velocity and a moving direction of the detected obstacle and to determine the collision probability based on the velocity and moving direction of the detected obstacle and the trajectory and movement speed of the apparatus.

An advantage of this embodiment is that moving objects can be avoided early, giving the guiding apparatus, and thus also the user thereof, ample time to react.

In an embodiment according to the invention the stem comprises a length adjustment system for adjusting a length of the stem between the handle and the body, wherein the length of the stem is preferably adjustable such that, during use of the guiding apparatus when held by a user in a using position on a relative flat surface, an angle between an upright position of the user and the stem is between 30 degrees and 60 degrees, more preferably between 40 degrees and 50 degrees and most preferably around 45 degrees.

An effect of this embodiment is that, by adapting the length of the stem, the guiding apparatus is kept in a similar position when being used, independent of the length of the user. An advantage is that this ensures that the sensors will always be measuring in a predetermined direction independent of the length of the user of the apparatus.

It is noted that when the guiding apparatus is used on a not flat surface, for example an incline, the angle might be temporarily change and even be outside the range provided above.

In an embodiment according to the invention the stem is pivotably connected with the body.

An advantage of this embodiment is that the body can turn independently of the stem, decreasing a turning circle of the guiding apparatus, meaning there is less space needed to make a tum.

In a further embodiment the stem and/or the body comprise one or two stop blocks to limit a pivot range between the stem and the body, wherein the pivot range is preferably 180 degrees, more preferably 160 degrees and most preferably 140 degrees.

An advantage of this embodiment is that the stop blocks prevent the guiding apparatus and the user to fold into each other while turning, thus making the guiding apparatus safer to use.

In another further embodiment a position of the one or two stop blocks can be adapted according to a preference of the user for a corresponding pivot range.

An advantage of this embodiment is that the pivot range can be adapted to the preferences of the individual user.

It will be clear that one or more features from this embodiment can be combined with one or more features from one or more other embodiments according to the invention in combination of at least one of the above two embodiments. It will further be clear that this embodiment can also exist separate from the invention, optionally in combination with one or more of the other embodiments.

In an embodiment according to the invention the stem is pivotably connected with the handle.

An advantage is that when the guiding apparatus is changing direction the handle will pivot relatively to the stem, alerting the user of the change in direction.

In an embodiment according to the invention the one or more sensors further comprise an edge detection sensor electronically connected to the obstacle detection module and wherein the edge detection sensor is contigured to detect a gap in front of a forward moving position of the guiding apparatus and wherein the steering module is configured to control the wheels based on the detected gap.

It is noted that controlling the wheels may comprise controlling the wheels to change the trajectory of the guiding apparatus to avoid the gap and/or control the wheels to decelerate.

It is further noted that the gap must be understood as a gap in the surface, for example a road or a pavement, on which the guiding apparatus is used, and that the gap is an area wherein a first part of the surface is lower relative to a second part of the surface such as stairs, curbs, or any form of gaps, edges or ledges.

An advantage of this embodiment is that the user will not be surprised by sudden gaps such as stairs, curbs, or any form of gaps, edges or ledges, making the apparatus safer to use.

In an embodiment according to the invention, the one or more sensors further comprises a head space detection sensor, for example an ultrasonic sensor, electronically connected to the obstacle detection module, wherein the head space detection sensor is configured to detect obstacles in an area surrounding a head space of the user and wherein the steering module is configured to control the wheels to circumvent a collision between the obstacle and the head of the user.

An advantage of this embodiment is that the head of the user is also protected against protruding obstacles which extend above the apparatus instead of in front of the apparatus.

In an embodiment according to the invention the one or more sensors comprises a gyroscope configured to measure a slope of the surface and wherein the at least one generator is configured to adapt the resistance on the one or more wheels based on the slope of the surface.

An advantage of this embodiment is that the resistance on the wheels can be increased when the user is descending or decreased when the user is ascending.

In an embodiment according to the invention the guiding apparatus further comprises a feedback module comprising a haptic feedback module comprising at least one vibration unit and/or an audio feedback unit comprising at least one sound module and at least one speaker, and wherein the feedback module is configured to supply feedback to the user in response to one or more of: a change in status of the apparatus, a detection of an object, a type of detected object, a distance from a detected object, a distance to a destination, a change in the trajectory, a change in setting of the apparatus, and any other information relevant to the user.

An advantage of this embodiment is that the user can be provided with feedback regarding its surrounding and the status of the apparatus.

In a further embodiment an intensity of haptic feedback can be controlled by the user and/or the type of feedback. In an example, the intensity of the haptic feedback is increased when an obstacle is closer to the guiding apparatus.

In an embodiment according to the invention, the sensors measure obstacles in a virtual 3D walking space surrounding an area occupied by the guiding apparatus and the user.

In a further embodiment according to the invention, the virtual 3D walking space is adapting according to a predetermined handedness of the user, wherein the predetermined handedness comprises whether the user hold the guiding apparatus with his left hand or his right hand.

An advantage of adapting the virtual 3D walking space according to the predetermined handedness of the user is that said virtual walking space is more precise, as a left handed user will occupy a different 3D space relative to the position of the body during use compared to a right handed user.

In an embodiment according to the invention, the battery of the apparatus is detachably connected to the guiding apparatus.

An advantage of this embodiment is that a battery with a relatively lower charge can be replaced by the user for a battery with a relatively higher charge.

The invention further relates to an electronic device, preferably a hand held device, comprising a processor, a memory storage and a wireless connection module, a user interface, and a user input module, wherein the electronic device is configured to be connectable to a guiding apparatus according to the invention using the wireless connection module and wherein the user interface is configured to provide guiding apparatus information to the user and wherein the user input module is configured to enable the user to change one or more guiding apparatus settings of the guiding apparatus.

An advantage of the electronic device is that settings of the guiding apparatus can be easily changed by the user.

The invention further relates to a system comprising a guiding apparatus according to the invention and an electronic device according to the invention.

The system has all the advantages and effects of the electronic device and the guiding apparatus.

The invention further relates to a method for using the guiding apparatus, the method comprising: - determine whether a detected obstacle is moving by tracking a relative position of the obstacle over time, and - when it is determined that the detected obstacle is moving, in reaction, track a velocity and a moving direction of the detected obstacle and - determine the collision probability based on the velocity and moving direction of the detected obstacle and the trajectory and movement speed of the apparatus.

The method has all the advantages and effects of the guiding apparatus.

The invention further relates to the use of a guiding apparatus according to the invention, or a system according to the invention.

The use according to the invention has similar advantages and effects as the guiding apparatus, the system and the method according to the invention.

The invention is described in the foregoing as example. It is understood that those skilled in the art are capable of realizing different variants of the invention without actually departing from the scope of the invention. Further advantages, features and details of the invention are elucidated on the basis of preferred embodiments thereof, wherein reference is made to the accompanying drawings, in which: — figure 1 shows a first perspective of a guiding apparatus according to the invention; — figure 2 shows a side perspective of a guiding apparatus during use thereof according to the invention; — figure 3 shows a top down perspective of a guiding apparatus during use thereof according to the invention: — figure 4 shows a front perspective of the guiding apparatus with some internal components shown; — figure 5 shows a close-up of a handle of an example of a guiding apparatus according to the invention; and — figure 6 shows a front view of an example of a guiding apparatus according to the invention in which a schematic cross-section of the body is shown.

Guiding apparatus 2 according to an example of the invention (see figure 1) comprises body 4 connected to stem § via pivot connection 12. Stop blocks 14A and 14B limit the range of pivot connection 12. Stem 8 is connected to handle 10 via rotatable connection 16. Body 6 is equipped with wheels 6A and 6B that are rotational connected to body 4 via axle 30A and 30B respectively. Stem 8 comprises length adjustment system 18 with upper stem 19A and lower stem 19B, wherein lower stem 19B is slide-able in upper stem 19A. To lock upper stem 19A and lower stem 19B, upper stem 19A is provided with holes 18A — 181 and lower stem 19B is provided with a pin (not shown) which is configured to be received by one of the holes 18A — 181 and which can be pressed out of holes 18A — 18L to adjust the length of stem 8. It is noted that other locking mechanism are also envisioned in the invention. Body 4 further houses edge detection sensor 34 (figure 2) for detecting edges in front of guiding apparatus 2.

Handle 10 (figure 5) is provided with sensor housing 20, ultrasonic sensor 22, speaker 28 and microphone (not shown), and is further provided with buttons 24, 26 and 32 and handgrip 29 which houses haptic feedback motor (not shown). User A can use buttons 24, 26, and 29 to interact with guiding apparatus 2 to change various settings, such as destination, volume of speaker, resistance of electric generators 40, 42, etc. Sensor housing 20 comprises multiple sensors (not shown) such as camera, LIDAR, GPS receiver, wireless communication module and ultrasonic sensor.

Body 4 houses (figure 6) houses electric generator 40 connected to wheel 6A via axle 30A and electric generator 42 connected with wheel 6B via axle 42. Electric generators 40 and 42 are connected with battery (not shown). All electric components (20, 22, 24, 26, 34, 40, 42) are connected with central processor unit 44 comprising processor (not shown) and memory (not shown) to provide guiding apparatus with object detection module, steering module, guidance module and positioning module (not shown).

During use of guiding apparatus 2 is held by user A via handgrip 29 (figure 2). When user A is walking he pushes guiding apparatus 2 forwards, causing wheels 30A and 30B to rotate driving electric generators 40 and 42 which produce electricity which is stored in battery (not shown).

During use of guiding apparatus 2 sensors in sensor housing 20 and edge detection sensor 34 scan the surrounding area in a range of 10 — 20 meters around user A and guiding apparatus 2.

Edge detection sensor 34 comprises distance sensor (not shown) which send continuously sends out signals 36 during use of guiding apparatus 2.

In a scenario of use of guiding apparatus 2 user A is walking and approaches curb C edge detection sensors detects a height difference of curb C and sends detection information data to central processor 44. Central processor 44 alerts user A via vibrating of handgrip 29 due to haptic feedback motor (not shown) and a beeping sound produced via speaker 28, wherein the beeping sound increases in volume and/or beeping interval depending on the depth of and/or distance to curb C. If the depth of curb C measured by edge detection sensor 35 is larger than a depth threshold, for example 30 cm, central processor 44 further controls electric generators 40 and 42 via steering module (not shown) to increase resistance on wheels 6A and 6B to stop guiding apparatus 2 and therewith user A.

In another scenario during use of guiding apparatus 2 (figure 4), user A approaches obstacle O. Obstacle O is detected by obstacle detection module of central processor 44 which uses signals from camera and/or RADAR and/or LIDAR in sensor housing 20. Steering module of central processor 33 controls wheels 6A and 6B to change trajectory P by first temporarily increasing resistance of electric generator 42 causing wheel 30B to slow down compared to wheel 6A which results in guiding apparatus 2 to steer to the left. When the user is alongside object O, steering module adjust the resistance of electric generator 42 to its previous amount which stops the steering. When user A has passed object O, steering module temporarily increases resistance in electric generator 40 causing wheel 30A to slow down compared to wheel 6B which results in guiding apparatus to steer to the right until user A is back at his old trajectory. It is noted that, for a similar steering motion instead of increasing resistance in electric generator 42 steering module may also decrease resistance of electric generator 40 and vice versa. lt is further noted user A uses his right hand R to hold guiding apparatus 2. Which user A uses is stored in steering module to account for user A not being completely in line with guiding apparatus 2. E.g. would the user in the above scenario be left handed trajectory P would be adjusted in a wider trajectory around object O.

The present invention is by no means limited to the above described preferred embodiments thereof. It will be clear that one or more features from an embodiment according to the invention may be combined with one or more features from one or more other embodiments according to the invention. It will further be clear that terms like “received”, “retrieved”, “send” or any other term which suggest any form of direction of communication are used as being non limited and should merely be interpreted to communication being present or possible. E.g. received may be interpreted as meaning retrieved and vice versa. The rights sought are defined by the following claims within the scope of which many modifications can be envisaged.

CLAUSES

1. Guiding apparatus for guiding a visual impaired user, wherein the apparatus comprises: - abody; - One Of more Sensors; - astem having a first end connected to the body and extending from the body to a second end which is connected to a handle configured to be held by the user; - one or more wheels that are rotatable connected with the body and configured to roll the apparatus over a surface; wherein the body includes: - a steering module operatively connected to the one or more wheels; - an obstacle detection module electronically connected to the one or more sensors and configured to detect obstacles in an area around the apparatus using measurement signals from the one and more sensors; and, - a battery configured to deliver power to the guiding apparatus; wherein the obstacle detection module is further configured to communicate obstacle detection data to the steering module upon detection of obstacles, and wherein the steering module is configured to change a trajectory of the guiding apparatus by controlling at least one of the one or more wheels based on the obstacle detection data; and, wherein at least one of the one or more wheels is operably connected to at least one electric generator configured to generate electricity upon rotation of the at least one of the one or more wheels and wherein the at least one electric generator is connected to the battery and further configured to store generated electricity in the battery.

2. Guiding apparatus according to clause 1, wherein the housing further comprises: - a guidance module, - a user input module configured to receive input from a user, and - a positioning module configured to establish a local and/or global position of the guiding apparatus, wherein the guidance module is electronically connected to the user input module and the positioning module and wherein the guidance module is contigured to: - receive a destination position from the user using the user input module; - receive a current position using the positioning module; and, - calculate direction information based on the destination position and current position;

wherein the guidance module and steering module are further configured to exchange direction information and wherein the steering module is configured to control the one or more wheels based on the direction information.

3. Guiding apparatus according to clause 2, wherein the guidance module is configured to only instruct the steering module to control the one or more wheels when the current position deviates from the direction information above a routing threshold.

4. Guiding apparatus according to any of the foregoing clauses, wherein the one or more wheels comprise at least two wheels and wherein the at least one generator comprises at least two electric generators, each of which is associated with one of the at least two wheels, and wherein the electric generators are configured to control the wheels by at least temporarily adapting the resistance in at least one of the two corresponding electric generators.

5. Guiding apparatus according to any of the foregoing clauses, wherein the stem comprises a length adjustment system for adjusting a length of the stem between the handle and the body, wherein the length of the stem is preferably adjustable such that, during use of the apparatus and/or when held by a user in a using position, an angle between an upright position of the user and the stem is between 30 degrees and 60 degrees, more preferably between 40 degrees and 50 degrees and most preferably around 45 degrees.

6. Guiding apparatus according to any of the foregoing clauses, wherein the stem is pivotably connected with the body and/or the stem is pivotably connected with the handle, and wherein the guiding apparatus preferably comprises one or more pivot limiters to limit a pivoting movement between the stem and the body and/or to limit a pivoting movement between the stem and the handle.

7. Guiding apparatus according to any of the foregoing clauses, wherein the one or more sensors further comprise an edge detection sensor electronically connected to the obstacle detection module and wherein the edge detection sensor is configured to detect a gap and wherein the steering module is configured to control the wheels based on the detected gap.

8. Guiding apparatus according to any of the foregoing clauses, wherein the one or more sensors further comprise a speed sensor electronically connected to one or more of: the obstacle detection module, the guidance module and/or the steering module, wherein the speed sensor is configured to measure a movement speed of the apparatus, wherein the steering module is configured to adapt a control intensity at least partly based on the movement speed.

9. Guiding apparatus according to clause 8, wherein the obstacle detection module is configured to determine a collision probability with a detected obstacle based on obstacle detection data and the movement speed, and wherein communicating the obstacle detection data to the steering module further comprises communicating the collision probability to the steering module, wherein the steering module is further configured to adapt the control intensity based on the collision probability.

10. Guiding apparatus according to clause 9, wherein the steering module is configured to only control one or more wheels if the determined collision probability is above a predetermined collision threshold.

11. Guiding apparatus according to clause 9 or 10, wherein the obstacle detection module is configured to: - determine whether a detected obstacle is moving by tracking a relative position of the obstacle over time, and - when it is determined that the detected obstacle is moving, in reaction, track a velocity and a moving direction of the detected obstacle and - determine the collision probability based on the velocity and moving direction of the detected obstacle and the trajectory and movement speed of the apparatus.

12. Guiding apparatus according to any of the foregoing clauses, wherein the one or more sensors further comprise a head space detection sensor electronically connected to the obstacle detection module, wherein the head space detection sensor is configured to detect obstacles in an area surrounding a head space of the user.

13. Electronic device, preferably a hand held device, comprising a processor, a memory storage, a wireless connection module, a user interface, and a user input module, wherein the electronic device is configured to be connectable to a guiding apparatus according to any of the previous clauses using the wireless connection module, wherein the user interface is configured to provide guiding apparatus information to the user and wherein the user input module is configured to enable the user to change one or more guiding apparatus settings of the guiding apparatus.

14. System comprising a guiding apparatus according to any of the clauses 1 - 12 and an electronic device according to clause 13.

15. Method for using a guiding apparatus, the method comprising: — obtaining a guiding apparatus according to any of the clauses 1 - 12; — holding the guiding apparatus by the handle; — optionally, providing a destination to the guiding apparatus; — pushing the guiding apparatus in a forwards direction; — adapting a walking trajectory to based on the guiding apparatus automatically adapting its trajectory.

16. Use of a guiding apparatus according to any of the clauses 1 — 12, or a system according to clause 14.

Claims

CONCLUSIONS

1. Guidance device for guiding a visually impaired user, the guiding device comprising: — a housing: — one or more sensors; a stem having a first end connected to the housing and extending from the housing to a second end connected to a handle adapted to be held by the user; — one or more wheels rotatably connected to the housing and adapted to roll the guiding device over a surface; the housing comprising: — a control module operatively connected to the one or more wheels; - an obstacle detection module electronically connected to the one or more sensors and adapted to detect obstacles in an area around the guidance device using measurement signals from the one or more sensors; and - a battery adapted to provide power to the guiding device; wherein the obstacle detection module is further adapted to communicate obstacle detection data to the control module upon detecting obstacles, and wherein the control module is adapted to change a trajectory of the guidance device by controlling at least one of the one or more wheels based on the obstacle detection data; and, wherein at least one of the one or more wheels is operatively connected to at least one electrical generator configured to generate electricity upon rotation of the at least one of the one or more wheels and wherein the at least one electrical generator is connected to the battery and is further arranged for storing the generated electricity in the battery.

Guidance device according to claim 1, wherein the housing further comprises: - a guidance module; - a user input module adapted to receive input from a user, and - a positioning module adapted to determine a local and/or global position of the guidance device, the guidance module being electronically connected to the user input module and the positioning module and wherein the guidance module is adapted for:

- receiving a destination position from the user via the user input module - receiving a current position via the positioning module; and, — calculating direction information based on the destination position and the current position; wherein the guidance module and the control module are further adapted to exchange direction information and wherein the control module is adapted to control the one or more wheels based on the direction information.

The guidance device of claim 2, wherein the guidance module is configured to instruct the steering module to drive the one or more wheels only when a deviation between the current position and the direction information is greater than a route threshold value.

A guiding device according to any one of the preceding claims, wherein the one or more wheels consists of at least two wheels and wherein the at least one electrical generator comprises at least two electrical generators, each of the two electrical generators being connected to at least one of the at least two wheels, and wherein the electric generators are arranged for driving the wheels by at least temporarily adjusting a resistance in at least one of the two corresponding electric generators.

A guiding device according to any one of the preceding claims, wherein the stem comprises a length adjustment system for adjusting the length of the stem between the handle and the housing, wherein the length of the stem is preferably adjustable such that, during use of the guiding device and/or when held in a user position, an angle between an upright position of the user and the stem is between 30 degrees and 60 degrees, preferably between 40 and 50 degrees and most preferably around the 45 degrees.

A guide device according to any one of the preceding claims, wherein the stem is pivotally connected to the housing and/or the stem is pivotally connected to the handle, and wherein the guide device preferably comprises one or more angle limiters for limiting pivotal movement between the stem and the housing and/or for limiting pivotal movement between the stem and the handle.

A guidance device according to any one of the preceding claims, wherein the one or more sensors further comprises an edge detector sensor electronically connected to the obstacle detection module and wherein the edge detector sensor is adapted to detect a hole and wherein the control module is arranged to control the wheels based on the detection of the hole.

A guidance device according to any one of the preceding claims, wherein the one or more sensors further comprise a speed sensor electronically connected to one or more of: the obstacle detection module, the guidance module, and/or the control module, the speed sensor being adapted to measure of a movement speed of the guiding device, wherein the control module is adapted to adjust a steering intensity based at least in part on the movement speed.

The guiding apparatus of claim 8, wherein the obstacle detection module is configured to determine a collision probability with a detected obstacle based on the obstacle detection data and the moving speed, and wherein communicating the obstacle detection data to the control module further comprises communicating the collision probability to the control module, wherein the control module is further configured to adjust the control intensity based on the collision probability.

The guiding device of claim 9, wherein the control module is arranged to drive the one or more wheels only when the determined collision probability is above a predetermined collision threshold value.

Guidance device according to claim 9 or 10, wherein the obstacle detection module is arranged for: - determining whether a detected obstacle is moving by keeping track of a relative position of the obstacle in time, and - when it is determined that the detected obstacle moves, in response, keeping a speed and a direction of movement of the detected obstacle, and — determining the collision probability based on the speed and direction of movement of the detected obstacle and the trajectory and moving speed of the guidance device.

A guidance device according to any preceding claim, wherein the one or more sensors further comprise a main room detection sensor electronically connected to the obstacle detection module, the main room detection sensor being adapted to detect obstacles in a room around the user's main room.

An electronic device, preferably a mobile device, comprising a processing unit, a memory and a wireless communication module, a user interface and a user input module, the electronic device being adapted to be connected with the communication module to a guiding device according to one of the above. preceding claims, wherein the user interface is configured to provide guidance device information to the user and wherein the user input module is configured to allow the user to change one or more guidance device settings of the guidance device.

A system comprising the guiding device according to any one of claims 1~12 and an electronic device according to claim 13.

A method of using a guiding device, the method comprising: - providing a guiding device according to any one of claims 1-12; — holding the guiding device by the handle; — optionally, providing a destination to the guidance device; — pushing the guiding device in a forward motion; and - adjusting a walking trajectory based on the guiding device that automatically adjusts its trajectory.

Use of a guiding device according to any one of claims 1 to 12, or a system according to claim 14.