CA2898387A1 - Hand-held portable navigation system for visually impaired persons - Google Patents

Hand-held portable navigation system for visually impaired persons Download PDF

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Publication number
CA2898387A1
CA2898387A1 CA2898387A CA2898387A CA2898387A1 CA 2898387 A1 CA2898387 A1 CA 2898387A1 CA 2898387 A CA2898387 A CA 2898387A CA 2898387 A CA2898387 A CA 2898387A CA 2898387 A1 CA2898387 A1 CA 2898387A1
Authority
CA
Canada
Prior art keywords
navigation system
toggle
omnidirectional
obstacles
cues
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
CA2898387A
Other languages
French (fr)
Inventor
Alexander M. Deans
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to CA2898387A priority Critical patent/CA2898387A1/en
Publication of CA2898387A1 publication Critical patent/CA2898387A1/en
Abandoned legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/06—Walking aids for blind persons
    • A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B21/00—Teaching, or communicating with, the blind, deaf or mute
    • G09B21/001—Teaching or communicating with blind persons
    • G09B21/007—Teaching or communicating with blind persons using both tactile and audible presentation of the information
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS 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
    • A61F9/00—Methods 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
    • A61F9/08—Devices or methods enabling eye-patients to replace direct visual perception by another kind of perception
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/06—Walking aids for blind persons
    • A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
    • A61H2003/063—Walking aids for blind persons with electronic detecting or guiding means with tactile perception
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0119—Support for the device
    • A61H2201/0153—Support for the device hand-held
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • A61H2201/0184—Means for preventing injuries by raising an alarm
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1628—Pelvis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A61H2201/501—Control means thereof computer controlled connected to external computer devices or networks
    • A61H2201/5012—Control means thereof computer controlled connected to external computer devices or networks using the internet
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5048—Audio interfaces, e.g. voice or music controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5064—Position sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5079—Velocity sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5092—Optical sensor

Abstract

A hand-held multimodal mobility device for the visually impaired was created to incorporate tactile and audible feedback. Proximity sensors measured distances to obstacles while indoors, and a GPS/compass system determined trajectory and magnitude to the destination while outdoors. A hand-held tactile device rotated to indicate the direction, and tilted to show distance. Audible feedback alerted users to immediate obstacles within a predetermined range.

Description

This invention relates to a hand-held mobility aid for the visually impaired.
Currently, visually impaired persons rely on white guide canes or guide dogs for navigation. However, it is necessary to know the destination in order to provide efficient and safe navigation, and these methods are not capable of doing so. They provide short term obstacle detection, and do not find efficient routes to the destination. Guide dogs are also very expensive, costing upwards of $40,000. Other prototypes include head-mounted cameras that are connected to Simultaneous Localization and Mapping (SLAM) software. This triggers vibrations on a vest to direct users through environments. However, this system does not provide accurate navigation, but only indicates "left" or "right" orientation. Headsets are also being used to provide audible tones in increasing frequencies that alert users to obstacles. However, it is very hard to distinguish different frequencies for a non-musically trained user, and this results in unsafe and inefficient navigation.
These disadvantages were overcome by providing precise tactile feedback using an omni-directional toggle system. The toggle system can rotate accurately to direct the user to a destination. Tactile sensory feedback to the hands is more sensitive than elsewhere in the body.
Unlike cumbersome head-mounted gear, the system is small, mobile, and hand-held. The system can show distance to the destination through tilting of the toggle system.
This is an improvement over systems that only show orientation to the destination. Wide field horizontal scanning of the immediate environment using proximity sensors is then used to provide additional input over shorter distances. The wide field scanning mimics the broad visual field of a normal-sighted person. Users are alerted to immediate obstacles through an audible beep that occurs at a constant frequency, so users are not required to interpret different frequencies In the drawings which illustrate components of the invention, Figure 1 is a depiction of the proximity sensors, Figure 2 shows the schematic, and Figure 3 shows the tilting and horizontal rotational components of the toggle system.
In Figure 1, the illustrated invention scans a wide range using proximity sensors (2a and 2b). They are attached to a belt-like strap (4) using appropriate measures, like screws (3). The strap can be attached to the user's belt using Velcro-like straps (la and lb).
The wires (6) connecting the proximity sensors to the microcontroller are contained in a rubber-like covering (5), indicated in the cross-sectional area depicted. The proximity sensors are used to determine the longest unobstructed path.
This data is fed to the microcontroller shown in Figure 2. A buzzer is attached to the system to alert users to immediate obstacles within a customizable range.
Outdoors, a GPS
module determines the location of the destination, and a compass module determines the bearing to the destination. The microcontroller uses the information to move the toggle system (Figure 3). The toggle system can be powered by a 9V battery.
Depicted in Figure 3, the toggle system rotates to indicate the longest unobstructed path.
It is comprised of two pan/tilt brackets on a hand-held device. One bracket rotates horizontally to indicate direction (2), while the other rotates vertically to indicate distance (3). Miniature servos are used to facilitate rotation (1 and 8), but other motors may also be used.
The brackets are attached to the servos using appropriate measures, such as screws (4 and 5), with washers in between the brackets (6). The servo motor used to power the vertical-moving bracket is held in place by an L-bracket (7). A joystick is attached to the top of the vertical-moving bracket using screws for user comfort (9). The power, ground, and signal wires from the two servos (10) are contained in a rubber-like sheath (11), and are connected to the microcontroller.

Claims (11)

I claim:
1. A handheld portable navigation system for visually impaired pedestrians, comprising:
a GPS receiver and dead reckoning unit;
a handheld omnidirectional toggle feedback system;
a storage system for storing information related to spatial coordinates including maps and user defined routes;
power means for powering said navigation system;
an audio feedback system for alerting users to immediate obstacles;
a voice-command based input system, utilizing a cellular platform and communicating with said navigation system via Bluetooth;
a wide field proximity sensor system for determining immediate obstacles and open space a handheld computing platform operatively associated with said GPS receiver, said omnidirectional toggle system, said proximity sensor system, and said storage system for calculating a precise user position, speed and direction on a street segment and for guiding the user on a predefined route, said handheld computing platform being further operatively connected to said omnidirectional toggle feedback system and input and output means to enter information into said system and to receive information from said system.
2. A navigation system according to claim 1, wherein said dead reckoning unit comprises: an accelerometer that is used to measure a distance travelled by the pedestrian and a gyroscope that is used to measure a change in direction by the pedestrian.
3. A navigation system according to claim 1, wherein said omnidirectional toggle system cues incorporate information including:
a. tactile feedback indicating the direction to destination b. tactile feedback indicating the distance to destination
4. A navigation system according to claim 1, wherein said system is adapted to import said information from a central location.
5. A navigation system according to claim 1, wherein said GPS receiver and said omnidirectional toggle system and said output means are in communication with said handheld computing platform.
6. A navigation system according to claim 1, wherein said output means include audible output means for providing audible cues in relation to obstacles to said pedestrian.
7. A navigation system according to claim 1, wherein the system can be used in one of the three following modes:
a) Indoor mode in which GPS cues are overridden.

b) Outdoor mode in which GPS cues determine intended pathway c) Outdoor obstacle mode in which near and immediate obstacles are determined and avoided until normal outdoor mode is re-established.
8. A navigation system according to claim 1, wherein the user can input destinations and operate the device through voice commands.
9. A navigation system according to claim 1, wherein the said handheld computing platform can exchange information with a cellular device through means of Bluetooth or other communication.
10. A navigation system according to claim 1, wherein obstacle detection with proximity sensors over a wide horizontal field is used to determine an unobstructed pathway
11. A navigation system according to claim 1, wherein the proximity sensors can employ ultrasonic or laser scanning capabilities.
CA2898387A 2015-07-27 2015-07-27 Hand-held portable navigation system for visually impaired persons Abandoned CA2898387A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CA2898387A CA2898387A1 (en) 2015-07-27 2015-07-27 Hand-held portable navigation system for visually impaired persons

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CA2898387A CA2898387A1 (en) 2015-07-27 2015-07-27 Hand-held portable navigation system for visually impaired persons

Publications (1)

Publication Number Publication Date
CA2898387A1 true CA2898387A1 (en) 2017-01-27

Family

ID=57881851

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2898387A Abandoned CA2898387A1 (en) 2015-07-27 2015-07-27 Hand-held portable navigation system for visually impaired persons

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Country Link
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112669679A (en) * 2020-11-26 2021-04-16 厦门理工学院 Visual impairment person social contact device and method and mobile terminal
US11181381B2 (en) 2018-10-17 2021-11-23 International Business Machines Corporation Portable pedestrian navigation system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11181381B2 (en) 2018-10-17 2021-11-23 International Business Machines Corporation Portable pedestrian navigation system
CN112669679A (en) * 2020-11-26 2021-04-16 厦门理工学院 Visual impairment person social contact device and method and mobile terminal
CN112669679B (en) * 2020-11-26 2023-08-15 厦门理工学院 Social contact device and method for visually impaired people and mobile terminal

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Legal Events

Date Code Title Description
FZDE Discontinued

Effective date: 20181211