CN104367447A - Auxiliary walking system and method - Google Patents
Auxiliary walking system and method Download PDFInfo
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- CN104367447A CN104367447A CN201410621055.4A CN201410621055A CN104367447A CN 104367447 A CN104367447 A CN 104367447A CN 201410621055 A CN201410621055 A CN 201410621055A CN 104367447 A CN104367447 A CN 104367447A
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Abstract
The invention discloses an auxiliary walking system and method. The auxiliary walking system comprises a road surface detection module, an ultrasonic detection module, a GPS module, a man-machine interaction module, a communication module, a control module, a multifunction module and a power module, wherein the road surface detection module is used for collecting information of a road surface, the ultrasonic detection module is used for transmitting ultrasonic waves to the road surface to detect a barrier on the road surface and the distance to the barrier, a user can carry out navigation and positioning on a target address through the GPS module, the user can input a target instruction through the man-machine interaction module, and the communication module is used for achieving communication with a terminal. Because the road surface detection module is arranged, the user can know real-time road conditions, the ultrasonic detection position can be regulated according to the real-time road conditions, and the detection accuracy is improved; because the GPS module is arranged, navigation can be carried out on the target address of the user, the traveling track of the user can be positioned, the position of the user can be known in real time, and the safety of the user can be easily guaranteed; because the multifunction module is arranged, the user can enjoy entertainment when using the auxiliary walking system.
Description
Technical field
The present invention relates to the system and method for a kind of assisting blind, disabled, old man's walking.
Background technology
Along with the progress of society, ensure and improve the quality of life of disadvantaged group, more and more receive the concern of personages of various circles of society.Disadvantaged group include blind person, disabled and old man etc., and blind person is due to the defect of its vision, and causing going on a journey is subject to very large obstruction, and need by the trip of guide product, disabled and old man are also so same.Chinese patent literature CN 202105150U discloses a kind of Intelligent crutch for blind seeking, shown in Fig. 1, this crutch comprises crutch itself 100 by 103 forming bottom crutch tip 101, crutch post 102 and crutch, also comprise the micro detector 200 be arranged on crutch tip 101, be made up of switch 201, power supply 202, wireless transmitter, wireless receiver 203, ultrasound detection circuit and warning circuit; Power supply 202 is electrically connected with switch 201, switch 201 is electrically connected with wireless transmitter, wireless transmitter, wireless receiver 203 and warning circuit are electrically connected with ultrasound detection circuit respectively by wire, wireless receiver 203 is arranged on the tail position of crutch tip 101, wireless transmitter is arranged on crutch post 102, speaker 300 is arranged on the junction of crutch tip 101 and crutch post 102, and switch 201 is arranged on crutch tip 101 and bends junction with crutch post 102.The Effect on Detecting of this Intelligent crutch is fairly simple, fundamentally can not solve the trip problem of blind person.As can be seen here, necessaryly prior art to be improved, to solve above-mentioned technical problem.
Summary of the invention
One object of the present invention is to provide a kind of walking aid system and method, fundamentally can solve the problem of blind person, disabled, old man's walking disorder.
For reaching this object, the present invention by the following technical solutions:
On the one hand, a kind of walking aid system is provided, comprises:
Road surface detecting module, for gathering information of road surface;
Ultrasonic listening module, launches ultrasound wave to detect road obstacle and distance thereof to road surface;
Adjustor, for installing described ultrasonic listening module, and carries out according to real-time information of road surface the position adjusting described ultrasonic listening module, to adjust the ultrasonic emitting angle of described ultrasonic listening module in real time;
GPS module, carries out Navigation and localization for user to destination address;
Human-computer interaction module, for user input instruction;
Communication module, in order to realize the communication connection with terminal;
Control module, multifunction module and power module;
Described instruction comprises the first instruction and the second instruction;
Described control module and described road surface detecting module are bi-directionally connected, the duty of described road surface detecting module is controlled by described control module, and receiving the information of road surface of described road surface detecting module collection, described control module connects described communication module, realizes information of road surface to be sent to terminal;
Described control module is connected with described adjustor, described control module and described ultrasonic listening module are bi-directionally connected, described ultrasonic listening module in order to control adjusted position postpone launches ultrasound wave to detect road obstacle and distance thereof to road surface, and gather the obstacle information detected, described control module connects described communication module, realizes obstacle information to be sent to terminal;
Described control module is connected with described human-computer interaction module, the first instruction is sent to described control module by described human-computer interaction module, described control module and described GPS module are bi-directionally connected, Navigation and localization is carried out in order to the first instruction according to described human-computer interaction module, and gather Navigation and localization result, described control module connects described communication module, realizes Navigation and localization result to be sent to terminal;
Wherein, described multifunction module comprises:
Taking module, takes pictures for carrying out and/or makes a video recording;
FM receiver module, for receiving FM/AM radio wave;
NA night alarm lighting module, for throwing light on when dim light, and warning is to make pedestrian dodge;
Direction discernment module, comprises compass, is used to indicate direction;
Identification module, for being identified and certification the identity of user;
Pay module by mails, in order to on-line payment;
Described taking module, FM receiver module, NA night alarm lighting module, identification module, E-Payment module are all connected with described control module, the second instruction extremely described control module that user is inputted by described human-computer interaction module, realizes the on off control to described taking module, FM receiver module, NA night alarm lighting module, identification module, E-Payment module by described control module;
Described E-Payment module is connected with described identification module, for carrying out identification before the described E-Payment module of startup;
Described power module is connected with described control module, and for described walking aid system is powered, described power module is rechargable power supplies.
As a kind of preferred version of described walking aid system, described walking aid system comprises body, described body arranges grip part away from the one end on road surface, described body arranges tourelle near the one end on road surface, and described road surface detecting module comprises and is arranged at light sensor on described tourelle or uninterrupted image pick-up device.
As a kind of preferred version of described walking aid system, described ultrasonic listening module comprises ultrasonic transmitter, described ultrasonic transmitter is arranged on described adjustor and is fixed on described body, the relative position described in described adjustor scalable between ultrasonic transmitter and described body.
As a kind of preferred version of described walking aid system, described GPS module comprises navigation module and mapping module, described navigation module is used for navigating according to instruction, described mapping module is used for positioning user's travel path, and described navigation module and described mapping module are arranged in described body.
As a kind of preferred version of described walking aid system, described human-computer interaction module comprises keypad portion and/or touch screen, can realize online input and/or the remote input of described instruction.
As a kind of preferred version of described walking aid system, described control module is arranged at described body interior, comprises single-chip microcomputer and/or CPU.
As a kind of preferred version of described walking aid system, described communication module is arranged in described body, comprises bluetooth module, WIFI module, gsm module, CDMA module, 3G module or 4G module.
As a kind of preferred version of described walking aid system, described identification module is arranged on described human-computer interaction module, comprises Fingerprint Identification Unit or voice recognition unit.
As a kind of preferred version of described walking aid system, described body adopts light transmissive material to make, described NA night alarm lighting module comprise be arranged at described intrinsic can be intermittent luminous light source, buzzer and the brightness sensor arranged on described body, described brightness sensor is connected with described control module, described control module is connected with described light source and described buzzer, when described brightness sensor detects external environment condition brightness lower than established standards, it is intermittent luminous that described control module controls described light source, and make described buzzer produce buzzing with warning, or,
Described body adopts light transmissive material to make, described NA night alarm lighting module comprise be arranged at described intrinsic can be intermittent luminous light source, buzzer and the clock module that arranges on described body, described clock module is connected with described control module, described control module is connected with described light source and buzzer, when described clock module displaying time exceedes setting-up time at that time, it is intermittent luminous that described control module controls described light source, and make described buzzer produce buzzing with warning.
On the other hand, a kind of walking householder method is provided, uses described walking aid system,
Detected by road pavement information, gather this information of road surface and analyze, by analysis result communications to terminal; Adjust ultrasonic emitting angle in real time according to analysis result, then launch ultrasonic listening barrier to road surface, and obtain obstacle information, by obstacle information communications to terminal according to the distance that result of detection carries out dyscalculia thing;
Input the first instruction by human-computer interaction module, GPS module carries out Navigation and localization according to this destination address instruction, by Navigation and localization result communications to terminal;
Input the second instruction by human-computer interaction module, control module selectively starts shoot function, FM receiver function, identity recognition function, electronic payment function according to this function command, wherein, needs to carry out identification before startup electronic payment function;
Direction indication is carried out when Power supply is not enough by direction discernment module.
Compared with prior art, beneficial effect of the present invention: this programme is by arranging road surface detecting module, user can be made to grasp real-time road conditions on the one hand, also can carry out according to real-time road conditions the position adjusting ultrasonic listening module on the other hand, improve the accuracy of detection; By arranging GPS module, can realize navigating to ownership goal address on the one hand, also can position the travel path of user on the other hand, expand the scope of application, the position of user can be understood in real time, contribute to the safety guaranteeing user's (special population); By arranging multifunction module, operablely enjoy entertainment selection, the use improving product is interesting simultaneously.
Accompanying drawing explanation
According to drawings and embodiments the present invention is described in further detail below.
Fig. 1 is the structural representation of a kind of Intelligent crutch of prior art;
Fig. 2 is the structure principle chart of the walking aid system described in embodiments of the invention;
Fig. 3 is the control method flow chart of road surface of the present invention detecting module;
Fig. 4 is the control method flow chart of ultrasonic listening module of the present invention;
Fig. 5 is the structure principle chart of the walking aid system described in another embodiment of the present invention.
In figure:
100, crutch itself; 101, crutch tip; 102, crutch post; 103, bottom crutch; 200, micro detector; 201, switch; 202, power supply; 203, wireless receiver; 300, speaker;
Detailed description of the invention
Technical scheme of the present invention is further illustrated by detailed description of the invention below in conjunction with accompanying drawing.
As shown in Figure 2, embodiments of the invention provide a kind of walking aid system, this system comprises: control module, and the road surface detecting module to be connected with control module, ultrasonic listening module, GPS module, human-computer interaction module and multifunction module, wherein, road surface detecting module is used for road pavement and carries out detecting and identifying, ultrasonic listening module is used for the barrier in detection traveling process, GPS module is used for the navigation of user instruction and the accurate location of self, human-computer interaction module is used for for user input instruction, multifunction module is used for providing user other amusement functions.
Shown in Figure 2, control module and road surface detecting module are bi-directionally connected, and are controlled the start and stop of road surface detecting module by control module, and after road surface detecting module starts, the information of road surface collected feeds back to control module again and processes.Concrete control method please refer to shown in Fig. 3, comprises the steps:
S101, startup: user can input enabled instruction by human-computer interaction interface, such as, by started by press key, or user can pass through phonetic entry enabled instruction;
S102, control module receive enabled instruction, work order is sent: enabled instruction can be transferred to control module by mode that is wireless or wire communication to road surface detecting module, after control module receives this enabled instruction, instruction can be sent to control its work by mode that is wired or radio communication to road surface detecting module;
S103, road surface detecting module receive work order, start road pavement information, and by the road surface real-time information transmission collected to control module: road surface detecting module can obtain road surface data by the mode scanning road surface;
After S104, control module receive information of road surface, compare with the information of road surface in data base, obtain road conditions result: in data base, store common information of road surface in advance, after control module receives and collects real-time information of road surface, can compare with the information of road surface in data base, obtain corresponding road conditions result, such as, road conditions result can be level land, clivia, great Po, puddle etc.;
S105, control module, according to road conditions result, carry out dangerous grade classification, and determine whether report to the police: when control module detects that road conditions result needs to report to the police, carry out step S106; When control module detecting road conditions result without the need to reporting to the police, turning back to step S103 and continuing Resurvey information of road surface;
S106, to give the alarm to user, to remind road conditions result: control module can send alarm by mode that is wireless or wire communication to user, such as, directly buzzing can be produced by buzzer, also alarm can be sent by bluetooth earphone directly to user;
S107, user receive and remind road conditions results, eliminate alarm: after user receives alarm, after eliminating alarm, turn back to step S103 and continue Resurvey information of road surface by the mode of button or voice.
Shown in Figure 2, control module and ultrasonic listening module are bi-directionally connected, and ultrasonic listening module is also connected with adjustor, and adjustor is connected with control module.Concrete control method please refer to shown in Fig. 4, comprises the steps:
S201, startup: user can input enabled instruction by human-computer interaction interface, such as, by started by press key, or user can pass through phonetic entry enabled instruction;
S202, control module judge whether information of road surface changes: after control module receives enabled instruction, the real-time information of road surface that can collect according to road surface detecting module judges, whether current information of road surface creates change, if information of road surface creates change, then enter step S203, if information of road surface does not change, then enter step S205; Analyzed by road pavement information before ultrasonic listening, help avoid because information of road surface affects the problem of result of detection accuracy;
S203, control module send adjustment instruction according to information of road surface to adjustor: control module compares according to the real-time information of road surface gathered and original information of road surface, obtains variable quantity information, send adjustment instruction to adjustor;
The position of S204, adjustor adjustment ultrasonic listening module: adjustor is made adjustment according to instruction, due to adjustor and ultrasonic listening model calling, by the position of adjustor adjustment ultrasonic listening module, reach the ultrasonic emitting angle of adjustment and current road information match further;
S205, control module control ultrasonic listening module and detect to road surface transmitting ultrasound wave;
After S206, result of detection carry out analyzing and processing, send to user: control module receives the result of detection that ultrasonic listening module sends, and carries out analyzing and processing to result of that probe, obtain obstacle information, such as, the distance, shape etc. of barrier, and this obstacle information is sent to user.
Shown in Figure 2, control module and GPS module are bi-directionally connected, and control module controls the start and stop of GPS module, and what the information of GPS module collection was real-time feeds back to control module, thus reach and send real-time positional information to user.Scheme more specifically, GPS module comprises navigation module and mapping module, and described navigation module is used for navigating according to instruction, and described mapping module is used for positioning user's travel path.User directly inputs destination address by human-computer interaction interface, also remote input destination address can be realized by electronic equipment, control module starts navigation module according to the destination address of input and navigates, and navigation results is transferred to user by mode that is wired or radio communication.When user opens GPS module, namely its mapping module starts working, and for carrying out record to the travel path of user, and by mode that is wired or radio communication, the result of record is transferred to terminal use.By described design, user can be provided to carry out the function of navigating on the one hand, real-time location can also be carried out to the position of user on the other hand, improve the safety in utilization of special population.
Described multifunction module of the present invention comprises: taking module, FM receiver module, NA night alarm lighting module, direction discernment module, identification module, E-Payment module.Wherein, taking module is used for carrying out taking pictures and/or making a video recording; FM receiver module is for receiving FM/AM radio wave; NA night alarm lighting module is used for throwing light on when dim light, and warning is to make pedestrian dodge; Direction discernment module, comprises compass, is used to indicate direction; Identification module is used for being identified and certification the identity of user; Pay module by mails in order to on-line payment.Described taking module, FM receiver module, NA night alarm lighting module, identification module, E-Payment module are all connected with described control module, user to described control module, realizes on off control to described taking module, FM receiver module, NA night alarm lighting module, identification module, E-Payment module by control module by human-computer interaction module input instruction.Especially, described E-Payment module is connected with described identification module, for carrying out identification before the described E-Payment module of startup, improves the safety of on-line payment.
Fig. 5 shows the structure principle chart of the walking aid system of an alternative embodiment of the invention.In an alternative embodiment of the invention, walking aid system comprises: the first control module and the second control module, first control module is connected with road surface detecting module, ultrasonic listening module, GPS module, human-computer interaction module, and the second control module is connected with multifunction module.
Control module of the present invention can be single-chip microcomputer or CPU etc.Control module communicates with between road surface detecting module, ultrasonic listening module, GPS module, human-computer interaction module, multifunction module and terminal use and adopts communication module, and described communication module can be bluetooth module, WIFI module, gsm module, CDMA module, 3G module or 4G module.
Walking aid system of the present invention comprises a body, and road surface detecting module, ultrasonic listening module, GPS module, human-computer interaction module, multifunction module are arranged on described body in modularity respectively.By modularized design, can not influence each other between modules, can so that respective dismounting be safeguarded.
Body is the tubular structure of hollow, and body arranges grip part away from the one end on road surface, and body arranges tourelle near the one end on road surface, and road surface detecting module comprises and is arranged at light sensor on described tourelle or uninterrupted image pick-up device.Described ultrasonic listening module comprises ultrasonic transmitter, and described ultrasonic transmitter is arranged at the top described adjustor being fixed on described body, the relative position described in described adjustor scalable between ultrasonic transmitter and described body.Described GPS module comprises navigation module and mapping module, and described navigation module is used for navigating according to instruction, and described mapping module is used for positioning user's travel path, and described navigation module and described mapping module are arranged at middle part in described body.Described human-computer interaction module comprises keypad portion and/or touch screen, can realize online input and/or the remote input of instruction.Described control module is arranged at described body interior, comprises single-chip microcomputer and/or CPU, and human-computer interaction module and control module are all arranged in the top of body.Wherein, identification module is arranged on described human-computer interaction module, comprises Fingerprint Identification Unit or voice recognition unit.
In one embodiment of the present of invention, body adopts light transmissive material to make, NA night alarm lighting module comprises and is arranged at intrinsic light source, buzzer and the brightness sensor that arranges on body that can be intermittent luminous, brightness sensor is connected with control module, control module is connected with light source and buzzer, when brightness sensor detects external environment condition brightness lower than established standards, it is intermittent luminous that control module controls light source, and make buzzer produce buzzing with warning.
In an alternative embodiment of the invention, body adopts light transmissive material to make, NA night alarm lighting module comprises and is arranged at intrinsic light source, buzzer and the clock module that arranges on body that can be intermittent luminous, clock module is connected with control module, control module is connected with light source and buzzer, when clock module displaying time exceedes setting-up time, it is intermittent luminous that control module controls light source, and make buzzer produce buzzing with warning.
In yet another embodiment of the present invention, the grip part of body adopts the comfortable feel such as silica gel, thermoplastic elastomer (TPE), material that is wear-resisting, ageing-resistant, waterproof is made.
Walking aid system of the present invention also comprises supply module, and this supply module is chargeable supply module, such as, and chargeable accumulator etc.Body is provided with charging inlet, for charging to supply module.In other embodiments of the invention, described body is also provided with data-interface, so that carry out regular update to the information of data base, to ensure its accuracy.
In description of the invention, it is to be appreciated that term " first ", " second ", only for being distinguished in description, not special implication.
It is to be understood that; above-mentioned detailed description of the invention is only preferred embodiment of the present invention and institute's application technology principle; in technical scope disclosed in this invention, the change that any those skilled in the art of being familiar with easily expect or replacement, all should be encompassed in protection scope of the present invention.
Claims (10)
1. a walking aid system, is characterized in that, comprising:
Road surface detecting module, for gathering information of road surface;
Ultrasonic listening module, launches ultrasound wave to detect road obstacle and distance thereof to road surface;
Adjustor, for installing described ultrasonic listening module, and carries out according to real-time information of road surface the position adjusting described ultrasonic listening module, to adjust the ultrasonic emitting angle of described ultrasonic listening module in real time;
GPS module, carries out Navigation and localization for user to destination address;
Human-computer interaction module, for user input instruction;
Communication module, in order to realize the communication connection with terminal;
Control module, multifunction module and power module;
Described instruction comprises the first instruction and the second instruction;
Described control module and described road surface detecting module are bi-directionally connected, the duty of described road surface detecting module is controlled by described control module, and receiving the information of road surface of described road surface detecting module collection, described control module connects described communication module, realizes information of road surface to be sent to terminal;
Described control module is connected with described adjustor, described control module and described ultrasonic listening module are bi-directionally connected, described ultrasonic listening module in order to control adjusted position postpone launches ultrasound wave to detect road obstacle and distance thereof to road surface, and gather the obstacle information detected, described control module connects described communication module, realizes obstacle information to be sent to terminal;
Described control module is connected with described human-computer interaction module, the first instruction is sent to described control module by described human-computer interaction module, described control module and described GPS module are bi-directionally connected, Navigation and localization is carried out in order to the first instruction according to described human-computer interaction module, and gather Navigation and localization result, described control module connects described communication module, realizes Navigation and localization result to be sent to terminal;
Wherein, described multifunction module comprises:
Taking module, takes pictures for carrying out and/or makes a video recording;
FM receiver module, for receiving FM/AM radio wave;
NA night alarm lighting module, for throwing light on when dim light, and warning is to make pedestrian dodge;
Direction discernment module, comprises compass, is used to indicate direction;
Identification module, for being identified and certification the identity of user;
Pay module by mails, in order to on-line payment;
Described taking module, FM receiver module, NA night alarm lighting module, identification module, E-Payment module are all connected with described control module, the second instruction extremely described control module that user is inputted by described human-computer interaction module, realizes the on off control to described taking module, FM receiver module, NA night alarm lighting module, identification module, E-Payment module by described control module;
Described E-Payment module is connected with described identification module, for carrying out identification before the described E-Payment module of startup;
Described power module is connected with described control module, and for described walking aid system is powered, described power module is rechargable power supplies.
2. one walking aid system according to claim 1, it is characterized in that, described walking aid system comprises body, described body arranges grip part away from the one end on road surface, described body arranges tourelle near the one end on road surface, and described road surface detecting module comprises and is arranged at light sensor on described tourelle or uninterrupted image pick-up device.
3. one walking aid system according to claim 2, it is characterized in that, described ultrasonic listening module comprises ultrasonic transmitter, described ultrasonic transmitter is arranged on described adjustor and is fixed on described body, the relative position described in described adjustor scalable between ultrasonic transmitter and described body.
4. one walking aid system according to claim 2, it is characterized in that, described GPS module comprises navigation module and mapping module, described navigation module is used for navigating according to instruction, described mapping module is used for positioning user's travel path, and described navigation module and described mapping module are arranged in described body.
5. one walking aid system according to claim 2, it is characterized in that, described human-computer interaction module comprises keypad portion and/or touch screen, can realize online input and/or the remote input of described instruction.
6. one walking aid system according to claim 2, it is characterized in that, described control module is arranged at described body interior, comprises single-chip microcomputer and/or CPU.
7. one walking aid system according to claim 2, it is characterized in that, described communication module is arranged in described body, comprises bluetooth module, WIFI module, gsm module, CDMA module, 3G module or 4G module.
8. one walking aid system according to claim 2, it is characterized in that, described identification module is arranged on described human-computer interaction module, comprises Fingerprint Identification Unit or voice recognition unit.
9. one walking aid system according to claim 2, it is characterized in that, described body adopts light transmissive material to make, described NA night alarm lighting module comprise be arranged at described intrinsic can be intermittent luminous light source, buzzer and the brightness sensor arranged on described body, described brightness sensor is connected with described control module, described control module is connected with described light source and described buzzer, when described brightness sensor detects external environment condition brightness lower than established standards, it is intermittent luminous that described control module controls described light source, and make described buzzer produce buzzing with warning, or,
Described body adopts light transmissive material to make, described NA night alarm lighting module comprise be arranged at described intrinsic can be intermittent luminous light source, buzzer and the clock module that arranges on described body, described clock module is connected with described control module, described control module is connected with described light source and buzzer, when described clock module displaying time exceedes setting-up time at that time, it is intermittent luminous that described control module controls described light source, and make described buzzer produce buzzing with warning.
10. a walking householder method, uses the walking aid system as described in any one of claim 1 to 9, it is characterized in that,
Detected by road pavement information, gather this information of road surface and analyze, by analysis result communications to terminal; Adjust ultrasonic emitting angle in real time according to analysis result, then launch ultrasonic listening barrier to road surface, and obtain obstacle information, by obstacle information communications to terminal according to the distance that result of detection carries out dyscalculia thing;
Input the first instruction by human-computer interaction module, GPS module carries out Navigation and localization according to this destination address instruction, by Navigation and localization result communications to terminal;
Input the second instruction by human-computer interaction module, control module selectively starts shoot function, FM receiver function, identity recognition function, electronic payment function according to this function command, wherein, needs to carry out identification before startup electronic payment function;
Direction indication is carried out when Power supply is not enough by direction discernment module.
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| CN105139576A (en) * | 2015-07-09 | 2015-12-09 | 小米科技有限责任公司 | Road condition prompting method and device |
| CN105769517A (en) * | 2016-03-18 | 2016-07-20 | 杭州电子科技大学 | Multifunctional electronic walking stick for blind person |
| CN105842746A (en) * | 2016-04-15 | 2016-08-10 | 中天建设集团浙江安装工程有限公司 | Auxiliary tool for the mounting of an active infrared fire detector |
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| CN108523333A (en) * | 2018-04-20 | 2018-09-14 | 康敏娜 | A kind of intelligent multifunctional crutch of automatic controlled height |
| CN108592937A (en) * | 2018-05-09 | 2018-09-28 | 何辉 | A kind of night flight or navigation road conditions for field exploration identify system |
| CN109009732A (en) * | 2018-09-29 | 2018-12-18 | 吉林大学 | The intelligent chair of human body hazardous act discovery and protection towards home for destitute |
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