CN107049718B - Obstacle avoidance device - Google Patents
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- CN107049718B CN107049718B CN201710331311.XA CN201710331311A CN107049718B CN 107049718 B CN107049718 B CN 107049718B CN 201710331311 A CN201710331311 A CN 201710331311A CN 107049718 B CN107049718 B CN 107049718B
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- 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
- 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
-
- 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
- A61H2201/0157—Constructive details portable
-
- 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
Abstract
The invention provides an obstacle avoidance device which comprises at least one wearing unit, wherein the wearing unit is used for obtaining sampling point position information in an obstacle space around a user according to natural swing information of the user so as to construct an obstacle space distribution model around the user, and guiding the traveling direction of the user according to the obstacle space distribution model. The obstacle avoidance device fully utilizes the ergonomic characteristics of human motion, a joint which is naturally swung by a user forms a certain included angle with a horizontal plane when the user walks, the scattering angle of an ultrasonic detection module in a wearing unit is enlarged, detection blind areas of the ultrasonic detection module in the horizontal and vertical directions are reduced, detection can be carried out in a wider range, the detection distance of obstacles around the user is shortened, and the performance of the obstacle avoidance device is improved.
Description
Technical Field
The invention relates to the technical field of auxiliary walking equipment, in particular to an obstacle avoidance device.
Background
The human beings can obtain most of the external environment information from the visual system, and the blindness and the visual disability bring great difficulty to the blind and the visually impaired, especially have great challenge to safe walking.
In order to help the blind to walk, tools for assisting the blind to walk appear in sequence, such as a specially trained blind guiding walking stick and a specially trained blind guiding dog, but the method for detecting the obstacle information through the blind guiding walking stick is low in efficiency and consumes physical strength, and the blind guiding dog is long in training period and adaptation period, high in cost and not universal in use.
In recent years, with the related technologies such as electronic integrated navigation services, a series of wearable devices developed by using sensors such as GPS technology, ultrasonic waves, infrared, laser, and cameras have appeared, such as a blind guiding belt, a blind helmet, and the like. The blind guiding waistband such as a FeelSpace intelligent waistband provides directions through a mobile phone navigation application, and the front, back, left and right directions of the waistband of the wearer vibrate to guide the walking direction of the user. But the FeelSpace intelligent waistband mainly uses the GPS technology, and the detection capability of real-time obstacles is lacked. A blind person helmet such as a cloudmid blind person guiding helmet captures a distance between a user and an obstacle in front through a camera device, and reminds the user with an alarm when the distance is a certain distance away from the obstacle. However, the clouded blind guiding helmet requires a very high-specification processing unit and an image sampling device to implement the image detection function, and is difficult to be accepted by the user entering the door, and the error rate of image recognition may become a problem.
The obstacle avoidance function realized based on ultrasonic, laser and infrared technologies can only detect obstacles in a certain direction or height, and the method for acquiring images through double cameras to obtain the distance between an object and the cameras has high calculation complexity and large resource consumption, and is difficult to provide accurate prompts in real time.
Disclosure of Invention
The invention aims to provide an obstacle avoidance device to make up for the defects of the existing obstacle avoidance mode.
In order to solve the above technical problem, the present invention provides an obstacle avoidance device, including:
the wearing unit is used for obtaining sampling point position information in the obstacle space around the user according to the natural swing information of the user so as to construct an obstacle space distribution model around the user and guide the traveling direction of the user according to the obstacle space distribution model.
Optionally, in the obstacle avoidance device, each wearing unit includes:
the ultrasonic detection module is used for transmitting an ultrasonic signal and obtaining the direction and the distance of a peripheral obstacle of a user relative to the ultrasonic detection module according to the ultrasonic signal;
the gravity sensor is used for obtaining the inclination angle of the ultrasonic detection module relative to the ground;
the gyroscope is used for acquiring the rotation angle of the ultrasonic detection module relative to the front of the user;
the processing module is used for obtaining sampling point position information in an obstacle space around a user according to the direction and the distance of the obstacle relative to the ultrasonic detection module, the inclination angle of the ultrasonic detection module relative to the ground and the rotation angle of the ultrasonic detection module relative to the advancing front of the user, constructing an obstacle space distribution model according to the sampling point position information, and judging whether the user can continue to advance along the current advancing direction according to the obstacle space distribution model; and
and the prompt module is used for feeding back corresponding prompt information to the user according to the judgment result of the processing module.
Optionally, in the obstacle avoidance device, the prompt module is a buzzer, and when the processing module determines that the user cannot continue to travel along the current travel direction, the prompt information fed back by the buzzer is a sound signal; otherwise, the prompt message fed back by the buzzer is a mute signal.
Optionally, in the obstacle avoidance device, the prompt module is a vibrator, and when the processing module determines that the user cannot continue to travel along the current travel direction, prompt information fed back by the vibrator is a vibration signal; otherwise, the prompt information fed back by the vibrator is a mute signal.
Optionally, in the obstacle avoidance device, the number of the wearing units is two, and when the two prompt modules are both vibrators, the two wearing units guide the traveling direction of the user according to the obstacle spatial distribution model, and the conditions include that:
the prompting module of the wearing unit worn on the left arm feeds back a vibration signal, and when the prompting module of the wearing unit worn on the right arm feeds back a mute signal, the user is guided to turn right until the prompting modules of the two wearing units feed back mute signals, and the user moves along the current direction;
the prompting module of the wearing unit worn on the right arm feeds back a vibration signal, and when the prompting module of the wearing unit worn on the left arm feeds back a mute signal, the user is guided to turn left until the prompting modules of the two wearing units feed back mute signals, and the user travels along the current direction;
the prompting module of the wearing unit worn on the left arm feeds back a mute signal, and when the prompting module of the wearing unit worn on the right arm feeds back the mute signal, the user is guided to move along the current moving direction; or
The prompting module of the wearing unit worn on the left arm feeds back a vibration signal, and when the prompting module of the wearing unit worn on the right arm feeds back the vibration signal, the user is guided to move along the direction where the vibration of any wearing unit stops.
Optionally, in the obstacle avoidance device, the process of determining whether the user can continue to travel along the current travel direction by the prompt module includes:
judging information obtained according to the obstacle space distribution model;
comparing the determination information with a determination threshold; when the judgment information exceeds the judgment threshold value, the user cannot continue to travel along the current travel direction; otherwise, the user can continue to travel in the current direction of travel.
Optionally, in the obstacle avoidance device, the determination information is a height of the gap.
Optionally, in the obstacle avoidance device, the determination threshold is set according to a self condition of a user.
Optionally, in the obstacle avoidance device, when the number of the wearing units is two, the ultrasonic detection modules and the processing modules in the two wearing units use BLE, ZigBee, or WiFi for wireless communication.
Optionally, in the obstacle avoidance device, each wearing unit is worn on an arm and/or a waist and crotch of the user.
Optionally, in the obstacle avoidance device, the natural swing information of the user includes swing position information of an arm and/or swing position information of a waist and crotch portion.
In the obstacle avoidance device provided by the invention, the obstacle avoidance device comprises at least one wearing unit, and the wearing unit is used for obtaining the position information of sampling points in the obstacle space around the user according to the natural swing information of the user so as to construct an obstacle space distribution model around the user and guide the traveling direction of the user according to the obstacle space distribution model. The obstacle avoidance device fully utilizes the ergonomic characteristics of human motion, a joint which is naturally swung by a user forms a certain included angle with a horizontal plane when the user walks, the scattering angle of an ultrasonic detection module in a wearing unit is enlarged, detection blind areas of the ultrasonic detection module in the horizontal and vertical directions are reduced, detection can be carried out in a wider range, the detection distance of obstacles around the user is shortened, and the performance of the obstacle avoidance device is improved.
Drawings
FIG. 1 is a schematic structural diagram of a wearing unit according to an embodiment of the present invention;
fig. 2 is a working schematic diagram of an obstacle avoidance device according to an embodiment of the present invention.
In fig. 1: a wearing unit-1; an ultrasonic detection module-10; a gravity sensor-11; -12, a gyroscope; a processing module-13; a prompt module-14.
Detailed Description
The obstacle avoidance device provided by the invention is further described in detail below with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
Obstacle avoidance device in this embodiment includes: the wearing unit is used for obtaining sampling point position information in the obstacle space around the user according to the natural swing information of the user so as to construct an obstacle space distribution model around the user and guide the traveling direction of the user according to the obstacle space distribution model. Preferably, each wearing unit is worn on an arm and/or a waist-crotch portion of a user, and the natural swing information of the user includes swing position information of the arm and/or swing position information of the waist-crotch portion.
Please refer to fig. 1, which is a schematic structural diagram of a wearing unit of the present invention. As shown in fig. 1, the wearing unit 1 includes an ultrasonic detection module 10, a gravity sensor 11, a gyroscope 12, a processing module 13 and a prompt module 14, wherein the ultrasonic detection module 10 is configured to transmit an ultrasonic signal, and obtain a direction and a distance of a peripheral obstacle of a user relative to the ultrasonic detection module 10 according to the ultrasonic signal; the gravity sensor 11 is used for obtaining an inclination angle of the ultrasonic detection module 10 relative to the ground; the gyroscope 12 is used for obtaining the rotation angle of the ultrasonic detection module 10 relative to the front of the user; the processing module 13 is configured to obtain position information of sampling points in an obstacle space around a user according to a direction and a distance of the obstacle relative to the ultrasonic detection module 10, an inclination angle of the ultrasonic detection module 10 relative to the ground, and a rotation angle of the ultrasonic detection module 10 relative to the forward direction of travel of the user, construct an obstacle spatial distribution model according to the position information of the sampling points, and determine whether the user can continue to travel in the current travel direction according to the obstacle spatial distribution model; the prompt module 14 is configured to feed back corresponding prompt information to the user according to the determination result of the processing module 13.
In fact, the scattering angle of the ultrasonic signal emitted by the ultrasonic detection module is limited, but the wearing position of the wearing unit is a position (such as an arm and/or a waist and crotch part) where the user naturally swings when walking, so that the wearing position of the ultrasonic detection module naturally swings to form a certain included angle with the horizontal plane when the user walks, and the scattering angle of the ultrasonic signal is enlarged. In turn, without setting too many ultrasonic detection modules, each wearing unit can meet the detection requirement only by one ultrasonic detection module, thereby reducing power consumption and cost.
Specifically, the process of the prompt module 14 determining whether the user can continue to travel along the current travel direction includes the following steps:
s10: judging information obtained according to the obstacle space distribution model;
s11: comparing the determination information with a determination threshold; when the judgment information exceeds the judgment threshold value, the user cannot continue to travel along the current travel direction; otherwise, the user can continue to travel along the current travel direction; wherein the judgment information is the height of the notch; the judgment threshold is set according to the self condition of the user.
In this embodiment, the prompting module is a vibrator, and when the processing module determines that the user cannot continue to travel along the current travel direction, the prompting information fed back by the vibrator is a vibration signal; otherwise, the prompt information fed back by the vibrator is a mute signal. For example, when the wearing units are worn on both the left arm and the right arm of the user, the ultrasonic detection modules in the two wearing units adopt BLE, ZigBee or WiFi for wireless communication, and the processing modules in the two wearing units adopt BLE, ZigBee or WiFi for wireless communication.
If the user feels that one wearing unit has vibration (at the moment, the prompting module of the wearing unit is in a vibration state), an obstacle exists in front of the arm side where the wearing unit is located, and the user can select the other wearing unit to travel in front of the arm side where the wearing unit is located. The concrete conditions comprise: the prompting module of the wearing unit worn on the left arm feeds back a vibration signal, and when the prompting module of the wearing unit worn on the right arm feeds back a mute signal, the user is guided to turn right until the prompting modules of the two wearing units feed back mute signals, and the user moves along the current direction; the prompting module of the wearing unit worn on the right arm feeds back a vibration signal, and when the prompting module of the wearing unit worn on the left arm feeds back a mute signal, the user is guided to turn left until the prompting modules of the two wearing units feed back mute signals, and the user travels along the current direction.
When the user does not feel that the two wearing units have vibration, namely the prompting module of the wearing unit worn on the left arm feeds back a mute signal, and the prompting module of the wearing unit worn on the right arm feeds back the mute signal, the user is guided to move along the current moving direction.
When the user feels that the two wearing units have vibration, the user needs to further detect the vibration, and the user can be guided to travel along the direction of the vibration stop of the wearing unit by extending the hand to the front to slightly swing.
In another embodiment of the present invention, the prompting module may also be a buzzer, and when the processing module determines that the user cannot continue to travel along the current traveling direction, the prompting information fed back by the buzzer is a sound signal; otherwise, the prompt message fed back by the buzzer is a mute signal. The user judges the surrounding environment condition of the user according to the sound signal to determine the following advancing direction, so that the obstacle is effectively avoided, and the safety of the user is ensured.
Please refer to fig. 2 to understand the working principle of the obstacle avoidance apparatus of the present invention, the spatial direction of the ultrasonic detection module may be calculated according to data contributed by the gyroscope and the gravity sensor, and then the spatial direction of the ultrasonic detection module is combined with the direction and distance of the obstacle around the user reported by the ultrasonic detection module relative to the ultrasonic detection module to construct an obstacle spatial distribution model, so as to determine whether the user can continue to travel along the current travel direction (i.e. to avoid the obstacle safely), if not, the prompt module outputs a first prompt message (corresponding to a message that can remind the user to pay attention, for example, when the prompt module is a vibrator, the first prompt message corresponds to a vibration signal, so that the user feels a jolt); if the current traveling direction of the user is not the same as the traveling direction of the user, the prompt module outputs second prompt information (for example, when the prompt module is a vibrator, the second prompt information corresponds to a mute signal, so that the user does not feel a vibration sense), and the spatial direction of the ultrasonic detection module is continuously monitored, so that whether the current traveling direction of the user has a risk or not is known in real time, and the obstacle is avoided in time.
For better understanding of the output result of the obstacle avoidance device of the present invention, the following description is given by way of example. Assuming that in the spatial distribution of the sampling points R in the user's forward direction, there is a gap with a width of more than 1m and a height of 2.5m in the user's current forward direction, and there is no point set with a height of more than 1cm in the gap, at this time, the user is considered to be passable in the current forward direction. If the gap is in the left front of the user and the right side is sealed, the wearing unit worn by the right arm can send first prompt information, and the wearing unit worn by the left arm can send second prompt information, so that the user is guided to turn left to advance until the direction is correct.
In summary, taking the wearing unit worn on the arm and the waist and crotch of the user as an example, the obstacle avoidance device provided by the invention has the following advantages:
1) the wearing unit of the obstacle avoidance device is worn on the arm of a user, the coverage range of obstacle avoidance detection is enlarged in the process that the user stretches out the hand, and meanwhile the situation that the user actively detects an obstacle at a certain accurate position can be supported.
2) In the process of utilizing the obstacle avoidance device, the ergonomic characteristics of human body movement are fully utilized, when a user walks, the arms and the waist and crotch naturally swing to form a certain included angle with the horizontal plane, the scattering angle of the ultrasonic detection module in the wearing unit is enlarged, the detection blind areas of the ultrasonic detection module in the horizontal and vertical directions are reduced, the detection can be carried out in a wider range, the detection distance of obstacles around the user is shortened, the accuracy of the constructed obstacle spatial distribution model is improved, and a solid foundation is laid for accurately avoiding obstacles.
3) The obstacle avoidance device is not limited to a two-hand mode (namely, the wearing unit is worn on both the left arm and the right arm), but is also applicable to a one-hand mode (only the wearing unit is worn on the left arm or the right arm), and although the one-hand mode can cause partial reduction of the detection range compared with the two-hand mode, the obstacle avoidance device still has a larger angle, and can be applied to the condition that the visual angle of a common vision person is limited, such as the condition that a mobile phone is used by lowering the head, and the sight is shielded by holding an umbrella.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.
Claims (8)
1. An obstacle avoidance device, comprising:
the two wearing units are used for acquiring sampling point position information in the obstacle space around the user according to the natural swing information of the user to construct an obstacle space distribution model around the user and guiding the traveling direction of the user according to the obstacle space distribution model; the two wearing units are respectively worn on the left arm and the right arm; each of the wearing units includes:
the ultrasonic detection module is used for transmitting an ultrasonic signal and obtaining the direction and the distance of a peripheral obstacle of a user relative to the ultrasonic detection module according to the ultrasonic signal;
the gravity sensor is used for obtaining the inclination angle of the ultrasonic detection module relative to the ground;
the gyroscope is used for acquiring the rotation angle of the ultrasonic detection module relative to the front of the user;
the processing module is used for obtaining sampling point position information in an obstacle space around a user according to the direction and the distance of the obstacle relative to the ultrasonic detection module, the inclination angle of the ultrasonic detection module relative to the ground and the rotation angle of the ultrasonic detection module relative to the advancing front of the user, constructing an obstacle space distribution model according to the sampling point position information, and judging whether the user can continue to advance along the current advancing direction according to the obstacle space distribution model; and
the prompting module is used for feeding back corresponding prompting information to a user according to the judgment result of the processing module;
when the processing module judges that the user can not continue to advance along the current advancing direction, the prompting module outputs first prompting information, otherwise, the prompting module outputs second prompting information;
the two wearing units guide the traveling direction of the user according to the obstacle space distribution model, and the conditions comprise that:
the prompting module of the wearing unit worn on the left arm feeds back first prompting information, and when the prompting module of the wearing unit worn on the right arm feeds back second prompting information, the user is guided to turn right until the prompting modules of the two wearing units feed back the second prompting information, and the user moves along the current direction;
the prompting module of the wearing unit worn on the right arm feeds back first prompting information, and when the prompting module of the wearing unit worn on the left arm feeds back second prompting information, the user is guided to turn left until the prompting modules of the two wearing units feed back the second prompting information, and the user moves along the current direction;
the prompting module of the wearing unit worn on the left arm feeds back second prompting information, and when the prompting module of the wearing unit worn on the right arm feeds back the second prompting information, the user is guided to advance along the current advancing direction; and
the prompting module of the wearing unit worn on the left arm feeds back first prompting information, and when the prompting module of the wearing unit worn on the right arm feeds back the first prompting information, the user is guided to move along the direction of any wearing unit where the first prompting information is changed to the second prompting information.
2. An obstacle avoidance device according to claim 1, wherein the prompt module is a buzzer, and when the processing module determines that the user cannot continue to travel in the current travel direction, the prompt information fed back by the buzzer is a sound signal; otherwise, the prompt message fed back by the buzzer is a mute signal.
3. An obstacle avoidance device according to claim 1, wherein the prompt module is a vibrator, and when the processing module determines that the user cannot continue to travel in the current travel direction, the prompt information fed back by the vibrator is a vibration signal; otherwise, the prompt information fed back by the vibrator is a mute signal.
4. An obstacle avoidance apparatus according to claim 1, wherein the process of the prompt module determining whether the user can continue traveling in the current direction of travel comprises:
judging information obtained according to the obstacle space distribution model;
comparing the determination information with a determination threshold; when the judgment information exceeds the judgment threshold value, the user cannot continue to travel along the current travel direction; otherwise, the user can continue to travel in the current direction of travel.
5. An obstacle avoidance apparatus according to claim 4, wherein the determination information is a height of the gap.
6. An obstacle avoidance apparatus according to claim 4, wherein the determination threshold is set in accordance with a user's own condition.
7. An obstacle avoidance device according to claim 1, wherein the ultrasonic detection modules and the processing modules in the two wearing units use BLE, ZigBee or WiFi for wireless communication.
8. An obstacle avoidance device according to any one of claims 1 to 7, wherein the natural swing information of the user includes swing position information of an arm.
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| CN201710331311.XA CN107049718B (en) | 2017-05-11 | 2017-05-11 | Obstacle avoidance device |
| TW106134558A TWI732957B (en) | 2017-05-11 | 2017-10-06 | Obstacle Avoidance Device |
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| CN201710331311.XA CN107049718B (en) | 2017-05-11 | 2017-05-11 | Obstacle avoidance device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109156921A (en) * | 2018-09-04 | 2019-01-08 | 肖遥 | Blind safety cap |
| CN110478205A (en) * | 2019-08-12 | 2019-11-22 | 佛山职业技术学院 | Avoidance guiding device and barrier-avoiding method based on infrared TOF measurement sensor |
| CN110538051A (en) * | 2019-08-27 | 2019-12-06 | 华南理工大学 | intelligent blind person auxiliary device capable of automatically finding way and method thereof |
| CN111189990A (en) * | 2020-01-15 | 2020-05-22 | 广西国宏智鸿环保科技集团有限公司 | Remote intelligent water quality detection system |
| CN112043512A (en) * | 2020-08-26 | 2020-12-08 | 南京汉尔斯生物科技有限公司 | Balance detection assisted standing wheelchair and method |
| CN113741445A (en) * | 2021-08-27 | 2021-12-03 | 宁波华东核工业工程勘察院 | Obstacle search early warning method and device, safety helmet and storage medium thereof |
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| US5687136A (en) * | 1996-04-04 | 1997-11-11 | The Regents Of The University Of Michigan | User-driven active guidance system |
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| CN107049718A (en) | 2017-08-18 |
| TWI732957B (en) | 2021-07-11 |
| TW201900134A (en) | 2019-01-01 |
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