IT201800005461A1 - STICK WITH MEANS OF DETECTION TO GUIDE WALKING - Google Patents

Description

Description of the Industrial Invention entitled:

"STICK WITH DETECTION MEANS TO GUIDE WALKING"

DESCRIPTION

Field of application

The present invention relates to a stick with sensing means for guiding walking.

In general, the present invention relates to sticks for the blind, sensors or detectors, tips or tips for tips, sticks in combination with other objects, sticks in combination with lighting devices, crutches.

In particular, the present invention relates to walking aids for the blind with sensing or guiding means, sticks combined with other objects with measuring or weighing apparatus, walking aids for the blind with sensing or guiding means with tactile perception, walking aids for the blind with sensing or guiding means with tactile perception in the form of braille, functions relating to lighting, specific means for adjusting the dimensions, control means associated with such computer-controlled aids, means computer-controlled control devices connected to external computer devices or networks using the Internet, audio interfaces, for example, controlled voice or music, force sensors, position sensors, pressure sensors, temperature sensors, acceleration sensors, optical sensors , wireless control means.

State of the art

The state of the art is represented by the patent EP2629737B1 concerning an electronic mobility aid, Electronic Travel Aid, ETA, for blind and visually impaired people, implemented in a detachable handle of a white cane. The device improves the functionality of the white cane by providing the user with more detailed information on the environment of interest, within a defined corridor in front of the user, in an extended space of a few meters, up to 10 meters. The device allows to provide a reliable warning in the event of a risk of collision with obstacles, including those at the height of the trunk and head, not recognized by a conventional white stick. Additional sensors are integrated to delimit the corridor defined during the sweep, thus reducing the amount of information that is transmitted to the user via the tactile interface. Alternatively, the device can be used independently of the white stick, as a support for object recognition and orientation. The device includes a Time Of Flight (TOF) sensor for generating object distance and interval information, an auxiliary sensor system to generate sensor data, an evaluation unit for receiving sensor distance, range and data information and to generate haptic feedback to the user via a haptic interface. The present invention features a white cane with an electronic mobility aid, ETA, comprising a modulated light based sensor, a time of flight, TOF, an evaluation unit and a tactile interface. Depth measurements from the TOF sensor are evaluated by the evaluation unit which controls the touch user interface. The haptic feedback from the haptic interface is designed so that the user receives the most valuable information from the data acquired by the TOF sensor. The most valuable information could be a depth profile of the environment, information regarding the closest object or more sophisticated data such as stairs, doors, free passages, etc. The TOF sensor includes a light source to emit modulated light. An optical system with or without optical filters reflects light onto a TOF pixel array from a surface in the field of view. A control unit generates depth information from the measured sampling data of the TOF sensor and also controls the modulation of the light source and the operation of the pixel matrix in order to provide synchronous sampling. The evaluation unit receives the acquired depth data, performs image and data processing and transfers the most appropriate information to the user via the haptic interface. The ETA can be further expanded with auxiliary motion and orientation sensors, including a gyroscope, global positioning system, GPS, compass and acceleration sensors. Other auxiliary sensors allow the measurement of other relevant information, including the orientation of the white cane during locomotion, the sweep of the white cane or the definition of the walking corridor that the evaluation unit uses to interpret different scenarios. With auxiliary sensors, a monitored travel direction corridor in front of the user is defined by the evaluation unit. This reduces the amount of information transferred to the user by ignoring irrelevant image data outside the monitored corridor. The environment is scanned with ETA and the user selects and controls the desired information from the scene by moving the device or sweeping the white stick. In some embodiments, image acquisition of the TOF sensor is triggered in response to information received from the auxiliary sensors. In this way, while the person walking sweeps the white cane, the direction of the device is determined and the TOF sensor is activated from the position of the white cane directed forward. Preferably, the ETA includes an on / off button to allow you to save energy when the device is not in use and avoid unwanted haptic feedback. According to a preferred embodiment of the device, a white stick includes a detachable handle comprising a housing containing the ETA. Also, it is possible to mount the device on various white sticks, or used without the white stick. Preferably, the device is powered by a battery contained in the housing. The distance information collected by the TOF sensor is communicated to the user through the haptic interface positioned above or in the handle of the white cane. The haptic interface is designed on the basis of tactile elements arranged in a line or matrix. The touch elements are quasi-static, the user exploring the updated positions of the touch elements via touch, for example a Braille display where the braille display pins are arranged in a linear or matrix display, vibrators vibrating at a certain frequency when powered, or tactile pulse elements capable of producing single pulses. The tactile elements of the handle can be controlled so that the blind perceive individual impulses, rhythms, vibrations or patterns. In some embodiments, tactile feedback is rendered using the transfer functions, i.e. depth information is translated into spatial profiles, rhythms, vibration intensity, pulses, etc. From this information, the user deduces the object that is detected by the TOF sensor.

The invention of the patent EP2629737B1 provides a device to be held independently, that is, without necessarily the aid of a white stick. A limit to this type of universal solution is represented by the fact that the origin of the optical beam to measure the distance of obstacles is located at the handle of the device, that is, very close to the person holding the device. Generally, the optical beam allows you to create an optical corridor, within which the environment occupied by objects and obstacles is reconstructed. In the specific case, to avoid obstacles near or close to the person, this optical corridor must necessarily depend on a scan of the optical beam on at least one linear array of optical sensors in order to ensure coverage of the space in front of the device handle, without neglecting any area. Therefore, a limitation of the invention of patent EP2629737B1 is represented by the need to use an optical scanning sensor and not simply a point and fixed optical sensor.

Presentation of the invention

The object of the present invention is to solve the aforementioned problems of the prior art by providing a stick with detection means to guide the walking of a person by detecting obstacles in the walking direction, starting from the lower tip of the stick to avoid detecting an obstacle when this is already close to the person.

A further object is to use an electronic device applied to a white stick based on a reconstruction of the visual field using fixed optical sensors rather than scanning, in order to simplify the hardware and software necessary for operation.

A further object is to provide a cane with electronic means which can be easily inserted in a handbag when it is not needed for walking.

A further object is to provide a stick with electronic means that can be easily integrated with telecommunication and sharing means, via a wireless, WiFi, Bluetooth connection.

The above and other objects and advantages of the invention, as will emerge from the following description, are achieved with a stick with sensing means for guiding walking such as that described in claim 1. Preferred embodiments and non-trivial variants of the present invention form the subject of the dependent claims.

It is understood that all the attached claims form an integral part of the present description.

It will be immediately obvious that innumerable variations and modifications (for example relating to shape, dimensions, arrangements and parts with equivalent functionality) can be made to what has been described without departing from the scope of the invention as appears from the attached claims.

Description of the drawings

The present invention will be better described by some preferred embodiments, provided by way of non-limiting example, with reference to the attached drawings, in which:

FIG. 1A shows a view of a connection diagram of the components of an embodiment of the stick with sensing means for guiding walking, according to the present invention;

FIG. 1B shows a view of a behavior diagram of an embodiment of the stick with detection means for guiding walking, according to the present invention;

FIG. 2 shows an axonometric view of an embodiment of the stick with detection means for guiding walking, according to the present invention;

FIG. 3 shows an enlarged lower portion III of the previous figure;

FIG. 4 shows an enlarged upper portion IV of FIG. 2;

FIGS. 5, 6, show an axonometric view of a first component of an embodiment of the stick with detection means for guiding walking, according to the present invention;

FIG. 7, shows a front orthogonal view of the first component of the previous figure;

FIG. 8, shows a sectional view along the line VIII-VIII of the previous figure;

FIG. 9, shows an axonometric view of a second component of an embodiment of the stick with detection means for guiding walking, according to the present invention;

FIG. 10, shows a lateral orthogonal view of the second component of the previous figure;

FIG. 11, shows a sectional view along the line XI-XI of the previous figure;

FIG. 12, shows an orthogonal plan view of FIG. 10; And

FIGS. 13, 14, show an orthogonal view of a first and a second variant of an embodiment of the stick with detection means for guiding walking, according to the present invention.

Description of embodiments

Referring to FIG. 1A, it is possible to note that a stick with detection means for guiding walking comprises a time-of-flight sensor 10 for generating information on the distance of at least one object, a plurality of auxiliary sensors 20 for generating auxiliary data, an evaluation unit 30 to receive information on object distance and auxiliary data and to generate a response via a sensory interface 40.

Referring to FIGS. 8, 1B, advantageously, the time-of-flight sensor 10 comprises at least one modulated light source 11 and at least one receiver unit 12, 13, of reflected light, in a field of view formed by at least one light beam, between a lower light beam 52 and an upper light beam 53. Such at least one light beam, between a lower light beam 52 and an upper light beam 53, passes approximately in correspondence with a lower tip 60 of the stick. Furthermore, the direction of the lower light beam 52 is inclined downwards, while the direction of the upper light beam 53 is inclined upwards, to allow at least one object to be intercepted in front of the lower tip 60 of the stick, in the direction of advancement.

Referring to FIGS. 2 to 8, the time-of-flight sensor 10 is housed in a box-like body 70 fixed to the stick. In particular, the boxed body 70 is designed to allow the passage of this at least one beam of light, lower 52 and upper 53, respectively through a lower hole 72 and an upper hole 73.

The plurality of auxiliary sensors 20 includes a motion sensor 21 and orientation 22 to allow to generate a response through the sensory interface 40, of increasing intensity as a deviation increases with respect to a reference value of orientation of the club.

Preferably, the motion sensor 21 is an accelerometer, the orientation sensor 22 is a gyroscope, while the sensory interface 40 is tactile and / or auditory.

Referring to FIGS. from 9 to 12, a handle 80, in addition to recharging batteries, allows to house the evaluation unit 30, not shown, and the sensory interface 40, not shown. In addition, the evaluation unit 30 is connected to the time-of-flight sensor 10 by electric wire or by wireless technology.

According to a preferred configuration, a LED lighting system is provided which is automatically activated by means of a twilight switch.

A button on the handle allows you to set the proportionality between the vibration frequency and the distance of the obstacle.

Alternatively, means for activating IT devices, such as a smartphone, allow you to set the proportionality between the vibration frequency and the distance of the obstacle and to interact with a dedicated application for any requests for help using at least one of the functions concerning the GPS navigator, altimeter, compass, camera, accelerometer, speech recognition and speech synthesis, data and voice communication. A dedicated application allows you to notify, both by vibration and by voice synthesis, the departure from a predetermined route.

Referring to FIGS. 13, 14, according to a preferred embodiment of the stick, means of rolling ball 61 or roller 62, in correspondence with the lower tip 60 allow to facilitate the scanning of the stick in contact with the ground.

The stick with detection means for guiding walking can be of the type consisting of at least two engageable or telescopic rods.

Examples

The stick with detection means for guiding walking, object of the present invention, allows to achieve the intended purposes.

The stick is able to measure the distance of an object close to the stick optically via laser and is able to notify the user, for example, via vibration, both the distance of the nearest object and any objects / obstacles protruding from the ground, for example, a branch protruding from a railing, as well as any other object reducing the free area measured from the stick upwards.

Furthermore, the club is able to detect events such as the departure from a predetermined route, for example, the departure from a usual route, or the departure from a straight line, proving to be of great use to make the user cross on the pedestrian crossings in a straight line.

The batteries are recharged via a special connector, preferably of the USB type, or wireless technology.

The cane can be folded or disassembled like a normal cane for the blind to allow it to be closed inside a handbag.

According to a preferred configuration, most of the electronics are located in the handle, such as batteries and the vibration motor.

Furthermore, near the lower tip lies a distance measurement sensor connected to the electronics housed inside the handle, by means of an electric wire or by wireless technology, this last solution appreciated because it allows to avoid the wear of the cable every time fold or remove the stick.

The stick is able to measure the distance between the stick and the object closest to the stick optically. The technique used, TOF, Time Of Flight, time of flight indicates the measurement of the time taken by an object, a particle or an acoustic, electromagnetic, or other type of wave, to travel a certain distance in a given medium. From the measurement of time it is possible to obtain the distance traveled, the speed and other quantities such as kinetic energy.

To better signal the presence of the user, for example at night, the stick is equipped with LED lighting that is activated automatically or possibly by means of a twilight switch.

The stick also has at least one button on the handle to set the proportionality between the vibration frequency and the distance or to interact with a dedicated application for any requests for help.

If you intend to compensate for the variability of the angle of support of the club, which differs from user to user, it is possible to activate a static or dynamic correction. Inside the handle, the stick has an accelerometer for static correction, through a matrix of sensors with different angles. Alternatively, the stick is equipped with a servo motor for dynamic correction, to correct the angle cyclically.

The stick can be connected to a SmartPhone, to take advantage of functions such as, for example, GPS navigator, altimeter, compass, camera, accelerometer, voice recognition and speech synthesis, data and voice communication.

Through a dedicated application, the stick is able to notify, both via vibration and via speech synthesis, the departure from a predetermined route, for example, the user is leaving a usual route, or the departure from a line very useful straight line to have the user cross the pedestrian crossing in a straight line or guide him along a pre-set path, either via vibration coding, for example: 1 long vibration 1 short vibration = right turn; 1 short vibe 1 long vibe = left turn, or via speech synthesis.

Through an additional dedicated application, a relative of the user is able to monitor the user's position at any time.

A preferred embodiment of the invention has been described, but of course it is susceptible to further modifications and variations within the same inventive idea. In particular, to those skilled in the art, numerous variants and modifications, functionally equivalent to the previous ones, will be immediately evident, which fall within the scope of the invention as highlighted in the attached claims in which any reference marks placed between brackets cannot be interpreted in the sense of to limit the claims themselves. Furthermore, the word "comprising" does not exclude the presence of elements and / or phases other than those listed in the claims. The article "a", "one" or "a" preceding an element does not exclude the presence of a plurality of such elements. The mere fact that some characteristics are mentioned in different dependent claims does not indicate that a combination of these characteristics cannot be advantageously used.

Claims (10)

CLAIMS 1. Stick with sensing means for guiding walking, comprising a time-of-flight sensor (10) for generating information on the distance of at least one object, a plurality of auxiliary sensors (20) for generating auxiliary data, an evaluation unit (30) to receive information on object distance and auxiliary data and to generate a response via a sensory interface (40), characterized in that the time-of-flight sensor (10) comprises at least one modulated light source (11) and at least one receiver unit (12), (13) of reflected light, in a field of view formed by at least one light beam, between a lower light beam (52) and an upper light beam (53 ), said at least one light beam, between a lower light beam (52) and an upper light beam (53), passing approximately in correspondence with a lower tip (60) of the stick, the direction of the lower light beam ( 52) inclined downwards, the d direction of the upper light beam (53) inclined upwards, to allow at least one object to be intercepted in front of the lower tip (60) of the stick, in the direction of advancement. Stick with detection means for guiding walking according to the preceding claim, characterized in that said flight time sensor (10) for generating information on the distance of an object is housed in a boxed body (70) fixed to the stick, said boxed body (70) designed to allow the passage of said at least one beam of light, lower (52) and upper (53), respectively through a lower hole (72) and an upper hole (73). 3. Stick with detection means for guiding walking according to one of the preceding claims, characterized in that the plurality of auxiliary sensors (20) for generating auxiliary data comprises a motion (21) and orientation (22) sensor to allow generate a response through the sensory interface (40) of increasing intensity as a deviation increases with respect to a reference value of orientation of the club. 4. Stick with sensing means for guiding walking according to the preceding claim, characterized in that the motion sensor (21) is an accelerometer, the orientation sensor (22) is a gyroscope, while the sensory interface (40) it is tactile and / or auditory. 5. Stick with sensing means for guiding walking according to one of the preceding claims, characterized by housing in a handle (80), in addition to charging batteries, the evaluation unit (30) and the sensory interface (40 ), the evaluation unit (30) connected to the time-of-flight sensor (10) by electric wire or by wireless technology. 6. Stick with detection means for guiding walking according to one of the preceding claims, characterized in that it comprises a LED lighting system which is automatically activated by means of a twilight switch. 7. Stick with detection means to guide walking according to one of the preceding claims, characterized in that it comprises a button on the handle to set the proportionality between the vibration frequency and the distance of the obstacle. 8. Stick with detection means for guiding walking according to claim 1 to 6, characterized in that it comprises means for activating computer devices, such as a smartphone, for setting the proportionality between the vibration frequency and the distance of the obstacle and to interact with a dedicated application for any requests for help using at least one of the functions regarding GPS navigator, altimeter, compass, camera, accelerometer, voice recognition and speech synthesis, data and voice communication, as well as a dedicated application to allow notification, both through vibration and through vocal synthesis, the departure from a predetermined route. 9. Stick with detection means for guiding walking according to one of the preceding claims, characterized in that it comprises ball (61) or roller (62) rolling means, in correspondence with the lower tip (60) to facilitate scanning of the stick in contact with the ground. 10. Stick with detection means for guiding walking according to one of the preceding claims, characterized in that it consists of at least two engageable or telescopic rods.