WO2003049657A1 - Procede et appareil d'aide destines en particulier aux malvoyants - Google Patents

Procede et appareil d'aide destines en particulier aux malvoyants Download PDF

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Publication number
WO2003049657A1
WO2003049657A1 PCT/DK2002/000842 DK0200842W WO03049657A1 WO 2003049657 A1 WO2003049657 A1 WO 2003049657A1 DK 0200842 W DK0200842 W DK 0200842W WO 03049657 A1 WO03049657 A1 WO 03049657A1
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WO
WIPO (PCT)
Prior art keywords
frequency
signal
sound
signals
user
Prior art date
Application number
PCT/DK2002/000842
Other languages
English (en)
Inventor
Anders TØNNESEN
Original Assignee
Blindsight Aps
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 Blindsight Aps filed Critical Blindsight Aps
Priority to AU2002361943A priority Critical patent/AU2002361943A1/en
Publication of WO2003049657A1 publication Critical patent/WO2003049657A1/fr

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Classifications

    • 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
    • A61H3/068—Sticks for blind persons
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/56—Discriminating between fixed and moving objects or between objects moving at different speeds for presence detection
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes

Definitions

  • the invention relates to a method for localising, by means of wave signals, moving objects, in particular for the visually impaired.
  • the invention is not limited to the visually impaired; but in the following explanation of the invention, it will be exemplified by the visually impaired.
  • US5 818 381 relates to a highly integrated system, where the radar unit is provided in the form of a pair of spectacles, and part of the radar is integrated in the spectacle frame.
  • the transmitted radio wave is modulated to enable distance measurement, and the transmitted radio wave is extremely focused. This patent does not, however, disclose much about the amount of information communicated to the user.
  • the known aids are either simple or relatively inexpensive or superior and much more complex. It is the object of the invention to provide a method and an aid, whereby a considerably increased amount of information is communicated than was the case with the prior art, while simultaneously the complexity of the signal processing circuits is reduced considerably.
  • This object is obtained in that, within a relatively narrow horizontal angle area, wave signals are emitted at a transmitter frequency; that reflected signals are received, the frequency of which deviates from the transmitter frequency in response to the speed of a reflecting object; that a difference signal is produced in response to said transmitted and received signals; that the difference signal is adapted so as to correspond to the frequency and dynamics area of the range of the human hearing; and that the adapted difference signal is introduced to a user as a sound signal, where the information relating to the movement of objects is represented by frequency variations of the sound signal.
  • the invention is based on the circumstance that the human brain is very flexible and can be trained to form a "visual impression" of the surroundings by receiving a relatively complex "sound picture” provided the brain is trained.
  • the information is represented by frequency variations within a considerable part of the audible frequency range.
  • the user Apart from the user being able to tell the various frequencies apart, he/she is of course also able to distinguish between the volumes of the individual signal frequencies. This can be used to obtain an impression of how far away an object is situated, which, however, presupposes some degree of training of the user in case an object moves in a direction that forms an angle to the emitted and transmitted wave signals.
  • the user is capable of learning to form a very adequate impression of the distance anyway, but the invention can also be expanded to include an actual measurement of distance by emission of impulse signals, such that the time delay until the reflected signal is received is an expression of the distance.
  • the distance measurement could be presented to the user by a further sound signal which is characteristic of the distance.
  • the signals can be emitted as ultrasound, but in accordance with a preferred embodiment the radar principle is applied in the form of a Doppler radar that produces the above-mentioned difference signal.
  • a Doppler radar that produces the above-mentioned difference signal.
  • the visually impaired constitute a very exposed group of people in the traffic, and in accordance with a preferred embodiment the radar frequencies are selected to be such that the difference frequencies that are produced by objects in the traffic give rise to sound signals with frequencies that are comprised within a convenient area of the audible frequency range.
  • the difference frequency signal can be converted by frequency shifting or other signal processing, whereby an optimal sound picture is accomplished that the brain can be trained to comprehend.
  • the invention also relates to a portable aid for the visually impaired and comprises a Doppler radar for producing a difference signal on the basis of an emitted and a received, reflected signal; a circuit configured for adapting the frequency of said signals, in such a manner that the difference signal is to be comprised within the audible human frequency range; a sound emitter for converting the difference signal into a sound signal.
  • a personal aid is accomplished, wherein the difference signal from the radars are presented acoustically to the user, whereby the user is aided when he/she has to orient in unknown surroundings.
  • the difference signal or signals Prior to the acoustic presentation, the difference signal or signals are to be subjected to signal processing in order for the signal to be adapted to the human hearing.
  • This signal processing could be, but is not limited to, a frequency shift and a compression of the signal, thereby causing - from a frequency point of view - the difference signal to be located widely within the range of human hearing; the dynamics area also being adapted.
  • the use of two Doppler radars that are, in the in-use position, arranged for emitting signals in unlike horizontal directions, enables the user to acquire improved directional sensitivity, and the signals from each of said two radars being transmitted essentially to each their earphone, it is possible to accomplish a "stereo image" if the correlation is very like the perception of the human hearing of sound emitters in the surroundings.
  • FIGURE 1 is a schematic view of a Doppler radar
  • FIGURE 2 is a schematic view of a preferred embodiment of a Doppler radar applied for the visually impaired
  • FIGURE 3 is a visualization of the area covered by the antenna, when the user is holding the apparatus in accordance with the preferred embodiment of the invention
  • FIGURE 4 is an explanation of the preferred embodiment of the invention with stereo Doppler radar applied, when an object moves from one side to another;
  • FIGURE 5 is a visualization of the technique used by the user with the preferred embodiment of the invention to follow a hedge.
  • FIGURE 6 illustrates an example of how to avoid a bicycle.
  • FIGURE 7 are examples of possible embodiments of the invention with relation to handling the invention during use.
  • FIGURE 8 shows a possible way of achieving a broader covering area of the radar units.
  • FIGURES 1 and 2 A preferred embodiment of the present invention for the visually impaired is described in FIGURES 1 and 2.
  • the oscillator 2 is supplied with energy from the power supply 1 , 3.
  • the transmitter/receiver antenna 4 emits the radio waves emitted by the oscillator 2 and receives the reflected radio waves from the surroundings. A portion of the emitted radio waves is mixed with the received radio waves in the mixer 5, and hence the difference signal between the transmitted and received radio waves is found on the output 6 of the mixer 5 in the form of the IF output 6.
  • the oscillator 2 is generating a sufficient high-frequency radio wave, meaning that the output of the mixer 6 is mainly within the range of the human hearing 20- 20KHz for the most common speeds in the surroundings of the visually impaired, 1-200 kmph.
  • the frequency of the oscillator is 24.125 Ghz, meaning that a movement of 200 kmph gives an audio frequency of 4.5 KHz.
  • the battery 10 is integrated with the total system into one unit and a set of earphones 16.
  • the power supply unit 11 transforms the energy supplied by the battery 10 to a stable voltage supply to feed the radar unit 12, the preamplifier 13, the analogue/digital converter (ADC) 14, the processor 17, the digital/analogue converter (DAC) 18 and the amplifier 15.
  • the radar unit 12 generates the IF-output as seen in FIG 1 - object 6. This output from the radar unit 12 is fed into a preamplifier 13, where the signal is amplified to correspond to the input level of the analogue/digital converter 14.
  • the analogue/digital converter 14 is controlled by the processor 17, and hence the output of the preamplifier 13 is converted into digital values at a rate controlled by the processor 17 by the analogue/digital converter 14.
  • the processor 17 is a general-purpose processor that manipulates the digital data stream for even better compliance with the human hearing.
  • this manipulation can be, but is not limited to, an alteration of the dynamic range of the audio signal, a noise- reduction algorithm or a frequency shift of the audio signal.
  • the processor 17 After the processor 17 has manipulated the data-stream from the analogue/digital converter 14, the stream is fed to the DAC 18 and the signal is now an audio signal ready to the presented to the user.
  • the signal must be amplified by an amplifier 15 and afterwards the signal is fed to the earphones 16.
  • the audio signal can also be fed to the user by a loudspeaker integrated in the unit, thereby obsoleting the cord from the unit to the earphones 16. In either embodiment, it is very important that the earphones 16 or loudspeaker is capable of reproducing the audio signal at a sufficiently high sound level for the visually impaired to hear the sounds.
  • FIG 3 shows the unit in the preferred embodiment, held by the user 30 and illustrates the area in which the user is able to hear and locate movement 32.
  • the unit 33, held by the user 30 is viewed from the side 37 it can be seen that the area covered 32 by the radar unit 33 is large compared to the body of the user 30.
  • the unit 36 is held by the user 31 , it can be seen that the area covered left to right 34, 35 is divided into two areas - one to the left of the user 35 and one to the right 34.
  • the user is able to locate the lateral movement by using the stereo perspective.
  • FIG 4 demonstrates the stereo perspective in the preferred embodiment of the invention.
  • the stereo perspective is implemented by using two Doppler radar units 20, 21 , where each unit is placed level next to each other, but the two Doppler radar units 20, 21 are angled by a certain degree 25; in the preferred embodiment this angle is 30 degrees.
  • Objects 23, 24 are visualizations of the voltage output of the Doppler radar units 20, 21 during the movement of the object 22 from the left to the right.
  • FIG 4 the movement from left to right has been divided into three distinct time-periods A, B and C, separated by the covering areas of the two antennas. If the movement in front of the user 22 is moving from the left to the right, the user will experience that the sound generated by the movement is starting in the left ear 23 during time period A, where the sound will be heard only in the left ear. Then the sound will be in both ears 23, 24 during time-period B, and while finishing the movement from the left to the right, the sound will be in the right ear 24 only during time-period C. This experience of the movement is especially important when the object that moves is not generating sound like for instance a bicycle. Silent vehicles that were previously undetectable by the visually impaired can now be detected and located.
  • FIG 5 shows one of the applications of the invention, namely following a hedge by using the stereoperspective.
  • a visually impaired person 44 is walking forwards on a pavement 41.
  • a hedge 40 follows the left side of the pavement 41.
  • the user 44 holds the invention 47 in the direction of movement, meaning that the user 44 can hear the reflection of the pavement 41 in his right ear.
  • the radar unit 42 which corresponds to the audio signal given in the user's 44 right ear.
  • the user 44 can hear the reflection of the hedge 40, because the radar unit 43 covering the hedge 40 generates this audio signal.
  • the audio signal reflects the speed of the user's 44 movement.
  • the two radar units are covering very different textures - namely the pavement 41 and the hedge 40 the audio signals generated from the movement are very different.
  • the pavement 41 is a very planar and even surface, where the amount of reflection is very alike.
  • the surface of the hedge 40 is inherently very varying and hence the amount of reflection differs all the time.
  • the reflection from the right radar unit 42 generates a very simple signal 45, which will be very easy for the user 44 to differ from the audio signal generated by the left radar unit 46, as this signal will contain many different frequencies depending of the nature of the hedge 43. What the user has to do is to keep the sound in the right ear very simple and smooth 45, while maintaining the signal with many frequencies in the left ear 46.
  • the user 44 does that by changing the direction of walking, while still moving forwards.
  • a visually impaired person is trying to cross a street.
  • the visually impaired person 49 is facing the traffic, standing on the pavement 52.
  • Checking the street for moving objects he/she swings the apparatus 48 according to the invention from side to side to verify the presence of moving objects in both directions of traffic.
  • a bicycle 53 moves from left to the right in the illustration; the bicycle moving at a speed designated v meters per second.
  • What the visually impaired person will hear in the headset is a tone, where the frequency of the tone reflects the speed of the bicycle.
  • the frequency of the radio wave reflected by the moving object will be shifted in frequency based on the following formula:
  • the Doppler radar subtracts the signal transmitted from the signal received, meaning that the difference signal equals:
  • the visually impaired person 49 is able to calculate the speed of the bicycle 53, but in practice it is often enough to evaluate the speed based on training of the brain of the visually impaired person 49. So the visually impaired person 49 is able to detect the speed of the bicycle 53.
  • the amplitude of the tone will reflect the size of the moving object. As the bicycle 53 moves into the area covered by the left radar unit 50, the amount of radio waves reflected by the bicycle will increase and hence the amplitude of the tone increases. Now the visually impaired person 49 is able to detect and evaluate the distance to the bicycle 53.
  • the visually impaired person 49 will experience a tone starting with a weak amplitude and a frequency reflecting the speed of the bicycle 53 in his left ear.
  • the tone will increase in amplitude as the bicycle 53 to an increasing degree enters the cover area of the left radar unit 50.
  • the amplitude will be stable, but the tone will move from the left ear to both ears, indicating that the moving object 53 is in front of you.
  • the tone will be in the right ear only to finally fade away. Then the bicycle 53 has passed and the visually impaired person 49 can safely cross the street. So the visually impaired person 49 is able to detect the direction of movement of the bicycle 53.
  • the preferred embodiment 60 consists of a small, portable unit. This embodiment is associated with the advantage of extreme flexibility and handiness. The drawback is that one hand is occupied.
  • An alternative embodiment 61 integrates the radar units in a cap's brim, presenting the advantage that both hands are free during use of the unit.
  • the unit can be integrated with the white cane 62 giving the advantage that the signal value of the well-known white can is preserved.
  • the last embodiment shown here 63 integrates the Doppler radar unit in a belt.
  • Figure 8 shows a way of widening the area covered by the Doppler radar units. If the radar units 70, 71 , 72 are placed angled relative to each other with equal angles 73, it is obvious that the radio wave fields will overlap each other 75, 77 and the total area covered by the radar units 74, 75, 76, 77, 78 will increase. If eg three radar units 70, 71 , 72 are used, the middle radar unit 71 could point forwards, while one is angled to the left 70 and another angled to the right 72 relative to the middle unit 71.
  • the object 79 would generate an audio signal from the left radar unit 70, followed by a signal from the left 70 and the middle 71 radar unit, while the object 79 is in the area 75 covered by both units. Later the audio signal will be present only from the middle radar unit 71 while in the area 76, followed by two units 71 , 72 while in their common area 77, ending by giving contributions to the audio signal in one radar unit 72 only, while the object is within the respective covering area 78 of the unit 72. At the end of the movement, the object 79 leaves any of the radar units covering areas and hence makes no contributions to the audio signals. If the radio signals from the radar unit 70, 71 , 72 are mixed and presented to the user in the following way:
  • Left ear Full audio signal from left radar unit 70 and damped audio signal from the middle unit 71 ;
  • the user will still experience the same directivity as a stereo unit, while increasing the possible area where movement is detectable.
  • any movement will contribute with a audio signal which is within the range of the human hearing.
  • the difference signal from the mixer can vary on two parameters - the frequency and the sound level.
  • the frequency will relate to the speed of the object relative to the speed of the radar unit; it applies in particular that more objects at distinct speeds within the area covered by the radar will each contribute to the mixer output with each their distinct frequency.
  • the sound level will be dependent on the reflectivity of each of the objects, especially the size and the reflectivity against the used radio wave frequency.
  • the invention conveys a very complex "sound- picture" to the user, where each object within the area covered by the radar contributes to the total “sound-picture".
  • the advantages of the "sound- picture”, apart from it representing a complete picture of the surroundings, is that it is very similar to the way in which humans use their normal hearing to locate movement.
  • the apparatus is used as a supplement to the ordinary hearing, not a substitute. This eases the user's adaptation to the invention, as the ordinary hearing is not cut off.
  • the user does not move the unit; here moving objects within the area covered by the radar unit can be heard.
  • silent and moving objects that cannot be located using normal hearing can be located within the area covered by the radar unit.
  • the area covered by the radar unit can have a range of many meters.
  • B. The user moves the unit, and hereby generates an audio signal that varies in frequency and sound level.
  • the frequency will reflect the speed of the radar relative to the surroundings.
  • the sound level will relate to the total amount of objects within the range of the radar unit, reflecting the radio waves.
  • objects that move relative to the surroundings and hence the radar unit will each contribute with a distinct frequency and sound level (depending on the moving object reflectivity and speed relative to the radar unit).
  • the functionality achieved by using the invention by method A is not lost by using the unit by method B. This is valid regardless of the number of moving objects.
  • the user can obtain a precise and comprehensive "sound-picture" of the surroundings, and thereby improving orientation in known as well as unknown surroundings.
  • the unit can give an impression of the number, speed, size and distance of moving objects in the area covered by the radar unit.
  • the user can move the unit and obtain a signature of the surroundings.
  • the output from the mixer of the radar unit is used as an audio generator, where it is possible to deduct information about the surroundings from the audio signal.
  • the visually impaired can obtain an overview of unknown surroundings; in particular, it is possible to locate both stationary and moving objects.
  • method B it is possible to detect the surroundings in the direction of interest to the visually impaired.
  • the invention differs in two aspects : A.
  • the output from the radar unit's mixer is only manipulated slightly, and the full information from the radar unit is kept as intact as possible, as this signal is meant to be understood by the user and be comprehended as a "sound- picture" that reflects the surroundings.
  • the way of localising the objects is very similar to that of the ordinary human hearing, where a source of sound is located based on sound level, echo, phase difference etc.
  • two or more radar units can be applied.
  • two or more audio generators eg. a set of earphones

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Health & Medical Sciences (AREA)
  • Rehabilitation Therapy (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

Procédé de localisation d'objets mobiles au moyen de signaux d'onde, destiné en particulier aux malvoyants. Le procédé comporte les étapes consistant à émettre des signaux d'onde, à recevoir des échos provenant d'objets et à produire un signal différent en réponse aux signaux émis et reçus. Le signal différent est conçu pour correspondre à la fréquence et à la zone dynamique de la plage d'audition humaine, et est présenté à l'utilisateur de manière à inclure des informations sur le déplacement de l'objet.
PCT/DK2002/000842 2001-12-12 2002-12-11 Procede et appareil d'aide destines en particulier aux malvoyants WO2003049657A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2002361943A AU2002361943A1 (en) 2001-12-12 2002-12-11 A method and an aid, in particular for the visually impaired

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DKPA200101857 2001-12-12
DKPA200101857 2001-12-12

Publications (1)

Publication Number Publication Date
WO2003049657A1 true WO2003049657A1 (fr) 2003-06-19

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008001092A2 (fr) * 2006-06-28 2008-01-03 Cambridge Consultants Limited Radar
DE102007054507A1 (de) 2007-11-15 2009-05-20 Robert Bosch Gmbh Verfahren zum Erkennen von Lebewesen
EP2128648A1 (fr) * 2008-05-27 2009-12-02 Siemens Aktiengesellschaft Détection de collision portable et composant d'avertissement connectable à des dispositifs audio portables
WO2013150556A1 (fr) 2012-04-02 2013-10-10 Universita' Politecnica Delle Marche Dispositif d'assistance pour aveugles
EP3001222A1 (fr) * 2014-09-24 2016-03-30 Nxp B.V. Assistance radar personnelle
EP3809389A4 (fr) * 2018-06-14 2021-08-18 Honda Motor Co., Ltd. Dispositif de notification

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3260991A (en) * 1963-03-20 1966-07-12 American District Telegraph Co Apparatus for detecting motion and objects
US5687136A (en) * 1996-04-04 1997-11-11 The Regents Of The University Of Michigan User-driven active guidance system
EP0825718A1 (fr) * 1994-06-24 1998-02-25 Roscoe C. Williams Limited Circuit oscillateur
WO1999029276A1 (fr) * 1997-12-09 1999-06-17 The University Of Leeds Dispositif de sensibilisation a l'espace
US6011754A (en) * 1996-04-25 2000-01-04 Interval Research Corp. Personal object detector with enhanced stereo imaging capability

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3260991A (en) * 1963-03-20 1966-07-12 American District Telegraph Co Apparatus for detecting motion and objects
EP0825718A1 (fr) * 1994-06-24 1998-02-25 Roscoe C. Williams Limited Circuit oscillateur
US5687136A (en) * 1996-04-04 1997-11-11 The Regents Of The University Of Michigan User-driven active guidance system
US6011754A (en) * 1996-04-25 2000-01-04 Interval Research Corp. Personal object detector with enhanced stereo imaging capability
WO1999029276A1 (fr) * 1997-12-09 1999-06-17 The University Of Leeds Dispositif de sensibilisation a l'espace

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008001092A2 (fr) * 2006-06-28 2008-01-03 Cambridge Consultants Limited Radar
WO2008001092A3 (fr) * 2006-06-28 2008-05-02 Cambridge Consultants Radar
DE102007054507A1 (de) 2007-11-15 2009-05-20 Robert Bosch Gmbh Verfahren zum Erkennen von Lebewesen
WO2009062773A1 (fr) 2007-11-15 2009-05-22 Robert Bosch Gmbh Procédé de détection de la présence d'un être vivant
EP2128648A1 (fr) * 2008-05-27 2009-12-02 Siemens Aktiengesellschaft Détection de collision portable et composant d'avertissement connectable à des dispositifs audio portables
WO2013150556A1 (fr) 2012-04-02 2013-10-10 Universita' Politecnica Delle Marche Dispositif d'assistance pour aveugles
EP3001222A1 (fr) * 2014-09-24 2016-03-30 Nxp B.V. Assistance radar personnelle
CN105445735A (zh) * 2014-09-24 2016-03-30 恩智浦有限公司 个人雷达辅助
US9618611B2 (en) 2014-09-24 2017-04-11 Nxp B.V. Personal radar assistance
EP3809389A4 (fr) * 2018-06-14 2021-08-18 Honda Motor Co., Ltd. Dispositif de notification

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