WO2012159128A2

WO2012159128A2 - A walking aid

Info

Publication number: WO2012159128A2
Application number: PCT/ZA2012/000030
Authority: WO
Inventors: Douglas Malcolm DUNCAN
Original assignee: Duncan Douglas Malcolm
Priority date: 2011-05-13
Filing date: 2012-05-11
Publication date: 2012-11-22
Also published as: WO2012159128A3

Abstract

A walking aid which includes a cane which carries a plurality of directionally dependent transmitter/receiver sensors and vibratory devices mounted to a user's body which respectively produce vibratory signals on the body in response to reflected signals detected by the respective receivers.

Description

A WALKING AID BACKGROUND OF THE INVENTION

[0001] This invention relates to a walking aid particularly suited for use by a person with defective vision or who is blind (herein "a visually impaired person"). The aid can however be used for other purposes e.g. for guiding a sighted person and for gaming, educational and entertainment purposes. The manner of usage of the walking aid is therefore not restricted.

[0002] As used herein "walking aid" includes a cane or similar implement which can be used by a person to assist in finding his or her way. The implement may be any suitable device which is elongate, of light weight and of compact construction and which can be handled, with relative ease, by a person.

[0003] A visually impaired person often uses a cane when walking. The presence of the cane warns others of the fact that the user has a sight disability and helps the user to identify objects or obstacles which are close to the user. Typically the user taps the cane on an obstacle and, upon hearing a resulting sound, is able to form a reasonable assessment of the nature and location of the obstacle. Obstacle" as used herein includes any physical factor which might hinder the passage of a person such as a barrier, a variation in height of a walking surface e.g. a step or hole, an overhanging branch or the like. If the user is deaf, or poor of hearing, then the sound, caused by tapping, is of little assistance.

[0004] An object of the present invention is to provide an improved walking aid. The invention further extends to applications of the walking aid which can be used to enhance or guide or control the mobility of a user. _τ

SUMMARY OF THE INVENTION

[0005] The invention provides a walking aid which includes an elongate member which is held by a user, at least one transmitter, mounted to the member for emitting a directional signal, at least one receiver, associated with the transmitter, which detects a reflection of the directional signal and at least one actuator which, in response to the detection of a reflected directional signal, imparts a vibrating signal to the user.

[0006] Preferably the walking aid includes a plurality of the transmitters, a plurality of respective associated receivers and a plurality of actuators.

[0007] The elongate member may generally be in the form of a cane, a rod or walking stick.

[0008] Each transmitter may function at an appropriate frequency, for example at a radio frequency, at a sonic or ultrasonic frequency, at an infrared frequency or the like. The invention is not limited in this respect. An important factor is the capability of a transmitted signal to be reflected from a nearby object with a substantial degree of sensitivity, and meaningful immunity of the receiver to noise and stray signals.

[0009] Each transmitter may transmit a signal which may be coded in any appropriate way. For example the signal may be coded in a way which, to a substantial extent, eliminates an adverse effect which may be caused by stray noise or by signals from other sources of radiation. Use may be made of suitable filtering techniques to eliminate noise. The coding may also or alternatively be used to ensure that a signal is uniquely associated with a respective transmitter. This approach helps to eliminate the possibility that a reflected signal, which originated _,

from a first transmitter, is erroneously detected by a receiver associated with a second transmitter.

[0010] Different techniques may be employed for activating an actuator to impart a vibrating signal to the user. In one approach a receiver, upon detecting a reflected signal, causes a second transmitter to transmit a signal to the actuator so that, responsive thereto, the vibrating signal is imparted to the user. In a different approach the walking aid includes a controller, mounted to the elongate member, which receives a signal from a receiver indicating that a reflected signal has been detected. The control device then emits a signal, preferably wirelessly, which is uniquely associated (e.g. coded) with the transmitter/receiver pair in question, to an associated actuator which then, responsive to reception of the signal, imparts a vibratory signal to the user. In other words each transmitter/receiver pair carried on the elongate member can be directly linked to a respective actuator by means of a signal which is sent wirelessly from the transmitter/receiver pair to the actuator.

[0011] These techniques are exemplary only and are non-limiting and, if appropriate, other systems can be used to ensure that directional information is transferred in an unambiguous manner to the user.

[0012] Each receiver may be physically associated with a respective transmitter. For example these components may be linked together by being mounted to or in a common housing, as a single sensor. In a variation of the invention the transmitters are carried on the elongate member and the receivers are fixed to or carried by a user at various identified locations.

[0013] Each transmitter and associated receiver (herein a transmitter/receiver pair) is configured or orientated to be directionally sensitive. Thus a transmitter may be ,

adapted to transmit in a first direction with a relatively direct and narrow signal and the associated receiver may be adapted to receive a reflected signal, e.g. in a second direction which is opposite to the first direction.

[0014] If each transmitter/receiver pair works at the same frequency as any other transmitter/receiver pair then, to avoid extraneous or erroneous signals which could jeopardise the accuracy or reliability of the walking aid, it is desirable to take steps to ensure that a signal which originates from a particular transmitter is received only by the associated receiver. Coding techniques can be used for this purpose. Another approach is to ensure that the physical spacing or angular spacing between the various transmitter/receiver pairs is such that, at least under most conditions, a receiver will only detect a reflected signal which originated from the associated transmitter. Another possibility is to configure the transmitter/receiver pair so that only one pair works at a time. This is readily done simply by ensuring that one transmitter/receiver pair is energised or supplied with power at a time. A control circuit can then be used to energise the transmitter/receiver pairs cyclically so that it is not technically possible for a receiver to detect a reflected signal unless the original signal came from the associated transmitter.

[0015] A different way of approaching the aforementioned problem is to let each transmitter/receiver pair work at a unique and distinct frequency. Through the use of a suitable band pass filter, this technique will ensure that a receiver will only respond to a reflected signal which originated from the associated transmitter.

[00 6] The aforementioned ways of ensuring the integrity of operation of the system are exemplary only and non-limiting. ,

[0017] A first transmitter/receiver pair may be mounted to the elongate member to be operative in a first direction; a second transmitter/receiver pair may be mounted to the member to be operative in a second direction; and a third transmitter/receiver pair may be mounted to the member to be operative in a third direction. The first direction may for example be directly forward and the second and third directions may be opposite to each other and may each be at a right angle to the first direction. Another desirable feature of the invention is to include a fourth transmitter/receiver pair which is mounted to the elongate member to be operative in a direction which is substantially the same as the direction in which the elongate member extends. This feature allows a change in a surface level to be monitored and detected. For example if a user is walking along a relatively flat surface a regular vibratory signal may be produced by the fourth transmitter/receiver pair. The vibratory signal would however change if there is a change in a surface level. A user may for example encounter a stair or a hole in the ground or a kerbstone and information on the change in level is then transferred automatically to the user. Another possibility in this regard is to allow the fourth transmitter/receiver pair to produce a strong vibratory signal only when an abrupt change is detected in a surface level. At other times the fourth transmitter receiver pair, although active, does not produce any vibratory signal. Thus the fourth transmitter/receiver pair is only functional to alert a user to a change in a surface level. A similar technique can be used to signify to a user that a surface level has increased i.e. there is an upward step.

[0018] To allow the user to relate at least to the first, second and third directions the elongate member may include markings, or indicators which are uniquely associated with the first, second and third directions respectively. Conveniently the elongate member includes a handle which is shaped and configured to ensure that the ,

elongate member, when the handle is gripped by a user, has a desired orientation relative to the user.

[0019] It falls within the scope of the invention if a received signal indicates a close presence of an object (which reflects a transmitted signal), for the actuator, additionally, to produce a first audible signal. Other audible signals may be generated in response to reflected signals received by the control device, arising from other transmitters. The various audible signals may be distinguishable from one another by means of tones or sounds or in any other way. An object which is far away may cause a relatively soft audible signal to be received whereas an object which is close to a respective transmitter/receiver pair may result in a louder audible signal. Other factors which could influence the nature of an audible signal are a tone, a frequency repetition rate, sounds or any combination of the aforegoing. The invention is not limited in this respect. Similarly the nature of the vibratory signal may be varied to convey information on the distance between a detected object and the user. Without being limiting typically a signal imparted to a user will increase in intensity or frequency or the like as the distance to an object decreases, and vice versa.

[0020] Each actuator may, for example, include a vibrator and an actuator receiver, preferably a radio receiver, which is responsive to a signal which is sent from the respective transmitter/receiver pair either directly or through the intermediary of a control device.

[0021] Thus in one form of the invention a transmitter emits a signal and, if the signal is reflected by a nearby object, the reflected signal is detected by a receiver. A signal is then sent from a suitable source associated with the receiver directly to the associated actuator receiver. Alternatively the signal goes via the control device ,

which then transfers a secondary signal to the actuator. This is either directly or by means of wireless techniques. Other arrangements are however possible. For example a transmitter can be operated in the manner described and transmit a signal which would be reflected by a nearby object. The reflected signal, suitably encoded to distinguish it from other signals which may be reflected, is then detected by a receiver carried by a user for example on an arm band or the like. It is also possible for a reflected signal to be detected by a receiver on or associated with the control device and, upon detection of a signal, the control device then causes an associated vibrator to be actuated e.g. by transmitting a signal to the vibrator.

[0022] It is known that a number of visually impaired people suffer from diabetes or a similar ailment which, unfortunately, lessens the sensitivity of a person's hands and fingers. This mitigates against vibrators being mounted to the elongate member. To address this factor it falls within the scope of the invention for the or each actuator to comprise a mechanism which is worn on the user's body. This can be at any appropriate location on the body for example a leg, an arm, around the chest, the waist or the like. In one form of the invention the actuator is in the form of or is carried by a belt which encircles or which is otherwise brought into contact with a user's waist or torso.

[0023] A vibrating mechanism, say, on a left side of the belt is identified with a transmitter/receiver pair which operates to the left of the user; a vibrating mechanism on a right side of the user is associated with a transmitter/receiver pair which operates to the right; and a transmitter/receiver pair which functions directly ahead of the user is associated with a vibrating mechanism on a front side of the belt. These associations and arrangements are exemplary only and are non-limiting. .

[0024] Although a belt which is worn by a user is not obtrusive it has been found through experimentation that the effects of vibrating mechanisms which are on opposed sides of a belt are not always that clearly discernable by a user as coming from a first transmitter/receiver pair or a second transmitter/receiver pair.

[0025] A particular advantage of one form of the invention lies in the preservation of a sense of pride which often is shown by a visually impaired person. This type of person may perceive it to be humiliating, at least to some extent, to be seen to be coupled to external equipment. The use of a walking cane, in itself, can lead to a sense of being singled out for attention. Consequently if an actuator is not visible then the presence of the actuator does not contribute to the person's sense of being conspicuous.

[0026] One preferred form of the invention thus includes at least two vibrator mechanisms. Each vibrator mechanism is uniquely associated with a respective transmitter/receiver pair and, when activated, causes a vibratory signal to be generated. Each vibratory mechanism is carried by an appropriate arm or wrist band, much in the nature of a watch. Thus a user would have a first band on one arm and a second band on the other arm. The vibrations which arise from detected objects are then immediately felt by a user and there is little likelihood of confusion arising as to the direction in which an object lies. A third vibratory signal could be imparted to a user from a mechanism mounted to a belt which is located, say, on a front side of the user, or on a necklace or similar mounting arrangement. Alternatively the vibratory mechanisms on the two arm bands could be simultaneously operated to signify an obstacle which is directly ahead of a user. .

[0027] It is preferred that the vibrator mechanisms are carried at extremities on a user's body, for example on the wrists or arms. This helps the user to distinguish clearly and unambiguously between different vibratory effects.

[0028] The vibrators are preferably responsive to signals which are sent wirelessly, for example at a radio frequency. This avoids the need for a direct physical link such as a cable to each of the vibrators.

[0029] The control device may be used to change the strength of a transmitted signal or the sensitivity of a receiver. This helps the user to adjust the walking aid to take account of known or other conditions. For example a blind person might be intimately associated with physical factors in a house or dwelling. Nonetheless the person may use a walking aid of the kind described. Multiple reflections could occur and these could become annoying. To address this factor the sensitivity of the walking aid can be adjusted so that although signals are received, upon use of the walking aid, these are far less intense than normal and consequently are not as compelling as what otherwise would be the case. The control device may include a memory in which data relating to and setting of a transmitter or receiver can be stored. This data can be retrieved as required by a user.

[0030] The inclusion of memory in the walking aid adds considerably to the utility of the aid for data on selected settings of the transmitters and receivers can be stored and retrieved, as appropriate, to simplify usage of the walking aid. Another possibility is to store in the memory data pertaining to a particular route which a user traverses, for example on a regular basis. This feature is normally dependent on coupling the control device to a GPS, a smart phone or similar device which emits signals which are geographically dependent. For example if data on a particular route is available from a GPS then that data can be stored in the memory associated ,

with the control device. A user can be prompted, while travelling the route, to move in a particular direction by using the vibratory signals from the actuators. If a user travels a particular route each day then again it is possible to load geographical data into the memory and this, coupled with positional data available from a GPS, allows the user to be guided by the walking aid using vibratory signals emitted, as appropriate, by the actuators.

[0031] Each transmitter/receiver pair or part thereof may be mounted to a flexible or adjustable support so that, at least to some extent, the directivity of the transmitter/receiver pair can be adjusted relative to a longitudinal axis of the elongate member.

[0032] It also falls within the scope of the invention for the walking aid to be used in conjunction with an additional warning device which is used at an elevated position. A blind person typically uses a cane to sense features on a surface over which the person walks. Very little is available to a blind person to assist in detecting overhead features such as overhanging branches, street signs at an elevated position or the like. To address the occurrence of obstacles of this type the user may be provided with a transmitter/receiver pair which is operable at head level (say). For example a user may wear a pair of spectacles that contains a transmitter/receiver pair and an actuator in the form of a small vibrator to act on a person's skin near, for example, one ear. A similar arrangement can be adopted at an opposing side. By wearing the spectacles the user is able to form a sensory impression of objects which could constitute obstacles at elevated positions.

[0033] In order to operate the transmitters and receivers the walking aid may include an energy source in the form of one or more batteries mounted, for example, in or on the elongate member. Similarly, each actuator may include an energy source, ,

preferably a rechargeable battery which powers the receiver and the vibratory mechanism associated with the actuator.

[0034] The walking aid may emit a regular signal at spaced intervals to signify to a user that there are no obstacles. This signal may be interrupted when an obstacle is detected.

[0035] The elongate member preferably includes a handle which is shaped and configured so that it can only be gripped by a user when the elongate member is in a particular orientation relative to the user. This feature substantially eliminates the possibility that a user could associate a vibratory signal which is, for example, on a left side of the user with an object which is to the right of a user, and vice versa.

[0036] The invention provides, in a second instance, a walking aid of the kind described which includes, or which is used in conjunction with, a GPS (Global Positioning System), a cellular telephone in a cellular telephone network, or in a radio network.

[0037] In general terms a signal from a cellular network or from a Bluetooth or similar wireless control device, a satellite source or a photo imaging system, can be coupled to the walking aid which, in response to a control signal, suitably processed and analysed by the control device incorporated in the walking aid, causes a particular vibratory mechanism to be actuated so that the user can be guided to follow a distinct path e.g. to turn left, right, stop, move forward, veer to the left or veer to the right. Commands of this type are exemplary only and are non-limiting.

[0038] In each instance a device, within the system or network, is programmed with coordinates for identifying information of a target destination. The user can be guided by signals produced by the walking aid to the target destination. These ,

guiding signals are generated in response to information from the device within the system or network.

[0039] It is apparent from the aforegoing that the walking aid has different modes of use. Without being limiting these modes include the following:

a) vibratory signals are produced to guide a user to move along a path with relative safety by avoiding obstacles and by detecting changes in surface levels;

b) route information can be stored in a memory, associated with the walking aid, which allows a particular route to be traversed by giving prompting signals to a user to turn left or right or proceed straight ahead, as the case may be;

c) the incorporation of character and other recognition software in a monitor associated with the walking aid can produce information to a user, using for example suitably encoded vibratory signals, to allow the user to determine the nature of his or her whereabouts;

d) in another mode of operation a user, while traversing any path, can activate a marker switch which generates a signal which is linked to a GPS or the like. When the user is again in the same position this is detected by the GPS and an alerting signal is sent to the user (via the vibratory mechanisms referred to) to alert the user to a particular situation e.g. a traffic light, a taxi rank, a bus service or the like. This type of warning information can be coupled to an auditory signal as well.

BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The invention is further described by way of examples with reference to the accompanying drawings in which: _Γ

Figure 1 shows a user equipped with a walking aid according to the invention;

Figure 2 depicts schematically the use of a plurality of signalling devices according to the invention;

Figure 3 is a view, on an enlarged scale, of a part of the walking aid;

Figure 4 shows three signalling devices which are applied to the user of Figures 1 and 2;

Figure 5 is a side view in cross-section of a signalling device according to one form of the invention;

Figure 6 has plan views from below and above of the signalling device shown in Figure 5;

Figure 7 is an exploded view, in perspective, of the device in Figure 5;

Figures 8 and 9 show additional usage options; and

Figure 0 shows how alerting and guidance signals can be employed.

DESCRIPTION OF PREFERRED EMBODIMENTS

[0041] Figure 1 of the accompanying drawings illustrates a walking aid 10, which includes an elongate cane 12 and three sensors 14 arranged to transmit narrow beams of radiation respectively in a forwards direction and to the left and right of a user. Each sensor 14 includes a respective directional transmitter and an associated receiver. An angular orientation of each transmitter can be adjusted, in a vertical plane and in a horizontal plane as is indicated by means of double-headed arrows 20 (Figure 3), to allow the direction of a transmitted signal to be varied. This facility is useful in adapting the walking aid to the particular requirements of a user 22.

[0042] A signal transmitted by any of the various transmitters which impinges on a nearby object 24 (see Figure 2) is reflected. The reflected signal is detected by means of the respective receiver which is uniquely associated with the transmitter. ,

Upon detection of a reflected signal a secondary signal 26 is transmitted to an actuating receiver, carried on a signalling device (as is described hereinafter), associated directly with the user 22. Preferably this is done in a wireless manner. The secondary signal can be sent directly from another transmitter which is uniquely associated with the particular sensor. Alternatively the receiver which detects a reflected signal is linked to a control device 28 e.g. by means of a wired link or repeater 27 (see Figure 2) which passes up the cane to the control device. The control device then validates the received signal and emits a unique signal associated with the sensor in question to an actuator carried by the user. Thus it is possible for the secondary signal to go directly from a sensor to an actuator, or through the intermediary of the control device 28 to the actuator.

[0043] Figures 1 and 2 show a person 22 making use of the walking aid 10. The transmitter/receiver combinations, which may conveniently respectively be regarded as unitary sensors, function independently and under conditions of the kind described produce respective signals which are uniquely associated with actuators or signalling devices 34, 36 and 38, attached at different locations to a body of the user 22, in any appropriate way. In one example of the invention the signalling devices are attached to a belt or an article of clothing. Preferably, though, there are at least two signalling devices 34 and 38 which are respectively mounted to arm bands 34A and 38A - see Figure 1. Each arm band encircles a portion of a respective arm e.g. a wrist of a user and for example may outwardly resemble a wrist watch or the like. The actuators produce vibrating signals, which may vary in frequency, intensity and duration, depending on the distance of an object which reflects a signal to the transmitter/receiver combinations 14. _

[0044] In Figures 1 and 2 the signalling device 34 is used on a left side, the device 36 is used at a centre position, and the device 38 is used on a right side, of the user.

[0045] The cane 12 in Figure 1 is straight. In Figure 2 though the cane has a handle 2A which configured so that the handle can be comfortably gripped by a user but at the same time to ensure that the cane automatically takes up a desired orientation relative to the user. Consequently the sensors 14 automatically have a desired orientation relative to the user. This must be contrasted with the situation shown in Figure 1 in which there is no mechanism which automatically ensures that the sensors take up desired orientations.

[0046] Figure 4 illustrates the three actuators 34, 36 and 38 displaced from the user. Figures 5 to 7 illustrate the construction of the actuator 38. The devices 34 and 36 are for all practical purposes identical to the device 38.

[0047] The signalling device 38 is shown in cross-section in Figure 5, from lower and upper sides in Figure 6, and in exploded form in Figure 7.

[0048] The signalling device includes support structure in the form of a printed circuit board 42 to which is mounted a flexible vibrating enclosure or shell 44 made from a suitable waterproof and tough plastics material. Mounted to the board are an electronic controller 46 e.g. a microprocessor, a receiver 48, a rechargeable battery 50 and a vibrating motor 52 which carries a small eccentrically mounted weight 54. The motor and weight arrangement is exemplary only and for example can be replaced by an electronically based system. On what, in use, is an upper side 56 of the device a letter 58, see Figures 6 and 7, is applied in braille form. In this example the letter is the letter "R" and this is used to designate that the signalling device is to be used on a right side of the user. Optionally, depending on the mode of use of the ,

signalling device, an appropriate memory may be mounted to the printed circuit board and connected to the controller.

[0049] On a lower side 60 (see the drawing on the right in Figure 6) the board has a plurality of windings 62 which act as an inductive coil. The coil is connected via the electronic controller 46 to the battery 50. When the signalling device 38 is docked with a suitable recharging station (not shown) the coil is inductively coupled to a primary winding of a transformer (not shown) and energy is transferred via the coil to the battery in a wireless manner, under the control of the circuit 46, so that the battery can be recharged.

[0050] An adhesive material 64 surrounds a centrally positioned and raised portion 66 of the flexible enclosure. The adhesive material is for example provided in the form of double-sided adhesive sheet material so that one adhesive surface can be engaged with the enclosure 44, as is illustrated in Figure 5, and an opposing adhesive surface 68, which faces outwardly, can be adhesively attached to a surface 70, which may be the skin of a person, or on an article of clothing or the like, according to choice. A similar structure is used to make the arm bands 34A and 38A of the adhesive surface is not required if, as is notionally shown in Figure 1 , each vibrating mechanism is attached to a respective arm band or the like.

[0051] The construction of the actuator shown particularly in Figures 5, 6 and 7 is exemplary only. Other techniques can be used. A primary requirement though is the ability of the actuator to emit a vibrating signal which preferably is variable in nature depending on input data in response to a detected reflected signal. The actuator should be relatively unobtrusive and self-powered via an on-board battery. To enable the actuator to be largely obscured from view and to be worn comfortably in a directionally dependent manner it is preferred for a user to carry two actuators, one ,

on the left arm and one on the right arm and at least a third actuator mounted, say, on a neck band or the like.

[0052] A signal transmitted from the walking aid is received by the receiver 48 and processed by the control circuit 46, which then makes a connection between the battery 50 and the vibrating motor 52. The strength of the signal is used as a parameter, in a suitable algorithm executed by the circuit 46, to control the frequency of vibration (the speed of rotation of the motor), the intensity of the vibration (the power consumed by the motor), and the duration of the vibration, to provide information to the user. Similar control processes can be used if the vibratory mechanism is electronically based.

[0053] In the described arrangement a vibratory signal, which is produced upon detection of an object to a left of a user, is applied to a left side of a user. Similarly a signal is applied to a right side of the user if an object is detected on the right of the user. A third mechanism generates a vibratory signal if an object is detected in front of a user. The third vibratory mechanism can however be dispensed with for, if an object is detected to the front of the user, signals can be simultaneously generated on the right and the left of the user, to signify that an object is to the front of a user.

[0054] It is possible to transmit information (not restricted to directional information) using a suitable code such as Morse code. The vibrator would then be actuated in short bursts which represent "dots", and long bursts which represent "dashes", as appropriate, thereby to make up a message in Morse code.

[0055] The walking aid can carry an additional sensor (designated 14A in Figure 3) to provide a depth indication i.e. if a user encounters a raised or lowered step or kerb stone then the fourth sensor can give an indication to the user of the vertical ,

displacement of the step. The sensor 14A is orientated so that it is functional in a direction which is substantially coincident with the direction of a longitudinal axis of the elongate member 12.

[0056] The vibratory signals can be varied in frequency and intensity to provide an indication of distance between the user and an object. Typically the vibratory signal will increase in frequency or intensity as the distance between the user and an object decreases. The angle of each sensor (transmitter/receiver combination) can be varied to suit the needs of the user. Similarly the sensitivity of each transmitter/receiver combination can be adjusted to suit surroundings. Indoor usage typically requires lower sensitivity than outdoor usage.

[0057] Individual sensors can be switched off when not required, for example when a sighted person guides a blind user. This feature eliminates unnecessary signals.

[0058] The state of the battery 50 in the signalling device can be measured by the electronic circuit 46 and information on the battery state can be transmitted to the user via the vibratory motor 52. The user can thus be alerted that the battery capacity is being depleted and that recharging is required.

[0059] Signals from other sources can be directed to the walking aid to guide a user. For example a signal can originate from a cellular telephone or from a GPS. A signal can be uniquely directed to the walking aid by including in the control device 28 a SIM card 28A or similar identifier. The data from a GPS can then be relayed directly to the control device 28 and processed as appropriate. Locational data can be stored in a memory 28B associated with the control device. This data can be retrieved as appropriate and can be used to generate prompt signals to guide a user along a defined or selected path. For example, a user might wish to travel from A to .

B and, to do so, would download positional data from a GPS. The GPS would then track the movement of the user and issue prompts to the user by vibratory or audible signals to allow the user to traverse a particular path.

[0060] An allied facility lies in the capability of the user to produce a marker signal at any particular point along a path which is travelled. The user may for example elect to have a vibratory signal generated when the user is near a bus stop, approaching a traffic light or the like. By dropping a marker signal locational data is stored in the memory 28B and this is matched to locational data from a GPS, an alerting signal can automatically be sent to the user. Thus, apart from warning the user about the presence of obstacles, the walking aid can alert a user to move along a particular path and so exert a guiding function. The stored data can be retrieved to assist in movement and automatic settings can be stored in the memory 28B to customise the use of the walking aid according to requirements, particularly in known and familiar locations.

[0061] Another feature is that a sound generator or beeper can be attached to the cane. This helps a user to be identified to the public. If the cane should fall a vibrating reference signal can be transmitted to the user. However if the cane and the user are both on the ground e.g. because of a fall, an alarm signal can be generated and transmitted via a cellular phone associated with the user to summon assistance. A regular or intermittent low amplitude vibrating signal can also be applied to the user to signify an absence of obstacles. This signal would be interrupted when an obstacle is detected. Also, if for example the control device includes a SIM card 28A, then a cellphone or other signal generator can be used to find a misplaced walking aid. A signal is then directed by the enquiring cellphone to the SIM card 28A, in the member 12 and, in response thereto, a locating signal can .

be generated by the control device 28 which, in one respect can offer a cellular communication capability.

[0062] The principles of image recognition can also be used in conjunction with the principles of the invention. Image recognition is based on the use of a scanning tool and software which is designed to identify objects, people, landscapes and surface textures in name and detail. Image recognition techniques can be used to assist a blind user by identifying objects that could present a threat or danger to the user. An object identified in this way can be notified to the user using auditory techniques, or vibratory techniques of the kind which have been described herein. For example a moving vehicle, a low hanging tree, a dog or the like could be identified by a separate device carried by the user, and related information could then be notified to the user by coded vibrating signals. Details of a defined route, recorded using recognition software, can be employed in conjunction with signals from a GPS, to guide a user along the route. Guiding signals would be given to a blind user by means of prompts which activate the vibratory mechanisms carried by the user.

[0063] As shown in Figure 8, a user 80 carries a small computer 82 which, via a scanner 84 on the cane, implements scanning and image recognition techniques and, in response, generates signals which activate the actuators 34, 36 and 38, to guide the user. Additionally or alternatively audible signals, generated by the computer 82 in response to scanned information, are transmitted to an earpiece 92, carried by the user, to assist or guide the user in navigating a particular route. The earpiece could be used to provide an audible warning of a high obstacle, say a tree branch, in the path of a user. A signal could be emitted by means of a sensor, not shown, mounted to spectacles carried by a user. The generation of the audible warning, in response to a reflected signal, is carried out in a way which has been ,

described. Alternatively or additionally the earpiece 92 could be replaced by a vibratory mechanism or incorporate a vibratory mechanism.

[0064] In another approach, shown in Figure 9, a GPS 94 embodied in the cane 12, is responsive to information transmitted via a satellite 96 from a controller 98. The controller could be a computer which is carried by the user, e.g. the computer 82 or the control device 28 or a remotely based device with which the user can communicate e.g. via a suitably enabled smartphone, or the like. This enables a user to be guided to a target destination. The guiding information is contained in one or more signals which are transmitted to the actuators 34, 36 and 38. In each case the received information activates the respective vibrator to guide a user in a particular direction. For example one of the vibrators is actuated to notify a user that the user should move in a particular direction.

[0065] The use of the system to give guiding instructions to a user must be contrasted with a system in which a warning signal is generated when an obstacle lies in the path of a user. A guiding signal which informs a user to move in a particular direction must be distinguishable from a warning or alerting signal. One possibility is to provide additional vibrators which are used for guiding signals and to leave the vibrators in the devices 34, 36 and 38 to generate alerting or warning signals.

[0066] Figure 10 includes three drawings labelled Figure 0A, Figure 10B and Figure 10C respectively. Figure 0A graphically depicts how a vibratory signal 100 has a low frequency when an object (not shown) is relatively far from a user. This signal increases in frequency, moving to the right in Figure 10A, as the distance to the object decreases. Figure 0B illustrates, by way of example, a guidance signal 102 which prompts a user to turn, say, to the right. The guidance signal consists of .

relatively short vibratory pulses which are spaced apart in time. These signals are easily distinguished from the proximity signals shown in Figure 10A.

[0067] Figure 10C shows a combination of the signals 100 and 102. The proximity signal 100 is still discernible but so is the guidance signal 102. The high amplitude pulses produced by the guidance signal represent a high intensity vibration periodically being applied to the user and superimposed on the proximity signals.

[0068] The cane carried by a user can include one or more light sources to alert third parties to the user. This feature is useful if the user is visually impaired. For example, referring to Figure 3, each of the sensors 14 could include a small light emitting diode (not shown). Each diode could be pulsed to emit light when the associated transmitter/receiver pair is energised. This provides a convenient and inexpensive manner of alerting third parties to the presence of the user of the walking aid.

Claims

1. A walking aid which includes an elongate member which is held by a user, at least one transmitter, mounted to the member for emitting a directional signal, at least one receiver, associated with the transmitter, which detects a reflection of the directional signal and at least one actuator which, in response to the detection of a reflected directional signal, imparts a vibrating signal to the user.

2. A walking aid according to claim 1 which includes a plurality of transmitters and respective associated receivers.

3. A walking aid according to claim 1 wherein the elongate member is a cane, a rod or walking stick.

4. A walking aid according to claim 2 wherein each transmitter transmits a signal which is coded to eliminate noise.

5. A walking aid according to claim 2 wherein each transmitter and associated receiver work at a unique frequency.

6. A walking aid according to claim 1 which includes a first transmitter which is mounted to the elongate member to be operative in a first direction; a second transmitter which is mounted to the member to be operative in a second direction; and a third transmitter which is mounted to the member to be operative in a third direction.

7. A walking aid according to claim 6 which includes a fourth transmitter which is operative in a direction which is substantially in line with a longitudinal axis of the elongate member.

8. A walking aid according to claim 6 or 7 wherein the elongate member includes a handle which is configured so that it is automatically held by the user in a defined orientation relative to the user.

9. A walking aid according to claim 1 wherein each actuator includes a vibrator which is worn at a respective location on the user's body, and each vibrator is responsive to a signal detected by the respective receiver.

10. A walking aid according to claim 9 wherein one vibrator is mountable to a left side of a user, and one vibrator is mountable to a right side of the user.

11. A walking aid according to claim 1 wherein each transmitter is mounted to an adjustable support so that, at least to some extent, the directivity of the transmitter can be adjusted relative to a longitudinal axis of the elongate member.

12. A walking aid according to claim 1 which includes a control device which, in response to a signal from an external device, controls at least one actuator to impart a guiding signal to the user.

13. A walking aid according to claim 12 wherein the external device is selected from a GPS, a wireless system and an image recognition system.

14. A walking aid according to claim 1 which includes at least one light source on the elongate member which is actuable to provide a visual indication of the location of the elongate member.

15. A walking aid according to claim 1 in combination with a sensing mechanism worn on a user's head to provide a warning of an elevated obstacle to the user.

16. A walking aid which includes a cane which carries a plurality of directionally dependent transmitter/receiver sensors and vibratory devices mounted to a user's body which respectively produce vibratory signals on the body in response to reflected signals detected by the respective receivers. 7. A walking aid which includes an elongate member which is held by a user, a control device which is mounted to the member, and at least one actuator carried by the user, and wherein the control device, in response to an externally generated positional signal, activates the actuator which produces a vibrating signal, discernible by the user, to guide the user along a defined path.