WO2013150556A1 - Dispositif d'assistance pour aveugles - Google Patents

Dispositif d'assistance pour aveugles Download PDF

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Publication number
WO2013150556A1
WO2013150556A1 PCT/IT2013/000095 IT2013000095W WO2013150556A1 WO 2013150556 A1 WO2013150556 A1 WO 2013150556A1 IT 2013000095 W IT2013000095 W IT 2013000095W WO 2013150556 A1 WO2013150556 A1 WO 2013150556A1
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WO
WIPO (PCT)
Prior art keywords
signal
coming
indicative
antenna
electrical signal
Prior art date
Application number
PCT/IT2013/000095
Other languages
English (en)
Inventor
Lorenzo Scalise
Valter MARIANI PRIMIANI
Paola Russo
Alfredo DE LEO
Graziano CERRI
Original Assignee
Universita' Politecnica Delle Marche
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 Universita' Politecnica Delle Marche filed Critical Universita' Politecnica Delle Marche
Priority to EP13729481.5A priority Critical patent/EP2834663A1/fr
Publication of WO2013150556A1 publication Critical patent/WO2013150556A1/fr

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Classifications

    • 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
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/06—Walking aids for blind persons
    • A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
    • A61H2003/063—Walking aids for blind persons with electronic detecting or guiding means with tactile perception
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5048—Audio interfaces, e.g. voice or music controlled

Definitions

  • the present patent application for industrial invention relates to a device that uses the propagation of electromagnetic waves to detect objects that may be found in the route followed by a blind or visually impaired subject and can therefore represent an obstacle or danger for his or her mobility.
  • Aid devices for blind people which use ultrasound waves to detect obstacles. These devices are cumbersome, complicated, expensive, inaccurate, unable to explore specific spaces and not versatile.
  • aid devices for blind people which use optical techniques, also with coherent light, such as lasers, which use cumbersome video cameras and complex processing of video or reflected signals and are highly sensitive to environmental conditions (light, surface characteristics, etc.).
  • WO96/00401 discloses an obstacle detection system for use by blind mounted on spectacle frames.
  • Such a system comprises two antennas: a transmit antenna to transmit a signal against the obstacle and a receive antenna to receive the signal reflected by the obstacle.
  • the signal is a frequency modulated continuous wave with carrier frequency chosen between 35 and 220 GHz, preferably 94 GHz.
  • the radiation diagram of the transmit antenna is a very narrow "pencil beam" with beam width of approximately 2°.
  • the signal is processed with frequency demodulation, together with the well-known technology of a Doppler radar, wherein beating is carried out between the transmitted signal and received signal to extract information on the obstacle distance and speed.
  • WO96/00401 The main drawback of WO96/00401 is the need to use two channels (transmission and reception) and therefore two antennas.
  • the transmitted and received signals are characterized, instant by instant, by two different frequencies, i.e. frequencies generated in time by the signal that modulates the carrier frequency to radio frequency upon transmission and reception. Therefore, such a system is cumbersome, expensive, not flexible and not versatile in terms of installation and mounting, specifically for use by visually-impaired subjects.
  • WO03/049657 discloses a signal generator directly connected to an antenna to transmit a signal reflected by a moving object detected by the antenna.
  • the signal generator delivers a sinusoidal signal at 24.5 GHz fixed frequency.
  • the outgoing signal from the generator is also sent to a mixer and mixed with the signal received from the antenna after reflection against a moving object to deliver an acoustic signal in the 20-200 Hz range.
  • the choice of a sinusoidal signal with fixed frequency is due to the need to generate, in case of a moving object, an outgoing signal from the mixer in the audio frequency range.
  • WO03/049657 does not provide for scanning the outgoing signal from the generator. This involves interference problems with other electromagnetic signals. Said device is not immune to signal interference with frequencies close to 24.5 GHz.
  • the data processing unit of WO03/049657 is based on a Doppler radar that generates a frequency displacement due to a moving object included in the volume covered by the transmit antenna.
  • the mixer output is a signal with frequency comprised in the audio spectrum and depends on the speed of the detected object. Therefore an object with speed equal to zero is not detected (the declared speed range being 1-200 km/h).
  • the purpose of the present invention is to eliminate the inconveniences of the prior art, by disclosing an aid device for blind people that is efficient, effective, accurate and precise and at the same time versatile, flexible, not cumbersome, and simple to make and install.
  • the aid device for blind people of the invention comprises:
  • a signal generator that generates a sinusoidal electrical signal in time domain with constant frequency for each scanning in a frequency range; a single antenna that emits an incident beam in conformity with the electrical signal coming from the signal generator, picks up a reflected beam obtained from reflecting the incident beam on an obstacle and converts the reflected beam into an electrical signal indicative of the reflected beam and containing information on the reflection coefficient and phase variation between incident beam and reflected beam,
  • a synchronism detector that receives a first signal indicative of the electrical signal coming from the signal generator and a second signal indicative of the electrical signal coming from the antenna and indicative of the reflected beam, and emits two signal mean values, the combination of which provides said phase variation value
  • an analogue-digital converter that converts in digital said mean values coming from the synchronism detector and a signal mean value indicative of the electrical signal of the signal generator and calculates said phase variation and the module of said reflection coefficient
  • a processing unit that saves in a memory complex reflection coefficients for each scanning frequency and, when scanning is complete, makes an Inverse Fast Fourier Transform (IFFT) of said complex reflection coefficients saved in the memory, in order to obtain a spatial reflection profile indicative of said obstacle, and
  • IFFT Inverse Fast Fourier Transform
  • a user interface connected to said processing unit in order to emit an alarm or suitable signal (sound, vibration, or any other signal interacting with the subject) when said obstacle is detected in the spatial reflection profile.
  • the processing unit of the device of the invention reconstructs an echo impulse with the Inverse Fast Fourier Transform (IFFT) of the complex reflection coefficient that characterizes the detected object.
  • IFFT Inverse Fast Fourier Transform
  • the reflection coefficient is saved for each frequency produced by the generator during scanning.
  • the recovered information is the distance between object and antenna, measured by the time of flight of the reconstructed impulse.
  • the processing unit is connected to the antenna in order to configure the antenna beam in such manner to detect not only the obstacle distance, but also its direction with respect to the user.
  • the displacement speed of the object can be detected from the variation in time of the position between user and obstacle.
  • Fig. 1 is a block diagram showing the operation of the aid device for blind people of the invention
  • Fig. 2 is a diagram shown a spatial reflection profile obtained with the device of Fig. 1 in presence of an obstacle at 2 meter distance;
  • Fig. 3 shows schemes of tests made with the device of the invention in an indoor space
  • Fig. 4 shows schemes of tests made with the device of the invention in an outdoor space
  • Fig. 5 shows schemes of tests made with the device of the invention in an indoor space, with one immobile subject and one moving subject
  • Fig. 6 shows schemes of tests made with the device of the invention in an outdoor space in presence of hazardous objects that are difficult to detect
  • Fig. 7 is the same diagram as Fig. 2, except for it shows three reflection profiles in case of obstacles at 3 meter distance, respectively made of metal, wood and plastics.
  • Fig. 1 shows an aid device for blind people according to the invention, generally referred to with numeral (100).
  • the device (100) comprises one signal generator (1 ), at least one signal divider (D1 , D2), one signal separator (3), one antenna (4), one multiplier (M1 ), one low-pass filter (F1 ), one mixer (6), one analogue/digital converter (8), one processing unit (CPU) (9), one memory (10) and one user interface ( 2) to inform the user about the presence of an obstacle (5).
  • the signal generator (1 ) generates an electrical voltage signal (S) that can be represented as a sinusoidal signal in time domain:
  • (A) is the width and (f) the frequency of the signal.
  • the frequency (f) is constant for every measure (scanning) made by the device (100) in a preset frequency range.
  • the electrical signal (S) is sent to a first signal divider (D1 ) and divided into two equal signals (S1 ) and (S2), wherein:
  • the first signal (S1 ) is sent to a second signal divider (D2) and divided into two equal signals (S3) and (S4), wherein:
  • the signal (S3) is sent to the signal separator (3) and the signal (S4) is sent to the mixer (6).
  • the signal separator (3) receives the signal (S3) and transmits a signal (S5) towards the antenna (4), wherein:
  • the signal (S5) is a conducted voltage signal indicative of the signal (S) coming from the generator (1 ).
  • the antenna (4) converts the conducted voltage signal (S5) into a beam in radiated electrical field (S6) designed to be incident on an obstacle (5).
  • a beam former (1 1 ) allows for changing the radiation diagram of the antenna (4), e.g. the capacity of illuminating the surrounding space in a non-uniform way.
  • the beam former (1 1 ) is connected to the CPU (9) that controls the electronic scanning of the space surrounding the antenna (4) by suitably feeding the antenna (4) in terms of module and phase of the signal (S) coming from the generator.
  • the beam in radiated electrical field (S6) can be a fan beam with:
  • narrow width e.g. 10° - 20° angle
  • the device (100) can be mounted on a stick and the user can inspect the space by moving the stick.
  • the beam former (1 1 ) is configured in such manner that the antenna (4) scans the entire surrounding space in a set period of time, or the antenna (4) emits a multi- beam array in such way to scan the entire surrounding space simultaneously. This avoids the need for the user to move the part of the body provided with the device (100).
  • the radiated electrical field (S6) coming from the antenna (4) is incident on the obstacle (5) in order to obtain a reflected beam (S7) that is picked up by the antenna (4). Also the reflected beam (S7) is a signal in radiated electrical field.
  • the beams (S6) and (S7) are electromagnetic waves that propagate in free space and are re-irradiated by the obstacle (5) according to Maxwell equations.
  • the reflected beam (S7) is seen by the device (100) as a variation of the adaptation condition of the antenna (4).
  • the adaptation condition of the antenna (4) would be optimal in free space (without obstacles) and is deteriorated because of the obstacle (5).
  • the antenna (4) In order to operate properly, the antenna (4) must be adapted for the entire operating frequency range of the device (100), meaning that the power of the reflected beam (S7) towards the antenna (4) must be lower than one fourth of the power of the radiated beam (S6) emitted by the antenna (4).
  • the antenna (4) picks up the reflected beam (S7) and converts it into an electrical conducted voltage signal (S8) indicative of the reflected beam (S7), wherein:
  • Parameters p and ⁇ contain the information on the obstacle (5).
  • p is the module of the reflection coefficient that indicates the power loss of the reflected signal (S7) with respect to the transmitted signal (S6). Therefore the reflection coefficient (p) is given by a numerical value lower than one.
  • ⁇ is the phase, e.g. the phase variation between the transmitted signal (S6) and the reflected signal (S7).
  • the conducted voltage signal (S8) coming from the antenna (4) is sent to the separator (3) and kept separate from the signal (S3) coming from the signal divider (D2). Therefore, the signal separator (3) emits a signal (S9) that is sent to the mixer (6), wherein:
  • the mixer (6) is a synchronism detector (6) that comprises three signal dividers (D3, D4, D5), one phase shifter (7) that generates a 90° phase variation, two multipliers (M2, M3) and two low-pass filters (F2, F3) downstream the multipliers.
  • the signal (S4) coming from the divider (D2) is sent to the divider (D5) and divided into two equal signals (S10) and (S1 1 ), wherein:
  • the signal (S10) is sent to the multiplier (M1 ) and multiplied by the signal (S2) coming from the first divider (D1 ) in order to obtain a signal (S12), wherein:
  • the signal (S1 1 ) is sent to the divider (D5) and divided into two equal signals (S13) and (S14), wherein:
  • the signal (S15) is sent to the phase shifter (7) that emits a signal (S17) with 90° phase shift with respect to (S15), wherein:
  • the signal (S16) is sent to the multiplier (M2) and multiplied by the signal (S14). Therefore, the multiplier (M2) emits a signal (S18), wherein:
  • the signal (S17) is sent to the multiplier (M3) and multiplied by the signal (S13), therefore the multiplier (M3) emits a signal (S19), wherein:
  • the three signals (S12, S18, S19) coming from the three multipliers (M1 , M2, M3) are sent to the corresponding low-pass filters (F1 , F2, F3) that extract the signal mean values (S12, S18, S19). Therefore the outputs of filters (F1 , F2, F3) are:
  • the low-pass filters (F1 , F2, F3) In order to obtain the mean values (S20, S21 , S22), the low-pass filters (F1 , F2, F3) must have a cut-off frequency lower than 2*f max , wherein f max is the frequency to which the maximum frequency component of the signal (S) coming from the generator is allocated.
  • f max is the frequency to which the maximum frequency component of the signal (S) coming from the generator is allocated.
  • the mean values (S20, S21 , S22) coming from the low-pass filters are converted into digital with the A/D converter (8).
  • the A/D converter (8) calculates the values of the phase shift ( ⁇ ) and reflection coefficient (p).
  • the IFFT combined with the energy propagation characteristics, gives the response of the obstacle (5) reconstructed with a spatial reflection profile.
  • the energy propagation characteristics are those of an electromagnetic wave described by Maxwell equations.
  • the spatial reflection profile is characterized by spatial peaks, the distance and width of which are associated with ach obstacle contained in the volume of interest.
  • the processing unit (9) stops the signal generator (1 ) and makes an Inverse Fast Fourier Transform (IFFT) of the complex reflection coefficient (p(f)) saved in the memory (10).
  • IFFT Inverse Fast Fourier Transform
  • This operation can be made because all frequency samples are equidistant and in sufficient number to guarantee a high transformation resolution. Scanning of all frequencies can be made, for example, every 0.5 seconds.
  • the CPU (9) restarts a new scanning sequence, sending a suitable control to the signal generator (1 ) to update the response of the obstacle (e.g. the spatial reflection profile).
  • the signal generator (1 ) is not connected directly to the antenna (4).
  • the signal (S) passes through the signal dividers (D1 , D2) and the signal separator (3).
  • the signal (S7) reflected by the object (5) is received by the antenna (4) and is sent through the signal separator (3) to the synchronism detector (6) adapted to generate the necessary phase and reflection variations to extract information on the object, regardless from the fact that the object is moving or not.
  • the prior document WO03/049657 does not disclose a similar circuit configuration, or a similar operation.
  • the device of the invention uses three filter blocks (F1 , F2 and F3) to isolate the baseband signal before sending it to the analogue/digital converter (8).
  • the beam former (11 ) allows for changing the radiative characteristics of the antenna to provide different space exploration modes.
  • Fig. 2 shows the spatial reflection profile in case of an obstacle situated at 2 meter distance.
  • the noise (Vn) is separated from the signal (Vs).
  • the signal (Vs) is an obstacle situated at 2 meter distance from the device (100).
  • the CPU (9) After detecting the obstacle (5), the CPU (9) sends a control signal (C) to the user interface (12) that emits an alarm or suitable signal to inform the user about the presence of the obstacle.
  • the user interface (12) can emit a tactile sensory signal, such as a vibration, or an acoustic signal, as a buzzer.
  • Fig. 3 shows four tests made in an indoor space, such as a corridor (scenario 0, A, B, C) respectively:
  • the spatial reflection profiles have peaks that accurately detect the obstacles and their distance from the antenna.
  • Fig. 4 shows three tests made in an outdoor space with a parking pool bar at 1.1 m from ground level.
  • the bar In the first test the bar is situated at 2.1 m from the antenna. In the second test the bar is situated at 2.9 m from the antenna. In the third test the bar is situated at 2.1 m from the antenna and there is a subject behind the bar at 1 m distance.
  • Fig. 5 shows a test with an immobile subject at 1.7 m distance and a subject moving towards the antenna starting from a 4.7 m distance.
  • the spatial reflection profiles, taken in positions A to E, have peaks that detect both the immobile subject and the moving subject.
  • Fig. 6 shows three tests made in an outdoor space with hazardous obstacles that are difficult to detect:
  • the spatial reflection profiles have peaks that detect all obstacles.
  • Fig. 7 shows three spatial reflection profiles for targets of different kind situated at 3 m distance from the antenna.
  • the targets are a square plate with 50 x 50 cm dimensions respectively made of metal, wood, plastic material. As shown in the diagram, metal has a higher peak, plastic material has a lower peak and wood has a peak with intermediate height.
  • the device of the invention can detect the different type of materials and provide additional information about the detected object, such as, for example, the material and thickness in case of objects that can be penetrated by the electromagnetic radiation.

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

Abstract

L'invention concerne un dispositif (100) d'assistance pour aveugles comportant : un générateur (1) de signaux, une antenne (4) qui capte un faisceau réfléchi (S7) et le convertit en un signal électrique (S8), un détecteur (6) de synchronisme qui reçoit un premier signal (S4) indicatif du signal électrique (S) en provenance du générateur et un deuxième signal (S9) indicatif du signal électrique (S8) en provenance de l'antenne, un convertisseur analogique-numérique (8) qui convertit en signal numérique les valeurs moyennes (S21, S22) des signaux provenant du détecteur (6) de synchronisme, une unité (9) de traitement qui conserve dans une mémoire (10) des coefficients de réflexion complexes (p(f)) pour chaque fréquence (f) de balayage et effectue une transformation de Fourier rapide inverse (IFFT) des coefficients de réflexion complexes (p(f)) pour obtenir un profil spatial de réflexion de l'obstacle (5), et une interface (12) d'utilisateur servant à émettre une alarme lorsque ledit obstacle (5) est détecté dans le profil spatial de réflexion.
PCT/IT2013/000095 2012-04-02 2013-03-29 Dispositif d'assistance pour aveugles WO2013150556A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP13729481.5A EP2834663A1 (fr) 2012-04-02 2013-03-29 Dispositif d'assistance pour aveugles

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITAN20120034 2012-04-02
ITAN2012A000034 2012-04-02

Publications (1)

Publication Number Publication Date
WO2013150556A1 true WO2013150556A1 (fr) 2013-10-10

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PCT/IT2013/000095 WO2013150556A1 (fr) 2012-04-02 2013-03-29 Dispositif d'assistance pour aveugles

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Country Link
EP (1) EP2834663A1 (fr)
IT (1) ITAN20130067A1 (fr)
WO (1) WO2013150556A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3001222A1 (fr) * 2014-09-24 2016-03-30 Nxp B.V. Assistance radar personnelle
CN106125067A (zh) * 2015-05-07 2016-11-16 通用汽车环球科技运作有限责任公司 阵列激光雷达系统中的伪随机序列
RU2679470C1 (ru) * 2018-02-13 2019-02-11 Закрытое акционерное общество "Научно-производственное предприятие "Магратеп" (ЗАО "НПП "Магратеп") Свч стереорадар для слепых
RU197596U1 (ru) * 2020-03-17 2020-05-15 Леонид Евгеньевич Селявко Шестиугольная фишка с ромбовидными ячейками для групповых коррекционно-развивающих занятий и тренировки зрительно-пространственной памяти
CN116035875A (zh) * 2023-01-29 2023-05-02 中航华东光电（上海）有限公司 一种具有智能避障提醒的hrtf耳机系统

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3133645A1 (de) * 1981-08-26 1983-03-17 Vilém 8000 München Klir Mikrowellenorientierungssystem fuer blinde
WO1996000401A1 (fr) 1994-06-24 1996-01-04 Roscoe C. Williams Limited Dispositif electronique d'aide a la vision
WO2003049657A1 (fr) 2001-12-12 2003-06-19 Blindsight Aps Procede et appareil d'aide destines en particulier aux malvoyants
US20070268178A1 (en) * 2006-05-16 2007-11-22 Dongguk University Industry-Academic Cooperation Foundation Object identification system combined with millimeter-wave passive image system and global positioning system (gps) for the blind

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3133645A1 (de) * 1981-08-26 1983-03-17 Vilém 8000 München Klir Mikrowellenorientierungssystem fuer blinde
WO1996000401A1 (fr) 1994-06-24 1996-01-04 Roscoe C. Williams Limited Dispositif electronique d'aide a la vision
WO2003049657A1 (fr) 2001-12-12 2003-06-19 Blindsight Aps Procede et appareil d'aide destines en particulier aux malvoyants
US20070268178A1 (en) * 2006-05-16 2007-11-22 Dongguk University Industry-Academic Cooperation Foundation Object identification system combined with millimeter-wave passive image system and global positioning system (gps) for the blind

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN106125067A (zh) * 2015-05-07 2016-11-16 通用汽车环球科技运作有限责任公司 阵列激光雷达系统中的伪随机序列
RU2679470C1 (ru) * 2018-02-13 2019-02-11 Закрытое акционерное общество "Научно-производственное предприятие "Магратеп" (ЗАО "НПП "Магратеп") Свч стереорадар для слепых
RU197596U1 (ru) * 2020-03-17 2020-05-15 Леонид Евгеньевич Селявко Шестиугольная фишка с ромбовидными ячейками для групповых коррекционно-развивающих занятий и тренировки зрительно-пространственной памяти
CN116035875A (zh) * 2023-01-29 2023-05-02 中航华东光电（上海）有限公司 一种具有智能避障提醒的hrtf耳机系统

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EP2834663A1 (fr) 2015-02-11
ITAN20130067A1 (it) 2013-10-03

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