WO2015055658A1

WO2015055658A1 - Assistance system

Info

Publication number: WO2015055658A1
Application number: PCT/EP2014/072028
Authority: WO
Original assignee: I-Cane Social Technology Bv
Priority date: 2013-10-14
Filing date: 2014-10-14
Publication date: 2015-04-23
Also published as: DE102013016944A1

Abstract

The invention relates to an assistance system with a haptic device (1) for a hand, a functional module (2) for a module function for controlling the haptic device (1) and an application device (4) for an user function in order to control the haptic device (1), preferably a portable computer (4a). It is proposed that the module function of the functional module (2) is not configurable or configurable in a predetermined extent and that the user function of the application device (4) is configurable as a function of a user program (5) that can be installed by a user on the application device (5).

Description

assistance system

The invention relates to an assistance system according to the preamble of claim 1.

From the prior art and in particular from EP 1 813 244 B1, from which the present invention is based, an assistance system with a portable mobility aid for the haptic display of orientation information is known. With this mobility aid, the feeler element of a haptic device serves to communicate orientation information to the user through a motorized adjustment, so that the user can move on the basis of this orientation information without having to rely on his view.

The mobility aid of the assistance system known from the prior art now has both a navigation module and a collision avoidance module, by means of which the above probe element can be activated. Specifically, the probe element is driven so that both a direction information from the navigation module and a collision information from the collision avoidance module, which warns of sensor-detected obstacles in the immediate vicinity of the user, is haptically reproduced to the user. He can thus haptically capture and respond to these two types of information.

However, a disadvantage of this prior art is that this close link between the collision avoidance and the navigation in the mobility aid is not very flexible. On the one hand, the avoidance of collisions is a much more critical and important function of a mobility aid than the navigation aid. Collision avoidance is usually based on sensors that are present on the mobility aid itself or at least in its immediate vicinity. On the other hand, the operation of the navigation module requires that such proximity sensor information is not necessary for them, and that both the map information on which the navigation is based and the algorithms for establishing an advantageous route may be subject to continuous updating. Likewise, the current geographic location may be determined in a variety of ways, such as via a satellite positioning system or about the triangulation of mobile connections. Furthermore, for the navigation function additional hardware, eg. B. in the form of GPS modules, required, but which is not always needed, for example, in the movement within known buildings.

Thus, while the fixed setting of the collision avoidance function is advantageous, it has a detrimental effect on navigation, since the mobility aid quickly becomes outdated in this respect, but a charge for maintenance or a new acquisition is costly and problematic. Overloading the mobility aid with further integrated functionality further reduces the reliability of the mobility aid, e.g. In terms of software crash risk or real-time capability.

Against this background, the invention is based on the problem of further developing the known assistance system in such a way that fixedly set and user-configurable functionalities can be advantageously combined.

The above problem is solved in an assistance system according to the preamble of claim 1 by the features of the characterizing part of claim 1.

Essential to the invention is first of all the realization that the haptic device, in particular for providing safety-critical functions, can be controlled by a function module for a module function which is not user-configurable or user-configurable to a predetermined extent in normal operation. This takes into account the fact that the configurability of a function by the user always involves the risk of a misconfiguration, which must be reduced to a predetermined level in the case of safety-critical functions. The term "in normal operational use" here means that this limited configurability is feasible by the user who uses the assistance system in normal operation. The user can make this limited configuration in the course of normal operation so, without the need for expert maintenance. Another important aspect of the invention is the recognition that the haptic device is particularly suitable for providing safety-critical but not safety-critical supporting functions may be controlled by an application module for a user function that is user configurable in normal use as a function of a user program that in turn may be installed by a user on the application device in normal operation. This largely free configurability in normal operation is acceptable here, since the application module preferably provides only supporting functions. With regard to the term "normal operational use" may be made to the above statements.

In the above manner, the user has the advantage that he can capture all the important information via a haptic device with one hand or even with just one finger and possibly also react by a haptic operation, but on the other hand, the source or the goal of this Information differs either in the limited configurable function module or in the largely freely configurable application device.

The preferred embodiments of claims 3 to 6 describe particularly flexible types of connection of an application device, the processing of An Wenderfunktion and the treatment of an accident.

The preferred subclaims 7 to 8 relate to particularly reliable embodiments of the module function. Accordingly, the subclaims 9 to 14 describe particularly flexible embodiments of the user program on the application device.

In the following the invention will be explained in more detail with reference to an illustrative drawing. In the drawing shows

1 shows a proposed assistance system according to a first embodiment and

2 shows a proposed assistance system according to a second exemplary embodiment. The proposed assistance system shown in each case in FIGS. 1 and 2 has a haptic device 1 for a hand, a function module 2 for a module function for activating the haptic device 1 and an application device 4 for a user function for activating the haptic device 1, here and preferably a portable computer 4a on. The haptic device 1 and the functional module 2 are here and preferably combined to form a mobility aid 3, which basically can have the superordinate shape of a blind floor.

It is essential that the module function of the function module 2 in normal operation is not or only to a predetermined extent benuterkerk figuri erable and that the user function of the application device 4 in normal operation according to a user program 5 is user configurable, which in turn in normal operation according to a user can be generated and / or installed on the application device 4.

Here and preferably, the functional module 2 is hard-wired in the sense that its functionality is either modifiable by a user, in particular unrewritable, or the functioning of the functional module 2 can only be modified within a predetermined parameter setting. The functional module 2 thus provides a fixed frame, within which only an adjustment by the user is provided. In the present case, the functional module 2 is a sensor function module 2 a with a sensor arrangement 2 b.

The application device 4 may be a mobile phone or, as in the embodiments shown, a portable computer 4a, such as a smartphone, a personal digital assistant or similar electronic device.

The proposed assistance system is characterized in that the application function is user-configurable in dependence on a user program 5, wherein the user program 5 can be installed on the application device 4. This installability results in a largely free configurability. The user configurability of the application function means, in particular in relation to the functional module 2, that the type, scope and settings of the functionality provided by the application device 4 are largely, though not necessarily completely, selected and set by the user and thus configurable. This includes, in particular, that the user basically can download programs on the application device 4, remove, run and possibly modify their settings, which may be completely different in terms of their funktonality. The application device 4 thus offers the user a flexibility which preferably approaches or reaches that of a personal computer.

According to the proposal, therefore, both the function module 2 and the user program 5 each have their own function - the module function or the user function - on the basis of which the haptic device 1 can be controlled. In this case, for its part, the haptic device can also generate signals which can then be transmitted respectively to the function module 2 and / or to the user program 4.

The haptic device 1 in the present sense can basically be any device which can be actuated by a touch operation by means of one hand or which can deliver a haptic signal to the hand. The haptic device 1 may also, as preferred, combine these two functions.

It is preferred that the assistance system has a logic arrangement 6, which can be coupled to the application device 4 via a device connection by means of telecommunications. In turn, this logic arrangement 6 may be one or more, in particular electronic devices. Preferably, the logic assembly 6 of the functional module 2 - as shown in FIGS. 1 and 2 - or of the haptic device 1 comprises. In the case of a multi-part logic arrangement 6, this can also be divided into the functional module 2 and the haptic device 1. The device connection can be both wireless and wired. The wireless device connection shown in the exemplary embodiments can be controlled via a commutation controlled by the logic device 6. At the beginning of FIG. Preferably, the wireless device connection is a short-range wireless connection.

The device connection is optional and can be disconnected again. The device connection does not have to exist at any time. It is likewise preferred that the device connection, in particular by the logic arrangement 6, can be produced dynamically. That is, the logic device 6 may be configured to actively search for a suitable application device 4 and, when the presence of such an application device 4 is detected, establish the device connection. Establishing this device connection may continue to depend on the appropriate authorization status as well as the input of appropriate passwords or identifiers.

It follows from this that for a dynamically produced device connection in the present sense, the identity of the application device 4 need not be previously known, but it may rather be an initially unknown application device 4. It is therefore preferred that the device connection can be made with a plurality of, in particular different, application devices.

Further, it is preferable that the device connection conform to a connection protocol standard. In particular, the connection protocol standard may be a short-range communication standard, such as the Bluetooth standard. Preferably, the device connection can be made with any other application device that supports this connection protocol standard

It is preferred that the actual activation of the haptic device 1 by the logic assembly 6 takes place. In the present embodiments, the functional module 2 is included in the same mobility aid 3 as the haptic device 1 and the device connection with the application device 4 is made only when it is in the vicinity. Therefore, it is preferred that the logic array 6 is adapted to drive the haptic device 1 based on the module function and, in an existing device connection, the haptic device 1 also based on the user function. It is therefore provided that when the device connection with the user device 4, the haptic device 1 is further controlled and this control both based on the module function as well as on the user function. The basis of the activation of the haptic device 1 is thus supplemented in a dynamic manner by the user function.

Here, in particular, it can further be provided that the logic array 6 is set up to trigger the haptic device 1 based on the module function in the event of a loss and / or a deterioration of the device connection. It is thus made with respect to the control of the haptic device 1 again the state without device connection. Here, on the one hand, it is preferably provided, on the one hand, that the activation of the haptic device 1 takes place with a constant dependence on the module function, so that, as far as the activation of the haptic device 1 depends on the module function, the user will not notice a difference. In this way, the user can still rely on at least a portion of the information transmitted to him by means of the haptic device 1, despite the loss of the device connection. According to a first possibility, the activation of the haptic device 1 can here be based only on the module function, so that the activation is therefore based on no further functions. Alternatively, however, it can also be provided that the logic arrangement 6 is set up to control the haptic device 1 in such a case based on the module function as well as based on a further module function of a further functional module. Thus, another function module for the user function of the user program 5, which differs from the first-mentioned functional module 2, starts. In this case, the further module function implemented by the further functional module can definitely be different from the user function of the user program 5. The further functional module could function as a brightness sensor, for example, giving the user an indication of the direction of maximum brightness, which under certain circumstances could be valuable information for orientation.

Especially for the functional module 2, the reliability of the control of the haptic device 1 is often very important. Therefore, it is preferable that the driving of the haptic device 1 is performed in real time based on the module function. In the present case, the real-time capability is to be understood such that the activation of the haptic device 1 takes place within a predetermined period of time after an external input of the functional module 2. In the present example of a sensor function module 2a with a sensor arrangement 2b, therefore, the activation of the haptic device 1 takes place within a predetermined period of time after a detection event by the sensor arrangement 2b.

Preferably, the module function of the functional module 2 is preconfigured by a circuit. This circuit may be any analog or digital electrical switching arrangement. Alternatively or additionally, the module function can also be implemented by a function program stored in a read-only memory. This function program can be executed in the function module 2 and / or in the logic arrangement 6. Under a read-only memory in this sense, not only read-only SpeI are to be understood in the strict sense, but also non-volatile memory, which can not be described by the function module 2 or the logic assembly 6, but by an external device. These include in particular EEPROMs, flash memory and similar memory. It is further preferred that the function program runs in kernel mode. If the function program runs on a processor without operating system, then this mode is also to be understood as Kemel mode.

In contrast to the above descriptions of the module function, the user function is largely user-configurable. In addition to setting parameters of the user program 5, this may also include the possibility of intervention and modification of the program code of the user program 5.

Likewise, it is preferred that the user program 5 is stored in a user-writable memory. This means that the user program is stored in a memory of the application device 4, to which the user basically has access via the user interface of the application device 4 and thus can manipulate it directly or indirectly. The user program preferably runs in user mode. This means that an operating system or processor of the user equipment 4 distinguishes between system or operating system threads on the one hand and user threads on the other hand and the user program according to this distinction runs in one or more user threads. Another possible facet of the configurability is that the user program 5 can be uninstalled by the application device 4, so that a further application program 5 can be installed on the application device 4. This is preferably done via the regular user interface of the application device 4.

A configuration of the application device 4 can also be done by the application device 4 itself. Here, it is preferred that the application device 4 is set up to perform a version update or an exchange of the user program 5 via a telecommunications, preferably wireless, server connection. This server connection can be made with an Internet server, which holds about a whole series of applications for the application device 4 and in particular notifies new versions of user programs 5 to the application device 4. The wireless server connection may in particular be a mobile radio connection based on GSM, UMTS or LTE. Such a version update or such an exchange can also be triggered via the user via a user interface of the application device 4.

Especially for very flexible configurable and frequently updated user programs, it makes sense that the user program 5 runs in a user runtime environment of the application device 4. This includes, for example, a Java runtime environment or another runtime environment, which only offers limited access to certain operating system functionalities to an application program 4 running in it and / or prevents, encapsulates or controls hardware accesses of the user program 4. This user runtime environment is preferably a sandbox in the programmatic sense.

In contrast to the above-described, preferably real-time control of the haptic device 1 based on the module function in real time, it is preferred in the user program 5 that it runs in a multi-process operation on the application device 4. In other words, at the same time as the user program 5, further programs run on the application device 4, which in principle have the same parity, although possibly with different prioritization, from the operating system of the Application device 4 assigned. Consequently, the user program 5 or its user function and the control of the haptic device 1 based thereon will not take place in the above sense in real time.

It is particularly preferred that the module function provides a safety-critical function. This safety-critical function may in particular be a collision detection. This can be achieved in particular in that the sensor arrangement 2b comprises an ultrasonic sensor. In this way, such a sensor arrangement 2b could detect obstacles in the vicinity of the user, so that the user can be warned by means of the haptic device 1.

It is preferable, on the contrary, that the user function provides a supporting function. This supporting function may preferably be a navigation function. According to the exemplary embodiments in FIGS. 1 and 2, the user program 5 can accordingly be a navigation app 5a, which runs on the applicator 4.

It may also be that the user function provides an extension of the above safety-critical function. For example, the sensor assembly 2b may provide collision detection within a certain range and within a certain detection distance. The user program 5 can now also provide a collision detection, which, however, detects an area which is not detected by the sensor arrangement 2b, ie beyond the area covered by the sensor arrangement 2b. The collision detection of the sensor arrangement 2b remains active in order to still provide a reliable collision detection in its detection area, but is supplemented by a more extensive collision detection, which thus provides additional security, without restricting the already existing security.

It is preferably provided that if there is a loss and / or deterioration of the device connection as described above, the logic device 6 is adapted to generate a warning signal. This warning signal itself may already be an acoustic signal. Alternatively, this one Warning signal to be an electronic signal, which is sent from the logic array 6 to an acoustic output device 8, here of the mobility aid 3, which in turn generates the acoustic signal.

It may also be useful to give the user the opportunity to cause the output of information from the application device 4. For example, it may be that the user wants to know a detailed address information about his current location. Such information would be cumbersome to communicate to the user via the haptic device 1. Therefore, it is preferably provided here that the logic arrangement 6 is set up to send an output message for the information output to the application device 4 via the device connection upon receipt of a control request message.

The Kontrollanfragcnachricht can preferably be generated by the Haptikvorrichtung 1 itself by actuation of the user. The control request message may also be any other electronic message or other signal to the logic device 6. The output message in turn can be any electronic message or other signal that is sent to the application device 4 and which triggers an information output, in particular by the user program 5, and in particular an acoustic information output in the application device 4. In particular, the output message can serve for location information output, that is, for example, in the application device 4 include an audible, detailed indication of the current position of the application device 4 or of the user.

From an ergonomic point of view, it has proved to be advantageous for the haptic device 1 to have an adjustable feeler arrangement 9 for user input or user output. This Tastanordnung 9 may in particular be pivoted. Particularly advantageously, it is set up for user input or user output with a finger. The probe assembly 9 is thus designed so that the user can perform or perceive all adjustment or pivoting movements of the Tastanordnung 9 with a single finger. The bundling of several independent information for user output or user input is advantageously made possible by the fact that the probe assembly 9 and in particular a probe element 10 of the probe assembly 9 for user input and / or user output about a main pivot axis 1 1 and a sub-pivot axis 12 is pivotable. A pivotability of the probe element 10 about two different axes can be both haptically determined and effected by the user in an ergonomically favorable manner. This is the case in particular when the main pivot axis 1 1 and the sub-pivot axis 12 extend substantially perpendicular to one another. This can be realized according to the mobility aid 1 of the embodiment of Figure 1 in a single probe element 10.

However, it is also possible, as shown in the embodiment of Figure 2, that the Tastanordnung 9 a Haupttastelement 13 and a sub-key element 14 - ie two sensing elements -, each independently of each other, the Haupttastelement 13 about the main pivot axis 11 and the sub-key element 14 to the Sub-pivot axis 12 is pivotable.

This subdivision on a main pivot axis 1 1 and a sub-pivot axis 12, or on a main key 13 and a sub-key 14 can be mapped to the two basic control fundamentals of the module function and the user function. Based thereon, it is preferred that the logic arrangement 6 is set up to pivot the feeler arrangement 9 and here in particular the main feeler element 13 about the main pivot axis 1 1 based on the module function. This can be done in particular independently of the user function. According to the same preferred embodiment, the logic arrangement 6 is set up to pivot the probe arrangement 9 and in particular the auxiliary button element 14 based on the user function in the case of a device connection. This activation based on the user function can in turn be independent of the module function. This separation between the user function and the module function is thus reflected in each case a different and independent control - and thus pivoting - of the main feeler 13 about the main pivot axis 1 1 on the one hand and the sub-key 14 about the sub-pivot axis 12 on the other. In principle, such a control or pivoting can be realized approximately in a chronological sequence, so that first the main feeler element 13 is actuated or pivoted, and only then is the subfastener element 14 preferred. However, the feeler arrangement 9 as a whole assumes a state, in which the activation of the main feeler element 13 and the actuation of the sub-feeler element 14 are implemented simultaneously. Therefore, it is preferred that the logic device 6 is adapted to pivot the probe assembly 9 so that it assumes a Verschwenkzustand, which is based simultaneously on the module function and the application function.

In principle, the user function may comprise an arbitrarily complex or arbitrarily simple information, based on which then the haptic device 1 can be controlled. In the example given here of a navigation function which is implemented on the application device 4, it would be possible to provide, for example, a position and a destination based on which the logic arrangement 6 itself computes or develops a route and the haptic device 1 or the probe arrangement 9 controls accordingly. However, it is preferred that as much of this application logic and the corresponding algorithms as possible be implemented on the application device 4, and that only an immediate pivoting or adjusting instruction for the haptic device 1 or for the probe arrangement 9 is sent to the logic arrangement 6. The logic assembly 6 then sets the coming of the Applus 4 commands to the haptic device 1 and the Tastanordnung 9 then, without substantial further processing, just by or extends them. Such an outsourcing of the logic of the user function to the application device 4 allows a further optimization of the functionality in the application device 4, without having to adapt the interface or the protocol between the application program 5 and the logic device 6. Therefore, it is preferred that the user function provides a control instruction and in particular a panning instruction. Accordingly, it is also preferred that the logic arrangement 6 is set up to pivot the auxiliary key element 14 in accordance with the control instruction in the case of a device connection.

Claims

claims

1. Assisience system with a Haptikvorrichtung (1) for a user's hand, a function module (2) for a module function for controlling the Haptikvorrichtung (1) and an application device (4), preferably a portable computer (4a), for a user function for driving the haptic device (1),

characterized,

in normal operation the module function of the function module (2) is not configurable or user-configurable to a predetermined extent, and the user function of the application device (4) is user-configurable in normal use as a function of a user program (5) which is used by the user User can be installed on the application device (5).

2. Assistance system according to claim 1, characterized in that it comprises a, preferably of the functional module (2) and / or the haptic device (1) comprised, logic arrangement (6), which is coupled with the application device (4) via a device connection telecommunications technology ,

3. Assistance system according to claim 2, characterized in that the device connection, in particular of the logic arrangement (6), can be produced dynamically, preferably, wherein the device connection with a plurality of, in particular different, application devices can be produced.

4. Assistance system according to claim 3, characterized in that the device connection corresponds to a connection protocol standard, preferably that the device connection can be made with any other application device that supports the connection protocol standard.

5. Assistance system according to one of claims 2 to 4, characterized in that the logic arrangement (6) is adapted to the haptic device (1) based on the module function and, in an existing device connection, the Haptikvorrichtung (1) also based on the user function to control.

6. Assistance system according to claim 5, characterized in that the logic arrangement (6) is adapted to, in case of loss and / or deterioration of the device connection, the haptic device (1) based on the module function, in particular only based on the module function, preferably at the same Dependence on the module function, to control.

7. Assistance system according to claim 5 or 6, characterized in that the control of the haptic device (1) based on the module function takes place in real time.

8. Assistance system according to one of claims 1 to 7, characterized in that the module function is implemented by a circuit and / or by a stored in a read-only memory function program, preferably, that the function program runs in kernel mode.

9. assistance system according to one of claims 1 to 8, characterized in that the user program (5) is user-configurable.

10. Assistance system according to one of claims 1 to 9, characterized in that the user program (5) is stored in a user-writable memory, preferably that the user program (5) runs in user mode.

1 1. Assi Stenzsystem according to one of claims 1 to 10, characterized in that the user program (5) of the application device (4) can be deinstalled by a user.

12. Assistance system according to one of claims 1 to 1 1, characterized in that the application device (4) is adapted to make a version update or exchange of the user program (5) via a telecommunications, preferably wireless, server connection.

13. Assistance system according to one of claims 1 to 12, characterized in that the user program (5) in a user runtime environment of the application device (4), preferably in a sandbox, expires.

14. Assistance system according to one of claims 1 to 13, characterized in that the user program (5) runs in a multi-process operation on the application device (4).

15. Assistance system according to claim 1, characterized in that the module function provides a safety-critical function, preferably a collision detection, and / or that the application function provides a supporting function, preferably a navigation function.