[go: up one dir, main page]

WO2021209444A1 - Méthode et système pour guider un aveugle ou un individu malvoyant le long d'un trajet - Google Patents

Méthode et système pour guider un aveugle ou un individu malvoyant le long d'un trajet Download PDF

Info

Publication number
WO2021209444A1
WO2021209444A1 PCT/EP2021/059551 EP2021059551W WO2021209444A1 WO 2021209444 A1 WO2021209444 A1 WO 2021209444A1 EP 2021059551 W EP2021059551 W EP 2021059551W WO 2021209444 A1 WO2021209444 A1 WO 2021209444A1
Authority
WO
WIPO (PCT)
Prior art keywords
headings
feedback
current position
path
heading
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/EP2021/059551
Other languages
English (en)
Inventor
Per FRIIS
Jonathan Andersen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Naviblind Aps
Original Assignee
Naviblind Aps
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Naviblind Aps filed Critical Naviblind Aps
Publication of WO2021209444A1 publication Critical patent/WO2021209444A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/06—Walking aids for blind persons
    • A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
    • 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
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5064—Position sensors

Definitions

  • the present disclosure relates generally to a method and a system for assisting blind or visually impaired people with navigation, and more particularly to a method and a system for guiding blind or visually impaired people along a pre-defined path.
  • GNSS Global Navigation Satellite System
  • GPS Global Positioning System
  • blind or visually impaired people have difficulties walking in a straight line, even over a short distance. For instance, some blind or visually impaired people may, when trying to follow a straight path of about 10 meters, deviate more than 2 meters from the path. Such deviations may lead the blind or visually impaired person into a dangerous situation, such as walking onto a car lane.
  • the prior art mentioned above may not have the methodology needed to help the blind or visually impaired people to stay within 2 meters of a path.
  • an object of the present disclosure is to provide a method for assisting blind or visually impaired people to walk along a path and a system implementing the method, the method or the system enabling the blind or visually impaired person to stay close to the path (such as within 2 meters), while not severely interrupting the blind or visually impaired person’s hearing perception.
  • a method for guiding a blind or a visually impaired indi vidual along a path comprising the steps of providing a feedback unit, a data processing unit, and a positioning unit, the data processing unit being configured to at least receive data from the positioning unit and to send a signal to the feedback unit; defining, by means of the data processing unit, a set of start coordinates, a set of target coordinates, and a path extending from the set of start coordinates to the set of target coor dinates; obtaining a current position and a current heading on the data processing unit by either i) acquiring a current position and a current heading by means of the positioning unit and sending the current position and the current heading from the positioning unit to the data processing unit; or ii) acquiring one or more previous positions and a current position by means of the positioning unit, sending one or more of the previous positions and the current position from the positioning unit to the data processing unit, and
  • Such a method may assist a blind or visually impaired person to walk along the path.
  • the method may also assist a blind or visually impaired person in walking close to the path when walking along the path.
  • the feedback provided by the method of the present disclosure may assist blind people to walk along a path while staying close the path, such as within 2 meters of the path.
  • the range of desired headings defined by the method of the present disclosure allows for feedback to be provided in appropriate situations, allowing the blind or visually impaired person to stay close to the path (such as within 2 meters of the path).
  • a heading correction feedback may be any type of feedback that may be experienced by a blind or visually impaired person.
  • Heading correction feedback may e.g. be used to relay information which may relate to correcting the blind or visually impaired person’s heading.
  • the heading correction feedback being a feedback for correcting, i.e. change, a heading of a blind or visually impaired person. It should be understood that where it is determined that the current heading is inside the range of desired headings, there may not be sent an alarm signal from the data processing unit to the feedback unit. Hence, the method of the present disclosure may not produce a heading correction feedback when the blind or visually impaired person’s heading is within the range of desired headings. Without this feature, it would be difficult for a blind or visually impaired person to closely follow the path.
  • the importance of the feature may be better understood by considering what would happen, if instead a method was used, which allowed heading correction feedback to be provided when a blind or visually impaired person’s heading is within the range of desired headings:
  • the blind or visually impaired person would often find the heading correction feedback unsuitable or excessive, leading the person to not follow given heading correction feedback re gardless of the feedback being provided when the person’s heading is outside or inside the range of desired headings.
  • the reason for the blind or visually impaired people not following such head ing correction feedback may be due to one or more reasons: many blind and visually impaired people find it confusing to receive heading correction feedback, when they believe they have a heading which is within the range of desired headings, i.e., they find the feedback confusing as they believe they are already heading in a suitable direction towards the path they should follow. Furthermore, as blind and visually impaired people, due to their disability, rely heavily on non visual senses for determining their heading, frequent heading correction feedback may become an interruption of their navigation, making navigation difficult or impossible.
  • the method of the present disclosure importantly may not produce a heading correction feedback when the blind or visually impaired person’s heading is within the range of desired headings and produces a heading correction feedback when their heading is outside the range of desired headings, the method thus allowing blind and visually impaired people to closely follow the path.
  • the method of the present disclosure may further provide a feedback that does not correct heading, even when the blind or visually impaired person’s head ing is within the range of desired headings.
  • a feedback that does not correct heading is in the context of the present disclosure a feedback, which may be experienced by a blind or visually impaired person to be different from the heading correction feedback.
  • the feedback that does not correct heading may be used to relay information which does not relate to correcting the blind or visually impaired person’s heading.
  • Such feedback may for instance indicate information about the distance to the set of target coordinates or for instance encourage the blind or visually im paired person to slow down when he/she is within a threshold distance of the set of target coor dinates.
  • heading correction feedback may include two different kinds of tactile feedback, e.g.
  • a feedback that does not correct heading may in this example be a different, third tactile feedback indicating that the person should continue their current heading.
  • Such feedback that does not correct heading may further assist the blind or visually impaired person to closely follow the path as it may confirm that they are heading in a suitable direction.
  • the feedback that does not correct heading may especially be helpful for the blind or visually impaired person when returning to the path after having deviated from the path and decreases the risk of future deviations from the path.
  • the range of de sired headings depend on the position of the blind or visually impaired person and where this position is relative to the set of start coordinates and the set of target coordinates. This allows for the range of desired headings to change in such a way that the range always include suitable headings no matter the length of the path or where the blind or visually impaired person is relative to the path. Without this adaptive change in the range of desired headings, it may be difficult for blind or visually impaired people to closely follow the path.
  • the method of the present disclosure does not allow a blind or visually impaired person to continue walking in a direction that deviates from a path without receiving a heading correction feedback at some point: When the person walks away from the path in a certain direction, the range of desired headings eventually changes to a range that does not include the direction resulting in a heading correction feedback being produced.
  • the method of the present disclosure allows blind and visually impaired people to closely follow a path, such as within 2 meters of a path.
  • the method may thus be used as a safety mechanism, wherein the path defined by the data processing unit may be a safe walking path in the real world.
  • the path may be a safe walking path across a pedestrian crossing.
  • the method may assist the blind person to stay on the pedestrian crossing, when crossing it. Staying on the pedestrian cross ing will prevent the blind person from walking onto e.g. a car lane.
  • the method of the present disclosure may be used repeatedly in a sequence, so that paths defined in each repetition of the method combined constitutes an entire walking path.
  • the entire walking path may for in stance be from a location known by the blind or visually impaired person to a desired destination, such as from the person’s house to a grocery store.
  • the method may be used repeatedly in a sequence to define an entire walking path in the following way:
  • the set of target coordinates such as 0 to 3 meters, 0 to 2 meters, or 0 to 1 meter away from the set of target coordinates
  • the set of start coordinates and the set of target coordinates may be redefined by the data processing unit to be a new set of start coordinates and a new set of target coordinates.
  • the new path defined by the new set of start coordinates and the new set of target coordinates constitutes the next part of the entire walking path.
  • This process may be repeated until the set of target coordinates is the desired destination.
  • all the paths defined throughout the repetition of the method may constitute an entire walking path.
  • the method may be applied to safely guide a blind or visually impaired user (person) through an entire walking path.
  • a position may be a position in a one-, two-, or three-dimensional real-world geographic location, which may be represented (denoted) by a set of coordinates or any other suitable representation.
  • a set of coordinates may be a pair of horizontal geographical coordinates, such as a longitudinal coordinate and a latitudinal coordinate or it may be a set of coordinates which has three geographical coordinates, such as a vertical coordinate (which is commonly named an altitude, height, or elevation coordinate), a longitudinal coordinate, and a latitudinal coordinate.
  • a set of start coordinates may denote a suitable starting location for a blind or visually im paired person to walk from.
  • Suitable location may be a location on a sidewalk, a public square, or other locations dedicated to or suitable for pedestrians.
  • the set of starting coordinates may de note a single position in a real geographic location.
  • the set of starting coordinates may alterna tively denote a starting area or a starting volume in a real geographic location.
  • a set of target coordinates may denote a suitable target location, where the blind and visu ally impaired person may walk to from a set of start coordinates.
  • Suitable location may be a loca tion on a sidewalk, a public square, or other locations dedicated to or suitable for pedestrians.
  • the set of target coordinates may denote a single position in a real geographic location.
  • the set of target coordinates may alternatively denote a target area or a target volume in a real geographic location.
  • the set of start coordinates, and the set of target coordinates may be selected such that the path defined between the set of start coordinates and the set of target coordinate is a walking path suitable for a blind or visually impaired person.
  • walking paths may be a path along a sidewalk, a path across a pedestrian crossing, a path through a square, a path starting at one sidewalk leading across a small road to another sidewalk, a path along a train platform, a path in an open field, or any other path going through areas dedicated to or suitable for pedestri ans.
  • a path defined by the data processing unit may be a straight line, a substantially straight line, a slightly curved line, or a line with slight left and right bends such as a slightly s-shaped line.
  • the method of the present disclosure may also work with a line having minor irregularities.
  • the method of the present disclosure may thus work with a path being a line with minor irregularities, such as a slight zigzagging.
  • the method of the present dis closure may thus also work with a path having a combination of the above-mentioned line prop erties, such as a slightly curved line having slight zigzagging.
  • a current position may be understood as the latest position determined by the positioning unit and/or a position determined by the positioning unit, which is less than 2, 1 or 0.5 seconds old.
  • a position may be represented (denoted) by one of the aforementioned sets of coordinates or any other suitable representation.
  • a heading may be an estimated direction (course) that the blind or visually impaired person is walking or pointing towards.
  • the heading may be estimated on the basis of one or more recent positions (which may suitably include the current position) of the blind or visually impaired person.
  • the heading may be estimated based on the blind or visually impaired person’s orientation.
  • a blind or visually impaired person’s approximate orientation may be determined by measuring which compass direction the torso, head, nose, face, or a foot is facing.
  • a device measuring a (compass) direction may be mounted on the head of a blind or visually impaired person, so that the direction of meas urement is aligned with the approximate direction that the blind or visually impaired person’s nose is pointing.
  • the heading may be denoted as a compass direction in degrees.
  • the heading may be a heading of the blind or visually impaired person.
  • the heading may substantially be or correspond to a direction, in which the blind or visually impaired person is moving.
  • the heading may be the direction, in which the user (person) is moving.
  • a current heading may be understood as the latest heading determined by the positioning unit or a heading which was determined by the positioning unit, which may be less than 2, 1 or 0.5 seconds old.
  • the current heading may also be understood as the latest heading determined by the data processing unit or a heading which was determined by the data processing unit, which may be less than 2, 1 or 0.5 seconds old.
  • a blind person may have any level of vision consid ered to be in the spectrum of blindness, such as a person having no vision or a person having a corrected vision of at most 20/200 in their best seeing eye.
  • a visually impaired person may have any level of vision considered to be in the spectrum of visual impairment, such as a corrected vision of at most 20/40.
  • a feedback unit should be understood as an electronic device or an electronic component, which may provide a feedback which can be perceived by a blind or visually impaired person, such as a tactile feedback, a sound feedback, or a combination thereof.
  • the feedback may also be a visual (light) feedback, which may be suitable for blind or visually impaired people who have the ability to sense light.
  • the feedback is at least suitable for blind and visually impaired people who cannot sense light, such that where a visual feedback is used, at least a tactile or a sound feedback is also provided.
  • a sound feedback may be any audible sound, including verbal feedback (spoken language/words).
  • the feedback may both comprise a tactile feedback and a sound feedback, such as a vibration and a verbal message.
  • tactile feedback should be understood to comprise any kind of feedback, which may be applied as a force to the surface of the body, such as a vibration, a pressure, a pinch, a stretch, or a combination thereof.
  • the feedback unit may be or comprise one or more of an electroacoustic trans ducer, a tactile element or unit, a haptic feedback unit, a Bluetooth-enabled electroacoustic trans ducer such as a Bluetooth headphone or headset, an electroacoustic transducer system of a smartphone, a haptic feedback system of a smartphone, or a Bluetooth-enabled tactile feedback unit.
  • an electroacoustic trans ducer such as a Bluetooth headphone or headset
  • an electroacoustic transducer system of a smartphone such as a Bluetooth headphone or headset
  • a haptic feedback system of a smartphone such as a Bluetooth-enabled tactile feedback unit.
  • the feedback unit may produce a feedback solely from the power of an electrical signal, such as when an electroacoustic transducer produces a sound when a suitable electrical signal is applied to it or when a tactile element or unit produces vibration when a suitable electrical signal is applied to it.
  • the feedback unit may produce a feedback based on data received from a data signal, such as when a Bluetooth-enabled electroacoustic transducer receives audio data via Bluetooth and produces a sound, or when a Bluetooth-enabled tactile feedback unit receives data instructing the unit to produce a tactile feedback.
  • the feedback may be produced at a distance from the ears of the blind or visually impaired user (person), such as at an arm, hand, leg, or shoulder of the user (person).
  • the method of the present disclosure may correct a blind or visually impaired person’s walking without interrupting their hearing perception.
  • the feedback may be provided by a loudspeaker located in a wearable item, such as a bracelet, a wrist band, bone conducting headphones or similar.
  • the feedback provided by the method of the present disclosure may be delivered at a distance from a blind or visually impaired person’s ears.
  • the data processing unit may be any suitable electronic device or circuitry comprising a processor and a computer-readable storage medium, and which further has hardware configured for receiving data and hardware configured for sending a signal.
  • the signal may be an electrical signal (provided via a conductor), a data signal, such as a wireless signal or a data signal provided via a conductor.
  • the computer-readable storage medium may be one or more of a magnetic disk storage device, a flash memory device, or any other non-volatile memory device.
  • the processor may be any suitable processor such as a central processing unit (CPU) or a microprocessor.
  • the computer-readable storage medium may comprise steps, instructions, code se quences, configuration information, or other data, which, when executed, cause a processor to perform calculation steps, determination steps, definition steps, or other steps that are performed by the data processing unit according to a method of the present disclosure.
  • Suitable devices which may be used as a data processing unit, may be smartphones or tablets running an iOS or Android operating system, a microcontroller, or a computer.
  • the electrical signal which the data processing unit may be configured to send, may be an electrical signal that carries or does not carry information.
  • the electrical signal may be a substantially constant voltage signal for either powering the feedback unit or communicating to the feedback unit to be turned on (e.g. in order to produce a feedback).
  • the electrical signal may be a signal with a constant or varying frequency, and in the case that the feedback unit is an electroacoustic transducer, a signal with a frequency which may drive the electroacoustic trans ducer to make an audible sound.
  • the data processing unit may be configured to send data via a conductor or wirelessly to a feedback unit.
  • the data may be communicated by any suitable form of wireless data transfer such as Bluetooth or wi-fi.
  • the data communicated via the conductor or wirelessly from the data pro cessing unit to the feedback unit may instruct the feedback unit to produce a feedback.
  • the alarm signal may be any of the aforementioned signals communicated via a conductor or wirelessly from the data processing unit to the feedback unit.
  • an information signal may be in the form of any of the aforementioned signals that are communicated via a conductor or wirelessly from the data processing unit to the feedback unit, and which further may result in a feedback being produced by a feedback unit, the feedback being distinguishable (by a blind or visually impaired individual) from a feedback produced by a feedback unit receiving an alarm signal.
  • the data processing unit may be configured to receive data from the positioning unit via a conductor or wirelessly.
  • the data may be communicated by any suitable form of wireless data transfer such as Bluetooth or wi-fi.
  • the data communicated via a conductor or wirelessly from the positioning unit to the data processing unit may be saved on a memory (volatile or non-volatile) of the data processing unit, so that the data processing unit may process the received data.
  • the data processing unit may receive and save several positions, such that the data pro cessing may process one or more previous positions and a current position.
  • the data processing unit may determine a heading from one or more of the previous positions and a current position using any of the well-known methods of doing so.
  • the data processing unit may be configured to save received positions in a data storage communicatively connected with the data processing unit.
  • the data storage may be a cloud storage.
  • the positioning unit may comprise one or more electronic device(s) or circuitry/circuitries which may determine a position and one or more electronic device(s) or circuitry/circuitries, which may determine a heading. As such, the positioning unit may at least comprise one or more elec tronic device(s) or circuitry/circuitries which may determine a position.
  • Suitable electronic devices or circuitry for obtaining a position may be dead-reckoning sys tems, satellite data processing systems, mobile network based systems such as a LTE, 3G, 4G, or 5G mobile network positioning systems, an indoor positioning systems such as wi-fi positioning systems, or a combination thereof.
  • the electronic device or circuitry for acquiring a position may suitably be a satellite data processing system, such as a GNSS device.
  • the GNSS device may comprise an antenna, such as a patch antenna, for receiving satellite signals, and a GNSS re DC, such as the u-blox ZED-F9P.
  • an antenna is connected to the GNSS receiver and may suitably be configured for receiving satellite signals at frequencies matching some or all of the satellite signals frequencies that the GNSS receiver is configured for processing.
  • the GNSS device may be configured for processing signals from any GNSS, such as one or more of GPS, GALILEO, GLONASS, BeiDou, QZSS, or NavIC.
  • the GNSS device may be configured for processing signals from at least two GNSS, such as at least GPS and GALILEO or at least GPS and GLONASS.
  • the GNSS device may be configured for processing signals from at least three GNSS, such as at least GPS, GALILEO and GLONASS.
  • the GNSS device may be configured for processing signals from at least four GNSS, such as at least GPS, GALI LEO, GLONASS and BeiDou.
  • the GNSS device may be configured for processing any GNSS signal frequency band, such as one or more of frequency bands L1 , L2, L5, L2C, L10F, L20F, L1C/A, E1, E5a, E5b, E6, G1 , G2, G3, B1 I, B2I, B1C, B2a, B3.
  • the GNSS device may be configured for processing GNSS signals from two or more frequency bands, suitably at least one signal of the lower L-Band (approximately 1100 MHz to 1300 MHz) and at least one signal of the upper L-band (approximately 1500 MHz to 1650 MHz).
  • the GNSS receiver may suitably be configured for determining positions by means of differential GPS (or equivalent method), a sat ellite based augmentation system (SBAS), such as EGNOS, or by real-time kinematic positioning (RTK).
  • SBAS sat ellite based augmentation system
  • RTK real-time kinematic positioning
  • the GNSS receiver may be configured for RTK.
  • positions determined by the positioning unit may have a high accuracy such as less than ⁇ 1.5 meters, ⁇ 1.25 meters, ⁇ 1.0 meters, ⁇ 0.5 meters, ⁇ 0.2 meters, or ⁇ 0.1 meters when measured in an open field or other environments with low to no canopy.
  • the positioning unit may determine positions with an accuracy of less than ⁇ 1.5 meters, ⁇ 1.25 meters, ⁇ 1.0 meters, ⁇ 0.5 meters, ⁇ 0.2 meters, or ⁇ 0.1 meters when measured in an open field or other environments with low to no canopy.
  • the base station data needed for RTK may be GNSS correction data from any Continuously Operating Reference Station (CORS) network, such as Leica Geosystems networks such as HxGN Smartnet, Trimble networks such as Trimble VRS, or TOPCON networks such as TopNet.
  • CORS Continuously Operating Reference Station
  • the base station data from the CORS network may be provided to a GNSS receiver through radio communication.
  • the positioning unit may comprise a radio receiver or may be connected wirelessly or via a conductor to a radio receiver.
  • the radio receiver may be configured for receiving base station data and communicating it to a GNSS receiver.
  • the base station data from the CORS network may be provided to the GNSS re DCver through a mobile (cellular) connection, such as LTE, 3G, 4G, or 5G.
  • the positioning unit may comprise a mobile network receiver (cellular modem) or it may be connected to an electronic device (either via a conductor or wirelessly) that is configured for mo bile connectivity.
  • the electronic device having mobile connectivity may be a stand-alone mobile network receiver (cellular modem) or a hand-held electronic device, such as a tablet or smartphone, such as a smartphone or tablet running an iOS or Android operating system.
  • the GNSS receiver may be configured for wireless communication to a smartphone via Bluetooth.
  • the smartphone may suitably be configured for operating a Networked Transport of RTCM via Internet Protocol (NTRIP) client for retrieving base station correction data from CORS networks via a mobile (cellular) connection.
  • NTRIP Internet Protocol
  • the smartphone may suitably be config ured for sending GNSS correction data via Bluetooth to the GNSS receiver.
  • the Bluetooth proto col may be any suitable Bluetooth protocol such as Bluetooth 2.0, Bluetooth 4.0 (Bluetooth low energy), or Bluetooth 5.0.
  • the positioning unit may comprise an electronic device or circuitry for determining a heading and the electronic device or circuitry may be any suitable magnetometer or one or more magnetic field sensors, such as three or more magnetic field sensors.
  • Such electronic devices may be a hall sensor, an anisotropic magnetoresistive or a giant magnetoresistive.
  • the electronic device or circuitry for determining a heading may be a processor and a com puter-readable storage medium, which is configured for determining a heading from at least two positions.
  • the at least two positions may be sent to the processor and/or computer-readable stor age medium from one of the aforementioned electronic devices or circuitries configured for ob taining positions.
  • the positioning unit and/or the data processing unit may determine a current heading from at least two positions.
  • the at least two positions may be a current position and one or more position determined in a short time interval before the current position, such as within 3, 2, 1, or 0.5 seconds of deter mining the current position. Positions obtained before the current position are considered previous positions.
  • a heading is obtained on the data processing unit by acquiring one or more previous positions and a current position by means of the positioning unit, determining, by means of the positioning unit, a current heading from one or more of the previous positions and the current position, and sending the current position and the current heading from the posi tioning unit to the data processing unit.
  • the positioning unit comprises at least one electronic device or cir cuitry for determining a position and at least one electronic device or circuitry for determining a heading.
  • the positioning unit may comprise the magnetic field sensors of a smartphone and a GNSS receiver and/or system of the smartphone.
  • the positioning unit may comprise the magnetic field sensors of a smartphone and an external GNSS device configured for wireless communication with the smartphone.
  • the step of defining, by means of the data processing unit, a set of start coordinates, a set of target coordinates, and a path from the set of start coordinates to the set of target coor dinates may be performed prior or after the step of obtaining a current position and/or a current heading on the data processing unit.
  • the range of desired headings may be a single, or a plurality of headings.
  • the range of desired headings may be given as a continuous interval of headings.
  • the range of de sired heading may comprise one or more headings projecting from the current position and inter secting the section of the path.
  • a continuous interval of desired headings may be when the range of desired headings includes all headings projecting from the current position and intersecting the section of the path or a subsection of the section of the path.
  • a subsection is a section (segment) of a section (segment) of a line.
  • the range of desired headings may comprise a heading (target heading) that, from the current position, points directly to the set of target coordinates, a heading (path heading) that, from the current position, points directly to the point on the path having the shortest distance to the current position, and/or any or a subrange of the headings that, when projected from the current position, intersect with the section of the path that extends from the set of target coordinates to the point on the path having the shortest distance to the current position.
  • a heading target heading
  • path heading that, from the current position, points directly to the point on the path having the shortest distance to the current position
  • the range of desired headings at least includes all headings intersecting a desired subsection of the section of the path, the desired subsection having a length which is equal to at least 1 meter, such as at least 2, 3, 4 or 5 meters, or where the section of the path has a length of less than 5 meter, a length equal to at least 0%, such as at least 30%, 40%, 50%, 60% or 70% of the length of the section of the path.
  • the subsection of the section of the path may extend from the set of target coordinates along the path, alternatively, the subsection may extend from the point on the path that has the shortest distance to the current position towards the set of target coordinates.
  • the subsection may also extend from a point on the section of the path to another point on the section of the path.
  • the method further comprises, prior to step of determining, by means of the data processing unit, if the current heading is outside the range of desired headings the step of including, by means of the data processing unit, in the range of desired headings all headings projecting from the current position and intersecting a lower subsection, wherein the lower subsection extends from a point on the section of the path, which point is at a distance of at most 3 meters from the point on the path that has the shortest distance to the current position, towards the point on the path having the shortest distance to the current position, the lower subsection having a length of at least 1.5 meters or in the range of 0 to 1.5 meters where the section of the path has a length of less than 5 meters.
  • the lower subsection extends from a point on the section of the path, which point is at a distance of at most 3 meters from the point on the path that has the shortest distance to the current position, towards the point on the path having the shortest distance to the current position, the lower subsection having a length of at least 2 meters or in the range of 0 to 2 meters where the section of the path has a length of less than 4 meters.
  • the lower subsection extends from a point on the section of the path, which point is at a distance of at most 4 meters from the point on the path that has the shortest distance to the current position, towards the point on the path having the shortest distance to the current position, the lower subsection having a length of at least 2.5 meters or in the range of 0 to 2.5 meters where the section of the path has a length of less than 3 meters.
  • the lower subsection extends from a point on the section of the path, which point is at a distance of at most 5 meters from the point on the path that has the shortest distance to the current position, towards the point on the path having the shortest distance to the current position, the lower subsection having a length of at least 3 meters or in the range of 0 to 3 meters where the section of the path has a length of less than 5 meters.
  • the lower subsection has a length of 0 meters, it should be understood as being absent (i.e. as if there is no lower subsection).
  • Including in the range of desired headings all headings projecting from the current position and intersecting a lower subsection may further ensure that a blind or visually impaired person will not find the heading correction feedback excessive, i.e. may ensure that the blind or visually impaired person substantially complies with the heading correction feedback.
  • the positioning unit is an antenna and a GNSS system of a smartphone
  • the data processing unit is a processor, a non-volatile memory and other suitable circuitry of a smartphone
  • the feedback unit is the speaker system and/or tactile feedback system of the smartphone.
  • the positioning unit is a GNSS receiver with a patch antenna connected to it
  • the data processing unit is a smartphone
  • the GNSS receiver being in wireless communica tion with the smartphone
  • the feedback unit is a set of bone conduction headphones con nected wirelessly or by wire to the smartphone or a set of headphones connected wirelessly or by wire the smartphone.
  • the alarm signal is labelled by the data processing unit to be a left alarm signal when the current heading is within a range of left-going headings, said range of left-going headings comprising headings that, when projected from the current position, passes to the left of the set of target coordinates, as seen from the current position, and the alarm signal is labelled by the data processing unit to be a right alarm signal when the current heading is within a range of right-going headings, said range of right going headings comprising headings that, when projected from the current position, passes to the right of the set of target coordinates, as seen from the current position, and the feedback is a left alarm feedback when the alarm signal received by the feedback unit is labelled as a left alarm signal and the feedback is a right alarm feedback when the alarm signal received by the feedback unit is labelled as a right alarm signal.
  • the feedback of such a method may be used by a blind or visually impaired person to quickly assert which minor corrective action he/she should take, to obtain a new heading which points more in the direction of the set of target coordinates (compared to the heading the person had before the making the corrective action).
  • a left alarm feedback may be inter preted by a blind or visually impaired person as a cue to change his/her heading towards right to get a heading which points more in the direction of the set of target coordinates.
  • a right alarm feedback may be interpreted by a blind or visually impaired person as a cue to change his/her heading towards left to get a heading which points more in the direction of the set of target coordinates.
  • “to label”, “labelled” or “labelling” may be a pro cessing of an alarm signal or a selection of a particular alarm signal.
  • the labelling may be a selection of what data the alarm signal should carry.
  • the data processing unit may select a first set of data as the alarm signal, when the alarm signal is labelled a left alarm signal, and a second set of data as the alarm signal, when the alarm signal is labelled as a right alarm signal.
  • the pro cessing (which may be carried out by the data processing unit) may be a selection of the electrical characteristics of the electrical signal, such as a selection of frequency and/or voltage level of the electrical signal.
  • the labelling may be a processing of an alarm signal that changes the alarm signal’s electrical characteristics such as a change in frequency and/or voltage level.
  • labelling of the alarm signal allows for the method of the present disclosure to produce two or more distinctive alarm signals and each alarm signal may, when received by the feedback unit, result in a particular heading correction feedback being proluded.
  • a “left alarm signal” may be an alarm signal with a particular labelling and when the left alarm signal is received by the feedback unit, it may result in a “left alarm feedback” which may be a particular heading correction feedback being produced by the feedback unit.
  • a “right alarm signal” may be an alarm signal with a particular labelling and when the right alarm signal is received by the feedback unit, it may result in a “left alarm feedback” which may be a particular heading correction feedback being produced by the feedback unit.
  • each par ticular heading correction feedback can be distinguished from every other particular heading cor rection feedback by a blind or visually impaired person.
  • Headings that, when projected from the current position, passes to the left or to the right of the set of target coordinates may be understood as headings that do not intersect with the set of target coordinates and which further, when projected from the current position, intersect with a line perpendicular to the path, the line projecting from the set of target coordinates.
  • headings that, when projected from the current position, passes to the left of or to the right of the set of target coordinates, as seen from the current position may not include headings that have a >90° angle difference (bearing) between that of the heading and that of a parallel line that is parallel to the path and extends from the current position to a perpendicular line, the per pendicular line extending from the set of target coordinates.
  • a heading that has a >90° angle difference (bearing) between it and the parallel line would never pass by the set of target coordinate (if viewed in a plane).
  • an information signal is received by the feedback unit, producing a feedback that does not correct heading by means of the feedback unit.
  • feedback that does not correct heading may further assist the blind or visually impaired person to closely follow the path as it may confirm that they are heading in a suitable direction.
  • the feedback that does not correct heading may especially be helpful for the blind or visually impaired person when returning to the path after having deviated from the path and decrease the risk of future deviations from the path.
  • the feedback unit comprises an electroacoustic transducer and the feed back that does not correct heading is a sound message comprising a word with the meaning continue and/or a word with the meaning straight.
  • the feedback unit comprises an electroacoustic transducer and the feed back that does not correct heading is a sound message comprising one or more words relating to a distance.
  • a sound message could include a word that is a number followed by a word that is a distance unit (for instance 15 meters, 7 feet, etc).
  • Such feedback may help the blind or visually impaired person to understand that they are following the path and/or that they may continue on the path for a certain distance. This may further ensure that the blind or visually impaired person closely follows the path.
  • the feedback unit comprises an electroacoustic transducer
  • the left alarm feedback comprises a first sound
  • the right alarm feedback comprises a second sound
  • the heading correction feedback of such a method may be used by a blind or visually im paired person to more quickly assert which minor corrective action should be taken, in order to obtain a new heading which points more in the direction of the set of target coordinates (compared to the heading the person had before the making the minor corrective action).
  • the first sound may suitably be a sound message comprising a word with the meaning right
  • second sound may be a sound message comprising a word with the meaning left.
  • Using a feedback comprising sound messages comprising words (verbal messages) may make the feedback more intuitive for a blind or visually impaired person to understand, and thus easier to learn and/or respond to.
  • the feedback unit comprises a tactile transducer
  • the left alarm feedback is a first tactile feedback
  • the right alarm feedback is a second tactile feedback
  • such a heading correction feedback may only produce a weak sound level and may therefore allow for the blind person to perceive additional sound impressions, such as additional sound feedback or sounds from the surroundings (environment).
  • the feedback unit comprises a first tactile transducer and a second tactile transducer
  • the left alarm feedback is a tactile feedback produced by the first tactile transducer
  • the right alarm feedback is a tactile feedback produced by the second tactile transducer
  • the first and the second tactile transducer may be arranged on separate locations on the blind or visually impaired person’s body.
  • the first tactile transducer and the second tactile trans ducer may be arranged on or at a respective left and right part of the blind or visually impaired person’s body.
  • the first tactile transducer may be arranged on or at the right arm and the second tactile transducer may be arranged on or at the left arm of the blind or visually impaired person.
  • a tactile feedback produced by the transducer arranged on or at the right part of the blind or visually impaired person’s body may indicate to the blind or visually im paired person to change his/her heading towards right
  • a tactile feedback produced by the transducer arranged on or at the left side of the blind or visually impaired person’s body may indicate to the blind or visually impaired person to change her/his heading towards left
  • the first tactile transducer and the second tactile transducer may respectively be arranged on or at the right hand and the left hand, the right shoulder and the left shoulder, or the right leg and the left leg of the blind or visually impaired person to achieve the same effect.
  • the alarm signal is labelled by the data processing unit as being a reverse alarm signal when the current heading is within a range of reverse headings, said range comprising headings that, when projected from the current position, passes by or through the set of start coordinates and the heading correction feedback is a reverse alarm feedback when the alarm signal received by the feedback unit is labelled as a reverse alarm signal.
  • the heading correction feedback of such a method may be used by a blind or visually im paired person to quickly assert if he/she should take a greater corrective action, to obtain a new heading which points considerably more in the direction of the set of target coordinates (compared to the heading the person had before the making the corrective action).
  • a reverse alarm feedback may be used to indicate that the blind or visually impaired individual should make a change in his/her heading, which is greater than the change in heading that other heading correction feedbacks would indicate, in order to get a heading which points considerably more in the direction of the set of target coordinates.
  • Such a corrective action may for instance be to turn around.
  • Headings that, when projected from the current position, passes by or through the set of start coordinates may be understood as headings that, when projected from the current position, intersect with a line perpendicular to the path, the line intersecting the set of start coordinates.
  • the feedback unit comprises an electroacoustic transducer
  • the reverse alarm feedback comprises a sound message comprising words with the meaning “turn around”.
  • the method further com prises, prior to step of determining, by means of the data processing unit, if the current heading is outside the range of desired headings, the steps of determining, by means of the data processing unit, a shortest distance between the current position and the path; determining, by means of the data processing unit, if the shortest distance between the cur rent position and the path is less than a pre-determined threshold distance; and - where it is determined that the shortest distance between the current position and the path is less than the pre-determined threshold distance, expanding the range of desired headings to further comprise a secondary range of left-going headings, said range of secondary left-going headings comprising headings that, when projected from the current position, pass to the left of the set of target coordinates, as seen from the current position, and expanding the range of desired headings to further comprise a secondary range of right-going headings, said range of secondary right-going headings comprising headings that, when projected from the current position, pass to the right of the set
  • the secondary left-going headings and the secondary right-go ing headings at least includes headings having an angle in the range of 0° to 80°, 0° to 70°, 0° to 60°, 0° to 50°, 0° to 40°, 0° to 30°, or 0° to 20° to a heading projecting from the current position and intersecting the set of target coordinates.
  • Such further steps may reduce or remove excessive heading correction feedback, which may be heading correction feedback produced by some embodiments of the method of the pre sent disclosure when the blind or visually impaired person is close to the path, e.g. less than 3, 2, or 1 meter away from the path.
  • the pre-determined threshold distance may be any suitable distance such as 3, 2, 1 , 0.5, 0.25, 0.2, or 0.15 meters.
  • the pre-determined threshold distance may be in the range of 3 to 0.5 meters, 2 to 0.5 meters, or 1 to 0.5 meters.
  • a method of the present disclosure which includes these further steps may produce heading correction feed back only when the blind or visually impaired person is considerably deviating from the path.
  • such a method may provide heading correction feedback that is less excessive and hence easy to comprehend for the blind or visually impaired person. Further, when the head ing correction feedback is a sound feedback, a less excessive heading correction feedback may be preferable, as it will disturb the blind or visually impaired person less.
  • the secondary right-going headings and the secondary left-going headings may have the same definitions and possible ranges as previously stated for the right-going headings and the left-going headings.
  • the secondary right-going headings may have a same or different span of headings than the right-going headings and/or the secondary left-going headings may have a same or different span of headings than the left-going headings.
  • the pre-determined threshold distance varies with the length between the point on the path that has the shortest distance to the current position and the set of target coordinates and/or the set of start coordinates.
  • Such a method may allow a greater deviation from the path, at suitable sections of the path, before a heading correction feedback is produced.
  • a method may increase the pre-determined threshold distance gradually or in steps, the further the current position is from the set of target coordinates and/or the set of start coordinates.
  • the blind or visually impaired person may deviate slightly more from the path, without a heading correction feedback being produced.
  • excessive feedback may be reduced or removed on suitable sections of the path, which may have benefits similar to the aforementioned excessive feedback reducing features and/or method steps.
  • the pre-determined threshold distance may be increased to at most 5, 4, 3, 2.1 , 2, or 1.8 meters. At suitable sections that are closer or close to the set of target coordinates and/or the set of start coordinates, the pre-determined threshold distance may be less than 2, 1.8, 1.6, 1.4, 1.2, 1.0, 0.8, 0.5, 0.25, or 0.15 meters.
  • the current position is determined by real-time kinematic positioning by means of the positioning unit or, where one or more previous positions is/are determined, the one or more previous positions and the current position are de termined by real-time kinematic positioning by means of the positioning unit.
  • a system for guiding a blind or a visually impaired individual along a path comprising a feedback unit, a data processing unit, and a posi tioning unit
  • the data processing unit being configured to at least receive data from the positioning unit and to send a signal to the feedback unit
  • the positioning unit is configured to either acquire a current position and a current heading, or acquire one or more previous positions and a current position
  • the data processing unit is configured to either receive a current position and a current heading from the positioning unit, or receive one or more previous positions and a current position and determine a current head ing from one or more of the previous positions and the current position
  • the data processing unit is further configured to define a set of target coordinates, a set of start coordinates, and a path extending from the set of start coordinates to the set of target coordinates, determine a range of desired headings, said range comprising headings projecting from the current position and intersecting a section of the path, the section extending
  • the data processing unit is further configured to, prior to determining if the current heading is outside the range of desired headings
  • the lower subsection extends from a point on the section of the path, which point is at a distance of at most 3 meters from the point on the path that has the shortest distance to the current position, towards the point on the path having the shortest distance to the current position, the lower subsection having a length of at least 1.5 meters or in the range of 0 to 1.5 meters where the section of the path has a length of less than 5 meters.
  • the different aspects of the present disclosure can be implemented in different ways includ ing a method for guiding a blind or a visually impaired individual along a path and a system as described above and, in the following, each yielding one or more benefits and advantages de scribed in connection with at least one of the aspects described above, and each having one or more embodiments corresponding to the embodiments described in connection with at least one of the aspects described above.
  • Fig. 1 is a flowchart of a method for guiding a blind or a visually impaired individual along a path according to an embodiment of the present disclosure
  • Fig. 2 is a schematic drawing which illustrates how a method according to an embodiment of the present disclosure may guide a blind or a visually impaired individual along a path
  • Fig. 3 is a schematic drawing which illustrates how the total span of possible desired head ings depend on the current position’s location relative to the set of target coordinates and the path (to be clear, the total span of possible desired headings should in this connection be understood as possible headings that may be included in the range of desired headings given the limitation that the range of desired headings only includes headings that, when projected from the current position, intersect with the section of the path),
  • Fig. 4 is a schematic drawing which illustrates a method according to an embodiment of the present disclosure wherein a subrange is used as the desired range of headings (i.e. illus trates when the range of desired headings is limited to all headings projecting from the current position and intersecting a subsection of the section of the path),
  • a subrange is used as the desired range of headings (i.e. illus trates when the range of desired headings is limited to all headings projecting from the current position and intersecting a subsection of the section of the path)
  • Fig. 5 is a schematic drawing which illustrates how a method according to an embodiment of the present disclosure may inform a blind or visually impaired individual to correct his/her head ing towards left or right in order to follow a path,
  • Fig. 6 is a schematic drawing which illustrates how a method according to an embodiment of the present disclosure may inform a blind or visually impaired individual to turn around in order to follow a path
  • Fig. 7 is a schematic drawing which illustrates how a method according to an embodiment of the present disclosure may provide little or no excessive heading correction feedback, when the blind or visually impaired person is within a close range of the path,
  • Fig. 8 shows a system according to an embodiment of the present disclosure
  • Fig. 9 is a schematic drawing which illustrates an embodiment of the method according to claim 1 .
  • Fig. 10 is a schematic drawing which illustrates an embodiment of the method according to claim 2, and
  • Fig. 11 is a schematic drawing which illustrates how a system or a method according to the present disclosure may be used for guiding a blind or visually impaired person through an entire walking path.
  • Fig. 1 is shown a flowchart of a method 100 for guiding a blind or a visually impaired individual along a path according to an embodiment of the present disclosure. Initially, in step
  • a suitable system is provided.
  • Such a system may include a feedback unit, a data processing unit, and a positioning unit, each unit being configured according to claim 13.
  • a second step may include a feedback unit, a data processing unit, and a positioning unit, each unit being configured according to claim 13.
  • a set of target coordinates, a set of start coordinates, and a path from the set of start coor dinates to the set of target coordinates is defined by means of the data processing unit.
  • a current position and a current heading is obtained on the data processing unit either by means of the positioning unit or by means of the positioning unit and the data processing unit.
  • a range of desired headings is determined by means of the data processing unit. The range of desired headings is determined as the headings projecting from the current position and intersecting a section of the path, the section extending from the set of target coor dinates to a point on the path having the shortest distance to the current position.
  • a fifth step 105 it is determined if the current heading is outside the range of desired headings by means of the data processing unit.
  • a sixth step 106 an alarm signal is sent from the data processing unit to the feedback unit, when the current heading is outside the range of desired headings, and a heading correction feedback is produced by the feedback unit, when the feedback unit receives an alarm signal.
  • Fig. 2 is a schematic drawing which illustrates how a method according to an embodiment of the present disclosure may guide a blind or a visually impaired individual along a path.
  • the range of desired headings are limited to all headings projecting from the current position and intersecting the section of the path.
  • a path 203 is defined between a set of start coordinates 201 and a set of target coordinates 202.
  • a current position 204 and a current heading 205 of the blind individual are determined respectively.
  • the current heading 205 when projected from the current position 204, intersects a section 207 of the path 203, the section 207 extending from the set of target coordi nates 202 to the point 206 on the path 203, which point 206 is closest to the current position 204.
  • a range of desired headings 210 includes headings that, when projected from the current position 204, intersects with the section 207.
  • the current heading 205 is within the range of desired headings, and no alarm signal is sent to a feedback unit (not shown).
  • Path heading 208 and target heading 209 represent boundaries of the range of desired headings for the current position 204, and area 210 represents the range of desired headings for the current position 204.
  • the desired range is equal to the total span of possible desired headings.
  • the total span of possible desired headings should in this connection be understood as possible headings that may be included in the range of desired headings given the limitation that the range of desired headings include all headings that, when projected from the current position, intersect with the section of the path.
  • a second current position 211 and a second current heading 212 of the blind individual is determined.
  • the second current heading 212 when projected from the cur rent position 211, does not intersect a section 215 of the path 203, the section 215 extending from the set of target coordinates 202 to the point 213 on the path 203, which point 213 is closest to the second current position 211.
  • a range of desired headings 217 includes headings that, when projected from the second current position 211 , intersect with the section 215.
  • the second current heading 212 is not within the range of desired headings, and an alarm signal is sent to a feedback unit (not shown).
  • the feedback unit produces a heading correction feedback, which the blind individual may use to correct his/her heading, so that a heading towards the path 203 may be obtained.
  • Target heading 216 and path heading 214 represent boundaries of the range of desired headings for the second current position 211
  • area 217 represents the range of de sired headings for the current position 211.
  • Fig. 3 is a schematic drawing which illustrates how the total span of possible desired head ings depend on the current position’s location relative to the set of target coordinates and the path.
  • the range of desired headings includes all headings projecting from the current position and intersecting the section of the path.
  • the total span of possible desired heading should in this connection be understood as possible headings that may be included in the range of desired headings given the limitation that the range of desired headings includes all headings that, when projected from the current position, intersect with the section of the path.
  • a path 303 is defined between a set of start coordinates 301 and a set of target coordinates 302.
  • Each position 304, 305, and 306 results in a different total span of possible desired headings, as illustrated by lines 307, 308, and 309 respectively extending from the positions 304, 305, and 306 to the set of target coordinates 302 and lines 310, 311, and 312 respectively extending from the positions 304, 305, and 306 to a point 313 on the path 303 being closest to either position 304, 305, or 306.
  • the total span of possible desired headings increases when moving from position 304 to 305 and increases further when moving from position 305 to position 306.
  • the point on the path, which is closest to each position is kept constant, the total span of possible desired headings increases with decreasing distance between the po sition and the path.
  • each position 314, 315, and 316 results in a different total span of possible desired headings, as illustrated by lines 317, 318, and 319 and lines 320, 321 , and 322.
  • Lines 317, 318, and 319 respectively extend from the positions 314, 315, and 316 to the set of target coordinates 302.
  • the lines 320, 321, and 322 respectively extend from the positions 314, 315, and 316 to the respective points 323, 324, and 325, that are the points on the path 303 being closest to the positions 314, 315, and 316 respectively.
  • Line 326 illustrates that position 314, 315, and 316 are at the same distance to the path.
  • the total span of possible desired headings decreases when moving from position 314 to 315 and decreases further when moving from position 315 to position 316.
  • the maximum span of desired headings decreases with decreasing distance between the position and the set of target coordinates.
  • the total span of possible desired headings may vary greatly. Examples are the span 327, which spans about 70° and the span 328, which spans about 47°. Generally, the span may be less than e.g. 90°, 80°, 70°, 60°, 50°, 40°, 30°, 20°, 10°, or 5°, depending on the distance between the position and the path and the distance between the position and the set of target coordinates. This is of course given the limitation that the range of desired headings includes all headings that, when projected from the current position, intersect with the section of the path.
  • Fig. 4 is a schematic drawing which illustrates a method according to an embodiment of the present disclosure wherein a subrange is used as the desired range of headings (i.e. illus trates when the range of desired headings is limited to all headings projecting from the current position and intersecting a subsection of the section of the path).
  • a subrange is used as the desired range of headings (i.e. illus trates when the range of desired headings is limited to all headings projecting from the current position and intersecting a subsection of the section of the path).
  • a path 403 is defined between a set of start coordinates 401 and a set of target coordinates 402.
  • a current position 404 and a current heading 405 is determined for a blind individual (not shown).
  • the range of desired headings is illustrated by an area 412, the range having a continu ous span of headings from the target heading 408 to a second boundary heading 409, all head ings of the span intersecting the path 403 when projected from the current position 404.
  • the first boundary heading 408 extends from the current position 404 to the set of target coordinates 402.
  • the second boundary heading 409 extends from the current position 404 and intersects a point 413 on the path 403, the point 413 being between the point 411 and the set of target coordinates
  • the desired range of headings 412 has a span (of 34°) that is 1/2 of the total span of headings (of 68°), and when the headings are projected from the current position 404, they intersect with a section 414 of the path 403, the section 414 extending from the set of target coordinates 402 to the point 411 on the path 403 being closest to the current position 404.
  • the current heading 405 has a projection 406 that intersects at a point 407 on the path
  • the blind individual has a different heading (not shown), and a new current heading 411 is obtained. As illustrated, the new current heading 411 is not within the range of desired headings.
  • Fig. 5 is a schematic drawing which illustrates how a method according to an embodiment of the present disclosure may inform a blind or visually impaired individual to correct his/her head ing towards left or right in order to follow a path.
  • the range of desired headings includes all headings projecting from the current position and intersecting the section of the path.
  • a path 503 is defined between a set of start coordinates 501 and a set of target coordinates 502.
  • a current position 504 and a current heading 505 are determined for a blind individual (not shown).
  • the current heading 505 has a projection 506 from the current position 504, which inter sects with a perpendicular line 508 at intersection 507.
  • the perpendicular line 508 is perpendic ular to the path 503 and projects from the set of target coordinates 502.
  • the projection 506 of the current heading 505 passes to the left of the set of target coordinates 502, as seen from the current position 504. Further, the current heading 505 is not within the range of desired headings illustrated by the area 511.
  • an alarm signal labelled as a left alarm signal (not shown) is sent to the feedback unit (not shown), and a left alarm feedback (not shown) is produced by the feedback unit.
  • the blind individual may use the left alarm feedback to correct his/her heading towards right, so that a heading towards the path may be obtained.
  • a second current position 512 and a second current heading 513 is determined for a blind individual (not shown).
  • the second current heading 513 has a projection 514 from the second current position 512, which intersects with the perpendicular line 508 at an intersection 515.
  • the projection 514 of the current heading 513 passes to the right of the set of target coordinates 502, as seen from the second current position 512.
  • the current head ing 513 is not within the range of desired headings illustrated by the area 518.
  • an alarm signal labelled as a right alarm signal (not shown) is sent to the feedback unit (not shown), and a right alarm feedback (not shown) is produced by the feedback unit.
  • the blind individual may use the right alarm feedback to correct his/her heading towards left, so that a heading to wards the path may be obtained.
  • Fig. 6 is a schematic drawing which illustrates how a method according to an embodiment of the present disclosure may inform a blind or visually impaired individual to turn around in order to follow a path.
  • the range of desired headings includes all headings projecting from the current position and intersecting the section of the path.
  • a path 603 is defined between a set of start coordinates 601 and a set of target coordinates 602.
  • a current position 604 and a current heading 605 are determined for a blind individual (not shown).
  • the current heading 605 has a projection 606 from the current position 604, which inter sects with a perpendicular line 607 at an intersection 608.
  • the perpendicular line 607 is perpen dicular to the path 603 and projects from the set of start coordinates 601.
  • the projection 606 of the current heading 605 passes by the set of start coordinates 601. Further, the current heading 605 is not within the range of desired headings illustrated by area 611.
  • an alarm signal (not shown) labelled as a reverse alarm signal is sent to the feedback unit (not shown), and a reverse alarm feedback (not shown) is produced by the feedback unit.
  • the blind individual may use the reverse alarm feedback to correct his/her heading, so that a heading (more) towards the path may be obtained.
  • Fig. 7 is a schematic drawing which illustrates how a method according to an embodiment of the present disclosure may provide little or no excessive heading correction feedback, when the blind or visually impaired person is within a close range of the path.
  • the range of desired headings includes all headings projecting from the current position and intersecting the section of the path, unless the current position is within a close range of the path.
  • the range of desired headings includes all headings projecting from the current position and intersecting a line extending from the set of target coordinates, the line being perpendicular to the path.
  • a path 703 is defined between a set of start coordinates 701 and a set of target coordinates 702.
  • a current position 704 is determined for a blind individual (not shown).
  • the current position 704 has a distance to the path 703, which is equal to the length of line 705, the line 705 extending from the current position 704 to the closest point on the path 703. This distance between the current position 704 and the path 703 is less than a pre-determined threshold distance, the pre determined threshold distance being illustrated with threshold line 706, which is parallel to the path 703.
  • headings that pass to the left of or to the right of the set of target coordinates 702, as seen from the current position 704, are within the range of desired headings.
  • heading 707 which passes to the left of the set of target coordinates 702, as seen from the current position 704, is within the range of desired headings.
  • the heading 707 has a projection 708 intersecting a perpendicular line 709 at an intersection 710, the perpendicu lar line 709 being perpendicular to the path 703 and extending from the set of target coordinates 702.
  • heading 711 which passes to the right of the set of target coordinates 702, as seen from the current position 704, is within the range of desired headings.
  • the heading 711 has a projection 712 intersecting the perpendicular line 709 at an intersection 713.
  • a third heading 721 does not pass to the right nor to the left of the set of target coordinates.
  • Such a heading results in an alarm signal being sent to a feedback unit (not shown).
  • the feedback unit produces a head ing correction feedback, which the blind individual may use to correct his/her heading, so that a heading towards the path 703 may be obtained.
  • a second current position 714 is determined for the blind individual.
  • the second current position 714 has a distance to the path 703, which is equal to the length of line 715, line 715 extending from the second current position 714 to the point 719 on the path 703 being closest to the second current position 717.
  • This distance between the second current posi tion 714 and the path 703 is greater than a pre-determined threshold distance, the pre-determined threshold distance being illustrated by threshold line 716, which is parallel to the path 703.
  • the range of desired headings is limited to headings projecting from the second current position 714 and intersecting a section 718 of the path 703, the section 718 extending from the set of target coordinates 702 to the point 719.
  • a second current heading 717 is determined for the blind person. The second current heading 717 is not within the range of desired headings illustrated by the area 720.
  • an alarm signal (not shown) is sent to the feedback unit (not shown), and a heading correction feedback (not shown) is produced by the feedback unit.
  • the blind individual may use the heading correction feedback to correct his/her heading, so that a heading towards the path may be obtained.
  • Fig. 8 shows a system according to an embodiment of the present disclosure.
  • the system may be a system according to claim 13, having an external positioning unit 801 , configured to communicate wirelessly with a smartphone 802, the smartphone comprising a pro cessor (not shown) and a flash memory (not shown) functioning as a data processing unit and a circuitry (not shown) functioning as a feedback unit, the circuitry comprising a speaker 803 and being connected to the processor.
  • an external positioning unit 801 configured to communicate wirelessly with a smartphone 802
  • the smartphone comprising a pro cessor (not shown) and a flash memory (not shown) functioning as a data processing unit and a circuitry (not shown) functioning as a feedback unit, the circuitry comprising a speaker 803 and being connected to the processor.
  • Fig. 9 is a schematic drawing which illustrates an embodiment of the method according to claim 1.
  • the range of desired headings includes all headings projecting from the current position and intersecting the section of the path and all headings that are at an angle to a heading projecting from the current position and intersecting the set of target coordinates.
  • a path 903 is defined between a set of start coordinates 901 and a set of target coordinates 902.
  • a current position 904 and a current heading 905 of the blind individual are determined respec tively.
  • a range of desired headings 910 includes headings that, when projected from the current position 904, intersects with the section 907. Hence, the current heading 905 is within the range of desired headings 910, and no alarm signal (not shown) is sent to a feedback unit (not shown).
  • Area 910 represents the range of desired headings for the current position 904. Headings that are at an angle 918 to a heading 919 projecting from the current position 904 and intersecting the set of target coordinates 902 are also included in the range of desired headings 910.
  • a current position 911 and a current heading 912 of the blind individual are determined respectively.
  • a range of desired headings 917 includes headings that are at an angle 920 to a heading 921 projecting from the current position 911 and intersecting the set of target coordinates 902.
  • the current heading 912 is within this the range of desired headings, and no alarm signal (not shown) is sent to a feedback unit (not shown).
  • a section 915 extends from the set of target coordinates 902 to the point 913 on the path 903, which point 913 is closest to the current position 911. Headings that, when projected from the current position 911, intersects with the section 915 are also included in the range of desired headings.
  • Fig. 10 is a schematic drawing which illustrates an embodiment of the method according to claim 2.
  • the section 1014 of the path 1003 extends from the set of target coordinates 1002 to the set of start coordinates 1001 and has a length of at least 3 meters.
  • the range of desired headings is illustrated by the area 1012 and the range includes all headings projecting from the current position 1004 and intersecting a lower subsection 1016, the lower subsection 1016 extending from a point 1015 on the section 1014 of the path 1003, which point 1015 is at a distance of at most 3 meters from the point 1011 on the path 1003 that has the shortest distance 1010 to the current position 1004, towards the point 1011 on the path 1003 having the shortest distance 1010 to the current position 1004, wherein the lower subsection 1016 has a length of 1.5 meters.
  • a current heading 1005 is shown to be within the range of desired headings 1012, as the heading 1005 has an intersection 1007 with the lower subsection 1016.
  • Another current heading 1005 is shown to be within the range of desired headings 1012, as the heading 1005 has an intersection 1007 with the lower subsection 1016. Another current heading
  • FIG. 11 is a schematic drawing which illustrates how a system or a method according to the present disclosure may be used for guiding a blind or visually impaired individual through an entire walking path.
  • an entire walking path 1100 includes a first path 1111 that extends from a first set of start coordinates 1101 to a first set of target coordinates 1102, and a second path 1112 that extends from a second set of start coordinates 1102 to a second set of target coordinates 1103, the point 1102 being the set of target coordinates for the first path 1111 and the set of start coordinates for the second path 1112.
  • a blind individual (not shown) walks a path 1150, which is illustrated with a dashed line 1150.
  • Current positions 1121 , 1122, 1123, 1124, 1125, and 1126 and current headings 1131, 1132, 1133, 1134, and 1135 are estimated as the blind individual walks the path 1150.
  • the data processing unit (not shown) defines the set of start coordinates and the set of target coordinates to be the first set of start coordinates 1101 and the first set of target coordinates 1102.
  • the current heading 1131 is within the range of desired headings 1141 , and no heading correction feedback is produced.
  • the current heading 1132 is outside of the range of desired headings 1142 and a heading correction feedback (not shown) is produced.
  • the blind individual After current position 1122, the blind individual corrects his/her heading more towards the first path 1111 and crosses the first path 1111.
  • the current heading 1133 is outside the range of desired headings 1143, and a heading correction feedback (not shown) is produced.
  • the current position 1123 is within a threshold distance of the first set of target coordinates 1102, and as a result the set of start coordinates, and the set of target coordinates are redefined by the data processing unit (not shown) to be the second set of start coordinates 1102 and the second set of target coordinates 1103.
  • the blind individual changes his/or her heading more towards the first path 1111.
  • the current heading 1134 is outside the range of desired headings 1144, and a heading correction feedback (not shown) is produced.
  • the blind individual moves more towards the second path 1112 and crosses the second path 1112.
  • the current heading 1135 is outside of the range of desired headings, and a heading correction feedback (not shown) is produced.
  • the blind individual moves more towards the second path 1112 and crosses the second path 1112.
  • the current position 1126 is within a threshold distance of the set of target coordinates 1103, and the entire walking path 1100 is considered to be completed meaning no more heading correction feedback is produced.

Landscapes

  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (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)
  • Navigation (AREA)

Abstract

L'invention concerne une méthode et un système pour guider un aveugle ou un individu malvoyant le long d'un trajet.
PCT/EP2021/059551 2020-04-14 2021-04-13 Méthode et système pour guider un aveugle ou un individu malvoyant le long d'un trajet Ceased WO2021209444A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP20020178.8 2020-04-14
EP20020178 2020-04-14

Publications (1)

Publication Number Publication Date
WO2021209444A1 true WO2021209444A1 (fr) 2021-10-21

Family

ID=70289521

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2021/059551 Ceased WO2021209444A1 (fr) 2020-04-14 2021-04-13 Méthode et système pour guider un aveugle ou un individu malvoyant le long d'un trajet

Country Status (1)

Country Link
WO (1) WO2021209444A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024256729A1 (fr) * 2023-06-15 2024-12-19 Makesense Technology Limited Dispositifs de guidage de navigation

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012070384A1 (fr) * 2010-11-22 2012-05-31 三洋電機株式会社 Dispositif de communication
US20140379251A1 (en) * 2012-06-26 2014-12-25 Jonathan Louis Tolstedt Virtual walking stick for the visually impaired
US20150042476A1 (en) * 2013-08-06 2015-02-12 Solarstone, Inc. Device for providing directional guidance while swimming
EP3009169A1 (fr) * 2014-10-14 2016-04-20 Polar Electro Oy Orientation pendant la natation
CN209203975U (zh) * 2018-09-28 2019-08-06 南京工程学院 一种基于形状变化的触觉反馈导航装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012070384A1 (fr) * 2010-11-22 2012-05-31 三洋電機株式会社 Dispositif de communication
US20140379251A1 (en) * 2012-06-26 2014-12-25 Jonathan Louis Tolstedt Virtual walking stick for the visually impaired
US20150042476A1 (en) * 2013-08-06 2015-02-12 Solarstone, Inc. Device for providing directional guidance while swimming
EP3009169A1 (fr) * 2014-10-14 2016-04-20 Polar Electro Oy Orientation pendant la natation
CN209203975U (zh) * 2018-09-28 2019-08-06 南京工程学院 一种基于形状变化的触觉反馈导航装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024256729A1 (fr) * 2023-06-15 2024-12-19 Makesense Technology Limited Dispositifs de guidage de navigation

Similar Documents

Publication Publication Date Title
US20220229511A1 (en) Assistive device with a refreshable haptic feedback interface
US10831311B2 (en) Assistive device for non-visually discerning a three-dimensional (3D) real-world area surrounding a user
Loomis et al. Personal guidance system for people with visual impairment: A comparison of spatial displays for route guidance
Loomis et al. Navigation system for the blind: Auditory display modes and guidance
US9922522B2 (en) Device and method for containing a subject using satellite positioning data
JP4927873B2 (ja) 仮想動作の境界を設定する方法および装置
US20120062357A1 (en) Remote guidance system
US20130002452A1 (en) Light-weight, portable, and wireless navigator for determining when a user who is visually-impaired and/or poorly-oriented can safely cross a street, with or without a traffic light, and know his/her exact location at any given time, and given correct and detailed guidance for translocation
CN105078720B (zh) 一种智能导盲装置
US10251788B1 (en) Assisting the visually impaired
CN110857857A (zh) 用于视觉障碍者的导航辅助
US20100283602A1 (en) System and method for monitoring relative position of moving object
US20170374503A1 (en) Device and Method For Containing and Tracking A Subject Using Satellite Positioning Data
CN111195191A (zh) 一种用于盲人出行指引的智能系统及方法
RU98914U1 (ru) Система высокоточного определения местоположения по сигналам глобальных навигационных спутниковых систем для информационной поддержки и оказания помощи людям с ослабленным зрением
WO2021209444A1 (fr) Méthode et système pour guider un aveugle ou un individu malvoyant le long d'un trajet
EP1215509B1 (fr) Système de communication universel et terminal mobile correspondant
US10645535B2 (en) Electronic apparatus, control device and computer-readable non-transitory recording medium for selectively transmitting information based on indoor/outdoor specification
Somyat et al. NavTU: android navigation app for Thai people with visual impairments
US20200294420A1 (en) Apparatus for assisting the mobility of visually impaired people in road traffic
Meliones et al. Blindhelper: A pedestrian navigation system for blinds and visually impaired
JP2020129319A (ja) 路側機、制御プログラム及び路側機の動作方法
CN205083958U (zh) 一种智能导盲装置
JP7429049B2 (ja) 歩行者位置特定システム及び歩行者位置特定ソフトウェア
US20230236034A1 (en) Information processing apparatus, information processing method, and program

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21717107

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 24/01/2023)

122 Ep: pct application non-entry in european phase

Ref document number: 21717107

Country of ref document: EP

Kind code of ref document: A1