Non-visual precision spatial awareness device
This invention described a Spatial Recognition Device (SRD) based on a mounted high precision measurement sensor that enables the user to detect and navigate around objects and obstacles like traditional white cane would, but without contact, and also allow the user to identify the location and shape of objects to enable identifying such obstacles and objects. The device can also provide route guidance through a GPS and collision avoidance through onboard and/or cloud based or hybrid computational systems, accelerometers and other sensors. The device enables sensing ranges from approximately one inch to a maximum range dependent on the high precision measurement sensor used in the device. This device would not be mounted on a “white cane” or similar assistive device.
1. A non-visual precision spatial awareness device, comprising:
an HPMS having a single time of flight (TOF) laser sensor emitting a single narrow beam;
a mounting for said HPMS or a pointing device secured to the user's wrist or forearm and that does not interfere with the use of said user's hands or fingers while in use and permits said user to direct the sensor Aim Point with the device providing feedback based on the distance from the sensor to an intersection of said beam with an object or obstacle; and
an acoustic, audio and/or haptic user feedback system in which said feedback is continuously varied by the relationship between the change in distance to the change in the signal characteristics (amplitude, frequency, or pattern) such that the change in one or more of the signal characteristics varies with scanning distance.
2. A non-visual precision spatial awareness device of claim 1 , wherein said HPMS and/or the pointing element is mounted on the wrist or forearm such that the user can perceive the direction of the Aim Point and can change the Aim Point relative to mounting point.
3. A non-visual precision spatial awareness device comprising:
an HPMS having a single time of flight (TOF) laser sensor emitting a single narrow beam; a mounting for said HPMS or a pointing device secured to the user's wrist or forearm and that does not interfere with the use of said user's hands or fingers while in use and permits said user to direct the sensor Aim Point with the device providing feedback based on the distance from the sensor to an intersection of said beam with an object or obstacle;
wherein said device's feedback system provides haptic or acoustic feedback that varies the relationship between the change in distance to the change in the signal characteristics (amplitude, frequency, or pattern) such that the change in the signal characteristics varies with scanning distance, and further providing for the following:
a greater rate of change in the signal characteristics for object distances within a zone that is recursively scanned or scanned at a slower or faster Aim Point motion rate; and
a change in the signal characteristics based on user input to said device and/or said SRD control device or said SRD control app.
4. A non-visual precision spatial awareness device of claim 3 comprising a tilt sensor, wherein the tilt sensor is an inclinometer or gyroscope embedded within said HPMS and calibrated to measure the direction of said beam with respect to a stationary coordinate axis that is centered on said user and wherein device angular data from said tilt sensor is used with the HPMS to calculate the horizontal distance from the HPMS to the surface detected at the Aim Point using angular direction provided by said tilt level detector and the linear distance from the HPMS, and a SRD control device using a voice input, touchscreen input, or gesture input; and further comprising the following:
a Data Communication System (DCS),
a global positioning system/global navigation system (GPS) receiver/processor,
an accelerometer,
a compass, and
an altimeter;
and further comprising one or more of the following:
an Optical Imaging and Information System (OIIS),
a Secondary Wide Angle Detector (SWAD).
5. A non-visual precision spatial awareness device of claim 4 , wherein sensor collected precision mapped data are stored in a designated mapping information system along with additional information further comprising one or more of the following:
a user's current position orientation and movement
a user's annotations about objects, obstacles/hazards, and/or places.
6. A non-visual precision spatial awareness device of claim 5 , further comprising the DCS wherein the DCS communicates additional information between the device and a remote point, comprising one or more of the following:
a device location and/or status;
a set of device alerts based on sensor data or device events, device user initiated actions, and/or remotely initiated actions.
7. A non-visual precision spatial awareness device of claim 6 , further comprising an alert module that enables at least one of the following:
a function that allows setting of a series of envelopes or zones at specified or user motion derived dynamic distances around said user, such that when an envelope boundary and a scanned or stored obstacle or object intersect or would intersect if their relative motions are maintained provides the user an alert;
a function that provides the user an alert, in which said alert is based on a projected zone of intersection between the user and said object based on their relative directions, distance, and movements.
8. A non-visual precision spatial awareness device of claim 7 , in which said alert module enables setting alerts to the user of the location, specific presence and direction of hazards, obstacles, or objects not immediately scanned by said HMIS based on calculation of the user's precise location, orientation and motion relative to the previously mapped or scanned data of said hazards, obstacles, or objects locations and movements.
9. A non-visual precision spatial awareness device of claim 4 further comprising at least one of the following features:
an ability to communicate with an internal or external GIS having stored beacons, or with landmarks or contours of known position within the line of sight for said device within the UPZ;
a function to calculate or retrieve the precise locations of said beacons or line of sight objects or the contours facing the UPZ based on results of the device GPS, IMUs or beacon sensor; or
a function to further calculate the user's precise position and orientation within the UPZ by comparing, the measured distances to the known precise locations of the nearby beacons, landmarks or landmark contours stored in the GIS and communicates said position and orientation to the user or device systems.