Intelligent walking stick with Bluetooth haptics for navigation and object recognition

Abstract

Intelligent walking stick for visually impaired and blind persons, comprising a sensor module for detecting obstacles, an electrical control and communication module for processing the sensor data, and a wireless haptic system, wherein the control and communication module transmits the captured information to a haptic output device via a Bluetooth Low Energy connection.

Description

1. Purpose of the invention

[0001] The invention serves to provide safe, reliable, and discreet support for visually impaired and blind individuals in orienting themselves and moving around in public and private spaces. The aim is to detect obstacles, hazards, and navigation information early and transmit this information to the user via a Bluetooth-based haptic system, without requiring acoustic signals or visual displays. This increases mobility and improves the user's independence. 2. Technical problem

[0002] Conventional guide sticks offer only tactile feedback through ground contact and do not allow for the early detection of distant or moving obstacles. State-of-the-art electronic systems primarily use acoustic signals, which are difficult to perceive in noisy environments or impair the user's acoustic orientation. Furthermore, a modular, energy-efficient, and standards-compliant solution that combines navigation, object detection, and wireless haptic feedback in a single system is lacking. 3. Technical field

[0003] The invention belongs to the technical field of assistance systems for visually impaired and blind persons, in particular electronically supported walking sticks, sensor and navigation systems, and wireless haptic information transmission systems. 4. Object of the invention

[0004] The object of the invention is to provide an assistance system that enables visually impaired and blind persons to detect obstacles early, reliably, and discreetly, as well as to navigate intuitively. The system should not impair the user's acoustic perception and should be modular, energy-efficient, and compatible with commercially available mobile devices. In addition, the invention should allow for flexible expandability through the use of different sensor and communication modules. 5. Solution to the task

[0005] The task is solved by an intelligent walking stick that includes a sensor module for obstacle detection, an electrical control and communication module, and a wireless haptic system. Sensor data is captured and processed in real time and transmitted via Bluetooth Low Energy to an external haptic output device or a vibration module integrated into the handle. Optionally, a smartphone app can be integrated for navigation, object recognition, and advanced signal processing. The modular design allows for adaptation to different user requirements and operating environments. 6. Solution approach of the invention

[0006] The solution is based on a combination of: • active obstacle detection using ultrasonic, ToF, lidar or camera sensors, • Wireless transmission of the captured information via Bluetooth Low Energy, • Haptic feedback through vibration actuators that encode direction and distance information, • modular architecture that clearly separates mechanical and electrical components, • Optional smartphone integration that provides navigation data, AI-based object recognition and enhanced assistance functions.

[0007] This combination creates a system that is both robust and flexible, and can be adapted to different mobility requirements. 7. Component of the invention

[0008] The invention consists of a modular system that clearly separates mechanical and electrical components. This structure allows for flexible adaptation to different user requirements, facilitates maintenance and repair, and permits future expansion through additional sensor or communication modules. The overall system comprises at least one mechanical module and one electrical module, which are functionally interconnected. 7.1 Mechanical Module:

[0009] The mechanical module comprises the structural and ergonomic elements of the guide stick and preferably consists of the following components: • Stock body: Lightweight construction made of aluminum, carbon fiber or reinforced plastic; optionally foldable or telescopic. • Ergonomic handle; Non-slip surface, optimized for long-term use; mount for vibration actuators or Bluetooth haptic receivers. • Sensor module mount: Mechanical interface for attaching ultrasonic, ToF, lidar or camera sensors in the upper area of ​​the stick. • Protective housing provides shock, moisture and weather protection for the integrated electronics. • Tip module: Replaceable cane tip according to common standards; compatible with standard guide cane tips. • Cable ducts / internal routing If required, integrated routing for electrical cables between handle and sensor module.

[0010] This module is designed so that it can still be used as a classic guide stick even without electronics. 7.2 Electrical Module:

[0011] The electrical module comprises all electronic components for acquiring, processing, and transmitting information. It preferably consists of: • Microcontroller unit for controlling sensors, data processing and Bluetooth communication; preferably with Bluetooth Low Energy functionality. • Sensor technology One or more of the following technologies: ◯ Ultrasonic sensor(s) ◯ Time-of-Flight sensor(s) ◯ Lidar module ◯ Camera module for AI-based object recognition ◯ IMU (Gyroscope + Accelerometer) • Haptic module vibration motors or haptic actuators in the handle or in an external Bluetooth receiver (e.g. wristband, clip module). • Bluetooth communication module: Wireless transmission of sensor data and navigation information to external devices. • Power supply: Rechargeable lithium battery with integrated charging electronics; charging port preferably USB-C. • Optional smartphone connectivity: Use of an app for navigation, AI object recognition, configuration and firmware updates.

[0012] This module is designed to operate in an energy-efficient manner and remain compatible with standard mobile devices. 8. Functionality and advantages

[0013] The invention enables active, wireless and direction-dependent support of the user through the following functions: • Real-time obstacle detection: Detection of objects at different distances and heights using ultrasonic, ToF, lidar or camera sensors. • Direction-dependent haptic signals: Vibration patterns provide information about the position and distance of an obstacle (e.g., left, right, in front). • Bluetooth-based information transmission: Wireless connection to an external haptic output device or a smartphone app. • Navigation: Optional access to GPS-based navigation data via a smartphone; output of direction information via haptics. • Adaptive signal processing: Adjustment of vibration intensity and frequency to distance, speed and type of obstacle. • Modularity: Interchangeable sensor and haptic modules enable individual configurations.

[0014] Advantages: • Increased safety through early warning • Discreet information transmission without acoustic interference • intuitive usability • expandable and future-proof • Compatible with standard devices 9. Compatibility with standard products

[0015] The invention is designed to remain compatible with existing technologies and standards: • Bluetooth Low Energy standard connection to smartphones, wearables or external haptic modules. • Smartphone compatibility Android and iOS; use of existing sensors (GPS, camera, AI functions). • Mechanical compatibility of cane tips and segments according to common ISO standards for guide canes. • Charging infrastructure: USB-C charging port, compatible with standard power supplies. • Software compatibility: Firmware updates via smartphone app; open interfaces for extensions.

[0016] This compatibility reduces costs, facilitates integration into existing assistance systems and increases everyday usability. 10. Summary of the advantages

[0017] The invention offers a multitude of technical and ergonomic advantages: • Discreet and reliable information transmission via Bluetooth haptics • Early obstacle detection at multiple distances • Modular design for individual customization • Energy-efficient electronics with a long operating life • Compatibility with standard smartphones and assistance systems • Increased safety and independence for the user • Expandability through software and hardware modules • Robust and ergonomic design for everyday use 11. State of the art and comparison

[0018] The state of the art includes various types of guide sticks and electronic assistance systems: • Mechanical guide sticks offer only tactile feedback through ground contact and do not allow for early obstacle detection. • Electronic walking sticks with simple vibration motors mostly use ultrasonic sensors, but without wireless transmission or modular expandability. • Systems with acoustic warnings provide obstacle information via loudspeakers or headphones, which can impair the user's acoustic orientation. • Research prototypes with cameras or AI recognition: High complexity, limited energy efficiency, lack of standard compatibility and hardly ready for market.

[0019] None of the known systems combine navigation, object recognition, modular sensors and Bluetooth haptics in an integrated, energy-efficient platform. 12. Comparison to the state of the art / today

[0020] In direct comparison, the invention offers the following technical improvements: • Discreet information transmission. No acoustic signals; haptics do not disturb the environment and do not impair the user's hearing perception. • Modular architecture: Sensor and haptic modules can be replaced, expanded, or updated. • Bluetooth Low Energy communication: Wireless connection to smartphones or wearables; lower energy consumption than wired or acoustic systems. • Enhanced functionality combining navigation, obstacle detection, and optional AI object recognition. • Compatibility with standard products: Use of existing smartphones, chargers and assistance systems. • Improved safety: Early warning of obstacles at multiple distances and heights.

[0021] These features are not disclosed or combined in this form in the prior art. 13. Degree of innovation

[0022] The degree of innovation of the invention results from several novel technical features: • Integration of a Bluetooth haptic system as the primary information medium for navigation and obstacle detection. • Modular platform architecture that clearly separates mechanical and electrical components and allows for future expansions. • Adaptive signal processing that dynamically adjusts vibration patterns to the distance, direction, and type of obstacle. • Optional smartphone integration that enables navigation data, AI-based object recognition, and software updates. • Energy-efficient implementation that allows for long operating times in a compact design.

[0023] This combination represents a technical advancement over existing solutions and meets the requirements for novelty and inventive activity. 14. Ergonomic and sustainable properties of the invention

[0024] The invention takes into account ergonomic and sustainable aspects: • Ergonomic handle optimized for long-term use, non-slip, vibration-optimized. • Lightweight construction using aluminum, CFRP or reinforced plastics to reduce fatigue. • Modularity and repairability: Replaceable components extend the service life and reduce waste. • Energy-efficient electronics: Low power consumption, optimized Bluetooth communication, long-lasting battery. • Weatherproof protective housing for electronics, suitable for daily outdoor use. • Sustainable use of existing infrastructure; compatibility with standard chargers and smartphones reduces resource consumption. Example 1 - Basic design of the guide stick

[0025] In a first embodiment, the guide stick comprises a single sensor module with an ultrasonic sensor located in the upper part of the stick, which detects obstacles at a distance of up to two meters. The sensor data is processed by a microcontroller integrated into the handle, which has a Bluetooth Low Energy interface. A vibration actuator in the handle generates a tactile signal when approaching an obstacle. The intensity of the vibration signal increases with decreasing distance to the obstacle. In this embodiment, the guide stick functions completely autonomously, without connection to an external device, and provides basic obstacle detection with immediate haptic feedback. Example 2 - Extended version with smartphone integration

[0026] In another embodiment, the walking stick is equipped with a time-of-flight sensor, enabling more precise distance measurement. The stick's electronic module establishes a Bluetooth connection to a smartphone running a navigation and assistance application. This application uses the smartphone's GPS for route guidance and transmits directional information to the walking stick via Bluetooth. The handle of the walking stick contains multiple vibration actuators that generate different vibration patterns to indicate changes in direction, such as left or right turns. Additionally, obstacle information from the sensor is processed simultaneously, so the user receives both navigation instructions and obstacle warnings. This design combines sensor and navigation data into an integrated haptic information system.

[0027] Example 3 - Alternative with External Haptic Output Device: In a further embodiment, the haptic output system is not integrated into the handle of the guide stick, but rather designed as an external, body-worn module. The external module can be designed as a wristband, ring, or belt and contains several vibration actuators that are wirelessly connected to the guide stick via Bluetooth Low Energy. In this variant, the guide stick is equipped with a lidar sensor and an inertial measurement unit, enabling the detection of obstacles as well as movement and position information. Signal processing takes place in the guide stick's electrical module, which transmits the relevant information to the external haptic module. The vibration signals are emitted in a spatially distributed manner, allowing the user to intuitively determine the direction of an obstacle.This design allows for particularly flexible and ergonomic use, as the haptic feedback is provided independently of the handle of the guide stick. Reference symbol list (Fig. 2) 1 walking stick 2 mobile phones 3 collars 4 headphones 5 Arm vibrosensor 6 - Bracelet with Bluetooth 7 Ring with Bluetooth 8 Distance measurement sensor 9 Bluetooth sensor in the walking stick 10 GPS modules 11 Lidar or camera sensor

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