Navigation assistance system

Abstract

The present invention comprises systems, devices, and methods for assisting users with navigating spaces by using a combination of one or more of mobilization devices, sensors (104), user feedback, and user inputs.

Description

NAVIGATION ASSISTANCE SYSTEMPRIORITY CLAIM

[0001] This application claims priority to and / or the benefit of U.S. provisional patent applications serial number 63 613,252 filed December 21, 2023 and 63 / 649, 123 filed May 17, 2024. The foregoing applications are incorporated by reference in their entirety as if fully set forth herein.FIELD OF THE INVENTION

[0002] This invention relates generally to a system, device, and method for assisting a user with navigating a space. This particular invention can be implemented in a variety of fields such as, but not limited to, assisting individuals with physical or cognitive disabilities, or for example, assisting blind or other sight-limited individuals, but it is not specific to such field, and may be used in any field where machine-assisted movement is beneficial. Other exemplary fields might include users attempting to navigate unfamiliar or complicated spaces where there may be large numbers of obstacles or other individuals. Or where people navigate complex unfamiliar spaces such as, but not limited to. airports, hospitals, shopping malls, train stations, sports arenas, or any convoluted or confusing space regardless of the specific use of the space.BACKGROUND OF THE INVENTION

[0003] The present invention aims to utilize certain technologies to assist users that require or benefit from mobility aids and leverage the benefits of such technology to their advantage in navigating spaces. For some individuals with sensory disabilities or limitations, it may be difficult at times to navigate spaces, and such individuals may have difficulty using prior technologies or devices or may wish for additional freedom and independence from certain presenttechnologies. To resolve this, the present invention comprises a system, device, and method, to provide users who are in need of navigational assistance with such assistance through the use of a specifical ly designed mobility aid with features that will actively assist the user to navigate spaces, whether it is simply navigating around a small area such as, but not limited to, a room or up to a large area, such as but not limited to, a neighborhood or city.

[0001] The present invention utilizes technologies such as, but not limited to, stereo vision depth and RGB cameras and other detection methods, combined with computer processing and other systems, to actively map routes for a user through spaces and assist with guiding the user along the route that the system has created, downloaded, or have been input or selected by a user, while in other embodiments, the system may merely guide a user without a specific route planned and instead the system serves to keep the user from running into or over obstacles. The system can be further configured to learn from the user and other users in order to create more effective routes and maps, with the goal of allowing the user to be mobile and safely move through spaces without fear of encountering or being harmed or inconvenienced by hazards.BRIEF SUMMARY

[0002] Specific details of certain embodiments of the invention are set forth in the following description and in the figures to provide a thorough understanding of such embodiments. The present invention may have additional embodiments, may be practiced without one or more of the details described for any particular described embodiment, or may have any detail described for one particular embodiment practiced with any other detail described for another embodiment.

[0003] The invention herein comprises a system, device, and method for assisting users with navigating spaces. Specifically, the invention comprises a system, device, and method for utilizing a mobility aid equipped with various sensors, feedback mechanisms, mobility mechanisms, and in contact or configured with a computer processor or processors to actively scan and map out routes in a given space, as well as potentially receive a destination information from the user or an outside source and actively creating a map and route for the user to follow either to an unseen destination, a destination within the device’s line of sight from its sensors, and / or an unspecified destination. When implemented with a device, the device can then guide the user as they move through the space and follow the route and actively adapt the route if there are hazards and take certain measures to warn the user of such hazards and assist in avoiding them. Dependingon the embodiment, the system may plot routes from an initial point (which may be set by the user or the user’s present location) to a final point destination.BRIEF DESCRIPTION OF THE DRAWINGS

[0004] Embodiments of the present invention are described in detail below with reference to the following drawings:

[0005] FIG. 1 depicts an isometric view of a navigation assistance system, in accordance with an embodiment of the invention;

[0006] FIG. 2 depicts a front view of a navigation assistance system, in accordance with an embodiment, of the invention;

[0007] FIG. .3 depicts a rear view of a navigation assistance system, in accordance with an embodiment of the in vention;

[0008] FIG. 4 depicts a top view of a navigation assistance system, in accordance with an embodiment of the invention;

[0009] FIG. 5 depicts a bottom view of a navigation assistance system, in accordance with an embodiment of the invention;

[0010] FIG . 6 depicts a side view of a navigation assistance system, in accordance with an embodiment of the invention;

[0011] FIG. 7 depicts an exploded view of the housing for a navigation assistance system, in accordance with an embodiment of the invention;

[0012] FIG. 8 depicts an exploded view of the user grip for a navigation assistance system, in accordance with an embodiment of the invention;

[0013] FIG. 9 depicts an isometric view of a modular variant of a navigation assistance system attached to a walker frame, in accordance with an embodiment of the invention; and

[0014] FIG. 10 depicts a system diagram showing system modules and their interaction with other system components, in accordance with an embodi ment of the invention.DETAILED DESCRIPTION[000.1.5] The invention herein comprises a system, device, and method for assisting a user in navigating a space, area, locale, or region. In some embodiments, the present invention is comprised of a guidance platform where such platform is further comprised of multiple subsystems such as, without limitation, a steering system, a braking system, one or more locomotion systems,one or more sensor systems, and a navigation system further comprised of a set of modules configured to perform a variety of functions for active navigation and may include the use of a computer processor and memory configured to store a variety of software programs related to the navigation function and interaction with the other components of the platform. In some embodiments, the locomotion system may be the overarching system that encompasses the steering system, braking system, and mobilization system.

[0016] In some embodiments, the platform itself may take the shape of a cane or walker, with the remaining components attached thereto. For example, the platform may be configured as a cane wherein the steering system is at one end held by the user, while the locomotion systems may be located at the far end meant to maintain contact with the ground. In such an embodiment, the other components may be located in a variety of locations, with sensors potentially anywhere along the platform and the computer systems similarly located in a variety of different places. Some embodiments of the platform may be collapsible in a variety of forms, for example; the platform may be configured to telescope when in an elongated embodiment such that it collapses down to a short and more portable or storable form. Additional embodiments may integrate one or more hinges or breaks in the platform wherein the device may be collapsed by rotating such hinges, essentially folding the device into smaller pieces. Similarly, some embodiments of the invention may allow' the pieces to be disassembled from each other and either provide mechanisms for storing the pieces together or they may be stored separately.

[0017] The platform may be, for some embodiments of the invention, configured with a shaft with the handle at one end and the locomotion system at the other, wherein the handle may be of varying lengths dependi ng on the needs of the embodiment. Some examples of the shaft may have one or more breaks in the middle such that it can be folded or disassembled into smaller pieces for ease of transport. Similarly, some configurations of the invention may allow the shaft to be telescopic such that the handle can be telescopically compressed towards the locomotion system for transport or other utility .

[0018] The invention may, depending on the embodiment and design, feature additional external features configured to assist with the use of the device. For example, in some embodiments, the device may have a pylon or partial-ring extending from a lower housing component wherein the ring may function as a bumper in case the invention is pushed into an object, the ring may also be configured to allow a user to stand the device up and have it remainstationary, with the invention balanced on the wheels and outward facing portion of the ring. In some embodiments, the ring may feature some of the sensors described herein, or others such as an impact or proximity sensor to help prevent running into objects. Some embodiments of the invention may comprise kickstands, feet, braces, gyroscopic stabilizers, or other features or systems configured to keep the device upright or otherwise stable when not being actively used by a user.

[0019] In some embodiments, the system may also be comprised of a housing positioned towards a distal end of the invention from the handle, discussed herein, wherein the housing may be comprised of one or more of the sensors described herein, and / or may have a light source attached thereto along with other components. Depending on the embodiment, such components may also be on other locations on the device. For example, in some embodiments the housing may have one or more light sources attached to it such that they can provide illumination for partially sighted individuals or for making the user and device more visible to others. These light sources may be configurable to help with navigation or in seeking assistance from other individuals. For example, if there are light sources in a plurality of directions, the computer system may be configured to instruct them to illuminate in specific ways to assist partially sighted individuals in knowing when to turn or go forward, or alerting others of the user’s presence, status, and / or path. In other embodiments the housing may be configured with an LED ring that can provide a variety of different pieces of information based on how it is illuminated, such as dimming, pulsing, or changing color. For example, the LED ring might provide additional visibility' so others can see the user, it might provide navigation assistance by shifting colors and / or moving colors in specific directions. The LED ring or other light sources may provide feedback during configuration and setup as well.

[0020] The invention, in some exemplary embodiments, may be further configured to receive commands from a user using voice input, where the user may speak commands that are detected by a sensor on the device itself, or may speak commands into a mobile device running an application linked to the invention, Some non-exhau stive examples of the commands might include voice commands instracting the system to navigate to a particular place, such as “Please navigate home,” or “Please navigate to the nearest grocery store,” or may include more complex requests, such as “Please navigate to the nearest grocery store, avoiding major intersections.’' Depending on the exact embodiment, the complexity of commands can be essentially limitless.and the system may be configured to coordinate with a variety of other software programs, such as map programs, to accomplish the goal.

[0021] The one or more sensors may be configured to be a variety of different sensor components, such as, but not limited to, LIDAR, sonar, radar, infrared sensors, time-of-flight sensors, accelerometers, velocity sensors, ultrasonic sensors, positioning sensors (such as GPS. UWB, or IMU), wheel odometry, RGB cameras, and depth cameras, the system may also function with other types of sensors. The range sensors may be simple ID range or 2D plus depth imaging devices, depending on the embodiment. Various embodiments of the invention may incorporate one or more of the foregoing, or other sensors depending on the needs of the specific embodiment. For example, an embodiment may be configured with a set of range sensors and an active depth camera in order to feed data to the computer system which may create a computerized map of the area around the device for the system to then use to guide the user, hi other embodiments, multiples of a given sensor may be used to increase the accuracy of the data, broaden the sensed area, or to act as redundancy in case of failure and to improve performance in different environments. For example, some embodiments may function better in an outdoor environment during the daytime in sunlight where IR may be less effective by employing additional sensor means, and similarly reflective surfaces may cause time-of-flight sensors to fail thus additional sensors may complement them. The sensors may be located at points on the platform based on the needs of the embodiment and may be combined in a variety of configurations such that multiple sensor types may be used and positioned, including, without limitation, using redundant or overlapping sets of sensors. A s of yet, undeveloped sensors may also be later integrated into the system, depending on the needs of a given embodiment and the information such sensors are able to provide,

[0022] The system may be further comprised of additional sensors configured to assist with the detection of sudden drops in height, such as, for example, a street curb. For some embodiments, a set of the sensors may be configured specifically for such purpose, such that they can detect cither immediate drops (as the aforementioned curb example) or steep but not right- angular drops such as, but not limited to, a rounded curb that slopes at around 45 degrees or more. The sensors for such configuration may be, but are not limited to, a combination of radar, time-of- flight, and RGB (or visual) sensors that analyze incoming data to either predict edges are approaching or to note when ground ahead of a user appears to suddenly shift downwards, or some other means as appropriate for the embodiment. Some embodiments of the invention may utilizelarge language model learning and similar features to approximate learning from data from the invention and other embodiments of the invention to better predict such sudden drops. The sensors may also consider puddles or other possible hazards where it may be difficult to determine the level of danger of such hazard. For example, if the system detects reflective water and is unable to determine the depth, it may treat such water as a hazard and navigate the user around such potential hazard. Similarly, this approach may be used with edges or curbs where the system is unable to tell the height of such edge or curb. The same approach can be used with other features as wel l In other embodiments, the system may be configured to utilize navigation software, in conjunction with the feedback mechanisms and locomotion system, to help the user walk in a straight line (or substantially straight line) in general. For example, if a user is moving along a sidewalk, the system may try to keep them moving straight along said sidewalk, or at a specific point in the path (such as, but not limited to, tire center of a trail or other path).

[0023] In some embodiments, the sensors may be configured to integrate with the system and an incorporated speaker or other sound producer to allow for real-time descriptions of what is currently located around a user, provide other information about the scene, and / or information of this type may be provided via the haptic feedback in the handle or through other mechanisms such as a speaker or software application on another device. The user may be able to ask specific questions to the system to obtain further information.

[0024] The system may further be configured to coordinate with external sensor systems or devices to gain additional information; for example, in some embodiments the GPS sensor may not be located in the system, but instead in a mobile device in the possession of the user, which then sends GPS information to the system.

[0025] In some embodiments, the steering system is comprised of a handle that is held by a user which may be grasped in a variety of configurations depending on the needs of the embodiment. Some examples of the potential steering system may include a handle that is configured to be twisted by the user in order to send commands to the device, while in other embodiments it may be configured that the user simply holds the handle and haptic actuators to provide the user with additional instruction. The steering system may also be configured with one or more torque sensors configured to sense torque being applied to the handle by the user at any given moment, so the system can adjust as needed. In some embodiments, the steering system may be comprised of a wheel or handlebars, or other forms of user control as necessary. Someembodiments may make use of butons or switches on the steering system, allowing the user to control specific functions or for users who prefer a tactile control system. Some embodiments may use haptic feedback or other actuators to turn or otherwise interact with the handle with varying degrees in order to convey messages to the user, or to help with the guidance. In other embodiments, the system may be configured to receive commands from the user when they turn the handle. For example, some embodiments of the system may use different forms of haptic feedback to send communications to the user, with various pulses or patterns indicating that the user should react in certain ways, such as backing up, turning around, moving left or right, etc. Similarly, in some embodiments the user may turn or twist the steering system to indicate to the device that the user desires to turn, and the system may recalibrate its route based thereon. Alternatively, the haptic communication may be present to inform the user as an acknowledgement of a user input without changing the navigation.

[0026] For some embodiments, the handle may be comprised of one or more input buttons. For example, some configurations of the system may feature at least two butons wherein one is configured to be an input system for a user to input commands to the device, while a second button may be configured to function as a “panic” button capable of performing a variety of features which may be programmed by the user or another individual in advance. For example, the panic button feature may be configured to cause the platform to emit a loud siren noise and automatically dial an emergency number such as 91 1 or a person’s emergency contact when pressed, held, or repeatedly pressed. Alternatively, the panic buton might be configured to contact a front desk at a care facility and alert them to the emergency. In some embodiments, the panic button may also engage one or more cameras, microphones, or similar systems for recording or communication.

[0027] The locomotion system, in some embodiments, may be configured of one or more wheels, treads, or other mobility methods which may or may not be atached to one or more locomotive motors configured to drive the mobility means forward and / or backwards. Such locomotion system may also, in some embodiments, be configured with the ability to turn its locomotion means, allowing the system to direct the user. In such examples, the motor may guide the user along, and then if a turn is required to avoid an obstacle, the locomotion means may turn automatically, guiding the user around the obstacle. The number of locomotive means can vary depending on the embodiments; with some requiring multiple while some may only require asingle means, such as a one-wheel configuration. Some configurations of the locomotion system may utilize a continuous track or tread, similar to those found on military tanks, which may be useful for uneven terrain. The size and shape of wheels when used may vary widely, and such may further utilize any variety of treads or configurations depending on the terrain. Some embodiments may allow a user to switch the mobility means quickly if necessary, for new forms of terrain, with higher tread wheels used for outdoors and a slicker tread wheel used inside or on smooth areas, if preferred.

[0028] The locomotion system, depending on the embodiment, may additionally be comprised of a braking system configured to stop or otherwise slow the mobility means from progressing forward. Depending on the specific embodiment, such brake system might be a brake configured to apply varying degrees of friction to a wheel or similar locomotive system, while in other embodiments the braking system may be that the locomotion system is configured to additionally run in reverse, applying a negative acceleration to the platform and either slowing or stopping it that way when the user pushes against the platform,

[0029] Depending on the embodiment, the locomotion system may also be comprised of wheels or similar mobility means wherein the wheel itself has no forward drive capability, but instead is configured to brake either by applying a resistance to the wheel (or similar mobility means) itself, and / or by engaging a motor to apply a negative acceleration against the direction the device is moving, thereby slowing and / or stopping the wheel. The system may be configured to, in some embodiments, assist a user in pushing the device by adding acceleration, thereby enhancing the user’s pushing motion to increase power; such a feature might assist users who have difficulty with mobility. For some embodiments, the system may be configured such that the wheels can rotate side to side individually, independently, and / or may be affixed to a central body which is capable of pivoting to turn their direction. In such cases, the wheels may be able to assist the user in navigation by turning at appropriate times or may simply provide other feedback such that the user can turn. In some embodiments, the wheels (or similar mobility means) may have independent motors or similar drive systems that can provide forward or reverse propulsion, and / or independent turning for each wheel. Some embodiments of the invention may use wheels in conjunction with other mechanisms like skis or sleds; while some embodiments may solely use such skis or sleds.

[0030] Some embodiments of the invention may feature wheels or similar mobility means that are replaceable or interchangeable, whereby a user can easily remove such components in order to replace them with alternatives. For example, a user may wish to use a wider wheel with additional tread if they are going to be using the device on unpaved paths or trails, while a user may prefer a narrower, smoother wheel if they are walking along the street. Users may also prefer to switch between outdoor and indoor wheels for their devices such that dirt and / or any other contaminants from outdoors are not brought into a home or other interior space. Depending on the embodiment, a variety of removal means may be available including, but not limited to, a quick release or manual mechanical release system; such as release by removing a bolt, nut, or similar component that may be configured to be readily removed by a user but not through ordinary use. This feature can also make it easier to clean and / or otherwise maintain the wheel components. If the embodiment is using a wheel and tire system, such may be configured with a standard fluid- filled or puncture-less tire depending on the embodiment.

[0031] For some embodiments of the invention, the locomotion system may be configured to function with a regenerative battery', wherein the system may. to some degree, resist a push by a user and regenerate battery power based on that resistance, by having the motor absorb some of that energy and transfer that energy to the batery to charge.

[0032] Notably , the wheels or similar means of mobility can be of a variety of forms and could also be in the form of multiple wheels connected by a tread to create a tracked form of mobility. Some embodiments may utilize a captured sphere wheel or similar alternative means of mobility, such as, but not limited to, a ski or sled.

[0033] The navigation system in some embodiments may be configured with a variety of computerized features and functions, such as the ability for a user to pre-program maps and routes that the system may then granularly adapt to. For example, a user might utilize a conventional mapping program to draw a preferred route to a desired destination, while the system may then map the more detailed route. In such an example, the system may recognize areas where the user may need to cross roads, and would then more granularly map ramps to take to leave the sidewalk, or revise the route to avoid stairs, if preferred by the user. The system may be additionally or alternatively configured to allow a user to train the system either passively or by actively putting the system into a specific training mode, or having a different user do the training for the original user. In such modes, the user might walk a specific route and the system will learnsaid route and save it to its memory systems for later use. Some embodiments may utilize preset routes where third parties have already mapped said routes. When in use, these routes may be selected through any means an embodiment provides a user, simi lar to other features, such as, but not limited to, through butons on the handle, a software application on the platform or a separate mobile device, or through voice commands by a user. The navigation system may also be comprised of a modular configured to take real-time input from a user, such as through a software application, voice command, or other command input, and allow the user to request functions from the system such as taking the user to a requested location. In such embodiments, the system may be configured to have a real-time sense of its location through the use of features such as a GPS system, or by using its other sensors to atempt to determine its location, and in such embodiments the system will be able to calculate how to reach the new destination,

[0034] The navigation system may be comprised of an artificial intelligence (“Al”) powered system wherein the Al is configured to take input from the one or more sensor systems and run the data, along potentially but not necessarily, with existing data on the layout of the given space, and attempt to determine different routes through the space that would meet the user’s needs. Some examples may include mapping routes that avoid tripping hazards or have a certain width of space around the user at all times. The Al system can then learn from various routes chosen by the user to more efficiently create routes in other environments; in some embodiments, the Al may learn common hazards or issues that the user faces, such as when a corridor might be too narrow, or how to predict movement of other individuals in a given space, and account for that in the navigation process. Some embodiments of the navigation may coordinate with the one or more sensors as a user manually drives the device in order to spot potential hazards and attempt to guide the user around them without specifically guiding the user to an end destination. For example, a user with limited sight may be manually directing the system but may be unaware of a potential hazard such as a child that is moving into their path; in such embodiments equipped with this feature, the system may identify the child’s approach and attempt to redirect the user to avoid them. Similarly the system may be configured to react, to commands from the user to approach certain discrete locations within a given space or route; for example, the system may be configured to understand that a user approaching a set of double doors may want to approach the door to the user’s right, or if a user is being directed to a bus stop, may first direct the user to the stop, and then to any seating that is located there. Other examples may include the device, when aware thatthe user intends to move to a different floor of a building or otherwise different elevation, may locate and guide the user to an elevator instead of stairs or an escalator if those would be hazardous to the user. Similarly, if the system is coordinating with other software, it may be able to guide a user to specific locations in a given space. The Al described herein, depending on the embodiment, may be running on a variety' of locations, such as on a user’s mobile device, a system attached to the invention, on a separate server linked via a network, or on a cloud system linked via a network; in some cases there may be multiple Al systems, or a single Al system may be running on one or more of the foregoing. In some embodiments, the system may be configured to operate in conjunction with other resources stored in a memory' on the device or stored remotely and accessed by a network, such as mapping technology (e.g, Google Maps). In some embodiments, the system could connect with such resources to make determinations about traffic or construction along a route, thus noting whether it might be blocked or hazardous. Similarly, some embodiments may provide topographical information or other information on blocked roads for users in a wheelchair or similar mobility device so that they are aware of potential blocks or hazards. For some embodiments of the invention, the system may have a central server connected between the navigation device and the additional resources, which may handle much of the computational load, and the navigation device itself may simply send information to the central server directly or facilitated through an intermediary device like a network access point or a user’s mobile device.

[0035] In addition to the foregoing, some embodiments of the invention may utilize the Al for general wayfinding, and the Al system may coordinate among numerous devices of the invention over a shared network. For example, a user may find a particular effective route to navigate a space with the aid of an AL which would then allow other users to utilize the same route but would additionally seek to optimize the route further based on the later user’s experiences. As the Al is configured to take in new information and generatively create routes, it would be configured to learn various things about wayfinding such as, but not limited to, better way's of predicting and avoiding hazards, the limitations of various users and their specific needs, and understanding common space layouts and trends to facilitate more optimized navigation therein.

[0036] For example, if a user has integrated a grocery list application with the system and the system has navigated the user to a grocery store, the system may either guide the user to pre-known locations in the store based on third party data or past experiences, or the system may attempt to identify areas it believes the user’s grocery list items will be located at and navigatethem thereto. Similarly, if the system is configured to accept verbal commands and provide information about the surrounding area, once the system describes a feature of the surrounding area to a user, the user can request that the system guide them to said feature.

[6037] For some embodiments of the invention, the system may instead be modular and comprised of at least a housing, and one or more locomotion devices that are communicably connected to the housing, whether by wire, wireless, or other means of data and information exchange. The one or more locomotion devices may be comprised of wheels or similar means and may be further comprised of a motor and power source. The one or more locomotion devices may also be capable of turning. The housing may be comprised of the same sensors described herein, or others as appropriate, and the housing and one or more locomotion devices may be configured to attach to a mobility device such as, but not limited to, a conventional walker. The housing may also house the computerized systems described herein, or a communication connection to a network or separate server that houses the computerized systems. The housing may also be comprised of the systems of the platform described herein, except in such case the housing is separate from the locomotion devices and is configured to be atached to a walker or other device. In other words, some embodiments of the invention may be configured to turn a conventional mobility device, such as, but not limited to. a walker, into the system described herein.

[0038] FIG. 1 depicts an isometric view of a navigation assistance system 100, in accordance with an embodiment of the invention. In some embodiments the navigation assistance system 100 comprises: a platform 102; a computer processor coupled to a computer memory; at least one sensor 104 communicably coupled to the computer processor; a locomotion system 106 coupled to a distal end 108 of the platform, wherein the locomotion system 106 may be comprised of one or more motors 110 coupled to one or more mobilizes 112 wherein the mobilizes 112 are configured to be able to rotate in at least one direction where such locomotion systems 106 are also communicably coupled to the computer processor; and a user grip 1 14 coupled to a proximal end 116 of the platform, wherein the user grip 114 is comprised of at least one feedback mechani sm and at least one user input and both the at least one feedback mechanism and at least one user input are communicably coupled to the computer processor. Depending on the embodiment, the locomotion system 106, computer system, feedback mechanism, and the at least one sensor 104 may be located in a distal housing 120 located at various points, such as. but not limited to, the distal end 108 of the platform 102, Some embodiments of the invention may be further comprisedof a stand 1 18 or similar feature allowing the system 100 to be positioned to remain upright when not in use.

[0039] The system’s mobilizers 112, depending on the embodiment, may be a variety of configurations, such as wheels or treads as described herein. Depending on the embodiment, the mobilizers 112 may be comprised of a wheel on either side of the distal end 108 of the housing such that they are in contact with the ground in use and are operative to roll along the ground. Other embodiments may have mobilizers 112 emerging from a bottom side of the distal end 108 of the device, a combination thereof, or may have a plurality of wheels or other mobilizers 112. Various forms of wheel may be used depending on the embodiment, with some wheels having deep treads if the user anticipates rough terrain, while others may have smooth or slick wheels with little tread to ease pushing the device. Some embodiments of the invention may be configured such that the mobilizers 112 are modular and interchangeable to suit different needs or replace damaged mobilizers 112. Depending on the embodiment, the mobilizers 112 may be controlled in a variety of ways by the user, with some embodiments having a user turn the user grip 114 in order to cause the mobilizers 112 to tom as in the indicated direction. The mobilizers 112 may also be configured with braking functions, such as, but not limited to, the ability to apply frictional or other braking to the device under various circumstances or may apply a negative acceleration to resist the user’s push. In some embodiments, the mobilizers 112 may not be powered, and may rely entirely on the user for forward motion, only able to apply rearward or braking power.

[0040] The system 100 may make use of a variety of feedback mechanisms, such as generators capable of producing, light, sound, or haptic feedback. For example, some embodiments of the invention may feature haptic feedback devices positioned in the user grip 114 configured to provide various forms of haptic feedback depending on the information that must be conveyed to the user. For example, the system may utilize a pulse of haptic feedback to indicate that the user should stop, or that a hazard is approaching. Depending on the embodiment, the haptic feedback mechanism, if utilized, may have different forms of feedback to indicate different information, such as pulses or pings to indicate that, the user is on track, or strong pulses to indicate hazards. Some embodiments may be configured to indicate feedback io one portion of the handle and not others; for example, in some embodiments the system may cause a pulse on the left side of the handle, or a side presently corresponding to left relative to the user, to indicate to a user to turn left, and a pulse on the right side of the handle, or a side presently corresponding to right relativeto a user, to indicate to turn right. In some embodiments, pulses from haptic systems may be utilized to provide early instruction for a user. Other feedback, mechanisms that may be used are various lights which may be positioned on the device and used to indicate information to a user or to third parties, such as warning them of the user’s approach or that the user’s in danger. Similarly, audio feedback mechanisms such as speakers might be utilized to provide verbal or other sound- based information to a user. In some embodiments, the locomotion system 106 itself may function as a feedback system; for example, in some embodiments the braking system may be utilized to send messages to a user, such as pulsing the brakes, similar to an anti-lock braking system commonly found on a motor 1 10 vehicle, a number of times in order to indicate information to a user. In such examples, a certain number of pulses may be used to indicate the presence of an upcoming hazard, while a different number of pulses may indicate an upcoming direction change.

[0041] Depending on the embodiment, the one or more sensors 104 may be configured to be a variety of different sensor components, such as. but not limited to, LIDAR, radar, infrared sensors, time-of-flight sensors, accelerometers, velocity sensors, ultrasonic sensors, positioning sensors (such as GPS. UWB, or IMU), wheel odometry, and depth cameras. The range sensors may be simple 1D range or 2D plus depth imaging devices, depending on the embodiment. Various embodiments of the invention may incorporate one or more of the foregoing, or other sensors depending on the needs of the specific embodiment.

[0042] Another sensor 104 the invention may, in some embodiments, be configured with is one or more audio detectors capable of interpreting sounds. This may take the form of interpreting sounds that are made around a user in order to further determine potential hazards or may take the form of receiving verbal commands from a user and adjusting as necessary. In some embodiments the only input by the user may be through verbal commands.

[0043] Depending on the embodiment, the angle between the platform 102 and ground may vary; for example, in some embodiments the platform 102 may be shaped substantially like a cane with the locomotion system 106 at a distal end 108 from the user. In such eases, the angle the platform 102 makes with the ground can vary, with some creating a wide angle and thus being closer to the user, while other variants may be elongated to use a shallower angle. In some embodiments, the angle between the ground and platform 102, in accompaniment with its length, may create a space that allows unobstructed walking for the user.[00044) The platform 102 itself may come in a variety of shapes and configurations depending on the needs of the user and embodiment. For example, in some embodiments the platform 102 may be configured as a cane comprised of a handle at one end and motor 1 10 housing at the other, while in other embodiments the motor 1 10 and handle may not be directly connected by a single body but may instead be attached to another device such as a walker, and be instead primarily communicably connected to each other in addition to their indirect coupling via the walker or similar device.

[0045] In some embodiments, the user grip 114 may be configured as a variety of control systems, such as, but not limited to, a steering yolk, handle, grip, loop, or any other means by which the user may maintain contact with the platform 102.

[0046] Depending on the embodiment, it may be further equipped with a stand 1 18 configured to permit the device to stand 118 on its own; such stand 118 may be, but is not limited to, a stand 118 that permits the device to balance on its own when angled a certain way, or it may be a form of gyroscopic system utilized to keep the device standing. In some embodiments the stand 118 may be retractable or removable.

[0047] FIG. 2 depicts a front view of a navigation assistance system, in accordance with an embodiment of the invention. In some embodiments the navigation assistance system 100 comprises: a platform 102; a computer processor coupled to a computer memory; at least one sensor 104 communicably coupled to the computer processor; a locomotion system 106 coupled to a distal end 108 of the platform, wherein the locomotion system 106 may be comprised of one or more motors 110 coupled to one or more mobilizers 112 wherein the mobilizes 112 are configured to be able to rotate in at least one direction where such locomotion systems 106 are also communicably coupled to the computer processor; and a user grip 114 coupled to a proximal end 116 of the platform, wherein the user grip 114 is comprised of at least one feedback mechanism and at least one user input and both the at least one feedback mechanism and at least one user input are communicably coupled to the computer processor. Depending on the embodiment, the locomotion system, computer system, feedback mechanism, and the at least one sensor may be located in a distal housing 120 located at various points, such as, but not limited to, the distal end 108 of the platform 102. Some embodiments of the invention may be further comprised of a stand 1 18 or similar feature allowing the system 100 to be positioned to remain upright when not in use.[00048) FIG. 3 depicts a rear view of a navigation assistance system, in accordance with an embodiment of the invention. In some embodiments the navigation assistance system 100 comprises: a platform 102; a computer processor coupled to a computer memory; at least one sensor 104 communicably coupled to the computer processor; a locomotion system 106 coupled to a distal end 108 of the platform, wherein the locomotion sy stem 106 may be comprised of one or more motors 110 coupled to one or more mobilizers 112 wherein the mobilizes 112 are configured to be able to rotate in at least one direction where such locomotion systems 106 are also communicably coupled to the computer processor; and a user grip 1 14 coupled to a proximal end 116 of the platform, wherein the user grip 114 is comprised of at least one feedback mechanism and at least one user input 300 and both the at least one feedback mechanism and at least one user input are communicably coupled to the computer processor. Depending on the embodiment, the locomotion system, computer system, feedback mechanism, and the at least one sensor may be located in a distal housing 120 located at various points, such as, but not limited to, the distal end 108 of the platform 102. Some embodiments of the invention may be further comprised of a stand 118 or similar feature allowing the system 100 to be positioned to remain upright when not in use.(00049) Depending on the embodiment, the user input 300 may be a variety of different means, including, but not limited to. buttons, switches, touch-screens, dials, or similar means of input, such as a microphone to detect a user’s voice. As described herein, the user input 300 may in some embodiments be an external device such as a smartphone or remote control communicably coupled to the system 100. The user input 300 will typically be communicably coupled to the computer system of the device, permitting it to provide commands that the computer system will interpret. In some embodiments, the invention may involve a variety of user inputs 300, such as direct butons or similar components on the device itself, the device may have a network antennae or other means of receiving external commands such as through a smart phone or similar device, or it may receive input through a speaker, or a combination of the foregoing or other input means. These inputs may permit a user to perform a variety of functions such as interacting with navigation software, altering routes, requesting information, or seeking aid,[00050) FIG. 4 depicts a top view of a navigation assistance system, in accordance with an embodiment of the invention. In some embodiments the navigation assistance system 100 comprises: a platform 102; a computer processor coupled to a computer memory; at least one sensor 104 communicably coupled to the computer processor; a locomotion system 106 coupledto a distal end 108 of the platform, wherein the locomotion system 106 may be comprised of one or more motors 110 coupled to one or more mobilizers 112 wherein the mobilizers 112 are configured to be able to rotate in at least one direction where such locomotion systems 106 are also communicably coupled to the computer processor; and a user grip 114 coupled to a proximal end 116 of the platform, wherein the user grip I I 4 is comprised of at least one feedback mechanism and at least one user input and both the at least one feedback mechanism and at least one user input are communicably coupled to the computer processor. Depending on the embodiment, the locomotion system, computer system, feedback mechanism, and the at least one sensor may be located in a distal housing 120 located at various points, such as, but not limited to, the distal end 108 of the platform 102. Some embodiments of the invention may be further comprised of a stand 118 or similar feature allowing the system 100 to be positioned to remain upright when not in use.

[0051] FIG. 5 depicts a bottom view of a navigation assistance system, in accordance with au embodiment of the invention. In some embodiments the navigation assistance system 100 comprises: a platform 102; a computer processor coupled to a computer memory; at least one sensor 104 communicably coupled to the computer processor; a locomotion system 106 coupled to a distal end 108 of the platform, wherein the locomotion system 106 may be comprised of one or more motors 110 coupled to one or more mobilizers 112 wherein the mobilizers 112 are configured to be able to rotate in at least one direction where such locomotion systems 106 are also communicably coupled to the computer processor; and a user grip 114 coupled to a proximal end 1 16 of the platform, wherein the user grip 114 is comprised of at least one feedback mechanism and at least one user input 360 and both the at least one feedback mechanism and at least one user input are communicably coupled to the computer processor. Depending on the embodiment, the locomotion system, computer system, feedback mechanism, and the at least one sensor may be located in a distal housing 120 located al various points, such as, but not limited to, the distal end 108 of the platform 102. Some embodiments of the invention may be further comprised of a stand 1 18 or similar feature allowing the system 100 to be positioned to remain upright when not in use.

[0052] FIG, 6 depicts a side view of a navigation assistance system, in accordance with an embodiment of the invention. In some embodiments the navigation assistance system 100 comprises: a platform 102; a computer processor coupled to a computer memory; at least one sensor 104 communicably coupled to the computer processor; a locomotion system 106 coupled to a distal end 108 of the platform, wherein the locomotion system 106 may be comprised of oneor more motors coupled to one or more mobilizers 112 wherein the mobilizers 112 are configured to be able to rotate in at least one direction where such locomotion systems 106 are also communicably coupled to the computer processor; and a user grip 114 coupled to a proximal end 116 of the platform, wherein the user grip 114 is comprised of at least one feedback mechanism and at least one user input and both the at least one feedback mechanism and at least one user input are communicably coupled to the computer processor. Depending on the embodiment, the locomotion system, computer system, feedback mechanism, and the at least one sensor may be located in a distal housing 120 located at various points, such as, but not limited to. the distal end 108 of the platform 102. Some embodiments of the invention may be further comprised of a stand 118 or similar feature allowing the system 100 to be positioned to remain upright when not in use.

[0053] FIG. 7 depicts an exploded view of the housing for a navigation assistance system, in accordance with an embodiment of the invention. In some embodiments the navigation assistance system 100 comprises: a platform; a computer processor coupled to a computer memory; at least one sensor 104 communicably coupled to the computer processor; a locomotion system 106 coupled to a distal end 108 of the platform, wherein the locomotion system 106 may be comprised of one or more motors 1 10 coupled to one or more mobilizers 112 wherein the mobilizers 112. are configured to be able to rotate in at least one direction where such locomotion systems 106 are also communicably coupled to the computer processor; and a user grip coupled to a proximal end of the platform, wherein the user grip is comprised of at least one feedback mechanism and at least one user input and both the at least one feedback mechanism and at least one user input are communicably coupled to the computer processor. Depending on the embodiment, the locomotion system, computer system, feedback mechanism, and the at least one sensor may be located in a distal housing 120 located at various points, such as, but not Limited to, the distal end 108 of the platform. Some embodiments of the invention may be further comprised of a stand 118 or similar feature allowing the system 100 to be positioned to remain upright when not in use.

[0054] In some embodiments, the locomotion system 106 may be further comprised of a locomotion computer system 700 located at a distal end 108 of the platform and inside a housing 710. The locomotion computer system 700 may be the computer system 712 utilized by the system 100, or it may be a subsystem of the overall computer system 712. Depending on the embodiment,the locomotion computer system 700 may control subsystems such as, but not limited to, the motors 110 and / or mobilizers 112.

[0055] The housing 710 may also house a power control 702 which may manage the on and off functions of the device, as well as any other power related aspects, and may be integrated into the computer system 712. Some embodiments may also store the battery 708 in the housing 710. In some embodiments, the housing 710 may further comprise a light, source 704 operable to generate light for a variety of purposes such as, but not limited to, making the user more visible,

[0056] In some embodiments, the housing 710 may further store a steering assembly 706 as part of the locomotion system 106, whereby the steering assembly, in some embodiments, may control one or more mobilizers 112; and in some cases there may be a plurality of mobilizers 112 and / or steering assemblies 706 which may control more than one or a single mobilizer 112 each.

[0057] FIG. 8 depicts an exploded view of the handle for a navigation assistance system, in accordance with an embodiment of the invention. In some embodiments the navigation assistance system 100 comprises: a platform; a computer processor coupled to a computer memory; at least one sensor 104 communicably coupled to the computer processor; a locomotion system coupled to a distal end of the platform, wherein the locomotion system is comprised of one or more motors coupled to one or more mobilizers wherein the mobilizers are configured to be able to rotate in at least one direction where such locomotion systems are also communicably coupled to the computer processor; and a user gri p 114 coupled to a proximal end of the platform, wherein the user grip is comprised of at least one feedback mechanism 800 and at least one user input and both the at least one feedback mechanism 800 and at least one user input 300 are communicably coupled to the computer processor,

[0058] In some embodiments of the invention, the computer system, or some components of it, may be positioned in a handle board 802 located in the user grip 114. The handle board 802 may have a variety of components attached, such as a sound sensor 804 which may be one of the sensors 104 or maybe separate. In some embodiments, the sound sensor 804 is one or more microphones configured to detect sound. Some embodiments may have the user input 300 coupled to the handle board 802 and in some of those the handle board 802 may comprise the computer system.

[0059] The system 100 may make use of a variety of feedback mechanisms 800, such as generators capable of producing, light, sound, or haptic feedback. For example, some embodi ments of the invention may feature haptic feedback mechanisms 800 positioned in the user grip 114 configured to provide various forms of haptic feedback depending on the information that must be conveyed to the user. For example, the system may utilize a pulse of haptic feedback to indicate that the user should stop, or that a hazard is approaching. Depending on the embodiment, the haptic feedback mechanism 800, if utilized, may have different forms of feedback to indicate different information, such as pulses or pi ngs to indicate that the user is on track, or strong pulses to indicate hazards. Some embodiments may be configured to indicate feedback to one portion of the user grip 114 and not others; for example, in some embodiments the system may cause a pulse on the left side of the user grip 114, or a side presently corresponding to left relative to the user, to indicate to a user to turn left, and a pulse on the right side of the user grip 114, or a side presently corresponding to right relative to a user, to indicate to turn right. In some embodiments, pulses from haptic systems may be utilized to provide early instruction for a user. Other feedback mechanisms 800 that may be used are various lights which may be positioned on the device and used to indicate information to a user or to third parties, such as warning them of the user’s approach or that the user’s in danger. Similarly, audio feedback mechanisms such as speakers might be utilized to provide verbal or other sound-based information to a user. In some embodiments, the locomotion system 106 itself may function as a feedback mechanism 800; for example, in some embodiments the braking system may be utilized to send messages to a user, such as pulsing the brakes, similar to an anti-lock braking system commonly found on a motor 110 vehicle, a number of times in order to indicate information to a user. In such examples, a certain number of pulses may be used to indicate the presence of an upcoming hazard, while a different number of pulses may indicate an upcoming direction change.

[0060] FIG. 9 depicts an isometric view of a modular variant of a navigation assistance system 100 attached to a walker frame that acts as the platform 102, in accordance with an embodiment of the invention. In some embodiments the navigation assistance system 100 comprises: a platform 102; a computer processor coupled to a computer memory; at least one sensor 104 communicably coupled to the computer processor; a locomotion system 106 coupled to a distal end 108 of the platform, wherein the locomotion system 106 may be comprised of one or more motors 110 coupled to one or more mobilizes 112 wherein the mobilizes 112 areconfigured to be able to rotate in at least one direction where such locomotion systems 106 are also communicably coupled to the computer processor; and a user grip I 14 coupled to a proximal end 1 16 of the platform, wherein the user grip 114 is comprised of at least one feedback mechanism and at least one user input and both the at least one feedback mechanism and at least one user input are communicably coupled to the computer processor. Depending on the embodiment, the locomotion system, computer system, feedback mechanism, and the at least one sensor may be located in a distal housing 120 located at various points, such as, but not limited to, the distal end 108 of the platform 102. Some embodiments of the invention may be further comprised of a stand 1 18 or simi lar feature allowing the system 100 to be positioned to remain upright when not in use.

[0061] In such embodiments, the components may be modular and the platform 102 may be a separate device that the remaining components are attached to, thus the device in such an embodiment still utilizes a platform 102 but it can be swapped for various types as needed, such as on a walker as depicted in FIG. 9.

[0062] FIG. 10 depicts a system diagram showing system modules and their interaction with other system components, in accordance with an embodiment of the invention. In some embodiments, the system is comprised of a computer system 712 comprised of a computer memory 1002 and computer processor 1004, the computer memory component may store a navigation software 1006 program configured to utilize data to create a map of the area around the user and invention, along with any other software 1008 utilized. Some embodiments may utilize preexisting maps or world maps to generate such a map, using data provided by the system’s sensors 104 and / or external data sources 1010 to determine where on the pre-existing map the system is presently located. For example, if a user is on a sidewalk, the system may utilize an internal positioning system to determine where on Earth the user is located, and then mark that location on an internally or externally accessible map of Earth. The computer system 712 may also take in data from a user input 300 and the locomotion system 106 and may be communicably coupled to the user feedback mechanisms 800,

[0063] Some embodiments of the system 100 may utilize data from sensors 104 as described herein to create a map of the area around a user by utilizing the data the sensors 104 take in and converting such data into a map utilized by the software. In some embodiments, both approaches, or other additional approaches, might be utilized. For example, some embodiments may rely on a pre-existing map of the world or local area, either accessible communicably to thecomputer processor 1004 or stored in the computer memory 1002, and the system may utilize data from its own sensors 104 to determine more detail about the local area or its position on the map, or may utilize sensor data to confirm its location. Essentially, the system 100 may utilize both approaches in tandem. In some embodiments, the system 100 may take in data from the one or more sensors 104, and depending on that data, attempt to run image recognition or similar recognition or other software 1008 to determine whether the objects or potential hazards in the data from the one or more sensors 104 merits a revision of the route currently being followed by a user. In situations where the user is not following a pre-set route and is instead simply walking while using the system 100, the sensors 104 may actively sweep for objects or potential hazards, and the navigation software 1006 may in turn be assessing the data from the sensors 104 to determine if anything discovered is an actual hazard. For example, if the system 100 is using RGB cameras as sensors 104, the system may use other software 1008 in the form of image recognition software to determine if a given object is a potential hazard, and if so it passes that information to the navigation software 1006 which will then attempt to guide the user around the hazard through the feedback mechanisms 800 and / or the locomotion system 106. Depending on the sensors 104 used, the system 100 may also be able to detect new hazards and assess them; such as seeing a new person walk into the camera’s view, or a LiDAR detecting a new object that was previous undetected, and if necessary, reroute the user to avoid them. Similar forms of other software 1008 might include, but are not limited to, artificial intelligence software configured to perform functions such as, but not limited to, learning about how a user uses the system 100, how to plot better routes, or how to better avoid certain hazards.

[0064] In some embodiments, the na vigation software 1006 may be further configured, or a separate routing software may be utilized, to have a route plotted between two points on the map created or accessed by the navigation software 1006. Such route may be determined by a variety of factors, such as, but not limited to, safety of the route, potential hazards, accessibility requirements, directness of the route, time concerns, or any other factor desired by a user. Depending on the embodiment, the computer system 712 may set the starting point of the route as a location determined by a user, or it may plot the route based on the present location of the system, using that location as the starting point.

[0065] The invention may further feature additional configurations to the navigation software 1006 and / or the navigation software 1006 may work in conjunction with other software1008 to continuously take in data from sensors 104 and other information sources and attempt to detect and map .potential hazards and assess whether they require modification of the route currently being followed by the user. Some embodiments of the invention may be configured to make large scale changes to the route based on updated information about the intended route and destination. For example, the system may be provided information by an external data source 10.10 that there is construction and a section of sidewalk is closed, so the system may adjust its mapped route to avoid that section of sidewalk. Similarly, some embodiments may detect and reroute to avoid moment-to-moment hazards, such as. but not limited to, another person or vehicle moving into the intended path of the user, and the system may be configured to reroute around them.

[0066] In some embodiments, the system may be configured to use generative software in conjunction with other software 1008 in order to generate the maps and learn from previous uses and data. For example, the system may learn that traffic typically flows in a particular direction, so the system may recommend a route to a user that considers such traffic directions and navigates the user in a safer manner. If, for example, a vehicle stops in front of the user, the system may have learned that if the vehicle approached from one direction, it is likely to leave in the opposite, so will take the user around the rear of the vehicle instead of the front for added safety and efficiency, while in other examples the system may learn how long vehicles typically stop or how quickly they typically move, and may or may not adjust the route if it predicts the vehicle will likely no longer be a hazard by the time the user reaches such vehicle. The system 100 may also be constantly reviewing to determine if potential hazards are likely to interest with the present path of the system 100 or a user, and the navigation software 1006 or other software 1008 may coordinate to avoid such hazards, or modify existing plotted routes based on data about new hazards whether detected by the sensors 104 or provided by an external data source 1010.

[0067] Depending on the embodiment, the system may perform the foregoing functions on a computer processor 1004 and optionally a computer memory 1002 located on the platform, while in other embodiments it may have a computer processor 1004 configured to receive information and commands from an external data source 1010 via a network or wire, such as, but not limited to, a server, cloud server, smart device, or other external device. Some embodiments may receive data relevant to the performance of its functions, such as maps or weather data, from external data sources 1010. In other embodiments, the computer system 712 may simply implement instructions received from such external data source 1010. Naturally, all of thesefunctions may also be performed with the computer system 712 being in contact with and / or implemented over a computer network.

[0068] As another example, in embodiments where the sensor 104 is a LiDAR, sonar, or similar sensor which relies on bouncing a signal off of objects and receiving said signal (and in some cases, examining changes therein), the navigation software 1006 may work in conjunction with other software 1008 in order to identify if the objects detected by the sensor 104 are hazards that need to be avoided, and depending on the software may also identity if such objects are moving or not, and further make determinations based on that information. Whether moving or unmoving objects, the navigation software 1006 or a module thereof may use the feedback mechanism 800 or locomotion system 106 to attempt to guide the user to avoid such objects if it deems it necessary. In other embodiments, for example, where the sensors are an RGB camera, the system may utilize image recognition other software 1008 in conjunction with the navigation software 1006 to make the same determinations.[00069| Some embodiments may make use of a “freestyle” navigation approach in which the system 100 does not have a pre-planned route but instead functions to use the sensors 104 in conjunction with the computer system 712 and its navigation software 1006 and other software 1008 to actively detect potential hazards and warn and / or navigate the user around such hazards.

[0070] As used herein and unless otherwise indicated, the terms “a” and “an” are taken to mean “one”, “at least one” or “one or more”. Unless otherwise required by context, singular terms used herein shall include pluralities and plural terms shall include the singular.

[0071] Unless the context clearly requires otherwise, throughout the description and the claims, the words “comprise”, “comprising”, and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is to say, in the sense of “including, but not limited to”. Words using the singular or plural number also include the plural and singular number, .respectively. Additionally, the words “herein,” “above,” and “below” and words of similar import, when used in this application, shall refer to this application as a whole and not to any particular portions of the application. Many changes, modifications, variations and other uses and applications of the present construction will, however, become apparent to those skilled in the art after considering the specification and the accompanying drawings. All such changes, modifications, variations and other uses and applications which do not depart from the spirit andscope of the invention are deemed to be covered by the invention which is limited only by the claims which follow.

[0072] It should be understood that while certain preferred forms, embodiments, and examples of this invention have been illustrated and described, the present invention is not to be limited to the specific forms or arrangement of parts described and shown, and that the various features described may be combined in other ways than those specifically described without departing from the scope of the present invention.

Claims

What is claimed is:

1. A navigation assistance system, the system comprising: a platform; a computer system comprised of a computer processor communicably coupled to a computer memory; at least one sensor communicably coupled to the computer system; a locomot ion system coupl ed to a distal end of the platform communi cably coupled to the computer system, wherein the locomotion system is comprised of one or more mobilizes wherein the mobilizers are configured to be able to rotate in at least one direction; and a user grip coupled to a proximal end of the platform, wherein the user grip is comprised of at least one feedback mechanism and at least one user input and both the at least one feedback mechanism and at least one user input are communicably coupled to the computer system.

2. The navigation assistance system of claim 1 the system further comprising: a navigation software program stored in the computer memory wherein the navigation software program is configured to utilize data from the at least one sensor.

3. The navigation assistance system of claim 2, wherein the navigation software program is further configured to plot a route from an initial point to a final point.

4. The navigation assistance system of claim 2, wherein the navigation software program is configured to use the data from the at least one sensor to perform at least one of thefunctions of: avoiding at least one potential hazard or keeping the user walking in a substantially straight line.

5. The navigation assistance system of claim 4, wherein the navigation software program is further configured to revise the route plotted to use the system’ s present location as the initial point at any given time.

6. The navigation assistance system of claim 4, wherein the navigation software program is further configured to take in data from the at least one sensor and revise the plotted route based on changes in the area detected by the at least one sensors.

7. The navigation assistance system of claim 4, wherein the navigation software program is further configured to take in data from the at least one sensor and revise the plotted route based on the introduction of a new hazard .

8. The navigation assistance system of claim 4, the system further cornprising: a generative software program stored in the computer memory wherein the generative software program is configured to take in data from other navigation assistance systems and other sources to refine the routes plotted by the navigation software.

9. The navigation assistance system of claim 4, wherein the computer memory is located remotely from the navigation assistance system and is communicating with the computer processor of the navigation assistance system through a computer network.

10. The navigation assistance system of claim 1, wherein the mobilizes are wheels.11 The navigation assistance system of claim 10, wherein the mobilizes are configured to be removable and replaceable with the same or alternate varieties of mobiliyers,12. The navigation assistance system of claim 1, wherein the at least one of the at least one feedback mechanism is a haptic feedback generator.

13. The navigation assistance system of claim 1, wherein at least one of the at least one sensors104 is chosen from the list comprising: a LiDAR, radar, infrared, time-of-flight, accelerometer, velocity, ultrasonic, positioning, wheel odometry, or depth camera.

14. The navigation assistance system of claim 1, wherein the system is further comprised of at least one of: audio generator or audio sensors, wherein such components are communicably coupled to the computer system.

15. The navigation assistance system of claim 1, wherein the navigation software is configured to utilize the data from the one or more sensors to make a determi nation of whether a hazard detected by the one or more sensors will intersect a present path of the system.

16. The navigation assistance system of claim 13, wherein there are at least two sensors, and each is chosen from the list comprising a LiDAR, radar, infrared, time-of-ffight, accelerometer, velocity, ultrasonic, positioning, wheel odometry, or depth camera.

17. The navigation assistance system of claim 1, wherein the locomotion system is further comprised of one or more motors wherein the one or more motors are coupled to the one or more mobilizes,18. The navigation assistance system of claim 2, wherein the navigation software program utilizes pre-existing map data to generate the map of the area around the system.

19. A navigation assistance system, the system comprising; a platform; a computer system comprised of a computer processor communicably coupled to a computer memory; at least two RGB depth cameras communicably coupled to the computer system; a locomotion system coupled to a distal end of the platform, wherein the locomotion system is comprised of one or more mobilizes wherein the mobilizers are configured to be able to rotate in at least one direction and are equipped with a braking system; and a user grip coupled to a proximal end of the platform, wherein the user grip is comprised of at least one feedback mechanism and at least one user input and both the at least one feedback mechanism and at least one user input are communicably coupled to the computer system.

20. A navigation assistance system, the system comprising a platform wherein the platform is comprised of a shaft comprised of a proximal end and a distal end; a computer system comprised of a computer processor communieably coupled to a computer memory; at least two RGB depth cameras communieably coupled to the computer system; a locomotion system coupled to the distal end of the platform, wherein the locomotion system is comprised of one or more mobilizes wherein the mobilizes are configured to be able to rotate in at least one direction and are equipped with a braking system; and a user grip coupled to the proximal end of the platform, wherein the user grip is comprised of at least one haptic feedback generator and at least one user input and both the at least one haptic feedback generator and at least one user input are communieably coupled to the computer system.

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