CA2247024A1 - Guidance system, particularly for visually impaired individuals - Google Patents
Guidance system, particularly for visually impaired individuals Download PDFInfo
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- CA2247024A1 CA2247024A1 CA002247024A CA2247024A CA2247024A1 CA 2247024 A1 CA2247024 A1 CA 2247024A1 CA 002247024 A CA002247024 A CA 002247024A CA 2247024 A CA2247024 A CA 2247024A CA 2247024 A1 CA2247024 A1 CA 2247024A1
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- Prior art keywords
- regions
- guidance system
- region
- field
- tape
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/08—Devices or methods enabling eye-patients to replace direct visual perception by another kind of perception
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/066—Installations on the floor, e.g. special surfaces, to guide blind persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/068—Sticks for blind persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S116/00—Signals and indicators
- Y10S116/17—Tactile
Abstract
The guidance system of the invention includes at least two spaced, permanently magnetized regions that each produce a magnetic field. The two permanently magnetized regions can be provided at either side of another region that produces a magnetic field of less intensity than the permanently magnetized regions, and in one embodiment, the former region produces no magnetic field.
The system may also include portable means for detecting the magnetic fields produced by the permanently magnetized regions, and that sensor may be mounted to a cane for use by a person. In another embodiment, the permanently magnetized regions contrast with either each other or the region that produces a magnetic field of less intensity, or have different surface characteristics, or both.
The system may also include portable means for detecting the magnetic fields produced by the permanently magnetized regions, and that sensor may be mounted to a cane for use by a person. In another embodiment, the permanently magnetized regions contrast with either each other or the region that produces a magnetic field of less intensity, or have different surface characteristics, or both.
Description
W O97/33~48 PCTrUS97/03708 GUIDANCE SYSTEM, PARTICULARLY FOR VISUALLY IMPAIRED INDIVIDUALS
TECHNICAI, FIELD
The i.,~ ion relates to a mobile object ~liA~nce system, and particularly to a cane-based ~li(lAnce system for guiding visua11y u,,l.ai,cd individuals along a desired path.
BACKGROUND OF THE INVENTION
Individuals who are visually i~ d face many obst~rles to C~,~,yddy navigation. For ~ ~, le such individuals of~en must use public ~ o~lal;on, such as a subway syste-m-~ for travel. Those systems may be Aiffir.11lt to navi~le wi~ u~ the benefit of ~dequ~te sight, and thus it is dei,u U~ to provide a g~ snre system that is h,~ cnsive, 1~ , and du, '~'-One type of co"~ ;n~ iAsnr~e system inr1~1Ae~ a 1Q~ Id ~A11Y
e ~lc.ls;vt;, pP. ~ ly ~ ; ed reQion, such that a sensor ~,,O.. I~ in a cane canemit a sound when the cane is swept across the region. ~1thongh these systems have utility, one disadvantage is that they can be 1~nipolsr, ..~ 8 that they have only one polarity and can emit only one signal as the cane sweeps over the ".~ ;c field. Also, CO11~ nA1 systems that are not based on p~ typically require coll~& ali~ely c,~yensive sensors to detect the signal.
Another disadvantage of several co..~- ."~ n~l ~1idAnre systems is that they cannot be easily applied to an existing surface. Some systems inrl~ o., for ~ --r ~~~
m~ ~.t~ ~mhedded in a surface to activate a sensor. This ~~ g~ is i..co..~ ~,nient to install in an ~,~s~ surface, bec~..lse the surface may have to be at least partially destroyed to embed the m ~gnet Also, if the .. a~- ~ ~ are pe~ ". r 1~ ly adhered to or ~mbedded within the surface, they cannot easily be repositionecl to int1icOte a new pa~ ay~
Yet another disadvantage of some CGIl~ ;f)nAl gllidAnce systems is that they may not provide the most c~ Anr-e for sighted, but visually-il--pai,~d, individuals. That is, systems dçei ned to aid persons who are co.. l,lcte1y blind may not have other useful attributes that would aid a sighted, but visually-""l,~red person. In W 097/33S48 PCT~US97/03708 view ofthese and other disadvantages associated with cG"vA.-~ion~ nce systems, it is desirable to provide a new ~ nre system having a variety of available features.
SIIMMARY OF T~ INV~TION
The term ''g~ nre system~" as used herein, means a system that provides i~ .,alion to a user through one ofthe user's senses. Thus, the gl1id~nr,e c system of the present invention inr1~des portions that are pe~ n~ y m~.e1;,~A, to enable a n-~gn-otic sensor to provide a signal to a user. It may also be visually conll~Led~ to provide visual h~~ zlion to a user, and may be tactually co ILl~sted, to provide tactile ;,.r~ n to a user. These r~,alu~es may also be incorporated into a nre system for other mobile objects, such as a forldift or other robotic app~aluS.
one e,lll,o.1;..-f --~ the inventive system ;..~ des at least two spaced, ~)h~ el~ly m~-~;,.ed regions that each produce a ~--~ ;r, field. The two p~. ~ . ,An~ ..I1y m~5..~l;,..,d regions can be provided at either side of another region that produces a mq~etic field of less Ul~ y than the p~ 1y m~n~l;,P~ regions, and in one embo~iimrnt~ the former region produces no ...a~ r, field. The system may also include po~ -' le means for ~let~l;~g the m~ Ptir fields produced by the p-- ..~ y ma~n~.ti7gd regions, and that sensor may be ...o~ ed to a cane for use by a person. In another embo~imrnt, the p~ "1y ~ d regions con~ with either each other or the region that produces a m~gnetic field of less intensity, or have di~er~
surface d~ .v~ ;r~, or both.
DES(:~RIPTION OF THE DR~W~GS
Figure 1 is a pt:l~3e~;liv~; view of one embodiment ofthe gl~id~nce system 2~ of the present invention;
Figure 2 is a cross-sectional view of a second embodiment of the nre system of the present invention;
Figure 3 is a cross-sectional view of a third embodiment of the ~~ nr,e system of the present invention;
Figure 4 is a pc.~e~ e view of a fourth embodiment ofthe ~ nre system of the present invention;
W O 97~33~48 - PCT~US97/~3708 Figure 5 is a perspective view of a fifth embodiment of the ~litiAnce system of the present i~ lioll; and Figure 6 is a pel ~cclive view of a sixth embodiment of the ~~ Ance system of the present invention.
DETAILEI) DESCRlPTION OF L~ INVENTION
The inventive ~ Ance system allows a mobile object, such as a person, to g_in ;,.r". ~ ion from the system either by touch, by sound, by sight, or by some con~l .;..A ~ ion thereo~ As shown in Figure 1, the system in~ des spaced, p.~ AI~ ly mAg~.~;,ed regions, each of which produce a mA~tic field that can be detected by a sensor. When the sensor detects the fields, it notifies the user of the location of the sensor. ~ ..A~;l.ely, the mA.~PtiC field sensor can trigger a tactile alarm, such as a ... which can be co....~ ed to the sensor directly or w--~,les~ . Also, the ~ nP~ y ...a~i,ed regions can be tactually cGnl-~sted either from each other, or from an i~lt.- "-ç-l;A~e region that produces a mA~etic field of lesser i~ ,;ly, to permit a user to gain ;--r5~ o~iQn ta_lu~lly. Lastly, the system also provides visual C~llllaSl either b~l~. _en the p~ An~tly m~ ed regions, or b_lwet; l the pt . " ~ Iy mA~ .t'~l regions and other regions. Each of these r Lu~ cs (~ggn~i~., tactile, and visual collllaSl) may be used intlep~n~ntly, or in c~ A~;on with one or both of the other r~lul~s. The effect is to provide a versatile ~ Ance system that may be tailored to provide the features desired by the installer and the users.
I. General O~ ioll of the System A plefG.led embodiment of the inventive ~ Anf e system is illustrated in Figure 1. As shown therein, the system 10 in-ludçs spaced pe~ Ane~ Y ~ a~ d regions 12 separated by a region 14 that produces a m~ ntotic field of lesser intensity than regions 12. Region 14 will be rc~;"Gd to herein as the "weaker field region." The p~ nr~ ly magneti7e(l regions are PlG~GI~b1Y~ though not nec~ccArily, irl~.nti~Al and are also p~Grt; ~bly di~G,en~ from the weaker field region in ma~n~ticm, texture, and visual appc~e. A user may use a cane to detect the differences in texture bGlween the pGl~ n....lly mAg~ ed and weaker field regions. That cane may also have a ~2. ~).- I;C
field sensor, so that the user may also detect the differences in ma~nP,tic field b~;lWGGll W O 97/33548 ~CT~US97/03708 the perman~ntly m~ i,ed and weaker field regions. Lastly, the -visual al)pearh,lce of at least one of the regions should CollLlas~ s~lffici~ntty with the appe~a-lce of the other two regions to permit persons with reduced vision to per~eive the di~c;r~ce. These re&lu-es are desclil,ed individually below.
The present inventors have .liscov~,cd, among other things, that spaced regions having certain characteristics separated by a weaker ffeld having other characteristics is more easily pe.~e;ved than is a single region. This is beli_~ed to be true because spaced, p~.~.finF.-1ly m~..~;l.,ed regions of particular rlimPn~;ons provide more signals per cane sweep than a single region, and stronger signals at particular rli.ct~ncçs This makes the strip much more easily detecta~le than other systems having a single region.
II. MagnPtic Contrast The mag~Fli~ed regions are p- f~ bly p~ liy ...9~ ,d mP~n-~
that they produce a m~P~tie field, wLe.~,as the weaker field region is ~ bly ,..~;i,~ ~;r~lly inactive. A portable sensor detects the p.~sellce and direction ofthe ma~F~tic field at each side of the path, and the ~bs nee of a ~ l;c field (or a weaker ~-,a~-~,l;c field) in the middle of the path, and provides signa1s to the user. The signaI
may be an audio signal, a ~iblalOly signal, a visual signal, or any other means of inr~ ?tir~ to the user that the sensor has detected a m~ ti~ field.
The p~ ly In~ I;,ed regions are madP to produce a ma~mptic field of s~lffi~;ent inlcnslly to permit detecti~n by the sensor. l~a~P.tio fields of a~pro~i~..al~ly 0.5 gauss at a rlictan~e of 15.25 cm (6 in) are desired, although fields of greater or lesser intensity may be desirable for certain applic~tiQnc The regions are pl cr~ ~ly unpowered, though pov~ .d regions may be provided if desired. Also, the regions plt;r~l~bly emit a continuollc signal, rather than periodic signals, to ...;~
confilsion for the user as to whether he has le~ the desired path, or is only b~l~ce~
suscP~i~;vt: signals. Also, the regions may be made to produce m~gnPtic fields of polarity, so that the net field is eccPnti~lly lm~Ptect~ at a ~ic~ ce Three factors most directly infl~l~nce the detect~bility ofthe magne~
signal: area (the size of the region over which the maEnPtic ~ 1 is placed), power (the ~rellglll ofthe m~gnP,tic material) and &~ ~,.rnl (how the l~.a~l;c material is W097/33548 PCT~US97~3708 _S_ oriented~. Fxr~ have shown that the m~gnetiC regions are more easily detected when they are placed over a large area. However, it is h~ ;lical to place magnetir, regions over an entire floor or hallway, and thus a co~ lullll3e iS n~ce~-y. Onemanner in which to achieve sllffiri~nt area is to supply a m~e~;~ed tape or strip that can be applied in continl~o?lc form, and also to provide mats (made, perhaps, from several strips of tape) near obst~cles doors, and the like.
More powerful tapes are more easily ~P~tected than less powerful tapes, and one way to provide more puw~lrul tapes is to use a wider or thiclcer tape. ~AIthmlgh a wider or thicker tape can be ~lelecled at greater d;~l~nces than can a n~low~. or 10 thinner tape, the latter is actually more detect~lie at closer range than is the former.
This effect is shown in the following Table One, which i~ es ~A~- I;c field ~
(in gauss) as a fimr,tion of tape width and Ille~ul~.,l~.ll ~ict~nre above the tape. The tape used to make these ll,eas~ lelll~ was made as desclil,cd in Section V., below, and meas.ll~d appr~ ely 5.08 cm (2 in) wide, 2.0 mm (0.07 in) thick and 152.4 cm (5 ft) long.
Table One Tape Width Distance above2.54 cm 5.08 cm 10.16 cm 20.32 cm tape (1 in) (2 in) (4 in) (8 in) 2.54 cm (1 in)7.44 9.41 7.60 4.51 5.08 cm (2 in)2.22 3.78 4.75 3.82 7.62 cm(3 in) 1.02 1.90 2.93 3.06 10.16 cm (4 in)0.59 1.12 1.90 2.39 15.24 cm (6 in)0.26 0.52 0.95 1.47 20.32 cm (8 in)0.15 0.29 0.58 0.96 25.4 cm (10 in)0.10 0.19 0.37 0.66 30.48 cm (12 in) 0.07 0.13 0.26 0.48 As shown in Table One, ~ wt;, tapes have a more prollo~mr,ed om strong m~gn~ic field to weak .~ el;c field as sensing di~l~n~e increases. For rY~mrle~ a 2.54 cm wide tape has a m~etic field at 30.48 cm that is less than 1% as strong as the same tape at 2.54 cm, whereas the field ~LIellgl}l ofthe 20.32 cm wide tape only decreases to 11% of its initial ffeld ~Lle~ l at the same cI;~ln~-ce Because trAAn~iti()n~ bel~ccn a strong ~ el;c field and a weak (or no) field are most easily detecte~ a AJillul..er tape is pl~ ,d to a wider one for most appti~tion~ More specifirAliy~ bcca.lsc the tape should be detect~hle at about 12.7 cm (5 in), and should be most detectAhle at about 2.54 cm (1 in), the 5.08 cm (2 in) wide tape is a pl~r~-,ed width.
Finally, with regard to the &.l~ gt;~ ofthe rn"gnetif~Ally active regions, a series of tests were co~-h~cte l with 5.08 cm (2 in) wide strips spaced from each other by either 0.0 cm (0 in), 5.08 cm (2 in), 10.16 cm (4 in), and 15.24 cm (6 in), and field ~,c l~ "-easule.ll~ were taken at 2.54 cm (1 in) above the strips in 8locations relative to the two strips, and at 10.16 cm (4 in) above the strips in 3 loeAAtif) The greatest t"-n~ b~ large mA~nPtic field and small ma~nP,tiC field occurred with strips of opposite pol~rities spaced apart by at least &~PI~ C1Y 5.08 cm (2 in).
~ view ofthe fol~oiag con~;~lPrations, one embodiment ofthe present invention inrl~des two 5.08 cm (2 in) wide strips of ma~n~ lly active tape spaced 10.16 cm (4 in) apart. This product could be provided in roll form, wL~;I~l the roll has a total width of applnx;~ lely 20.32 cm (8 in).
The sensor used to detect the ...~ t;c field may be of any suitable type.
Generally, the sensor should be ;.. e~ ve, durable, and s~ffici~ntly se,~llive to detect the ma~f~tic field produced by the pel...q~ .lly mAgn~ti7ed regions. The sensor should be mqtrh~d to the mA. netic field produced by the pe~ y ~Aglleli7Pd regions, to enable the former to detect the latter reliably. Another b~n~ofi~i~l aLLlibule ofthe present invention is the ability to use a relatively low-cost sensor, particularly if the sensor will be used in close plo~ y to the ma~,tic regions. One ~l~relf~d sensor is a hall-effect sensor, one suitable type of which is available from the Honey~. ~11 MicroSwitchCo.l,~tuly of Minn~polis, Minn~sota under the d~i~Ation SS495A. l~he sensor may be mounted at the end of a cane or a walker, in or on a shoe, or in any other col.~,e.ient location, subject only to the ability of the sensor to detect the mA~etic field, and to detect di~ enccs in magnetic field.
WOg7S3354X PCTAUS97/03708 m. Tactile Contrast Tactile contrast between the pc~ y m-~nr-.ti7ecl and weaker field regions may be provided in several diat;~ ways. Figure 2 illustrates regions that are tactually contrasted. By making the pk- ~ n~ ly m.9.~el;7ed regions tactually col~ ed with the weaker field region, the user can ~lele- .. ;.. e whether the cane is moving along the desired path, or is bc~..~ to depart from the desired path.
Tactile contrast may be provided by a series of lon~ytu~ins-l or ~ v~;lse grooves, bumps, or any other suitable structure. In Figure 2, for I ~ n~ e, a set of .9.1i~P(l longitutlinsl grooves 16 with square cross-sec~tion~ are formed in the0 p~ n. .. ~lly m~ ti7et~ regions 12, and a set of aligned, ~ n~t~ in~l grooves 18 with more rounded cross-section.~ are formed in the weaker field region 14. The grooves are typically 1.3 mm ~0.05 in) deep and 3.3 mm (0.13 in) wide, which permits easy c~ g and provides a skid-les.s~ s~rf-9-çe. Another surface that provides skid r~ ;ct, n.-e and a dilr~ ll texture Col~c;cls of granules a~pro~ ely 0.77 mm (0.03 in) in f~ t~
spread randomly on a top-coated surface and thereby bonded to the substrate.
A di~ G"~ embodiment of the present i~v~lioll is shown in Figure 3, in which no tactile ~nLlasL is provided, because the tape lOa will be used under carpet, for example.
In a p,c;rti~ed embodimpnt .der ~ ed herein, co--.~ two 5.08 cm (2 in) wide ma~P,ti-~.slly active strips s~ ed by a 10.16 cm (4 in) inactive region, the outer strips are highly t.AIu,ed (as with paven~el,~ msrking tapes ~v l~'e from the ..F.sO~a Mil~illg and Msmlfs.,tl~rin~ (: olllp~ (3M~ under the d~-~i~stion 380 series STAMARKTM pavement msrking tape, and the middle region should be of lesser texture but still be skid-rc~ a,ll (as wvith 3M's flat, re~ective, skid-lc;sib~ n~k;l~g tapes).
IV. Visual Contrast RP.0~m~ that are visually co,~ s~ed are typically desirable so that users with limited vision can identif,r the path defined by those regions. Visual COnLIASL
belweell the pF~ A~ y m~ i,ed regions and the lesser field regions may be 30 provided by color or pattern. ~ltho lgh colors such as black and white may be used, a yellow-green color (550 n~nometer wd~elengLll) contrasted with a black boundary is believed to provide .~ .. visual collLI~sl. Moreove., because i~c,cascd b. ;yhl.. F4s W O 97/33548 PCT~US97/03708 provides increased contrast, which is desirable, it is plere -ed that certain ofthe colors selected be as bright as possible. One way to increase bri~htnP~s~ and thus collLl~sL, is to add fluorescP~-re, and thus the yeltow-green color desclil)ed above may be fluore .c~JIl in one embo~imPnt When spaced m~gretic regions are separated by an .~ Ai~te region, it is p.~fG.,ed that the intprmp~i~te region is yellow-green and that the spaced ma nPtir.
regions are black. In other embodimPnts~ various standard or fluol~,scGn~ colors may be used, as well as ~ such as ~l,e~Lell,oar~ p~ llls, logos, ~ h~m~mPric symbols, and arrows ;nr1ic~ting a desired path direction. Tape 10a, as shown in ~igure 3, need not have visuat contrast if it will be used where it cannot be seen, such as below a carpet.
In a p~t;r~;"Gd embodiment de~r~ ed herein, compri~i~ two 5.08 cm (2 in~ wide m~gneti~ y active strips sepalaled by a 10.16 cm ~4 in) i.lacliv~ region, the outer strips are black and the central inactive region is ~l~cscel~l green- yellow having 1~ a w~cl~.~gLtl of about 550 ~ o~ L~
V. Construction and Apl~licnl;on The PG~ nF~ Y ma~F~ and weaker field regions may be made of any suitable m~tPri91, inr.lur~in~ such things as plastic and metat. A pr~fe.lcd rn~t~Pri~l for the pe~ ly m~ .pd regions is available ~om the Trafflc Control Materials Division of 3M under the ~ G~1~11G11laI dPcign~tion "SmartTape," because it is durable, it produces a detect~hle ..~ e~;c field, and it may be made to produce a tactually and visually collLl~led region. A p,erG"Gd m~t~ri~l for the weaker field region is available from 3M under the d~ tion STAMARK~f 380 or 385, becau~e it costs less than the m~teri~l used to make the pG~ n ~ ,y m~gnefi7ed regions, yet it too is durable and can be molded and colored.
To make the p~..n~n~ ly ma n~i7ed re~ons, several col-~e-.liQn~l processes may be used. A p~erGllGd process is to compound the following materials (all parts are by weight) in a Banbury--type internal mixer.
-WO 97/33548 PCTnUS97~3708 Masterbatch Paracril B 100.0 Chlorez 700S 70.0 Paroil 140 LV 5.0 Stearic Acid 0.5 Vanstay SC 0.5 S&l~lo~l-ile Crystals 1.0 PE MinirLGl 13038F 20.0 PET 6-3025 fibers 10.0 MAgn~;C Particles Barium ~.. ,.r~ e P-235 950.0 total weight 1157 In the folGgo;n~ list, ParacrilT~ B is a .. -ed;~ . acrylonitrile content nitrile rubber available from Uniroyal Ch~m;~l C~ of Alcron, Ohio; ChlorezTM 700S is a solid chl~rin~ted paraffin available from Dover ChP~m:~Al CGl~ol~Lion of Dover, Ohio; Paroil 140 LV is a liquid chlorinated paraffin av~ldble from Dover Chemir~l Col~vl~lion;
Stearic Acid is a process aid available from Humko Ch~micAl Division of Wltco Ch- -f I Col~ul~lion of M~ s, TP--l-t~.~e~; VanstayTM SC is a"chft~ agent"-type st.qbili7P r available from R.T. Vanderbilt ( olll~ly, Inc. of Norwalk, Connecticllt;
SantowhiteTM Crystals are an ~ntioxirl9.nt avatlable from Mnn~nto Ch~-m;-~l Co...p ~.y of St. Louis, Mi~sollri; PE Minifiber 13038F is a high density polyethylene fiber available from Mini Fibers, Inc. of Johnson City, Tennessee; PET 6-3025 fibers are 0.635 cm (0.25 in) by 3d polyester fibers av~ le from Mini Fibers, Inc.; and Barium hF.;~re~, ;le P-235 is a ...A~.el;c pjg~ available from Arnold Fn,~in~ring CO. of Norfolk, Nebraska.
When the t~ Gla~ulG ofthe mix reaches 146~ C (295~ F), the mix is dropl)ed from the mixer onto a t ,vo-roll rubber mill. The m~teri~l is sheeted off the rubber mill and fed through a two-roll çAI~n-l~r to yield a sheet of material having a thir~ss of ~plo,c;...~l~ly 1.4 mm (0.05S in).
W097/33548 PCT~US97/03708 The sheet of m~tçri~t was embossed according to the process desc~il,ed in U.S. Patent No. 5,227,221 (col. 2, lines 47-65) to provide a cor~lll-able m~etic sheet having a plurality of protrusions p.ojec~inP fiom one major surface. The embossed sheet had a th;~ ns~s of about 0.5 rnm ~0.02 in) in the valleys beL~cl1 the protrusions, and a l~ L n~ss of about 1.6 rnm (0.063 in) at the top of the protrusions. A
dieco~ ous layer of l;quid particle bond material was applied to the top and sides of the protrusions of the embossed sheet using the process ~lesc- il ~~1 in U.S. Patent No.
5,227,221. The particle bond n~t~ri~l was the same as the polyulGll,d~ e bead bond of U.S. Patent No. 5,227,221 (col. ~, lines 20-39), with the exception that the pi~mpnt 10 dispersion was made with the following cC1lmrositif~n Particle Bond Pigment Dispersion ~gled;e.ll %~byweight) Function methyl isobutyl ketone 7.04 solvent zinc 2-ethylk~ o~/te 3.52 catalyst Stan-Tone 10 EPX03 41.55 white pigmpnt~liD~ D;on Stan-Tone 25 EPX01 3.52 red pi~mPnt disp.,.D.on Stan-Tone 90 EPX04 44.37 black pi~ dls~lDion Stan-Tone 10 ~X03 is a white pi~ment di~elD;on in a diglycidyl ether of bisphPnc~l A
epoxy resin. Stan-Tone 25 EPX-1 is a red pi~--.- ~.~ dispel~;ol1 in a diglycidyl ether of bi~l~ ol A epoxy resin. Stan-Tone 90 EPX04 is a black p.g..,_.,l dispersion in adiglycidyl ether of bi~l,h~ ..ol A epoxy resin. Each is available from the Harwick Chemical Corporation of Akron, Ohio under the listed dP~i~n~tion The surface ofthe particle-bond-m~tPr-~l-coated pl-~llu~ions was sprinlcled with durable black sphPric~l anti-skid particles of the type available from Carbo Ceramics of New Iberia, Louisiana under the de~ign~tio~ CARBOLITE and CARBOPROP. The particles were applied so as to partially embed them in the liquid particle bond material. The liquid particle bond material was solidified by passing the sheet through an oven at a It;lll~elal~lre of about 175~ C (350~ F) for a~p~u~ tely 10 mim~tes of r~ ence time, as des~ ed in U.S. Patent No. 5,227,221.
WO 97~33~i48 PCT~US97~03708 A layer of rubber resin pres~ule sensitive adhesive with a Ih;rL "~ of about 125 micr~"nele, D (0.005 in) was Ismin~ted to the bottom ofthe sheet. The sheet felt similar to con~ ,able pavement ...~. k;uy tapes and quite similar to those of STAl~TM 380 Series pav~ 9~Ln~ tape and STAMARKTM 385 Series Non-Reflective Joint Cover Tape available ~om 3M. The sheet was visually similar to STAMARK~ 385 series tape except that the non-particle coated regions b~ncel~ thep~e~tionQ were dark purplish-brown in color instead of black.
In general, the p~ u lly m~ ed md weaker field regions may also be of any suitable width and l' -l~nPQQ, and may either be continllol~s or sc.gi~P
lQ though the former is pl~fell~;d. For eA~unp!~, the weaker field region may be aPP1(~ AIelY 25 to 180 mm (1.0 to 7.0 in~ wide, and apprc,x;~ ely 2 mm (0.08 in)thick. The pe. IllAI-- ~-lly m~gl~;l;,ed regions may each be app,~ ly 10 to 75 mm (0.~ to 3.0 in) wide, with the same Ihi~L .-e~l as the weaker field region. The o~termnst edges ofthe regions are preferably fe..ll,ered, to permit a wheeled vehicle to l.~ e the 15 regions more easily. The separation h,~w-;en the p~ ly ...a~ ed regions is beL~ ,d to be hllpol l~ for the reasons previously dcs_ il,ed, and the separation ce is ~ r~ bly twice the width of a single pF-~ y ~l9gn~ ed region.
Althou~h continllollc regions are plef;~--.,d, to insure that a user doesn't mict~k~ a dicco..~; . .;~y in the regions for an inco.,e.i~ path, sçg~ ed regions may be used where appropliate The present invention may be used indoors or outdoors, and may be applied either under sulJD~ales such as carpet, tile, or concl~e, or applied to the top of those or other cllrf~cçs For ~ pl~;, to provide a path in an existing subway station, the system may be applied to PYiCting concrete floors along the desired paths, and secured to those floors using a suitable adhesive. For an offlce, it may be more de~_~l e to provide the system beneath carpet (and thus without the tactile and visual contrast realules), which may be easily acco...i)li~ d by making the regions as thin as possible.
In new construction, the system may be buried beneath con~ilGLe. Ln such a case, the weaker field region may be modified to be only a mesh, or some structure s lffifient to ... ~ a unlr~ e be~weell the p~- .. ~n~ ly m~gneti~ed regions.
Additional rea~ures may also be built into the present ~ nce system.
For example, where a path divides, the tactile, ma~n~tis, and visual rea~ulGs of the W 097/33548 PCTrUS97/03708 regions may be di~t;l ~;n~ for each part of the new path to in~lir.Ate that a division has occurred. The right-hand path, for eYAmrle, might have l-~s~,e,~e r.hAnnf~lc, a higher mAgnP,tir, field, and a checkerboard pattern, whereas the le~-hand path might have ~ong-hl~inAl rhAnnPl~ a lower ~-.Agl.~l;G ffeld, and a straight-line pattern. Di~ele~
texture patterns may also be used to con~-~s~ the regions from each other. The regions may have an adhesive (either pressure sensitive or heat-activated) thereon to enable çnt to a surface. If the adhesive is a pressure sells;live adhesive, it may be of the type that permits repo~;~;ol~ g and may be p.ote~i~ed by a lt;l~w~able liner. The various regions may also be cA...ro....Ahle, both to coi.rc,.... to i..a~,ul&.ilies in the surface to which the regions are A~ rhrtl~ as well as to permit the regions to be curved.
Figure 4 illustrates another embodiment-ofthe system ofthe present invention, in which the spaced mAAgnP.ticslly active regions 12a ~lternate with lesser field regions 14a along each tape lOb.
Mllltirle weaker field regions and p~,. ..~Anf..~lly mA~~ ed regions may also be provided in a single tape lOc, as shown in Figure 5. There, central p~ ym~gneti7e(l region 12b is flanked by weaker field regions 14b, which are in turn flanked by pf~ ly ~A~v~ d regions 12c.
Figure 6 illu;~lates yet another emborlimpnt in which p~ .el~ly ...h~l.el;,.ed regions 12d and weaker field regions 14c are fi~l~nged transversely in all~ d;~ el~liQll-~hir along the length ofthe illustrated tape lOd. ~ litiQnAl regions 20 may be provided along the outer edge of the p. .. - - -~ l ly . . Ih.,~,nVI; 'Cd and weaker field regions 12d and 14c, if desired, and may have the Attrih~ltes of either or neither of those types of regions.
VI. F.~ Al Results The ~idAnce system of the present invention was tested with eleven subjects to assess four ~IitiAnre fimr,tionR: S~Oppi-l~, change in path direction, straight-line guidance, and locating. The ~ubje-i~s were typical of persons who seek g~ nce because of visual limit~tionR, such as limited field of view, blurry vision, night ~ .Ps~, and blin-1ness in one eye. The sub3ects were provided with a cane having a sensor in the tip. When the cane was moved near a ~ Anre tape, described below, the sensor WO 97/33~48 PCT/US97/V3708 emitted a tone through a speaker in the handle of the cane. The cane, in~ ing the sensor tip, was 160 cm (5.25 ft) long.
The s.l~id~nce tape was placed bPnP~t~l a carpet that was s~ffl~;ently thick to prevent visual or tactile i~Pntific~tion and the room lighting was ~ erl The tape conQietecl ofthree stripes each nle~uring 5.1 cm (2.0 in) wide, each placed parallel to each other at a rliet~nce of 5.1 cm (2.0 in) apart.
With regard to the four tested ~ n~e filnctinn~ s~opp~ is important bec&~lse it is enables a subject to avoid a hazard. Stoppi"~ was ~--easu.~d by providing a s~ oftape d~c-~rihed above at a prede~ -ed location along the hallway, and instructing the sul~je.,ls to stop when they ~etected the tape. Change in path direction was measured by placing the tape in a path that turned left 4.2 m (14 ft) after the starting point. Subjects were not told which way the path turned, but were instructed to ffillow the path. Straight-line g~id~n~e was tested by placing the tape in a straight line, and then instructing each subject to following the tape twice: once with the sensor turned off, and once with the sensor tumed on. The subject llav ;;l~ed the carpet until he or she crossed a line 4.8 m (16 ft) from the starting point, at which point the dc~;&lion from a straight line was n~CAj~UIC;1. Finally, the locating fi-n~tinn is h~po~lAl~t becauie it enables a subject to find a particular room, door, ~ VALOr~ or other location. To test the locating filnctinn one se....~ ofthe tape was placed under a doorway, and .u~;~ te were instructed to move along the haLlway until they identified the door. There were a total of eight doors in the hallway.
The system ofthe present invention was e~clive in helping the bje cts to navigate straight lines and corners, and to locate a particular place. Spe~ifi~slly~ in the stopping test all of the subjects stopped in front of the tape, at an average of about 168 cm (5.5 ft) in front of the tape. In the change of path direction test, all of the s~ ;e ~e colle~iLly followed the path to the left. In the straight line navigation test, the subjects deviated an average of 60 cm (1.97 feet) from the straight line with the sensor turned off, and an average of 14.6 cm (0.48 f~) from the straight line with the sensor activated. In the locating test, all eleven ;"II,;e ~e coll~clly located the marked doorway.
Suitable uses for the present hlv~ ion are m~nif~lld It may be used in offices, schools, homes, public fi~ lities, hotels, and hospitals, and can be used to mark not only desired paths but also structures such as slai.~;ascs, e~"e.~,el cy exits, W 097/33548 PCTrUS97/03708 bathrooms, drinking fountains, windows, and doors. Another use is to mark an edge or a boundary be~weell two regions, such as the e~ ce to a parking lot from a sidewalk.
Although the present invention has been d~ ed with respect to several illustrative embodim~nt~ the scope of the present invention is defined not by those embo~ , but by the following claims.
2~
TECHNICAI, FIELD
The i.,~ ion relates to a mobile object ~liA~nce system, and particularly to a cane-based ~li(lAnce system for guiding visua11y u,,l.ai,cd individuals along a desired path.
BACKGROUND OF THE INVENTION
Individuals who are visually i~ d face many obst~rles to C~,~,yddy navigation. For ~ ~, le such individuals of~en must use public ~ o~lal;on, such as a subway syste-m-~ for travel. Those systems may be Aiffir.11lt to navi~le wi~ u~ the benefit of ~dequ~te sight, and thus it is dei,u U~ to provide a g~ snre system that is h,~ cnsive, 1~ , and du, '~'-One type of co"~ ;n~ iAsnr~e system inr1~1Ae~ a 1Q~ Id ~A11Y
e ~lc.ls;vt;, pP. ~ ly ~ ; ed reQion, such that a sensor ~,,O.. I~ in a cane canemit a sound when the cane is swept across the region. ~1thongh these systems have utility, one disadvantage is that they can be 1~nipolsr, ..~ 8 that they have only one polarity and can emit only one signal as the cane sweeps over the ".~ ;c field. Also, CO11~ nA1 systems that are not based on p~ typically require coll~& ali~ely c,~yensive sensors to detect the signal.
Another disadvantage of several co..~- ."~ n~l ~1idAnre systems is that they cannot be easily applied to an existing surface. Some systems inrl~ o., for ~ --r ~~~
m~ ~.t~ ~mhedded in a surface to activate a sensor. This ~~ g~ is i..co..~ ~,nient to install in an ~,~s~ surface, bec~..lse the surface may have to be at least partially destroyed to embed the m ~gnet Also, if the .. a~- ~ ~ are pe~ ". r 1~ ly adhered to or ~mbedded within the surface, they cannot easily be repositionecl to int1icOte a new pa~ ay~
Yet another disadvantage of some CGIl~ ;f)nAl gllidAnce systems is that they may not provide the most c~ Anr-e for sighted, but visually-il--pai,~d, individuals. That is, systems dçei ned to aid persons who are co.. l,lcte1y blind may not have other useful attributes that would aid a sighted, but visually-""l,~red person. In W 097/33S48 PCT~US97/03708 view ofthese and other disadvantages associated with cG"vA.-~ion~ nce systems, it is desirable to provide a new ~ nre system having a variety of available features.
SIIMMARY OF T~ INV~TION
The term ''g~ nre system~" as used herein, means a system that provides i~ .,alion to a user through one ofthe user's senses. Thus, the gl1id~nr,e c system of the present invention inr1~des portions that are pe~ n~ y m~.e1;,~A, to enable a n-~gn-otic sensor to provide a signal to a user. It may also be visually conll~Led~ to provide visual h~~ zlion to a user, and may be tactually co ILl~sted, to provide tactile ;,.r~ n to a user. These r~,alu~es may also be incorporated into a nre system for other mobile objects, such as a forldift or other robotic app~aluS.
one e,lll,o.1;..-f --~ the inventive system ;..~ des at least two spaced, ~)h~ el~ly m~-~;,.ed regions that each produce a ~--~ ;r, field. The two p~. ~ . ,An~ ..I1y m~5..~l;,..,d regions can be provided at either side of another region that produces a mq~etic field of less Ul~ y than the p~ 1y m~n~l;,P~ regions, and in one embo~iimrnt~ the former region produces no ...a~ r, field. The system may also include po~ -' le means for ~let~l;~g the m~ Ptir fields produced by the p-- ..~ y ma~n~.ti7gd regions, and that sensor may be ...o~ ed to a cane for use by a person. In another embo~imrnt, the p~ "1y ~ d regions con~ with either each other or the region that produces a m~gnetic field of less intensity, or have di~er~
surface d~ .v~ ;r~, or both.
DES(:~RIPTION OF THE DR~W~GS
Figure 1 is a pt:l~3e~;liv~; view of one embodiment ofthe gl~id~nce system 2~ of the present invention;
Figure 2 is a cross-sectional view of a second embodiment of the nre system of the present invention;
Figure 3 is a cross-sectional view of a third embodiment of the ~~ nr,e system of the present invention;
Figure 4 is a pc.~e~ e view of a fourth embodiment ofthe ~ nre system of the present invention;
W O 97~33~48 - PCT~US97/~3708 Figure 5 is a perspective view of a fifth embodiment of the ~litiAnce system of the present i~ lioll; and Figure 6 is a pel ~cclive view of a sixth embodiment of the ~~ Ance system of the present invention.
DETAILEI) DESCRlPTION OF L~ INVENTION
The inventive ~ Ance system allows a mobile object, such as a person, to g_in ;,.r". ~ ion from the system either by touch, by sound, by sight, or by some con~l .;..A ~ ion thereo~ As shown in Figure 1, the system in~ des spaced, p.~ AI~ ly mAg~.~;,ed regions, each of which produce a mA~tic field that can be detected by a sensor. When the sensor detects the fields, it notifies the user of the location of the sensor. ~ ..A~;l.ely, the mA.~PtiC field sensor can trigger a tactile alarm, such as a ... which can be co....~ ed to the sensor directly or w--~,les~ . Also, the ~ nP~ y ...a~i,ed regions can be tactually cGnl-~sted either from each other, or from an i~lt.- "-ç-l;A~e region that produces a mA~etic field of lesser i~ ,;ly, to permit a user to gain ;--r5~ o~iQn ta_lu~lly. Lastly, the system also provides visual C~llllaSl either b~l~. _en the p~ An~tly m~ ed regions, or b_lwet; l the pt . " ~ Iy mA~ .t'~l regions and other regions. Each of these r Lu~ cs (~ggn~i~., tactile, and visual collllaSl) may be used intlep~n~ntly, or in c~ A~;on with one or both of the other r~lul~s. The effect is to provide a versatile ~ Ance system that may be tailored to provide the features desired by the installer and the users.
I. General O~ ioll of the System A plefG.led embodiment of the inventive ~ Anf e system is illustrated in Figure 1. As shown therein, the system 10 in-ludçs spaced pe~ Ane~ Y ~ a~ d regions 12 separated by a region 14 that produces a m~ ntotic field of lesser intensity than regions 12. Region 14 will be rc~;"Gd to herein as the "weaker field region." The p~ nr~ ly magneti7e(l regions are PlG~GI~b1Y~ though not nec~ccArily, irl~.nti~Al and are also p~Grt; ~bly di~G,en~ from the weaker field region in ma~n~ticm, texture, and visual appc~e. A user may use a cane to detect the differences in texture bGlween the pGl~ n....lly mAg~ ed and weaker field regions. That cane may also have a ~2. ~).- I;C
field sensor, so that the user may also detect the differences in ma~nP,tic field b~;lWGGll W O 97/33548 ~CT~US97/03708 the perman~ntly m~ i,ed and weaker field regions. Lastly, the -visual al)pearh,lce of at least one of the regions should CollLlas~ s~lffici~ntty with the appe~a-lce of the other two regions to permit persons with reduced vision to per~eive the di~c;r~ce. These re&lu-es are desclil,ed individually below.
The present inventors have .liscov~,cd, among other things, that spaced regions having certain characteristics separated by a weaker ffeld having other characteristics is more easily pe.~e;ved than is a single region. This is beli_~ed to be true because spaced, p~.~.finF.-1ly m~..~;l.,ed regions of particular rlimPn~;ons provide more signals per cane sweep than a single region, and stronger signals at particular rli.ct~ncçs This makes the strip much more easily detecta~le than other systems having a single region.
II. MagnPtic Contrast The mag~Fli~ed regions are p- f~ bly p~ liy ...9~ ,d mP~n-~
that they produce a m~P~tie field, wLe.~,as the weaker field region is ~ bly ,..~;i,~ ~;r~lly inactive. A portable sensor detects the p.~sellce and direction ofthe ma~F~tic field at each side of the path, and the ~bs nee of a ~ l;c field (or a weaker ~-,a~-~,l;c field) in the middle of the path, and provides signa1s to the user. The signaI
may be an audio signal, a ~iblalOly signal, a visual signal, or any other means of inr~ ?tir~ to the user that the sensor has detected a m~ ti~ field.
The p~ ly In~ I;,ed regions are madP to produce a ma~mptic field of s~lffi~;ent inlcnslly to permit detecti~n by the sensor. l~a~P.tio fields of a~pro~i~..al~ly 0.5 gauss at a rlictan~e of 15.25 cm (6 in) are desired, although fields of greater or lesser intensity may be desirable for certain applic~tiQnc The regions are pl cr~ ~ly unpowered, though pov~ .d regions may be provided if desired. Also, the regions plt;r~l~bly emit a continuollc signal, rather than periodic signals, to ...;~
confilsion for the user as to whether he has le~ the desired path, or is only b~l~ce~
suscP~i~;vt: signals. Also, the regions may be made to produce m~gnPtic fields of polarity, so that the net field is eccPnti~lly lm~Ptect~ at a ~ic~ ce Three factors most directly infl~l~nce the detect~bility ofthe magne~
signal: area (the size of the region over which the maEnPtic ~ 1 is placed), power (the ~rellglll ofthe m~gnP,tic material) and &~ ~,.rnl (how the l~.a~l;c material is W097/33548 PCT~US97~3708 _S_ oriented~. Fxr~ have shown that the m~gnetiC regions are more easily detected when they are placed over a large area. However, it is h~ ;lical to place magnetir, regions over an entire floor or hallway, and thus a co~ lullll3e iS n~ce~-y. Onemanner in which to achieve sllffiri~nt area is to supply a m~e~;~ed tape or strip that can be applied in continl~o?lc form, and also to provide mats (made, perhaps, from several strips of tape) near obst~cles doors, and the like.
More powerful tapes are more easily ~P~tected than less powerful tapes, and one way to provide more puw~lrul tapes is to use a wider or thiclcer tape. ~AIthmlgh a wider or thicker tape can be ~lelecled at greater d;~l~nces than can a n~low~. or 10 thinner tape, the latter is actually more detect~lie at closer range than is the former.
This effect is shown in the following Table One, which i~ es ~A~- I;c field ~
(in gauss) as a fimr,tion of tape width and Ille~ul~.,l~.ll ~ict~nre above the tape. The tape used to make these ll,eas~ lelll~ was made as desclil,cd in Section V., below, and meas.ll~d appr~ ely 5.08 cm (2 in) wide, 2.0 mm (0.07 in) thick and 152.4 cm (5 ft) long.
Table One Tape Width Distance above2.54 cm 5.08 cm 10.16 cm 20.32 cm tape (1 in) (2 in) (4 in) (8 in) 2.54 cm (1 in)7.44 9.41 7.60 4.51 5.08 cm (2 in)2.22 3.78 4.75 3.82 7.62 cm(3 in) 1.02 1.90 2.93 3.06 10.16 cm (4 in)0.59 1.12 1.90 2.39 15.24 cm (6 in)0.26 0.52 0.95 1.47 20.32 cm (8 in)0.15 0.29 0.58 0.96 25.4 cm (10 in)0.10 0.19 0.37 0.66 30.48 cm (12 in) 0.07 0.13 0.26 0.48 As shown in Table One, ~ wt;, tapes have a more prollo~mr,ed om strong m~gn~ic field to weak .~ el;c field as sensing di~l~n~e increases. For rY~mrle~ a 2.54 cm wide tape has a m~etic field at 30.48 cm that is less than 1% as strong as the same tape at 2.54 cm, whereas the field ~LIellgl}l ofthe 20.32 cm wide tape only decreases to 11% of its initial ffeld ~Lle~ l at the same cI;~ln~-ce Because trAAn~iti()n~ bel~ccn a strong ~ el;c field and a weak (or no) field are most easily detecte~ a AJillul..er tape is pl~ ,d to a wider one for most appti~tion~ More specifirAliy~ bcca.lsc the tape should be detect~hle at about 12.7 cm (5 in), and should be most detectAhle at about 2.54 cm (1 in), the 5.08 cm (2 in) wide tape is a pl~r~-,ed width.
Finally, with regard to the &.l~ gt;~ ofthe rn"gnetif~Ally active regions, a series of tests were co~-h~cte l with 5.08 cm (2 in) wide strips spaced from each other by either 0.0 cm (0 in), 5.08 cm (2 in), 10.16 cm (4 in), and 15.24 cm (6 in), and field ~,c l~ "-easule.ll~ were taken at 2.54 cm (1 in) above the strips in 8locations relative to the two strips, and at 10.16 cm (4 in) above the strips in 3 loeAAtif) The greatest t"-n~ b~ large mA~nPtic field and small ma~nP,tiC field occurred with strips of opposite pol~rities spaced apart by at least &~PI~ C1Y 5.08 cm (2 in).
~ view ofthe fol~oiag con~;~lPrations, one embodiment ofthe present invention inrl~des two 5.08 cm (2 in) wide strips of ma~n~ lly active tape spaced 10.16 cm (4 in) apart. This product could be provided in roll form, wL~;I~l the roll has a total width of applnx;~ lely 20.32 cm (8 in).
The sensor used to detect the ...~ t;c field may be of any suitable type.
Generally, the sensor should be ;.. e~ ve, durable, and s~ffici~ntly se,~llive to detect the ma~f~tic field produced by the pel...q~ .lly mAgn~ti7ed regions. The sensor should be mqtrh~d to the mA. netic field produced by the pe~ y ~Aglleli7Pd regions, to enable the former to detect the latter reliably. Another b~n~ofi~i~l aLLlibule ofthe present invention is the ability to use a relatively low-cost sensor, particularly if the sensor will be used in close plo~ y to the ma~,tic regions. One ~l~relf~d sensor is a hall-effect sensor, one suitable type of which is available from the Honey~. ~11 MicroSwitchCo.l,~tuly of Minn~polis, Minn~sota under the d~i~Ation SS495A. l~he sensor may be mounted at the end of a cane or a walker, in or on a shoe, or in any other col.~,e.ient location, subject only to the ability of the sensor to detect the mA~etic field, and to detect di~ enccs in magnetic field.
WOg7S3354X PCTAUS97/03708 m. Tactile Contrast Tactile contrast between the pc~ y m-~nr-.ti7ecl and weaker field regions may be provided in several diat;~ ways. Figure 2 illustrates regions that are tactually contrasted. By making the pk- ~ n~ ly m.9.~el;7ed regions tactually col~ ed with the weaker field region, the user can ~lele- .. ;.. e whether the cane is moving along the desired path, or is bc~..~ to depart from the desired path.
Tactile contrast may be provided by a series of lon~ytu~ins-l or ~ v~;lse grooves, bumps, or any other suitable structure. In Figure 2, for I ~ n~ e, a set of .9.1i~P(l longitutlinsl grooves 16 with square cross-sec~tion~ are formed in the0 p~ n. .. ~lly m~ ti7et~ regions 12, and a set of aligned, ~ n~t~ in~l grooves 18 with more rounded cross-section.~ are formed in the weaker field region 14. The grooves are typically 1.3 mm ~0.05 in) deep and 3.3 mm (0.13 in) wide, which permits easy c~ g and provides a skid-les.s~ s~rf-9-çe. Another surface that provides skid r~ ;ct, n.-e and a dilr~ ll texture Col~c;cls of granules a~pro~ ely 0.77 mm (0.03 in) in f~ t~
spread randomly on a top-coated surface and thereby bonded to the substrate.
A di~ G"~ embodiment of the present i~v~lioll is shown in Figure 3, in which no tactile ~nLlasL is provided, because the tape lOa will be used under carpet, for example.
In a p,c;rti~ed embodimpnt .der ~ ed herein, co--.~ two 5.08 cm (2 in) wide ma~P,ti-~.slly active strips s~ ed by a 10.16 cm (4 in) inactive region, the outer strips are highly t.AIu,ed (as with paven~el,~ msrking tapes ~v l~'e from the ..F.sO~a Mil~illg and Msmlfs.,tl~rin~ (: olllp~ (3M~ under the d~-~i~stion 380 series STAMARKTM pavement msrking tape, and the middle region should be of lesser texture but still be skid-rc~ a,ll (as wvith 3M's flat, re~ective, skid-lc;sib~ n~k;l~g tapes).
IV. Visual Contrast RP.0~m~ that are visually co,~ s~ed are typically desirable so that users with limited vision can identif,r the path defined by those regions. Visual COnLIASL
belweell the pF~ A~ y m~ i,ed regions and the lesser field regions may be 30 provided by color or pattern. ~ltho lgh colors such as black and white may be used, a yellow-green color (550 n~nometer wd~elengLll) contrasted with a black boundary is believed to provide .~ .. visual collLI~sl. Moreove., because i~c,cascd b. ;yhl.. F4s W O 97/33548 PCT~US97/03708 provides increased contrast, which is desirable, it is plere -ed that certain ofthe colors selected be as bright as possible. One way to increase bri~htnP~s~ and thus collLl~sL, is to add fluorescP~-re, and thus the yeltow-green color desclil)ed above may be fluore .c~JIl in one embo~imPnt When spaced m~gretic regions are separated by an .~ Ai~te region, it is p.~fG.,ed that the intprmp~i~te region is yellow-green and that the spaced ma nPtir.
regions are black. In other embodimPnts~ various standard or fluol~,scGn~ colors may be used, as well as ~ such as ~l,e~Lell,oar~ p~ llls, logos, ~ h~m~mPric symbols, and arrows ;nr1ic~ting a desired path direction. Tape 10a, as shown in ~igure 3, need not have visuat contrast if it will be used where it cannot be seen, such as below a carpet.
In a p~t;r~;"Gd embodiment de~r~ ed herein, compri~i~ two 5.08 cm (2 in~ wide m~gneti~ y active strips sepalaled by a 10.16 cm ~4 in) i.lacliv~ region, the outer strips are black and the central inactive region is ~l~cscel~l green- yellow having 1~ a w~cl~.~gLtl of about 550 ~ o~ L~
V. Construction and Apl~licnl;on The PG~ nF~ Y ma~F~ and weaker field regions may be made of any suitable m~tPri91, inr.lur~in~ such things as plastic and metat. A pr~fe.lcd rn~t~Pri~l for the pe~ ly m~ .pd regions is available ~om the Trafflc Control Materials Division of 3M under the ~ G~1~11G11laI dPcign~tion "SmartTape," because it is durable, it produces a detect~hle ..~ e~;c field, and it may be made to produce a tactually and visually collLl~led region. A p,erG"Gd m~t~ri~l for the weaker field region is available from 3M under the d~ tion STAMARK~f 380 or 385, becau~e it costs less than the m~teri~l used to make the pG~ n ~ ,y m~gnefi7ed regions, yet it too is durable and can be molded and colored.
To make the p~..n~n~ ly ma n~i7ed re~ons, several col-~e-.liQn~l processes may be used. A p~erGllGd process is to compound the following materials (all parts are by weight) in a Banbury--type internal mixer.
-WO 97/33548 PCTnUS97~3708 Masterbatch Paracril B 100.0 Chlorez 700S 70.0 Paroil 140 LV 5.0 Stearic Acid 0.5 Vanstay SC 0.5 S&l~lo~l-ile Crystals 1.0 PE MinirLGl 13038F 20.0 PET 6-3025 fibers 10.0 MAgn~;C Particles Barium ~.. ,.r~ e P-235 950.0 total weight 1157 In the folGgo;n~ list, ParacrilT~ B is a .. -ed;~ . acrylonitrile content nitrile rubber available from Uniroyal Ch~m;~l C~ of Alcron, Ohio; ChlorezTM 700S is a solid chl~rin~ted paraffin available from Dover ChP~m:~Al CGl~ol~Lion of Dover, Ohio; Paroil 140 LV is a liquid chlorinated paraffin av~ldble from Dover Chemir~l Col~vl~lion;
Stearic Acid is a process aid available from Humko Ch~micAl Division of Wltco Ch- -f I Col~ul~lion of M~ s, TP--l-t~.~e~; VanstayTM SC is a"chft~ agent"-type st.qbili7P r available from R.T. Vanderbilt ( olll~ly, Inc. of Norwalk, Connecticllt;
SantowhiteTM Crystals are an ~ntioxirl9.nt avatlable from Mnn~nto Ch~-m;-~l Co...p ~.y of St. Louis, Mi~sollri; PE Minifiber 13038F is a high density polyethylene fiber available from Mini Fibers, Inc. of Johnson City, Tennessee; PET 6-3025 fibers are 0.635 cm (0.25 in) by 3d polyester fibers av~ le from Mini Fibers, Inc.; and Barium hF.;~re~, ;le P-235 is a ...A~.el;c pjg~ available from Arnold Fn,~in~ring CO. of Norfolk, Nebraska.
When the t~ Gla~ulG ofthe mix reaches 146~ C (295~ F), the mix is dropl)ed from the mixer onto a t ,vo-roll rubber mill. The m~teri~l is sheeted off the rubber mill and fed through a two-roll çAI~n-l~r to yield a sheet of material having a thir~ss of ~plo,c;...~l~ly 1.4 mm (0.05S in).
W097/33548 PCT~US97/03708 The sheet of m~tçri~t was embossed according to the process desc~il,ed in U.S. Patent No. 5,227,221 (col. 2, lines 47-65) to provide a cor~lll-able m~etic sheet having a plurality of protrusions p.ojec~inP fiom one major surface. The embossed sheet had a th;~ ns~s of about 0.5 rnm ~0.02 in) in the valleys beL~cl1 the protrusions, and a l~ L n~ss of about 1.6 rnm (0.063 in) at the top of the protrusions. A
dieco~ ous layer of l;quid particle bond material was applied to the top and sides of the protrusions of the embossed sheet using the process ~lesc- il ~~1 in U.S. Patent No.
5,227,221. The particle bond n~t~ri~l was the same as the polyulGll,d~ e bead bond of U.S. Patent No. 5,227,221 (col. ~, lines 20-39), with the exception that the pi~mpnt 10 dispersion was made with the following cC1lmrositif~n Particle Bond Pigment Dispersion ~gled;e.ll %~byweight) Function methyl isobutyl ketone 7.04 solvent zinc 2-ethylk~ o~/te 3.52 catalyst Stan-Tone 10 EPX03 41.55 white pigmpnt~liD~ D;on Stan-Tone 25 EPX01 3.52 red pi~mPnt disp.,.D.on Stan-Tone 90 EPX04 44.37 black pi~ dls~lDion Stan-Tone 10 ~X03 is a white pi~ment di~elD;on in a diglycidyl ether of bisphPnc~l A
epoxy resin. Stan-Tone 25 EPX-1 is a red pi~--.- ~.~ dispel~;ol1 in a diglycidyl ether of bi~l~ ol A epoxy resin. Stan-Tone 90 EPX04 is a black p.g..,_.,l dispersion in adiglycidyl ether of bi~l,h~ ..ol A epoxy resin. Each is available from the Harwick Chemical Corporation of Akron, Ohio under the listed dP~i~n~tion The surface ofthe particle-bond-m~tPr-~l-coated pl-~llu~ions was sprinlcled with durable black sphPric~l anti-skid particles of the type available from Carbo Ceramics of New Iberia, Louisiana under the de~ign~tio~ CARBOLITE and CARBOPROP. The particles were applied so as to partially embed them in the liquid particle bond material. The liquid particle bond material was solidified by passing the sheet through an oven at a It;lll~elal~lre of about 175~ C (350~ F) for a~p~u~ tely 10 mim~tes of r~ ence time, as des~ ed in U.S. Patent No. 5,227,221.
WO 97~33~i48 PCT~US97~03708 A layer of rubber resin pres~ule sensitive adhesive with a Ih;rL "~ of about 125 micr~"nele, D (0.005 in) was Ismin~ted to the bottom ofthe sheet. The sheet felt similar to con~ ,able pavement ...~. k;uy tapes and quite similar to those of STAl~TM 380 Series pav~ 9~Ln~ tape and STAMARKTM 385 Series Non-Reflective Joint Cover Tape available ~om 3M. The sheet was visually similar to STAMARK~ 385 series tape except that the non-particle coated regions b~ncel~ thep~e~tionQ were dark purplish-brown in color instead of black.
In general, the p~ u lly m~ ed md weaker field regions may also be of any suitable width and l' -l~nPQQ, and may either be continllol~s or sc.gi~P
lQ though the former is pl~fell~;d. For eA~unp!~, the weaker field region may be aPP1(~ AIelY 25 to 180 mm (1.0 to 7.0 in~ wide, and apprc,x;~ ely 2 mm (0.08 in)thick. The pe. IllAI-- ~-lly m~gl~;l;,ed regions may each be app,~ ly 10 to 75 mm (0.~ to 3.0 in) wide, with the same Ihi~L .-e~l as the weaker field region. The o~termnst edges ofthe regions are preferably fe..ll,ered, to permit a wheeled vehicle to l.~ e the 15 regions more easily. The separation h,~w-;en the p~ ly ...a~ ed regions is beL~ ,d to be hllpol l~ for the reasons previously dcs_ il,ed, and the separation ce is ~ r~ bly twice the width of a single pF-~ y ~l9gn~ ed region.
Althou~h continllollc regions are plef;~--.,d, to insure that a user doesn't mict~k~ a dicco..~; . .;~y in the regions for an inco.,e.i~ path, sçg~ ed regions may be used where appropliate The present invention may be used indoors or outdoors, and may be applied either under sulJD~ales such as carpet, tile, or concl~e, or applied to the top of those or other cllrf~cçs For ~ pl~;, to provide a path in an existing subway station, the system may be applied to PYiCting concrete floors along the desired paths, and secured to those floors using a suitable adhesive. For an offlce, it may be more de~_~l e to provide the system beneath carpet (and thus without the tactile and visual contrast realules), which may be easily acco...i)li~ d by making the regions as thin as possible.
In new construction, the system may be buried beneath con~ilGLe. Ln such a case, the weaker field region may be modified to be only a mesh, or some structure s lffifient to ... ~ a unlr~ e be~weell the p~- .. ~n~ ly m~gneti~ed regions.
Additional rea~ures may also be built into the present ~ nce system.
For example, where a path divides, the tactile, ma~n~tis, and visual rea~ulGs of the W 097/33548 PCTrUS97/03708 regions may be di~t;l ~;n~ for each part of the new path to in~lir.Ate that a division has occurred. The right-hand path, for eYAmrle, might have l-~s~,e,~e r.hAnnf~lc, a higher mAgnP,tir, field, and a checkerboard pattern, whereas the le~-hand path might have ~ong-hl~inAl rhAnnPl~ a lower ~-.Agl.~l;G ffeld, and a straight-line pattern. Di~ele~
texture patterns may also be used to con~-~s~ the regions from each other. The regions may have an adhesive (either pressure sensitive or heat-activated) thereon to enable çnt to a surface. If the adhesive is a pressure sells;live adhesive, it may be of the type that permits repo~;~;ol~ g and may be p.ote~i~ed by a lt;l~w~able liner. The various regions may also be cA...ro....Ahle, both to coi.rc,.... to i..a~,ul&.ilies in the surface to which the regions are A~ rhrtl~ as well as to permit the regions to be curved.
Figure 4 illustrates another embodiment-ofthe system ofthe present invention, in which the spaced mAAgnP.ticslly active regions 12a ~lternate with lesser field regions 14a along each tape lOb.
Mllltirle weaker field regions and p~,. ..~Anf..~lly mA~~ ed regions may also be provided in a single tape lOc, as shown in Figure 5. There, central p~ ym~gneti7e(l region 12b is flanked by weaker field regions 14b, which are in turn flanked by pf~ ly ~A~v~ d regions 12c.
Figure 6 illu;~lates yet another emborlimpnt in which p~ .el~ly ...h~l.el;,.ed regions 12d and weaker field regions 14c are fi~l~nged transversely in all~ d;~ el~liQll-~hir along the length ofthe illustrated tape lOd. ~ litiQnAl regions 20 may be provided along the outer edge of the p. .. - - -~ l ly . . Ih.,~,nVI; 'Cd and weaker field regions 12d and 14c, if desired, and may have the Attrih~ltes of either or neither of those types of regions.
VI. F.~ Al Results The ~idAnce system of the present invention was tested with eleven subjects to assess four ~IitiAnre fimr,tionR: S~Oppi-l~, change in path direction, straight-line guidance, and locating. The ~ubje-i~s were typical of persons who seek g~ nce because of visual limit~tionR, such as limited field of view, blurry vision, night ~ .Ps~, and blin-1ness in one eye. The sub3ects were provided with a cane having a sensor in the tip. When the cane was moved near a ~ Anre tape, described below, the sensor WO 97/33~48 PCT/US97/V3708 emitted a tone through a speaker in the handle of the cane. The cane, in~ ing the sensor tip, was 160 cm (5.25 ft) long.
The s.l~id~nce tape was placed bPnP~t~l a carpet that was s~ffl~;ently thick to prevent visual or tactile i~Pntific~tion and the room lighting was ~ erl The tape conQietecl ofthree stripes each nle~uring 5.1 cm (2.0 in) wide, each placed parallel to each other at a rliet~nce of 5.1 cm (2.0 in) apart.
With regard to the four tested ~ n~e filnctinn~ s~opp~ is important bec&~lse it is enables a subject to avoid a hazard. Stoppi"~ was ~--easu.~d by providing a s~ oftape d~c-~rihed above at a prede~ -ed location along the hallway, and instructing the sul~je.,ls to stop when they ~etected the tape. Change in path direction was measured by placing the tape in a path that turned left 4.2 m (14 ft) after the starting point. Subjects were not told which way the path turned, but were instructed to ffillow the path. Straight-line g~id~n~e was tested by placing the tape in a straight line, and then instructing each subject to following the tape twice: once with the sensor turned off, and once with the sensor tumed on. The subject llav ;;l~ed the carpet until he or she crossed a line 4.8 m (16 ft) from the starting point, at which point the dc~;&lion from a straight line was n~CAj~UIC;1. Finally, the locating fi-n~tinn is h~po~lAl~t becauie it enables a subject to find a particular room, door, ~ VALOr~ or other location. To test the locating filnctinn one se....~ ofthe tape was placed under a doorway, and .u~;~ te were instructed to move along the haLlway until they identified the door. There were a total of eight doors in the hallway.
The system ofthe present invention was e~clive in helping the bje cts to navigate straight lines and corners, and to locate a particular place. Spe~ifi~slly~ in the stopping test all of the subjects stopped in front of the tape, at an average of about 168 cm (5.5 ft) in front of the tape. In the change of path direction test, all of the s~ ;e ~e colle~iLly followed the path to the left. In the straight line navigation test, the subjects deviated an average of 60 cm (1.97 feet) from the straight line with the sensor turned off, and an average of 14.6 cm (0.48 f~) from the straight line with the sensor activated. In the locating test, all eleven ;"II,;e ~e coll~clly located the marked doorway.
Suitable uses for the present hlv~ ion are m~nif~lld It may be used in offices, schools, homes, public fi~ lities, hotels, and hospitals, and can be used to mark not only desired paths but also structures such as slai.~;ascs, e~"e.~,el cy exits, W 097/33548 PCTrUS97/03708 bathrooms, drinking fountains, windows, and doors. Another use is to mark an edge or a boundary be~weell two regions, such as the e~ ce to a parking lot from a sidewalk.
Although the present invention has been d~ ed with respect to several illustrative embodim~nt~ the scope of the present invention is defined not by those embo~ , but by the following claims.
2~
Claims (15)
1. A guidance system for a moving person, comprising at least two spaced, longitudinally extending regions, the system further comprising:
a) magnetically contrasting regions, said regions being permanently magnetited and each producing a magnetic field;
b) visually contrasting regions provided by contrasting colors; and c) tactilely contrasting regions.
a) magnetically contrasting regions, said regions being permanently magnetited and each producing a magnetic field;
b) visually contrasting regions provided by contrasting colors; and c) tactilely contrasting regions.
2. The system of claim 1, wherein said system further comprises at least one weaker field region.
3. The guidance system of claim 2, wherein the regions are secured in adjacent relationship to provide a continuous tape.
4. The guidance system of claim 2, wherein said weaker field region produces no magnetic field.
5. The guidance system of claim 1, further comprising a portable means for detecting the magnetic fields produced by the permanently magnetized regions.
6. The guidance system of claim 5, wherein said detecting means further comprises means for providing an indication of the location of the detecting means relative to the permanently magnetized regions.
7. The guidance system of claim 6, wherein said detecting means is mounted to a cane.
8. The guidance system of claim 1, wherein the permanently magnetized and weaker field regions are unpowered.
9. The guidance system of claim 1, wherein at least one region includes a coating of adhesive for bonding the region to a surface.
10. The guidance system of claim 9, wherein said adhesive is a pressure sensitive adhesive.
11. The guidance system of claim 10, wherein said region with pressure sensitive adhesive is repositionable.
12. The guidance system of claim 10, wherein said pressure sensitive adhesive has a removable liner attached thereto.
13. The guidance system of claim 1, wherein the magnetic areas are conformable.
14. The guidance system of claim 1, wherein said magnetized regions are arranged such that they have opposite polarities.
15. The guidance system of claim 1, wherein said color is fluorescent.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US08/610,786 US5764060A (en) | 1996-03-11 | 1996-03-11 | Guidance system for a moving person |
| US08/610786 | 1996-03-11 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2247024A1 true CA2247024A1 (en) | 1997-09-18 |
Family
ID=24446415
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002247024A Abandoned CA2247024A1 (en) | 1996-03-11 | 1997-03-10 | Guidance system, particularly for visually impaired individuals |
Country Status (9)
| Country | Link |
|---|---|
| US (2) | US5764060A (en) |
| EP (1) | EP0886512B1 (en) |
| JP (1) | JP2000506756A (en) |
| KR (1) | KR19990087662A (en) |
| CN (1) | CN1213290A (en) |
| AU (1) | AU2074697A (en) |
| CA (1) | CA2247024A1 (en) |
| DE (1) | DE69716888T2 (en) |
| WO (1) | WO1997033548A1 (en) |
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| DE3616186A1 (en) * | 1986-05-14 | 1987-11-19 | Dietmar Dipl Ing Rosenke | Guiding system for the blind |
| US4715743A (en) * | 1986-06-13 | 1987-12-29 | Schmanski Donald W | Mobility guide tile for visually handicapped |
| US4767237A (en) * | 1986-08-26 | 1988-08-30 | Minnesota Mining And Manufacturing Company | Marking tape with wire conductors and methods for use |
| EP0260870A3 (en) * | 1986-09-12 | 1989-04-19 | Minnesota Mining And Manufacturing Company | Polymeric bonded metal magnet with corrosion resistant metal particles |
| DE3711469A1 (en) * | 1987-04-04 | 1988-10-20 | Stuehrenberg Rolf | Traffic signalling and guide device for blind persons |
| FR2628968A1 (en) * | 1988-03-23 | 1989-09-29 | Rhone Poulenc Chimie | Guidance for blind pedestrians marked on public footpaths - using bar coded markings at regular intervals along path and reader and processor to translate to form accessible to user |
| US5227221A (en) * | 1988-06-09 | 1993-07-13 | Minnesota Mining And Manufacturing Company | Patterned skid preventative sheet |
| US5316406A (en) * | 1989-02-10 | 1994-05-31 | Briteline Industries, Inc. | Surface marker strip and methods for providing improved integrity and adhesion to roadway and the like |
| US5039979A (en) * | 1990-04-11 | 1991-08-13 | Mcclive Ralph T | Roadway alarm system |
| US5303669A (en) * | 1990-12-18 | 1994-04-19 | Szekely Kenneth E J | Tiles for pedestrian platforms and walkways |
| US5347456A (en) * | 1991-05-22 | 1994-09-13 | The Regents Of The University Of California | Intelligent roadway reference system for vehicle lateral guidance and control |
| DE4117872A1 (en) * | 1991-05-31 | 1992-12-03 | Frank Biermann | Electric wire fence providing guidance for blind pedestrians - uses ground-level or buried wire to excite acoustic alarm or shocking coil in portable receiver |
| US5187475A (en) * | 1991-06-10 | 1993-02-16 | Honeywell Inc. | Apparatus for determining the position of an object |
| US5764060A (en) * | 1996-03-11 | 1998-06-09 | Minnesota Mining And Manufacturing Company | Guidance system for a moving person |
| JP2750571B2 (en) * | 1996-06-11 | 1998-05-13 | 信雄 織田 | Blind guide buried sheet |
-
1996
- 1996-03-11 US US08/610,786 patent/US5764060A/en not_active Expired - Fee Related
-
1997
- 1997-03-10 DE DE69716888T patent/DE69716888T2/en not_active Expired - Lifetime
- 1997-03-10 WO PCT/US1997/003708 patent/WO1997033548A1/en not_active Application Discontinuation
- 1997-03-10 JP JP9532735A patent/JP2000506756A/en not_active Ceased
- 1997-03-10 CN CN97192956A patent/CN1213290A/en active Pending
- 1997-03-10 CA CA002247024A patent/CA2247024A1/en not_active Abandoned
- 1997-03-10 AU AU20746/97A patent/AU2074697A/en not_active Abandoned
- 1997-03-10 EP EP97908982A patent/EP0886512B1/en not_active Expired - Lifetime
- 1997-03-10 KR KR1019980707126A patent/KR19990087662A/en not_active Application Discontinuation
- 1997-11-24 US US08/977,351 patent/US5917326A/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108951446A (en) * | 2017-05-29 | 2018-12-07 | 宁波市镇海西门专利技术开发有限公司 | A kind of blind person leads the way device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| WO1997033548A1 (en) | 1997-09-18 |
| EP0886512B1 (en) | 2002-11-06 |
| DE69716888D1 (en) | 2002-12-12 |
| AU2074697A (en) | 1997-10-01 |
| EP0886512A1 (en) | 1998-12-30 |
| US5917326A (en) | 1999-06-29 |
| US5764060A (en) | 1998-06-09 |
| JP2000506756A (en) | 2000-06-06 |
| DE69716888T2 (en) | 2003-09-18 |
| KR19990087662A (en) | 1999-12-27 |
| CN1213290A (en) | 1999-04-07 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request | ||
| FZDE | Discontinued |