Design and Implementation of Ultrasonic Navigator for Visually Impaired
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The document describes the design and implementation of an ultrasonic navigator device to help visually impaired people navigate their environment. The device uses ultrasonic sensors to detect obstacles in the environment and servo motors mounted on a glove to provide haptic feedback to the user about the distance and direction of obstacles. It also includes a GPS system to provide navigation instructions to help users reach their destinations. The device aims to provide more information about obstacles than a traditional walking cane by detecting objects in multiple directions and at distances over 1 meter.
![Middle-East Journal of Scientific Research 24 (10): 3297-3301, 2016
ISSN 1990-9233
© IDOSI Publications, 2016
DOI: 10.5829/idosi.mejsr.2016.3297.3301
Corresponding Author: Venkatesh Perumal Pranay Chandragiri, Department of ECE,
RMK College of Engg and Tech, Chennai, India.
3297
Design and Implementation of Ultrasonic Navigator for Visually Impaired
Venkatesh Perumal Pranay Chandragiri, T.M. Sriram,1 1
K.B. Yuvaraja, K.G. Shanthi and A. Manikandan1 2 3
UG Scholar, Department of ECE, RMK College of Engg & Tech, Chennai, India1
Associate Professor, Department of ECE, RMK College of Engg & Tech, Chennai, India2
Assistant Professor, Department of ECE, RMK College of Engg & Tech, Chennai, India3
Abstract: In this paper, we intend to provide a solution to the problems faced by the visually impaired people
in navigating from one place to the other. Usually, a visually impaired person has to depend on the sense other
than visualization such as hearing and touch to guide them. The traditional tool used by them is a walking cane.
With this cane, they will be tapping around their surroundings to guide them. The ultimate result obtained by
this process is inefficient because they will be able to detect the obstacles which are very close to them and
also those which are below the chest level. The solution to these problems can be obtained using ultrasonic
navigator. The information about the environment is obtained by using an ultrasonic sensor and the feedback
is given using the servo motors mounted on the glove. The efficacy of the device and how humans respond
to the feedback helps them to navigate through the complex environment. Also, our device has a Global
Positioning System (GPS) system, which helps visually impaired person to reach the correct destination.
Key words: GPS Arduino Uno CASBliP Ultrasonic waves Haptic feedback
INTRODUCTION There have been many Haptic devices developed for
Visual mutilation and blindness worry a momentous mainly on the following factors: the region where they are
portion of the world population. It was reported by World mounted or worn, based on feedback that is delivered and
Health Organization (WHO) that there were 161 million the surroundings that are detected. Sharma, an Indian
people who were visually impaired in the year 2002 [1]. designer, created Le Chal- a haptic device that can be
Thus it can be noticed that there is an extensive need for installed in a shoe [4]. This device is capable of receiving
inexpensive devices to assist the blind and visually GPS information from a smart phone and provides
impaired people. The visually impaired depend on their feedback at the right, left, front and back of the shoe. A
senses to navigate from one place to another. The senses proximity sensor, which is installed in the front of the
mean to hear and touch. The sense of hearing helps them shoe, can detect objects up to 3 meters and provide
to gauge the distance and the sense of touch is the most vibrational feedback to the legs. This device is capable of
important factor for a blind, allowing them to feel the sensing only low-level objects and since only 4 servo
object near them. The white cane or walking stick is the motors were used, conveying intermediate directions is
traditional and inexpensive tool used by blind people and not possible.
they were developed after World War II [2]. Canes, Cognitive Aid System for Blind People (CASBliP), a
however, will help in sensing the obstacles only in one head mounted device, was developed by Santiago
direction. For example, a person walking with a cane will Praderas [5]. Two mounted cameras were used to
be able to detect only the obstacles which are very close provide stereo imaging and this is translated into
to him and also which are below his chest level. Guide audio which is played through headphones. This method
dogs can also be used by the blind people, but it requires allows detecting static objects that are between 0.5 to 15
$42,000 to train them [3]. These usages of white cane and m. The Haptic Alerts for Low-hanging Objects (HALO) is
guide dogs are also a physical indication to the society a device that was developed as an alternative to the
of their visual impairment. traditional white cane [6]. This uses an ultrasonic range
the visually impaired in the past. These devices differ](https://image.slidesharecdn.com/6-200401092905/85/Design-and-Implementation-of-Ultrasonic-Navigator-for-Visually-Impaired-1-320.jpg)
![Middle-East J. Sci. Res., 24 (10): 3297-3301, 2016
3298
sensor to detect overhead objects and since it is worn on
the head, the vibrations may damage the brain. The Tacit
project was also developed as an alternative to the white
cane but it was a wrist mounted device [7].There is a
sensor-servo pair for each side of the hand to indicate
direction by giving feedback to the hands. The servos
rotation increase in frequency with closer distances. As
the device is fixed to the hand, it allows for as many
degrees of freedom that the hand has and allows the user
in pointing in the interested direction.
A variety of parameters such as the type of sensor,
mounting methods and feedback modes were considered
while designing. The sensors should be able to detect
objects at a distance greater than what a normal walking
stick can detect. A length ranging anywhere from 25 – 63
inches (63 - 160 cm) is ideal [8]. Any object beyond this
range causes confusion to the user and they provide
unwanted information. A variety of sensing techniques
were considered. Infrared rangefinders are prone to
inaccurate readings in well-lit areas and hence they were
not considered. A laser range finder could be used for its
accuracy, but the cost of the sensor is too high and hence
they were rejected. The sensing technique that was
considered finally is Sound Navigation and Ranging
(SONAR). It was considered because it has a range of 6
inches to 6 feet and its cost is only a little higher than the
infrared sensors. Image based sensors were not
considered due to their size and expense [9].
The haptic feedback largely depends on upon the
information that is being conveyed, the quality of the
information receptors and the space that is available. The
servo motors are quite big and they add more weight to
the device. More vibrations indicate a closer object and
less vibration indicate a farther object. The frequency
range that was selected is 10-500 Hz.
There are various mounting types that could be
considered such as head mounting, wearing as a glove,
embedding in a shoe etc. The head-mounted
configuration could be dangerous, as it could damage the
brain cells. The number of servo motors that is required,
is significantly less in haptic feedback, as only the
obstacle distance is to be conveyed to the user.
The goal of this paper is to develop a navigation
assisting device to a blind person that would help him in
sensing the surrounding environment through a sensor
and convey that information to the user through servo
motors. It also helps him in reaching the correct
destination with the use of GPS system.
Fig. 1: System Model of proposed ultrasonic navigator
Fig. 2: Ultrasonic Sensor
System Model: The block diagram of proposed ultrasonic
navigator consisting of two ultrasonic sensors, two servo
motors, an arduino uno controller, a buzzer, a GPS board,
a mic and a speaker is shown in Figure-1.
Ultrasonic Sensor: Its purpose is to measure the distance
at which the obstacle is located. It sends the ultrasonic
sound and receives the echo thereby giving the output
pulse until the echo is detected. It is similar to SONAR, as
the length of echo determines the distance of the object.
But the disadvantage being that it cannot detect precisely
small objects or those received from a shallow angle. Also
soft obstacles that absorb waves are not sensed properly.
The calculated distance also assumes that the temperature
is constant.
The specifications of the ultrasonic sensor are as follows:
Supply voltage : +5V DC
Supply current : 30 mA to 35 mA max
Communication : Positive TTL pulse
Package : 3-pin SIP, 0.1 spacing
(ground, power, signal)
Operating temperature : 0 -70 C
Size : 22 mmHx46mmWx16 mmD
(0.84 in x1.8 in x 0.6 in)](https://image.slidesharecdn.com/6-200401092905/85/Design-and-Implementation-of-Ultrasonic-Navigator-for-Visually-Impaired-2-320.jpg)
![Middle-East J. Sci. Res., 24 (10): 3297-3301, 2016
3299
Fig. 3: Arduino Uno Microcontroller
Fig. 4: Servo Motor
Arduino Uno Microcontroller: Arduino software based
on C++ is used for programming. The program is
stored in EEROM which is interfaced through USB.
An external power source of 9V is used to drive the
controller. This is reduced to 5V DC by a voltage
regulator. Two of the PWM pins are used to control the
servo motors, two are used to receive inputs from the Fig. 7: Photograph of proposed Ultrasonic Navigator
sensors, one pin used to ring the buzzer, one pin to mic
for collecting destination location from the user and one Buzzer: It is a piezoelectric audio signaling device.
analog pin to speaker for directing the user to reach the It may also be a mechanical or electromechanical or
destination. electromagnetic audio device depending upon the usage.
Servomotors: It is used for control of position, It produces the same noise irrespective of the variation of
acceleration or velocity as it acts as a rotary or linear voltage applied in the range of 2 to 4kHz.
actuator. It is coupled to a sensor with a fitted controlled
module. It gives out a corresponding pulse of variable GPS module: This module is used along with arduino to
width. A total of 180 degree movement; 90 degree on guide the visually impaired to reach his correct
either direction is possible. At neutral, servo has equal destination. A mic is used to give the destination address
amount of potential rotation in either direction. The pulse to the GPS module and speaker is used to give
input is received for very 20ms and length of pulse will instructions to the user.
judge how fast the motor rotates. Servos will not hold
their position for a long time and hence position pulse Housing: All the above stated blocks are mounted
must be repeated to instruct the servo to stay in that on a glove to provide housing and also to protect it.
position. The maximum amount of force the servo can put The housing is very easy to wear and handle by the user
to resist migrating from a position is called torque rating [12]. The photograph of the housing is shown in the
of servo. Figure-7.
Fig. 5: Buzzer
Fig. 6: GPS module
The ring denotes that a button has been pressed.](https://image.slidesharecdn.com/6-200401092905/85/Design-and-Implementation-of-Ultrasonic-Navigator-for-Visually-Impaired-3-320.jpg)
Design and Implementation of Ultrasonic Navigator for Visually Impaired
- 1. Middle-East Journal of Scientific Research 24 (10): 3297-3301, 2016 ISSN 1990-9233 © IDOSI Publications, 2016 DOI: 10.5829/idosi.mejsr.2016.3297.3301 Corresponding Author: Venkatesh Perumal Pranay Chandragiri, Department of ECE, RMK College of Engg and Tech, Chennai, India. 3297 Design and Implementation of Ultrasonic Navigator for Visually Impaired Venkatesh Perumal Pranay Chandragiri, T.M. Sriram,1 1 K.B. Yuvaraja, K.G. Shanthi and A. Manikandan1 2 3 UG Scholar, Department of ECE, RMK College of Engg & Tech, Chennai, India1 Associate Professor, Department of ECE, RMK College of Engg & Tech, Chennai, India2 Assistant Professor, Department of ECE, RMK College of Engg & Tech, Chennai, India3 Abstract: In this paper, we intend to provide a solution to the problems faced by the visually impaired people in navigating from one place to the other. Usually, a visually impaired person has to depend on the sense other than visualization such as hearing and touch to guide them. The traditional tool used by them is a walking cane. With this cane, they will be tapping around their surroundings to guide them. The ultimate result obtained by this process is inefficient because they will be able to detect the obstacles which are very close to them and also those which are below the chest level. The solution to these problems can be obtained using ultrasonic navigator. The information about the environment is obtained by using an ultrasonic sensor and the feedback is given using the servo motors mounted on the glove. The efficacy of the device and how humans respond to the feedback helps them to navigate through the complex environment. Also, our device has a Global Positioning System (GPS) system, which helps visually impaired person to reach the correct destination. Key words: GPS Arduino Uno CASBliP Ultrasonic waves Haptic feedback INTRODUCTION There have been many Haptic devices developed for Visual mutilation and blindness worry a momentous mainly on the following factors: the region where they are portion of the world population. It was reported by World mounted or worn, based on feedback that is delivered and Health Organization (WHO) that there were 161 million the surroundings that are detected. Sharma, an Indian people who were visually impaired in the year 2002 [1]. designer, created Le Chal- a haptic device that can be Thus it can be noticed that there is an extensive need for installed in a shoe [4]. This device is capable of receiving inexpensive devices to assist the blind and visually GPS information from a smart phone and provides impaired people. The visually impaired depend on their feedback at the right, left, front and back of the shoe. A senses to navigate from one place to another. The senses proximity sensor, which is installed in the front of the mean to hear and touch. The sense of hearing helps them shoe, can detect objects up to 3 meters and provide to gauge the distance and the sense of touch is the most vibrational feedback to the legs. This device is capable of important factor for a blind, allowing them to feel the sensing only low-level objects and since only 4 servo object near them. The white cane or walking stick is the motors were used, conveying intermediate directions is traditional and inexpensive tool used by blind people and not possible. they were developed after World War II [2]. Canes, Cognitive Aid System for Blind People (CASBliP), a however, will help in sensing the obstacles only in one head mounted device, was developed by Santiago direction. For example, a person walking with a cane will Praderas [5]. Two mounted cameras were used to be able to detect only the obstacles which are very close provide stereo imaging and this is translated into to him and also which are below his chest level. Guide audio which is played through headphones. This method dogs can also be used by the blind people, but it requires allows detecting static objects that are between 0.5 to 15 $42,000 to train them [3]. These usages of white cane and m. The Haptic Alerts for Low-hanging Objects (HALO) is guide dogs are also a physical indication to the society a device that was developed as an alternative to the of their visual impairment. traditional white cane [6]. This uses an ultrasonic range the visually impaired in the past. These devices differ
- 2. Middle-East J. Sci. Res., 24 (10): 3297-3301, 2016 3298 sensor to detect overhead objects and since it is worn on the head, the vibrations may damage the brain. The Tacit project was also developed as an alternative to the white cane but it was a wrist mounted device [7].There is a sensor-servo pair for each side of the hand to indicate direction by giving feedback to the hands. The servos rotation increase in frequency with closer distances. As the device is fixed to the hand, it allows for as many degrees of freedom that the hand has and allows the user in pointing in the interested direction. A variety of parameters such as the type of sensor, mounting methods and feedback modes were considered while designing. The sensors should be able to detect objects at a distance greater than what a normal walking stick can detect. A length ranging anywhere from 25 – 63 inches (63 - 160 cm) is ideal [8]. Any object beyond this range causes confusion to the user and they provide unwanted information. A variety of sensing techniques were considered. Infrared rangefinders are prone to inaccurate readings in well-lit areas and hence they were not considered. A laser range finder could be used for its accuracy, but the cost of the sensor is too high and hence they were rejected. The sensing technique that was considered finally is Sound Navigation and Ranging (SONAR). It was considered because it has a range of 6 inches to 6 feet and its cost is only a little higher than the infrared sensors. Image based sensors were not considered due to their size and expense [9]. The haptic feedback largely depends on upon the information that is being conveyed, the quality of the information receptors and the space that is available. The servo motors are quite big and they add more weight to the device. More vibrations indicate a closer object and less vibration indicate a farther object. The frequency range that was selected is 10-500 Hz. There are various mounting types that could be considered such as head mounting, wearing as a glove, embedding in a shoe etc. The head-mounted configuration could be dangerous, as it could damage the brain cells. The number of servo motors that is required, is significantly less in haptic feedback, as only the obstacle distance is to be conveyed to the user. The goal of this paper is to develop a navigation assisting device to a blind person that would help him in sensing the surrounding environment through a sensor and convey that information to the user through servo motors. It also helps him in reaching the correct destination with the use of GPS system. Fig. 1: System Model of proposed ultrasonic navigator Fig. 2: Ultrasonic Sensor System Model: The block diagram of proposed ultrasonic navigator consisting of two ultrasonic sensors, two servo motors, an arduino uno controller, a buzzer, a GPS board, a mic and a speaker is shown in Figure-1. Ultrasonic Sensor: Its purpose is to measure the distance at which the obstacle is located. It sends the ultrasonic sound and receives the echo thereby giving the output pulse until the echo is detected. It is similar to SONAR, as the length of echo determines the distance of the object. But the disadvantage being that it cannot detect precisely small objects or those received from a shallow angle. Also soft obstacles that absorb waves are not sensed properly. The calculated distance also assumes that the temperature is constant. The specifications of the ultrasonic sensor are as follows: Supply voltage : +5V DC Supply current : 30 mA to 35 mA max Communication : Positive TTL pulse Package : 3-pin SIP, 0.1 spacing (ground, power, signal) Operating temperature : 0 -70 C Size : 22 mmHx46mmWx16 mmD (0.84 in x1.8 in x 0.6 in)
- 3. Middle-East J. Sci. Res., 24 (10): 3297-3301, 2016 3299 Fig. 3: Arduino Uno Microcontroller Fig. 4: Servo Motor Arduino Uno Microcontroller: Arduino software based on C++ is used for programming. The program is stored in EEROM which is interfaced through USB. An external power source of 9V is used to drive the controller. This is reduced to 5V DC by a voltage regulator. Two of the PWM pins are used to control the servo motors, two are used to receive inputs from the Fig. 7: Photograph of proposed Ultrasonic Navigator sensors, one pin used to ring the buzzer, one pin to mic for collecting destination location from the user and one Buzzer: It is a piezoelectric audio signaling device. analog pin to speaker for directing the user to reach the It may also be a mechanical or electromechanical or destination. electromagnetic audio device depending upon the usage. Servomotors: It is used for control of position, It produces the same noise irrespective of the variation of acceleration or velocity as it acts as a rotary or linear voltage applied in the range of 2 to 4kHz. actuator. It is coupled to a sensor with a fitted controlled module. It gives out a corresponding pulse of variable GPS module: This module is used along with arduino to width. A total of 180 degree movement; 90 degree on guide the visually impaired to reach his correct either direction is possible. At neutral, servo has equal destination. A mic is used to give the destination address amount of potential rotation in either direction. The pulse to the GPS module and speaker is used to give input is received for very 20ms and length of pulse will instructions to the user. judge how fast the motor rotates. Servos will not hold their position for a long time and hence position pulse Housing: All the above stated blocks are mounted must be repeated to instruct the servo to stay in that on a glove to provide housing and also to protect it. position. The maximum amount of force the servo can put The housing is very easy to wear and handle by the user to resist migrating from a position is called torque rating [12]. The photograph of the housing is shown in the of servo. Figure-7. Fig. 5: Buzzer Fig. 6: GPS module The ring denotes that a button has been pressed.
- 4. Middle-East J. Sci. Res., 24 (10): 3297-3301, 2016 3300 Fig. 8: Serial monitor future work can address the following issues. The Implementation: A voltage source (Power bank) is used temperature and thereby a sensor which works best with to turn on the vibrating motors, ultrasonic sensor and the the changes in temperature has to be used. To indicate piezoelectric buzzer which are connected to the arduino. left and right directions, vibrations of different The main loop runs only when the resistance of the frequencies could be used. Low battery can also be voltage source is above or beyond the threshold, indicated using vibration patterns. Rechargeable battery, corresponding to value of 500 in the program. When the solar cells, or piezoelectric generators can be used as device is powered, 5V DC, ground and a control signal voltage sources to charge the device. The components are given to the ultrasonic sensor. At this time the used in the device are prone to damage under conditions transmitter section of the ultrasonic sensor will transmit like rain, wind etc., there by the future designs should be an ultrasonic wave and on hitting an obstacle it gets made watertight. The distance of measurement depends reflected back. This reflected wave is received by the upon the angle of approach and hence it must be made receiver section in the ultrasonic sensor and ultimately it constant. Scaling factor and motor placement also plays calculates the time taken by the wave to return back. The a crucial part while testing. The error between the Arduino is programmed such that it will convert the time estimations and the actual distance could be recorded. into equivalent distance in centimeters. Two such sensors The motor placement and scaling functions can be will be used to detect both the left side as well as right designed in such a way that there are more accurate side obstacles. The serial window monitor showing the corner guesses and the error is less. Thus the proposed measured distances at which the obstacles are present is Ultrasonic navigator device will serve as a great tool for shown in Figure-8. the visually impaired people to navigate through complex The device then enters into a conditional loop to the environment. check the closeness of the obstacles to the blind person. If the obstacle is too close; at distance less than 60cm as REFERENCES per the coding, then the corresponding servo motor will produce a haptic feedback on the hand of the blind 1. Serge Resnikoff, Donatella Pascolini, Daniel Etyaale, person to indicate the presence of an obstacle. If the Ivo Kocur, Ramachandra Pararajasegaram, Gopal obstacle is too very close., at a distance less than 15cm as P. Pokharel and Silvio P. Mariotti, 2002. Global Data per the program, then the device will additionally ring the on Visual Impairment in the Year 2002. Bulletin of the buzzer along with the frictional force on his hands to World Health Organization, 82(11): 844-51. indicate that he is about to enter into a danger zone. Thus 2. Kelley, Pat., 1999. Historical Development of the device will create a tactile view of the surrounding to Orientation and Mobility as a Profession. O&M.ORG. the person who wears these gloves. Also, the distance of http:// www.orientationandmobility.org/ detection can be varied up to 4 meters by varying the profession.html. values in the program. The device will also direct the user to reach the correct destination with the help of a GPS system. The user has to press the reset button and speak out the destination location in mic provided in the device. The GPS system uses this information and the device directs the user using a speaker to reach his correct destination. CONCLUSION The results reveal that the haptic glove developed in this paper outperforms the traditional walking stick. The proposed ultrasonic navigator device can be used to navigate a complex environment with objects of varying height, hanging objects and even moving objects. The ultrasonic sensor’s accuracy depends upon the
- 5. Middle-East J. Sci. Res., 24 (10): 3297-3301, 2016 3301 3. Guide Dogs of America. Guide Dogs of America. 7. Steve Hoefer, 2012. Meet The Tacit Project. It’s Sonar 2012. http:// www.guidedogsofamerica.org/ for the Blind. http://grathio.com/2011/08/meet-the- 1/mission/. tacit-project-its-sonar-for-the-blind/. 4. Dixit Vantika, 2012. Haptic Shoe for the Blind. MIT 8. Free White Cane Program, 2012. http://nfb.org/free- Technology Review India Edition 2011: 58-60... http:// cane-program Arduino - Arduino BoardUno. www.scribd.com/ doc/ 62713533/Le-Chal-Haptic- Arduino. Shoe-for-the-visually-impaired 9. Agnihotri, A.K., B. Purwar, N. Jeebun and 5. Santiago Praderas, M. Victor, Nuria Ortigosa, Larisa S. Agnihotri, 2006. Determination of Sex by Hand Dunai and Guillermo Peris-Fajarns, 2008. Cognitive Dimensions. The Internet Journal of Forensic Aid System for Blind People (CASBliP). Centro De Science, pp: 1. Investigacin En Tecnologas Grficas. 6. Wang Yunqing and Katherine J. Kuchenbecker, 2012. HALO: Haptic alerts for low-hanging obstacles in white cane navigation, In Proc. IEEE Haptics Symposium, pp: 527-532.