• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
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  • 优先权
    • 专利摘要:
    Method and personal navigation system using binaural sound. The system comprises stereo headphones (2) and a portable device (1) with a geolocation module (17) to obtain the position (x1, and1), an orientation detector (19) to obtain the orientation (α1) and a processor (14) configured to obtain a first location (L1) with position indicative information (x1, and1) and the orientation (α1) of the portable device (1); get the location (xWA, andWA ; xWB, andWB) of at least one point of route (WA, WB) of an objective path (6); calculate the relative orientation (αA, αB) and the relative distance (dA, dB) between the first location (L1) and the at least one waypoint (WA, WB); obtain at least one binaural sound (S') associated with each waypoint (WA, WB); and reproduce the at least one binaural sound in the stereo headphones (2). (Machine-translation by Google Translate, not legally binding)
    公开号:ES2745572A1
    申请号:ES201830852
    申请日:2018-08-29
    公开日:2020-03-02
    发明作者:Soler Rafael María Olmedo
    申请人:Geko Navsat S L；
    IPC主号:
    专利说明:

    [0001]
    [0002] PERSONAL NAVIGATION SYSTEM AND METHOD THROUGH BINAURAL SOUND
    [0003]
    [0004] Object of the invention
    [0005] The present invention belongs to the technical sector of electronic systems for personal navigation, orientation and guidance, and more specifically, to the sector of systems and methods to aid personal navigation through the use of binaural sounds.
    [0006]
    [0007] An object of the invention is to provide a method and a personal navigation system capable of determining the course of a user and orienting him to a desired course.
    [0008]
    [0009] Likewise, it is an object of the invention to provide a method and a personal navigation system capable of guiding a user to reach a fixed or moving destination.
    [0010]
    [0011] Likewise, it is an object of the invention to provide a method and a personal navigation system capable of providing the user with a perception of the route to follow, whether associated with a specific course, route or destination. In this way, the invention provides safe guidance for the user.
    [0012]
    [0013] Finally, it is also an object of the invention to provide a method and a personal navigation system that facilitates the development of navigation by the user, reduces cognitive overload and allows a complete acoustic perception of the environment.
    [0014]
    [0015] Background of the Invention
    [0016] Personal navigation technologies
    [0017] A personal navigation system must allow its user to reach a certain point from its location, and along a route suited to the individual's purpose.
    [0018]
    [0019] In this way, the navigation systems must be able to process the information of the location of the individual, and put the means to guide the person along the route. to their final destination.
    [0020]
    [0021] These current personal navigation systems establish fields of application both in navigation in exterior spaces as in interior spaces and even underwater, there are many technologies available in these scenarios.
    [0022]
    [0023] In the case of navigation systems for outdoor use, those based on Global Navigation Satellite Systems (GNSS), such as GPS, GLONASS, etc., are particularly relevant. and those based on location based on mobile phone or wifi communications infrastructures. These systems find a suitable complement in autonomous navigation technologies, not based on external elements, as is the case, for example, of those based on the use of accelerometers, magnetometers or gyroscopes.
    [0024]
    [0025] In the case of personal navigation devices, such as GPS-based navigators, they can show the way to reach a certain destination, but in conditions of poor visibility or for blind or visually impaired users, or because of the type of If they are unable to maintain visual interaction with devices, these systems do not provide alternative ways to guide the user through a predetermined route, beyond the provision of complex oral prompts based on natural language.
    [0026]
    [0027] In the case of inland navigation systems, these are usually supported both by mobile phone communication infrastructures, with the ability to reach the interior of buildings, or by a beaconing made with regard to such navigation and which allows reaching certain levels of higher precision. In the case of inland navigation systems, other systems that are not supported or require the prior installation of additional elements, such as those based on dead reckoning and inertial navigation, are particularly relevant.
    [0028]
    [0029] The way in which these systems interact with the user, guiding them so that they can carry out this navigation, is usually resolved based on visual indications represented on the device's screen, or oral indications that offer the user adequate instructions to continue towards their destination.
    [0030]
    [0031] There are other sensory solutions based on touch or vibration sensory stimulation that can offer this non-visual navigation solution.
    [0032] Considering personal satellite navigation devices, we can consider different forms of navigation:
    [0033]
    [0034] • Navigation to a point: Usually known as GO-TO, it allows guiding the user to a certain point from their position based on the indications it offers of the distance and orientation in which the destination is, allowing them to get closer to it.
    [0035]
    [0036] • Route navigation: It consists of a continuous sequence of point navigation, in which several points follow one another and the system allows activating the navigation function to the next point once it considers that it has reached or passed the previous one.
    [0037]
    [0038] • Path navigation: In this path, the user has the path that identifies the path to follow and the system places the user on that path. Despite the fact that a path is a continuous path, for the purposes of the system it is handled as a discrete sequence of points whose high density allows us to approximate the final figure that joins the consecutive points, with a continuous path.
    [0039]
    [0040] • Heading Navigation: The system provides heading information to the user, allowing him to stay oriented towards a certain heading as he advances. In this case, it must be taken into account that parallel routes, although they do not coincide, do maintain the same course, so if the user deviated from the original course momentarily and then followed it again, they would end up following a path parallel to the original, but separated in based on the lateral displacement you have experienced.
    [0041]
    [0042] • Default heading line navigation: the system identifies a determined heading line linked to the starting point, offering the user instructions to know his position or deviation with respect to said heading line that remains fixed, regardless of the position in the the user is found.
    [0043]
    [0044] • Mobile map navigation: in this case the navigation information interacts with the user, and a cartographic base can be represented at all times on which the user's position is represented. Depending on the user and the characteristics of the cartography, the navigation may be conditioned to it, so that the user receives the indications based on the paths that the cartography identifies as possible. It is the usual case in which automotive GPS navigators work, in which the vehicle is always represented on the road closest to its position, and the route calculations are made based on the characteristics and distribution of the roads. To the As for traffic, certain browsers interact as a personal browser based on pedestrian mapping.
    [0045]
    [0046] Sound-based personal navigation technologies
    [0047] The guidance and sound navigation solutions are mostly based on systems that allow the location of the user to be located and the provision of oral directions or instructions to the user that allow them to act on the oral message received.
    [0048]
    [0049] As an aid to navigation it is also possible to find solutions based on binaural sounds to give the person a perception of a spatial location of obstacles.
    [0050]
    [0051] Many technical and research developments have already implemented autonomous navigation solutions for the visually impaired, but none of these products or projects solves the problem of providing a guidance system that provides insight into the path the user must follow.
    [0052]
    [0053] Since the introduction of GPS there have been different systems and research projects that try to assist the mobility of blind people. Within the non-patent literature some of the most outstanding are: Trekker Humanware, Kapten GPS, Note BRAILLE, PAC Mate, GPS Street Talk, SmartEyes, SWAN, Lazarillo, Lazzus, Microsoft Soundscape, etc. In particular, the work carried out and published by the Georgia Institute of Technology “SWAN: System for Wearable Audio Navigation” by Wilson et al. (2007). However, while the number of applications for smartphones continues to grow, none of the solutions implemented solves a navigation solution using a 3D sound interface.
    [0054]
    [0055] Within the patent literature, a series of patent documents have been identified related to GPS navigation and guidance for people who are blind or in conditions of poor visibility that cannot be supported by indications on a screen, such as US6278944B1, US6502032B1, KR20070104817A, JP2006208345A , JP2000352925A, etc. However, none of the above includes path navigation.
    [0056]
    [0057] Thus, the solutions hitherto known for people who are blind or in conditions of poor visibility rely on the guidance indications that the system can provide them in a sensorial way, whether acoustic or haptic, as vibration patterns.
    [0058] In the case of solutions for guidance by means of acoustic indications, current systems offer oral instructions that the user receives and based on which he reacts but which present a series of drawbacks such as:
    [0059]
    [0060] • Alteration of the acoustic perception of the environment.
    [0061]
    [0062] • Instructions not designed for visually impaired people.
    [0063]
    [0064] • Cognitive overload on the user due to voice instructions, triggering slower and less secure browsing.
    [0065]
    [0066] • Manual use of the device, physically limiting the user's freedom of movement.
    [0067]
    [0068] • Language as a barrier to entry and limiting factor of applications.
    [0069]
    [0070] In addition, another of the drawbacks found in current acoustic navigation systems is that they offer an indication associated with specific points along the route, and do not provide a constant acoustic indication or one that gives an approximate idea of the specific path that must be traveled. by the user in the next few meters.
    [0071]
    [0072] As stated above, despite the many technical and research developments aimed at developing sound-based autonomous navigation technical solutions, the inventions hitherto known by the state of the art do not provide a personal navigation method and system by binaural sound that eliminates the drawbacks of the state of the art and provides a perception of the route to be followed by the user, allowing them to have a mental image of the geometry of the route, and to receive indications of the path to follow.
    [0073]
    [0074] Description of the Invention
    [0075] In this way, the system and method that the present invention proposes, is presented as an improvement compared to what is known in the state of the art since they successfully achieve the objectives previously indicated as suitable for the technique.
    [0076]
    [0077] The present invention defines a navigation method that allows a user to be guided through the reproduction of binaural sounds. The use of acoustic stimuli facilitates the development of orientation and navigation, reduces the cognitive overload of traditional oral instructions and allows the user to have acoustic perception complete environment.
    [0078]
    [0079] In terms of the present invention, a binaural sound is to be understood as a three-dimensional sound (3D sound) capable of uniquely identifying a point in 3D space. Unlike stereo sound or surround sound, in which the user is able to distinguish the source of the sound between a reduced number of locations, binaural sound allows the user to be able to perceive the sound at point of the 3D space, achieving levels of realism much higher than the previous ones.
    [0080]
    [0081] Once the orientation of the device, normally coincident with that of the user, and that of at least one destination to be reached, whether fixed or mobile, has been determined, the method of the present invention calculates the relative orientation and reproduces a binaural sound capable of indicate to a user the direction in which he must orient himself to reach said destination.
    [0082]
    [0083] According to a preferred embodiment, the orientation of the portable device can be obtained from the heading information obtained from a GNSS receiver and which is suitable only when the user is on the move, or from an autonomous orientation system, useful when the user is at rest or in motion. The guidance system can be electronic, such as a magnetometer-based electronic compass, or an inertial system. Inertial systems, such as gyroscopic systems, allow the amplitude of turns to be established with respect to reference positions based on measurements of physical turning parameters, such as angular acceleration. Many current electronic systems of determination of orientation HARS (Head Attitude Reference System) combine sensors of the magnetometer, accelerometer and gyroscope type (called MARG), processing an orientation output resulting from the fusion of the data of these sensors, achieving a solution of optimized and more precise orientation.
    [0084]
    [0085] Preferably, the angle a can vary between [-90 °, 90 °] since it is known in the art that a user is not able to differentiate, for a particular angle, whether the sound is coming from behind or from behind. Thus, for example, a user is not able to differentiate if the value of a is 45 ° or 135 ° with respect to the two-axis Cartesian coordinate system, in which the ordinate axis coincides with the orientation of the first location (L1 ). In order to avoid these orientation errors, the invention contemplates the possibility of limiting to between -90 ° - 90 °. In this case, the sounds preferably contain orientation information for values 0 e [-90 °, 90 °] with respect to the aforementioned coordinate system. Such values of a and 0 would satisfactorily cover the possible orientations desired by the user.
    [0086]
    [0087] According to a preferred embodiment, obtaining the binaural sound can comprise a step of generating a binaural sound from the orientation and calculated relative distances. In this case, the binaural sound is generated digitally from the recovered information, and the prior storage of binaural sounds in memory is not necessary.
    [0088]
    [0089] According to a preferred embodiment, the personal navigation method can sequentially carry out the different stages for each of the route points. In this way, the invention allows the user to generate a mental image of the path to be traveled. The consecutive reproduction of sounds allows a safer and more comfortable orientation, allows a perception of the geometry of the route although it is sinuous, at the same time that it reduces the cognitive load that traditional oral instructions produce in the user. Furthermore, by controlling the performance of these steps, the invention allows regulating the number of sounds that are played and controlling the cognitive overload that they generate in the user. With this, the invention further facilitates the development of navigation, which in itself is already achieved through the use of binaural sounds.
    [0090]
    [0091] In one embodiment, the step of obtaining a binaural sound may comprise the step of selecting that sound, from a plurality of stored sounds, the associated amplitude (A) and orientation (0) information being closest to the relative geographical position, or, to generate said binaural sound from the calculated relative geographic position. Thus, according to these preferred embodiments, the binaural sound obtained may comprise information indicative of orientation (0) and amplitude (A). According to the first mentioned alternative, the method would select a sound from a series of prerecorded sounds in a memory of the device that executes the method, and according to the second mentioned alternative, the method would be the one that would generate the binaural sound. Similar to the orientation functionality, the angles a and 0 will vary between -90 ° - 90 ° with respect to the two-axis Cartesian coordinate system in which the ordinate axis coincides with the orientation of the first location.
    [0092]
    [0093] In one embodiment, the route points are obtained by accessing a memory of the device that executes the method of the invention. Or, according to another preferred embodiment, the route points are obtained from a sending device. Or, according to another embodiment Preferred are calculated by the device from the automatic generation of trajectory that the device establishes between the origin and destination based on the available variants and the route planning requirements. Thus, the waypoints may be pre-recorded on the device executing the method, or may be received from another device or beacon on-site, that is, when the tour is in progress. The user could pre-record the route of a route in advance and reproduce it later, either to ensure their return, for their safety, to carry out rescue work once the place of the incident (destination) is known, etc.
    [0094]
    [0095] On the other hand, the invention allows the user to receive updated information during the journey through emitting, fixed or mobile means. In the same way, this information can be very important in rescue efforts, for example in case of fires, since the people in charge of the rescue could be guided in a safe way. An example of fixed emitting means could be beacons that signal routes, such as mountain routes or tourist routes. While the mobile emitting means could be another device that executes the method of the present invention, for example, a ski monitor could emit the successive destinations of the second location to guide a group of blind people, or in rescue work, a A person from a medical team could go ahead guiding the route of two other members of the medical team who carry a stretcher, unable to use their hands, and who are in a situation of poor visibility, either at night or surrounded by smoke due to a fire.
    [0096]
    [0097] The personal navigation method may further comprise the step of dynamically calculating the information indicative of the first location. In this way, the invention allows updating the location of the portable device, either to orient it or to guide it back to its destination or destinations. The invention allows reducing the cognitive overload that is generated in the user and regulating the number of sounds that are played.
    [0098]
    [0099] In one embodiment, the method comprises the step of storing the path points made by the user in a memory. In this way, the method allows the portable device that executes it to store the route followed, so that the user is able to carry out the reverse path (known as “track back”). In this way, the invention offers safer navigation since the user is able to go back in case of loss.
    [0100]
    [0101] The personal browsing method may further comprise the step of selecting a type, among a plurality, of binaural sounds. Thus, the user can choose between different types of sounds, whether simple or more complex acoustic stimuli, such as music, always maintaining the capacity of spatial perception based on its characteristic and binaural reproduction.
    [0102]
    [0103] In a second aspect, the invention consists of a binaural sound personal navigation system comprising stereo headphones capable of reproducing binaural sounds and a portable device comprising a processor configured to execute the steps of the aforementioned binaural sound personal navigation method. .
    [0104]
    [0105] In a preferred embodiment, the device consists of a mobile phone.
    [0106]
    [0107] Description of the drawings
    [0108] To complement the description that is being made and in order to help a better understanding of the characteristics of the invention, according to a preferred example of practical embodiment thereof, some drawings are attached as an integral part of said description, where character illustrative and not limiting, the following has been represented:
    [0109]
    [0110] Figure 1 shows a binaural map made up of binaural sounds comprising information indicative of relative orientation with respect to the location of a user, for a distance d with respect to said user.
    [0111]
    [0112] Figure 2 shows the binaural map used used to guide a person from a first location (L1) towards a destination D a or a destination D b located at a distance d.
    [0113]
    [0114] Figure 3 shows a binaural map comprising binaural sounds at different distances and orientations with respect to a user. The figure shows the possible differences between the desired path (solid line) and the perceived or completed path (dashed line).
    [0115]
    [0116] Figure 4 shows a binaural map used to guide a person from a first location (L1) along an objective path defined by two waypoints (W a , W b )
    [0117]
    [0118] Figure 5 shows the possible change of activation of binaural sounds on a map binaural depending on the user's position and progress.
    [0119]
    [0120] Figure 6 shows a diagram with the components of the portable device that is part of the navigation system of the present invention.
    [0121]
    [0122] PREFERRED EMBODIMENT OF THE INVENTION
    [0123] The invention presents a method and a personal navigation system that allows orienting or guiding a person from the reproduction of binaural sounds that allow the user to have an acoustic perception of the orientation and / or trajectory to be followed. The navigation system comprises a portable device 1 and stereo headphones 2 (Figure 1) carried by the person or user 4 to be guided.
    [0124]
    [0125] People perceive the position in which a sound is heard because it reaches the ears differently, among other factors, at different times, with different amplitudes and with a spectrum of different frequencies resulting from the difference in distances and paths traveled by sound to get from the source of the sound to each ear. If what the user receives could be recorded in each ear by putting a microphone in each ear, the reproduction of these recorded sounds through stereo headphones 2, would allow the user to obtain a real impression of the point in space associated with the binaural sound reproduced S ' . As shown in Figure 1, said perception of the position of the point in space from which the reproduced binaural sound S 'comes can be defined by an angle a and a distance d with respect to the position and orientation of the portable device 1 carried by the user. Four.
    [0126]
    [0127] A basic application of the invention is the orientation or guidance of a person, to make known the direction or path to follow. Thus, for orientation, the method reproduces binaural sounds that include information indicative of the orientation and relative distance of the person with respect to one or more route points of the path to follow.
    [0128]
    [0129] Figures 1 and 2 represent a binaural map formed by a plurality of binaural sounds S that identify different positions around the user 4, at a distance d. Thus, a binaural map is understood to be a set of binaural sounds S each capable of identifying a different geographical position or location, at a distance and a relative orientation 0 determined with respect to L1. The binaural sounds S of the binaural map of Figures 1 and 2 represent positions located at a distance d from the first location L1 and with relative orientations 0 with respect to L1 30 ° apart.
    [0130] As seen in Figure 2, the binaural map is made up of binaural sounds (S (0)) whose information indicating the relative course corresponds to angles of -90 °, -60 °, -30 °, 0 °, 30 ° , 60 ° and 90 °. However, preferably the binaural map presents a separation between sounds of about 15 degrees, since the angular perception of sounds is approximately this value. Figure 2 shows two possible destinations, D a and D b , to be reached by a user 4 located in a first location L1. Thus, for the case shown, the destination D a forms an angle aA with the ordinate axis, so that the selected binaural sound S (0) is the one whose associated orientation information (0) is closest to aA, in this case, the sound S (0 = -30 °)). Likewise, the second destination D b forms an angle aB with the ordinate axis, whereby the binaural sound S (0) selected is S (0 = 60 °).
    [0131]
    [0132] User 4, or more specifically portable device 1 carried by user 4, is oriented according to an orientation a1 (vertical arrow, corresponding to 0 degrees). The destination D a has an orientation relative to A with respect to the first location L1 (ie with respect to the orientation a1 of the portable device 1), so that for the user 4 to reach the destination D a he must rotate said orientation relative to A and advancing distance d, assuming user 4 has the same orientation as handheld device 1. Similarly, destination D b has an orientation relative to B.
    [0133]
    [0134] Taking into account that the binaural map of Figure 2 comprises a plurality of sounds that define a series of positions around the user, at a distance d and to different relative orientations 0, to acoustically represent to the user 4 the position of the destinations D a and D b You can choose the binaural sound that represents the position closest to each destination. Thus, the binaural sound S '(d, 0- 30 °) representing the position located at a distance d and a relative orientation of 30 ° with respect to location L1, is closest to the destination D and the right (assuming no other binaural sounds are available closer to D a ) to indicate to user 4 the position of that destination. Each binaural sound reproduced gives the user a perception of orientation and distance. For its part, the binaural sound S '(d, 0 60 °), which represents the position located at a distance d and a relative orientation of 60 ° with respect to the location L1, is the closest to the destination D b and the most ideal, among the available binaural sounds, to indicate to the user the position of the destination D b . The reproduction of both sounds S (0 = -30 °)) and S (0 = 60 °), will offer a sense of trajectory to user 4 and will allow safer and more comfortable navigation for user 4.
    [0135] Figure 3 represents a binaural map containing binaural sounds S (represented by points) in various rings at different distances and orientations with respect to the user 4. Figure 3 also shows a target path 6 or desired path to be followed by the user 4 , and the trajectory 7 perceived by the user when listening to the binaural sounds S 'reproduced sequentially. The invention allows a person to be guided from the reproduction of S ′ binaural sounds. In this way, the perception of the route is defined by an angle and a distance from the user's position.
    [0136]
    [0137] In Figure 3, navigation allows the user to advance along a certain path, since by associating the path with specific points on the binaural map, the user can perceive what the path is like and can advance towards the points where he perceives the sounds. The perceived path 7 and the target path 6 may not coincide, as shown in Figure 3, where the perceived path 7 (dashed line) is different from the target path 6 or desired path (continuous line) depending, among other factors, on the number of rings and the angular separation between the points of the binaural map.
    [0138]
    [0139] Alternatively, in case the device has the capacity to generate binaural sounds associated with a direction and distance, the system may generate the specific binaural sounds associated with the positions S 'relative to the user.
    [0140]
    [0141] Figure 4 shows the use of a binaural map made up of binaural sounds (S (A, 0)) that include information indicative of distance based on amplitude (A) and orientation (0). The binaural sounds S allow a user 4, located at a first location L1, to be guided along a target path 6 defined by various waypoints, W a and W b . The first location L1 is defined by the orientation ai of the user's portable device 1 and by its geographical position (x 1 , y0 current (which can be obtained, for example, by a geolocation module or GNSS receiver integrated in the device itself). 1) The geographical position of the first L1 location or route points can be obtained from personal satellite navigation means or from cartographic data.
    [0142]
    [0143] Sounds are displayed as dots forming two rings around device 1. Sounds located on the same ring share the same amplitude information (A) and differ in orientation (0). The different rings allow to obtain sounds with a associated relative geographic position information, while orientation information 0 allow sounds to be obtained with associated relative orientation information. The binaural map of the example includes sounds with two possible amplitudes (dA; de) and 7 possible orientations -90 °, -60 °, -30 °, 0 °, 30 °, 60 ° and 90 °, these values being relative to the orientation and geographic position of the portable device 1. In a preferred embodiment, angular lags of 15 ° are used on the binaural map, rather than lags of 30 °.
    [0144]
    [0145] For the case shown in Figure 4, the way point W a (x wa , ywA) forms an angle aA with the ordinate axis and is at a distance dA from it, so that the binaural sound S 'selected is that whose associated orientation information (0) is closer to aA and whose associated amplitude information (A) is closer to dA, in this case, the sound S (dA, 0 = -30 °)). Likewise, the second waypoint W b (x wb , ywB ') forms an angle aB with the ordinate axis and is at a distance dB from it, and the selected binaural sound S' is S (de, 0 = 60 °). The reproduction of both sounds S (dA, 0 = -30 °)) and S (de, 0 = 60 °) offers a sense of trajectory to the user and allows safer and more comfortable navigation for the user.
    [0146]
    [0147] The objective path 6 can be defined continuously, as shown in Figure 4, or alternatively discretely through one or multiple route points, so that the union or interpolation (eg linear, by splines, etc.) of these route points define an objective path to follow. In the event that the portable device 1 has a continuous objective path 6, it can extract from said path a series of waypoints on which to work to obtain the binaural sounds S ’to be reproduced. In the event that the target path is defined only by a series of route points, these are supplied to the portable device 1, for example by wireless communication or previously stored in a memory of the portable device 1.
    [0148]
    [0149] In the simplified example in Figure 4, handheld device 1 extracts two waypoints, W a and W b , from target path 6. Waypoints can be defined by their geographical position, W a (x wa , ywA ) W b (x wb , ywB). For each waypoint (W a , W b ), the mobile device calculates, relative to the geographical position of the waypoint with respect to the first location L1, the relative orientation (aA, aB) and the relative distance (dA , dB) between the waypoint and the first L1 location. Finally, to guide the user 4, the personal navigation method obtains and reproduces at least one binaural sound representative of each waypoint (W a , W b ) in stereo headphones 2, thus allowing navigation user 4 from the first location (L1) to the different route points (W a , W b ).
    [0150]
    [0151] Orientation to the user can be done with respect to a single destination (using for example a single waypoint) or with respect to several consecutive destinations or waypoints (for example, W a and W b in Figure 4). If performed with respect to several waypoints, W a and W b , the method calculates the relative course, R a and R b , with respect to each of the destinations, obtaining the binaural sound associated with each way point (W a , W b ) and reproduces them sequentially, for example first the binaural sound corresponding to waypoint W a (assuming it is the first destination to be reached by user 4) and then the binaurial sound corresponding to waypoint W b .
    [0152]
    [0153] In this way, user 4 acoustically receives information on the route or trajectory formed by a succession of N route points (W a , W b , ..., W n ) that must be followed to reach the different route points (first the waypoint W a , then waypoint W b, and so on until the last waypoint W n ) is reached. For each waypoint, the method gets a relative bearing between the waypoint and the first L1 location. Relative heading means all the information that helps to be able to reach said route point from the first location. In one embodiment, the relative bearing includes the relative bearing information (aA, aB, ...) between the first location and the waypoint and the relative distance between the two.
    [0154]
    [0155] In the example in Figure 4, once the relative orientation (aA, aB) and the relative distance (dA, dB) of each waypoint (W a , W b ) are obtained, a binaural map consisting of multiple binaural sounds S associated with a distance and a relative orientation 0 to select the most appropriate binaural sound to play S '(preferably the closest one). In the selection any known mathematical method can be used so that the error or the distance is minimal. Thus, in the example in Figure 4, the binaural sounds selected to play are S '(dA, 0 - 30 °), binaural sound playing a relative distance dA (same distance to the way point W a ) and a relative orientation -30 °, and S '(dc, 060 °), binaural sound that reproduces a relative distance dc (close to dB, the distance to the waypoint W b ) and a relative orientation of 60 °. In this way, the path 7 perceived by the user 4 would pass through the points represented by the binaural sounds, S '(dA, 0-30 °) and S' (dc, 060 °), close to the route points W to and W b ya target path 6.
    [0156]
    [0157] In the case of using a continuous objective path 6, as shown in Figure 4, you can improve the precision of the path perceived by the user 7 obtaining more waypoints of the target path 6. As seen in Figure 4, with only two waypoints (W a , W b ) the perceived path 7 can differ quite a bit in some sections with respect to the target trajectory 6. The precision of the perceived trajectory 7 can also be substantially improved by expanding the number of binaural sounds in the binaural map used, either by using binaural sounds with less angular offset between them (for example, sounds offset 15 ° instead of the 30 ° offset from the binaural map in Figure 4) or with less radial distance between them (for example, using four binaural sound rings closest to each other, instead of the only two rings used in the binaural map of Figure 4).
    [0158]
    [0159] The accuracy of the perceived path 7 can be further improved if instead of using a binaural map with a predetermined number of binaural sounds S, the handheld device generates the binaural sound itself based on relative orientation (aA, aB) and distance relative (dA, dB) calculated. Thus, the distance can be established, for example, by a direct relationship with the amplitude of the sound wave generated: the greater the volume of the binaural sound, the relative distance is less, being able to establish different mathematical relationships between volume and distance (eg logarithmic scale, direct relationship , etc). A previous stage of sound amplitude calibration can be used, so that user 4 can have a better estimate of the actual distance based on the volume of the binaural sound S 'reproduced.
    [0160]
    [0161] Based on the calculated relative orientation, the device can also generate a binaural sound associated with different sounds, thus reinforcing the ability for the user to intuitively and differentially associate a sound with an orientation. In this way, for example, a binaural sound associated with a higher pitch could be associated with wider relative angles so that the sound associated with WA in cao of figure 4 would be a binaural sound somewhat lower than the binaural sound associated with WB point, or a different tone could be associated with sounds associated with the central sound, reinforcing the user's perception when his direction directs him directly to the destination point. As the user advances, the orientation and relative distance of the destination point varies, so that the sound associated with this point will vary. In this way it will also be possible to vary the frequency with which the sounds associated with a point are reproduced depending on its orientation relative to the user to improve the perception and response time of the user. In this way, for example, the sound associated with point WA in Figure 4 will be recalculated and will be played intermittently while the user treads in their direction and it moves to reach it but this intermittency could be reduced in time, reproducing the sound with a higher temporal frequency, if the point corresponds to a higher relative angle. This provides the user with a better perception of the relative orientation of the destination point and of the need to turn in the direction of the sound until reaching the appropriate direction that directs it towards it.
    [0162]
    [0163] The tones, timbres or structures of the binaural sounds used can be very diverse, for example short beeps, clicks, jingles, etc. Combining all the modifications, a binaural sound can be obtained that contains information about the relative orientation and the relative distance at which the point represented by the represented binaural sound S 'is located with respect to the first location L1 (ie with respect to the portable device). 1 of user 4 listening to the binaural sound S ').
    [0164]
    [0165] As shown in the example in Figure 4, the calculation of the relative geographical position can comprise, for each of the route points (W a , W b ), generate a two-axis Cartesian coordinate system, where the position current geographical position (X 1 , y0 of the portable device 1 coincides with the origin of the coordinates, and the ordinate axis with the orientation to 1 of the first location L1. To calculate the geographical position of the route points, a Cartesian coordinate system with two axes X and Y, but other different positioning systems can also be considered, such as polar coordinates, likewise, a Cartesian system with three axes or spherical coordinates can also be used to consider a third dimension ( height), thus being able to provide height perception.
    [0166]
    [0167] Binaural sounds can also be categorized or varied although depending on other non-specific navigation parameters but that contribute to improving the user's experience and safety, such as the type of terrain or the difficulty or risks associated with the route, among others. Likewise, binaural sounds can be established to identify and recognize the specific position of elements in the environment even though these are not specific points on the path, allowing marking and locating general points of interest (facilities, infrastructure, etc.) or points of interest that facilitate user navigation (change in the type of pavement, type of terrain, obstacles, etc.). The information associated with these points can be reinforced with digital information that can be reproduced and provide a more complete description of the item.
    [0168] In the cases of Figure 2 and Figure 4, the binaural sound is obtained by selecting the sound from the binaural map whose position is closest to the relative orientation and the relative distance that the user wants to perceive. However, according to another embodiment, the binaural sound is obtained by generating the binaural sound digitally and from the relative orientation and the calculated relative distance. In this embodiment the perceived path 7 and the objective path 6 would coincide.
    [0169]
    [0170] As shown in Figure 5, as the user moves along the path, different points of the binaural map are activated, causing the user to follow the expected path, therefore, depending on the position and advancement of the user. , it may happen that the selected sounds vary along a path. Therefore, the navigation method dynamically calculates the information indicative of the first location L1. Figure 5 shows the location of user 4 at two different time instants, T0 and T1 (with T1> T0).
    [0171]
    [0172] Preferably, the device that executes the method has the capacity to store the specific route or objective path 6 that the user wants to travel. Target path 6 is expressed as a sequence of waypoints W, with given geographic coordinates. Thus, as shown in Figure 6, the location of the route points W (W = {W a , W b , W c , ..., W n }) can be obtained by accessing a memory 13 of the portable device 1 and / or by means of a wireless reception of the same by a wireless receiver 15 (eg 3G / 4G module, WiFi module, Bluetooth module, etc.), sent for example through a server 9 or even another device. The recording of the locations of the route points W can be done by a user who has previously made the trip and has stored it periodically during the trip, or from cartographic data or other applications. Once the objective path 6 has been fixed with the route point (s) W to be reached, the user can navigate comfortably and safely using a personal navigation system according to the present invention. The navigation system comprises the portable device 1 which in turn comprises a processor 14 configured to execute the steps of the personal navigation method and stereo headphones 2 to reproduce the binaural sounds S '. Preferably, the portable device 1 is implemented in a mobile phone.
    [0173]
    [0174] Preferably, the stereo headphones are bone transmission or open headphones, which do not block the ear canal, in order to transmit the binaural sound to the ear internal but without blocking the ear canal, allowing simultaneous and uninterrupted listening to the ambient sound, and providing a navigation solution using augmented acoustic reality, that is, increasing the ambient sound with simple acoustic and binaural sensory stimuli that help the user to perceive the direction to follow in an intuitive and effective way, superimposing these binaural acoustic stimuli on the ambient sound. The compatibility of the guidance sound with the ambient sound implies the need to select sounds that do not interfere and can be discriminated intuitively by the user, so for example a bell tinkle can be suitable for a noisier environment, such as An urban or semi-urban environment, but a single click may be sufficient for a quiet environment, such as an urban park or remote natural setting.
    [0175]
    [0176] Portable device 1 also comprises a geolocation module 17 (eg a GNSS receiver) and an orientation detector 19 (eg magnetometer, accelerometer and / or gyroscope) to obtain, respectively, the position (x 1 , y 1 ) and the orientation to 1 of the first location L1 of the portable device 1.
    [0177]
    [0178] In the embodiment shown in Figure 6, the portable device comprises a binaural sound repository 18, which may be part of an internal memory of the device (which may be the same memory 13 where the W route points can be stored, as shown in Figure 6), where binaural sounds S of a binaural map are stored. In this embodiment, from said stored binaural sounds S, the processor 4 performs a search and selection of the binaural sounds S 'that are closest to the waypoints W, and then retrieve and reproduce them sequentially. In another embodiment, the binaural sounds are not stored in a repository 18. Instead, the processor is responsible for generating or synthesizing said binaural sounds S 'based on the relative distances (dA, dB) and relative orientations (aA, aB ) calculated for each waypoint (W a , W b ), as explained above. The portable device 1 finally sends the binaural sounds S 'to be played to the headphones 2.
    [0179]
    [0180] The invention contemplates the possibility that binaural sounds may be of the same type or different, and can be reproduced with the same or different volume or cadence to reinforce the perception of certain orientations or changes in trajectory, or distances. Thus, the sounds can be punctual and discrete or continuous, giving a discrete or continuous perception of the trajectory. In addition, the possibility that the user can select one or another set of binaural sounds or binaural maps, or sound reproduction parameters, depending on their preferences and the acoustic environment.
    [0181]
    [0182] Preferably, the binaural sounds are simple acoustic stimuli, representing a sound source located in a certain position with respect to the user's position, however, the binaural sounds can also be complex sounds, of the music type, maintaining spatial perception from its characteristic and binaural reproduction. The portable device 1 can use music that is binauralized depending on the objective path 6 to follow, so that the user perceives the music as if it came from the orientation that it must take. It is similar to using discrete binaural sounds, except that in this case what user 4 hears is continuous music that is processed at all times so that user 4 perceives it coming from one or the other site according to the objective path 6 to follow.
    [0183]
    [0184] Stereo headphones 2 can be wired or wireless. In the first case, a cable connects the portable device 1 with the headphones. In the second case, both devices communicate wirelessly, for example via Bluetooth or BLE.
    [0185]
    [0186] In an optional embodiment, the portable device 1 is not carried directly by the user 4, but for example by a pet. This can be useful in the case of a blind person accompanied by a guide dog. In this case, the portable device 1 can be directly attached to the guide dog, and the binaural sounds S 'to be reproduced can be sent by wire or wirelessly from the portable device to the stereo headphones 2. As the blind person controls what is the orientation of the dog guide, the information supplied by the binaural sounds S 'played is totally useful.
    [0187]
    [0188] In another embodiment, the integrated portable device 1 may be integrated into the stereo headphones 2 themselves, both forming an integral unit.
    [0189]
    [0190] In one embodiment, the stereo headphones use bone transmission, and rest on the front of the ears, on the head. This type of headphones transmit the sound so that it reaches the ear as if it were coming through normal headphones, but with the advantage that they keep the ear canal open and the user can perceive the ambient sound in addition to perceiving the binaural sound, providing a augmented acoustic reality. In this way the binaural sound provides a layer of increased acoustic reality on the environment.
    [0191]
    [0192] Finally, in view of this description and figures, the person skilled in the art will understand that the invention has been described according to some preferred embodiments thereof, but that multiple variations can be introduced in said preferred embodiments, without departing from the object of the invention as claimed.
    权利要求:
    Claims (16)
    [1]
    1. Personal navigation method using binaural sound, characterized by comprising the following stages:
    obtain a first location (L1) that includes information indicative of the position (x one , y0 and the orientation (to one ) of a portable device (1);
    obtain the location (xWA, yWA; xWB, yWB) of at least one waypoint (WA, WB) of a target path (6);
    calculating the relative orientation (aA, aB) and the relative distance (dA, dB) existing between the first location (L1) and the at least one waypoint (W a , W b );
    obtain at least one binaural sound (S ') associated with each waypoint (W a , W b ); and reproducing the at least one binaural sound (S ') in stereo headphones (2).
    [2]
    2. Method according to claim 1, characterized in that obtaining the first location (L1) is obtained from an autonomous orientation system and a geolocation system included in the portable device itself (1).
    [3]
    3. Method according to any of the preceding claims, characterized in that the route points (W a , W b ) are stored locally in the portable device itself (1).
    [4]
    Method according to any of claims 1 to 2, characterized in that the route points (W a , W b ) are transmitted wirelessly to the portable device (1).
    [5]
    Method according to any of the preceding claims, characterized in that it comprises obtaining a target path (6) and extracting waypoints (W a , W b ) from the target path (6).
    [6]
    6. Method according to any of the preceding claims, characterized in that obtaining the at least one binaural sound (S ') comprises selecting, from a plurality of binaural sounds (S) stored with information indicative of relative orientation (0) and the relative distance (d) of each sound, the binaural sound (S ') closest to each waypoint (Wa, W b).
    [7]
    7. Method according to any of claims 1-5, characterized in that obtaining the at least one binaural sound comprises generating a binaural sound (S ’) associated with each way point (Wa, W b) from the calculated relative orientation (aA, aB) and the relative distance (dA, ób).
    [8]
    8. Method according to any of the preceding claims, characterized in that the reproduction of binaural sounds (S ’) is carried out sequentially taking into account the new position and orientation of the user in their movement.
    [9]
    9- Method according to any of the preceding claims, characterized in that the navigation of the route is carried out by establishing a selection, preference and order of the points of the route appropriate to the position or interests of the user.
    [10]
    10- Method according to any of the preceding claims, characterized in that the route to be traveled is calculated from a route planner that uses the origin and destination information of the route, the information of the sections or routes available and selectable calculation parameters by the user, to calculate the route.
    [11]
    11. Personal navigation system using binaural sound, characterized in that it includes stereo headphones (2) and a portable device (1) that includes:
    - a geolocation module (17) configured to obtain the position (x one , y0 of the portable device (1);
    - an orientation detector (19) configured to obtain the orientation (a ^ of the portable device (1);
    - a processor (14) configured for :.
    obtain a first location (L1) with information indicative of the position (X one , y0 and the orientation (a ^ of the portable device (1);
    obtain the location ( xwa , ywA; xwb , ywB) of at least one waypoint (W a , W b) of a target path (6);
    calculating the relative orientation (aA, aB) and the relative distance ( óa , ób ) existing between the first location (L1) and the at least one waypoint (Wa, W b);
    obtain at least one binaural sound (S ') associated with each waypoint (W a , W b); Y
    play the at least one binaural sound on the stereo headphones (2).
    [12]
    12. System according to claim 11, characterized in that the portable device (1) comprises a repository (18) of binaural sounds with information indicative of the relative orientation (0) and the relative distance (d) of each sound, the processor (4) being configured to obtain at least one binaural sound (S ') by accessing said repository (18) and selecting the binaural sound (S ') closest to each waypoint (W a , W b ).
    [13]
    13. System according to any of claims 11 to 12, characterized in that the portable device (1) comprises a wireless receiver (15) through which it is configured to obtain the location (x wa , y wA ; x wb , y wB ) of the at least one waypoint (W a , W b ).
    [14]
    14. System according to any of claims 11 to 13, characterized in that the portable device (1) comprises a memory (13) that stores the location (x wa , y wA ; x wb , y wB ) of the at least one point of path (W a , W b ).
    [15]
    15. System according to any of claims 11 to 14, characterized in that the portable device (1) is a smartphone.
    [16]
    16. System according to any of claims 11 to 15, characterized in that the portable device (1) is integrated in the stereo headphones (2).
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    同族专利:
    公开号 | 公开日
    ES2745572B2|2021-01-20|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US946912A|1906-11-24|1910-01-18|Alexander T Brown|Type-writing machine.|
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    EP2669634A1|2012-05-30|2013-12-04|GN Store Nord A/S|A personal navigation system with a hearing device|
    EP2720001A1|2012-10-15|2014-04-16|GN Store Nord A/S|A navigation system with a hearing device|
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