University of Southeastern Philippines
College of Engineering
Bo. Obrero Campus, Davao City
A Proposed Study on
Smart Cane Navigation for Assisting Visually Impaired Individuals
In Partial Fulfillment of the Requirements for BES 107: Methods of Research
Submitted to:
Engr. Delan Zoe Arenga
Submitted by:
Kimuell James P. Catanus
Arvin C. Curada
Dean Denver A. Declarador
May 2022
ABSTRACT
Unseen impediments present a number of hazards for those with visual
impairments. Few electronic canes are capable of determining the fixed distance
between the user and the obstacle and guiding the blind individual using
recorded audio output. Using a photoelectric sensor processed by a
microcontroller, the researchers develop an electronic cane. This electronic
smart cane will assist a blind person in navigating indoors by using recorded
audio to help them avoid blindness-related problems.
ii
Smart Cane Navigation for Assisting Visually Impaired Individuals
A Proposed Study on
Presented to the
The Faculty of the College of Engineering
University of Southeastern Philippines
Obrero, Davao City
In partial Fulfillment of the Requirements for the Degree
Bachelor of Science in Electronics Engineering
Kimuell James P. Catanus
Arvin C. Curada
Dean Denver A. Declarador
2022
iii
APPROVAL SHEET
In partial fulfillment of the requirements for the degree, Bachelor of
Science in Electronics Engineering, this thesis entitled, “Smart Cane Navigation
for Assisting Visually Impaired Individuals”, prepared and submitted by
Kimuell James P. Catanus, Arvin C. Curada, Dean Denver Declarador is hereby
recommended for approval and acceptance.
DELAN ZOE ARENGA
Adviser
iv
ACKNOWLEDGMENT
First and foremost, we are grateful since we were able to submit our thesis
proposal within the timeframe specified by our instructor, Eng. Delan Zoe
Arenga. This study proposal would not be possible without the participation and
effort of researchers Kimuell James P. Catanus, Arvin C. Curada, and Dean
Denver Declarador.
v
TABLE OF CONTENTS
Abstract
ii
Smart Cane Navigation for Assisting Visually Impaired Individual
iii
APPROVAL SHEET
iv
ACKNOWLEDGMENT
v
TABLE OF CONTENTS
vi
LIST OF FIGURES
vii
Chapter 1: Introduction
1
1.1 Background of the Study
1
1.2 Statement of the Problem
4
1.3 Objectives of the Study
5
1.4 Significance of the Study
5
1.5 Scope and Limitation of the Study
6
1.6 Definition of Terms
6
Chapter 2: REVIEW OF LITERATURE AND THEORETICAL FRAMEWORK 8
2.1 Related Literature and Studies
8
2.2 Theory Base
14
2.3 Conceptual Framework
15
2.4 Research Hypothesis
15
Chapter 3: METHODOLOGY
16
3.1 Research Locale
16
3.2 Research Method
16
3.3 Materials and Equipment
16
3.4 Sources of Data
19
3.5 Data Gathering Instrument
19
3.6 Sampling Technique
19
3.7 Procedure of the Study
20
3.8 Statistical Treatment
21
References
22
CURRICULUM VITAE
24
vi
LIST OF FIGURES
Figure
Figure
Figure
Figure
Figure
Figure
2.1
2.2
2.3
2.4
3.1
3.2
System design for image processing
Flowchart of the process flow
Approach for a visual substitution for blind people
Conceptual Framework Design
Smart Cane using Photoelectric Sensor
Program Flowchart
12
13
14
15
17
18
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Chapter I: Introduction
1.1 Background of the Study
Blindness is the inability to perceive anything that is normally visible. This
affects to the independence of the individual for normal daily tasks. Vision loss
directly affects the incapacity to live a life, explicitly navigating around.
International Agency for the Prevention of Blindness data reports that globally in
the year 2020, there will be 161 million people who are blind [1]. Generally,
individuals must rely on vision to navigate and know a specific location. Visual
impairment heavily hinders the capacity to walk and perform tasks. South Asia,
South Africa, Tanzania, and India hold the most significant number of cases
worldwide, ranging from 21%-27% plus individuals [2]. These countries are
categorized as low-middle-income countries, which means they are at risk of
poverty [3]. According to the National Federation of the Blind, just 40.2% of the
visually impaired population in the United States works, and 90% of the visually
impaired worldwide live in low-income environments. The ability of visually
impaired people to navigate freely indoors expands professional opportunities
and promotes self-sufficiency for disabled people [4]. Hence, seeking eye
healthcare or acquiring a tool is challenging as it is not affordable. Furthermore,
visually impaired individuals depend on excellent familiarization with the place,
other sensory attributes, and verbal descriptions [5].
1
Locally, in 2017, the Philippines had 332,150 bilaterally blind people, with
33% (109,619) suffering from cataracts, 25% (83,037) from refraction issues, and
14% (46,501) from glaucoma. The remainder is due to glaucoma, retinopathy,
and macular degeneration [6]. It's self-evident that some visually impaired
Filipinos utilize nothing more than a wooden stick to detect and describe
obstacles along the way. Navigating their household also made it difficult for
them to perform daily tasks such as going to the restroom, kitchen, etc.
Accordingly, several studies have been published on a smart cane that
steers and navigates visually impaired individuals around their environment.
Smart Cane which the fundamental objective of this project is to produce a
prototype capable of identifying objects or barriers in front of users using
ultrasonic sensors and communicating with visually impaired individuals a via
voice messages or vibrations; its drawback is that voice alert is misleading as it
is repetitive when the ultrasonic sensors detect an obstacle [7]. Furthermore,
Guide Cane which uses ultrasonic sensors, assisted in identifying and navigating
around obstacles. The sensor head consisting of ultrasonic sensors is attached
to an unpowered steerable axel, allowing the gadget to detect and avoid
obstructions. The downside of this device was that navigation was accomplished
through a GPS, and it could not detect obstacles above the waist of the user [8].
Additionally, the Co-Robotic Cane presented by the University of Arkansas in the
United States has a three-dimensional camera for estimating and detecting
obstructions, particularly beneficial for indoor applications. On the other hand,
2
the Co-Robotic Cane is more concerned with avoiding obstacles than leading the
user [9]. Moreover, Smart Cane uses a camera for face recognition to detect
obstacles and recognize the individual captured by the camera by sending the
information to the smart cane. T data is transmitted and translated to vibration
through Bluetooth [10]. This addresses the problem in a Smart Cane, which uses
an ultrasonic sensor. It utilizes the vibration motor to analyze and recognize the
obstacles ahead rather than repetitive voice alerts when it detects an obstruction
within the programmed range of the ultrasonic sensor. Also, an innovation of
Smart Cane uses an ultrasonic sensor that senses the surrounding environment
and informs the user of the closest obstacle within the sensor's range. It can
detect above-knee obstacles within three meters and alert the user in real-time
using a combination of vibration motors mounted on the cane handle or a
sweatband [11].
Additionally, the City College of New York developed a Smart Cane, which
utilizes the Google Tango devices capable of motion tracking and localization
capabilities; therefore, the control panel will create a planned path for the user.
A Control panel is mounted on the cane. It enables visually impaired users to
communicate with the navigation software and serves as a source of navigation
directions via haptic feedback [12]. The problem with these and the other canes
is they did not provide an option to go to the specific location where the user
wants to go. The researchers plan to develop a cane that will navigate and direct
the user's indoor environment where the user specifically wants to go.
3
This research aims to design and implement a device to navigate and guide
visually impaired individuals using photoelectric sensors that emit, receive
visible light, and translate it to an electrical signal. Unlike other canes, the
unique capability of the photoelectric sensor is it can read a specific wavelength
of visible or infrared light and can be programmed to read the particular
wavelength; hence, the user will not be off tracked. Furthermore, the researchers
plan to develop and design an affordable product that will assist the visually
impaired individual in navigating indoors.
1.2 Statement of the Problem
The purpose of this study is to design and develop a smart cane that will
assist the visually impaired individual in navigating indoors. This research study
seeks to answer the following problems:
1. Will the proposed research study assist in indoor navigation to a specific
location?
2. Will the proposed research project be able to detect a specific wavelength
of visible or infrared light using photoelectric sensors?
3. Will the proposed research be able to give voice message of the
directions?
4
1.3 Objectives of the Study
The main objective of this study is to design and develop a smart cane that
will assist the visually impaired individual in navigating indoors. The researchers
specifically intend to attain the following objectives:
1. To design a smart cane that can assist in indoor navigation to specific
location.
2. To develop a smart that can detect a specific wavelength of visible or
infrared light using photoelectric sensors.
3. To develop a smart cane that can give voice message of the directions.
1.4 Significance of the Study
The significance of this study is to develop a smart cane that can help
visually impaired individuals navigate indoors with the help of photoelectric
sensors. The results of this research will also be very important and very
beneficial for the following:
Visually impaired individuals. They are the main beneficiaries of this
study, which may help them improve their navigation skills indoors (malls,
grocery stores, homes, etc.). It would provide assistance that is cost-efficient and
better than other canes. Moreover, developing this cane will not only help them
navigate indoors but also open new opportunities for visually impaired
individuals in our society.
5
Future Researchers. This research will serve as a guide for future
researchers on the subject of photoelectric sensors. The data gathered will serve
as a guide to develop a better machine that uses photoelectric sensors.
Furthermore, visually impaired individuals receive the least attention in
our community. This research will highlight and present an invention that will
be a breakthrough in their community, giving them more opportunities and
better assistance in navigating indoors.
1.5 Scope and Limitation of the Study
This research will focus on the development of Smart Cane navigation
assisting visually impaired individuals with the use of photoelectric sensors. The
proponents of this research will design a prototype that will later be simulated
through blindfolded testing in which the proponents themselves will serve as
participants. The proponents selected University of Southeastern Philippines in
Obrero, Davao City as the locale of this research study. The proponents will use
the programmable device Arduino and will focus on photoelectric sensors that
can be programmable to specific wavelengths.
1.6 Definition of Terms
Photoelectric Sensors. is composed of two components: an Emitter and
a Receiver. The detecting item blocks or reflects transmitted light, so altering the
amount of light reaching the receiver. The receiver detects and sends an electrical
signal in response to the change. The majority of photoelectric sensors operate
6
using infrared or visible light (usually red, green, or blue to determine colors)
[13].
7
Chapter II: Review of Literature and Related Framework
This chapter includes the review of related literature, conceptual
framework, and the actual definition of key variables.
2.1 Related Literature and Studies
Electronic Canes
Over the last few decades, many new technologies have been developed to
assist people with disabilities, the majority of which are based on electronic and
computer technology. The GuideCane[14] is intended to assist blind or visually
impaired users in navigating obstacles and other dangers in a safe and timely
manner. Used in the same way as a regular cane, but with a larger weight due
to the servo motor. This servo motor, which is operated by a joystick linked to
the handle, functions as a guidance for where the wheels should steer. The cane
detects and avoids obstacles or objects in front of the user by using ultrasonic
sensors. However, Because the GuideCane does not employ acoustic feedback,
there is no masking of auditory cues, on which many blind people depend
greatly.
Furthermore, Smart cane[15] is a device designed to send alerts through
voice messages to visually-impaired people that could help them navigate over
obstacles with less accident. This cane is developed to communicate with its
visually-impaired user. The smart blind cane functions like ordinary blind canes.
The difference is that the Smart Cane is equipped with ultrasonic sensor, water
8
sensor and circuit box can be placed. Also, the smart blind cane is designed to
be foldable so that it is easy for the user to keep.
Additionally, the CCNY Smart Cane[16] system provides the visually
impaired with a robotic white cane and mobile device navigation software. The
system contains software for Google Tango devices that uses simultaneous
localization and mapping (SLAM) to design a route and direct a visually impaired
user to indoor waypoints.
In an unfamiliar interior setting, the CRC employs a 3D camera for both
position estimation and object detection. The 6-DOF pose estimation technique
predicts the CRC's posture change using an ego motion estimation method and
the iterative closest point methodology, while a pose graph optimization
approach decreases the pose integration error. CRC senses human intent and
utilizes it to choose the device's usage mode automatically. In active mode, the
CRC can steer towards the intended travel direction, providing precise guidance
to a blind passenger[17]
Electronic Path Guidance using Radio Frequency
Using radio frequencies, electronic path guidance[18] will enable them to
walk autonomously and with the same ease in an unknown environment as they
do in familiar settings. A portable gadget is given to a visually impaired individual
approaching a complicated structure. 4*4 matrix Embossed keypad for inputting
destination and other user-friendly operations like search, return, and delete.
9
The radio section is the second module that will connect with another radio
frequency module located at a preset distance in the unknown surroundings.
This message will direct the individual to their destination.
Photoelectric Sensors
According to Chunjiao [19], photoelectric Sensors may be used to measure
non-electrical factors that might affect the quantity of light, including light
intensity, radiation temperature, and gas composition. In addition, it may
employ light transmission, occlusion, reflection, interference, and other
techniques to measure a number of physical characteristics, including object
size, movement, velocity, temperature, etc.
Several studies uses photoelectric sensor, an intelligent transplanting system
is constructed using a five-bar and fixed-axis gear train, a seedling tray
conveying mechanism (with transverse and longitudinal seedling feeding
features), an eccentric disk parallel four-bar duck mouthed planting mechanism,
an electric sensor for seedling detection and identification of the seedling tray, a
position sensor, a stepper motor, and a PLC control system [20].
Additionally, photoelectric sensor is used in Multifunctional photoelectric
sensors and catalysts for CO2RR and Cr(vi) solution based on a series of POMbased materials Compounds 1–5 can be utilized as multifunctional photoelectric
sensors to detect various ions. n-CPEs are effective electrochemical sensors for
nitrite because they are sensitive and can measure a broad concentration range.
10
As fluorescent sensors, the compounds in the title are excellent in detecting the
fluorescence of Cr2O72.
Auditory Sense as Substitute for Vision Loss
Bidimensional shapes is distinguished by early blind individuals by using
prosthesis substituting vision with audition (PSVA). The right dorsal extrastriate
visual cortex is activated during the execution. The findings also indicate the
involvement of the dorsal visual stream in the spatial auditory processing of blind
individuals. Furthermore, this suggests that sensory replacement prosthesis can
be built using these increased cerebral resources to do tasks that partially
compensate for the loss of vision [20].
Moreover, text-to-speech device [21] that can change images’ text input
into sound using image processing. It achieves a readability tolerance of less
than 2 percent and a processing time of less than one minute on a variety of
paper kinds and font sizes. When illumination conditions are good, the average
error rate of the image processing module is reduced. Also, the device does not
need an internet connection and it provides portability, accessibility and can be
used independently by the visually impaired individuals.
11
Figure 2.1 System design for image processing
12
Figure 2.2 Flowchart of the process flow
Furthermore, another technology developed is based on the analysis of a
video capture of a real-world scenario. This scene will be divided into multiple
frames. Using Scale Invariant Feature Transform that is designed to match the
images or events in each scene. It will next undergo image processing to identify
the discovered objects [22]
13
.
Figure 2.3 Approach for a visual substitution for blind people
2.2 Theory Base
The Philippines has made efforts to aid persons with disabilities through
RA 7277, also known as “Magna Carta for Disabled Persons." which states that
the State shall make every effort to eliminate all social, cultural, economic,
environmental, and attitudinal impediments that impede the full and equal
participation of persons with disabilities [25].
Furthermore, a study revealed that in the absence of vision other senses
serve as useful equivalents and are enhanced over time. As evidenced by the fact
that the visual cortex in the blind can be reorganized to support alternative
perceptual or cognitive processes, the visual cortex can be rearranged [26].
14
2.3 Conceptual Framework
Figure 2.4 Conceptual Framework Design
A series of infrared or visible light will be programmed with a specified
wavelength and deployed indoors. When the user pushes a button of a specific
destination, the photoelectric sensor in the smart cane will detect the streak of
light leading to that specific site, and there will be a voice message of directions
for the user to follow.
2.4 Research Hypothesis
If the photoelectric sensor can detect the programmed infrared or visible
light, the smart cane will aid the vision impaired person in navigating to the
designated destination.
15
Chapter III: METHODOLOGY
This chapter includes descriptions of the method used, sources of data,
the data gathering instruments, sampling technique, procedure of the study and
statistical treatment.
3.1 Research Locale
The study will be conducted in the University of Southeastern Philippines
located at 263 Iñigo St, Bo. Obrero, Davao City, Davao del Sur.
3.2 Research Method
The research method that the proponents will use is Innovation Research.
Innovation research involves the search for defined need solutions in the present
product where there are gaps in the market that can significantly impact users.
In this study, the researchers aim to conduct innovative research, as the
roots of this study already exist, and the proponents wish to improve the design
for specific applications.
3.3 Materials and Equipment
The figures below illustrate the materials necessary for the research.
Figure 3.1 illustrates the overall design of the Smart Cane. The photoelectric
sensor attached in the wall will emit specific visible light and will be received by
16
the photoelectric sensor receiver attached in the cane and converts it into
electrical signal using the microcontroller.
ISD1760
Photoelectric Sensor
Photoelectric Sensor
Emitter
Receiver
Speaker
Microcontroller
Figure 3.1 Smart Cane using Photoelectric Sensor
Microcontroller
Arduino Uno is a microcontroller based on ATmega328 microchip.
Moreover, the Arduino UNO is a low-cost, flexible, and user-friendly open-source
programmable microcontroller board that can be incorporated into a vast array
of electronic projects.
Program Design
Arduino Integrated Development (IDE) makes it easy to write code and
upload it to a microcontroller (Arduino UNO). The warning audio will be recorded
by the ISD1760 module. The program will then detect a specific visible light
through the wall-mounted photoelectric sensor. The photoelectric sensor receiver
will translate the signal from the photoelectric sensor emitter's emitted light into
an electrical signal. There are various buttons that indicate where the user
17
wishes to go. After the button is pressed, the Arduino Uno will initiate a sequence
that reads just the programmed visible light. The recorded audio will then play
once the electrical signal has been received, directing the user to the specified
location.
Figure 3.2 Program Flowchart
18
3.4 Sources of Data
This research study focuses on the determining of the specific wavelength
of infrared or visible light and the recording of the voice message of directions.
The data will be measured through:
● Photoelectric sensor – This is used to detect wavelength of infrared or
visible light. The data will be collected from the light receiving element of
the sensor.
● ISD1760 – This is used to record and store voice signals. The stored data
will be used for the voice messages of the directions.
3.5 Data Gathering Instrument
A photoelectric sensor and a sound recorder will be used as the research
instrument in this study. This research focuses on the wavelength of infrared or
visible light and the voice message of directions.
3.6 Sampling Technique
This study will employ iterative sampling. To achieve the desired result,
the proponents will go through a series of repeated operations in this sampling.
19
3.7 Procedure of Study
The researchers intend to build and create a prototype of Smart Cane
Navigation for assisting Visually Impaired Individuals. As depicted in the picture
below, the technique consists of four stages: the Data Collection Stage, the
Designing Stage, the Fabrication Stage, and the Evaluation Stage.
Data Collection
This phase entails conducting research and identifying an effective
solution to the situation at hand. Current smart cane navigation technologies
and the parameters that have a substantial impact on visually impaired
navigation effectiveness are examined. By utilizing structured observation,
observing the reaction of the sample while utilizing the smart cane, and making
use of the maximize feature on the smart cane.
Designing Stage
According to this stage's assessment and review, the researcher created
the following designs for the Smart Cane.
Fabrication Stage
Future development and manufacture of the projected Smart Cane
Navigation will comprise this phase. It will be extensively detailed how the
modelling, Photoelectric sensor system, software system, and other components
of the Smart Cane are manufactured.
20
3.8 Statistical Treatment
The proposed statistical treatment is inferential statistics of data. This
treatment will aid in determining the optimal wavelength of infrared or visible
light to be programmed in the smart cane after a series of repeated tests.
21
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[2]
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23
CURRICULUM VITAE
Catanus, Kimuell James P.
Address: Avanceña St., Poblacion,
Tulunan, North Cotabato
E-mail: kjpacatnus@usep.edu.ph
Contact Number: 09386801229
Personal Information
Age: 21 y.o.
Nationality: Filipino
Date of Birth: November 30, 2000
Religion: Southern Baptist
Civil Status: Single
Educational Attainment
Primary: Tulunan Central Elementry School, Tulunan, North Cotabato
Secondary: Southern Baptist College, Mlang, North Cotabato
Tertiary: University of Southeastern Philippines, Bo. Obrero, Davao City
Members and Affiliations
● Association of Electronics Engineering Students (AECES) member– 2019Present
● Institute of Electronics Engineers of the Philippines – Council of
Student’s Chapter member
24
Curada, Arvin C.
Address: Purok 5 Santa Isabel,
Santa Josefa, Agusan del Sur
E-mail: accurada@usep.edu.ph
Contact Number: 09700260421
Personal Information
Age: 20 y.o.
Nationality: Filipino
Date of Birth: June 17, 2001
Religion: Seventh-Day Adventist
Civil Status: Single
Educational Attainment
Primary: Santa Josefa Central Elementary School
Secondary: Father Saturnino Urios College of Trento Inc.
Tertiary: University of Southeastern Philippines, Bo. Obrero, Davao City
Members and Affiliations
● Association of Electronics Engineering Students (AECES) member– 2019Present
● Association of Electronics Engineering Students (AECES) officer - 20212022
● Institute of Electronics Engineers of the Philippines – Council of
Student’s Chapter member
25
Declarador, Dean Denver A.
Address: Deborah St., Elenita Heights,
Catalunan Grande, Davao City
E-mail: ddadeclarador@usep.edu.ph
Contact Number: 09952118805
Personal Information
Age: 21 y.o.
Nationality: Filipino
Date of Birth: May 10, 2001
Religion: Roman Catholic
Civil Status: Single
Educational Attainment
Primary: Tugbok Central Elementary School SPED Center, Tugbok, Davao City
Secondary: Catalunan Pequeño National Highschool, Catalunan Pequeño,
Davao City
Upper Secondary: Philippine Women’s College of Davao, Matina, Davao City
Tertiary: University of Southeastern Philippines, Bo. Obrero, Davao City
Members and Affiliations
● Association of Electronics Engineering Students (AECES) member– 2019Present
● Institute of Electronics Engineers of the Philippines – Council of
Student’s Chapter member
26