**2.5 Wormald international sensory Aid's robot GuideCane for the visually impaired**

Initially, NavBelt, a combination of navigation and belt, was developed to search for obstacles in the path for the visually impaired to walk; however, since the walking part must also identify obstacles on the lower foot, a broader concept of GuideCane was developed [9]. The GuideCane and its functional components, as shown in **Figure 7**, are very similar to a white cane, in which the user holds the GuideCane in front of him while walking, but the details are different, although the GuideCane is considerably heavier than a regular cane, since it rolls on wheels that support the weight of the GuideCane during operation, it has normal weight. A submotor operating under the control of a built-in computer can move the wheels left and right based on the cane, and both wheels are equipped with encoders that determine the relative motion, and for obstacle detection, GuideCane is equipped with 10 ultrasonic

*IoT-Based Route Guidance Technology for the Visually Impaired in Indoor Area DOI: http://dx.doi.org/10.5772/intechopen.105549*

sensors, so it can detect dangerous obstacles. To specify the desired direction of motion, the user manipulates the mini joystick on the handle, and based on user input and sensor data from the encoder, the computer determines where to turn next.
