Considering budget and time, we only used an earphone to receive the output audio. However, practically, for a blind man, it will be very convenient to receive sound and alert through a bluetooth speaker. When all devices and sensors are integrated on a single board, there actually existed some interferences and conflicts between them. As a result, some of the measured values were not totally correct and accurate. We need to improve the robustness and stability of our integrated device in the future.