Patent Application
20180321381
The presently disclosed subject matter relates to the detection of a least the position of an object in space.
In the prior art, the detection of at least the position of an object in space can be performed by dedicated systems such as radars or ultrasound systems.
This detection can be used for various applications such as touch-less gesture recognition (such as in U.S. Pat. No. 9,638,297), or automated car parking (such as in U.S. Pat. No. 7,679,527).
There is a need to propose new methods and systems for detecting an object.
In accordance with certain aspects of the presently disclosed subject matter, there is provided a sound and detection system comprising at least a digital sound reconstruction speaker apparatus, comprising a plurality of pressure-pulse producing elements, and at least a controlling unit configured to control the actuation of the plurality of pressure-pulse producing elements, so as to produce at least an ultrasonic beam directed towards space during at least a first time interval, for the calculation of at least the position of at least part of an object present in space based on the sensing of at least ultrasonic sound waves reflected by said part of the object, and control the actuation of the plurality of pressure-pulse producing elements, so as to produce audible content during at least a second time interval.
According to some embodiments, the sound and detection system comprises at least a sensor configured to sense the said reflected ultrasonic sound waves. According to some embodiments, said at least sensor and the digital sound reconstruction speaker apparatus are located in the same package. According to some embodiments, said at least sensor and the digital sound reconstruction speaker apparatus are a part of the same chip. According to some embodiments, the controlling unit is configured to control the actuation of the plurality of pressure-pulse producing elements so as to produce at least an ultrasonic beam whose direction and/or shape varies in time, in order to scan at least part of said space. According to some embodiments, the controlling unit is configured to control the actuation of the plurality of pressure-pulse producing elements so as to alternate between the production of at least an ultrasonic beam during a first subset of time intervals and the production of audible content during a second subset of time intervals, wherein the breaks in the audible content produced by the digital sound reconstruction speaker apparatus during the second subset of time intervals do not produce unwanted audible distortion to the audible content. According to some embodiments, the controlling unit is configured to control the actuation of the plurality of pressure-pulse producing elements so as to alternate between the production of at least an ultrasonic beam during a first subset of time intervals and the production of audible content during a second subset of time intervals, wherein the breaks in the audible content produced by the digital sound reconstruction speaker apparatus during the second subset of time intervals do not produce audible distortion to the audible content. According to some embodiments, the controlling unit is configured to determine at least one of the dimensions, the distance, the form, the direction, data representing the motion, and sound reflecting properties of at least part of the object based at least on the sensing of the said reflected ultrasonic sound waves. According to some embodiments, the system is further configured to code the ultrasonic beam emitted towards space. According to some embodiments, the system is further configured to calculate at least the position of at least part of an object located behind an obstacle and/or in an environment with any level of visibility. According to some embodiments, the system comprises a plurality of sound digital sound reconstruction speaker apparatus.
It is to be noted that the previous embodiments can be combined in any of their possible technical combination.
In accordance with some aspects of the presently disclosed subject matter, there is provided a motion sensor comprising a sound and detection system according to any of the embodiments described previously, wherein the motion sensor is configured to detect a motion of at least part of an object in space.
In accordance with some aspects of the presently disclosed subject matter, there is provided a camera comprising a sound and detection system according to any of the embodiments described previously, said camera comprising a display representing objects detected in the space by said sound and detection system.
According to some embodiments, the camera is configured to display at least one of the dimensions, the distance, the form, the direction, data representing the motion, and the sound reflecting properties of at least part of said objects.
In accordance with some aspects of the presently disclosed subject matter, there is provided an audio sound system comprising a sound and detection system according to any of the embodiments described previously, wherein the audio sound system is configured to detect at least the position of at least part of an object present in a space surrounding said audio sound system, for controlling the audible content produced by said audio sound system.
According to some embodiments, the audio sound system is configured to identify at least a listener present in at least part of the space surrounding said audio sound system.
According to some embodiments, the controlling of the audible content comprises the controlling of the directivity of the audible content produced by the at least digital sound reconstruction speaker reconstruction apparatus.
According to some embodiments, the audio sound system is configured to perform active noise cancellation based on the detection of at least the position of at least an object present in at least part of the space surrounding said audio sound system.
In accordance with some aspects of the presently disclosed subject matter, there is provided a gesture detection system comprising a sound and detection system according to any of the embodiments described previously, wherein the gesture detection system is configured to detect at least a gesture performed by at least a part of a body.
According to some embodiments, the gesture detection system further comprises a memory storing definitions of gestures, wherein the gesture detection system is configured to detect a motion of said part of the body and identify the gesture performed by said part of the body based on the comparison of the detected motion with said definitions.
In accordance with some aspects of the presently disclosed subject matter, there is provided a system for vehicle parking assistance comprising a sound and detection system according to any of the embodiments described previously, wherein the system for parking assistance is configured to detect at least the position of at least an object present around said vehicle, for assisting the parking of said vehicle.
According to some embodiments, the at least digital sound reconstruction speaker of the sound and detection system is configured to produce at least an audible message in a space surrounding the vehicle, based on the detection of the position of at least an object present around said vehicle.
In accordance with some aspects of the presently disclosed subject matter, there is provided a method comprising, by a controlling unit, controlling the actuation of the plurality of pressure-pulse producing elements of at least a digital sound reconstruction speaker apparatus, so as to produce at least an ultrasonic beam directed towards space during at least a first time interval, for the calculation of at least the position of at least part of an object present in space based on the sensing of at least ultrasonic sound waves reflected by said part of the object, and controlling the actuation of the plurality of pressure-pulse producing elements, so as to produce audible content during at least a second time interval.
According to some embodiments, the controlling unit controls the actuation of the plurality of pressure-pulse producing elements so as to produce at least an ultrasonic beam whose direction and/or shape varies in time, in order to scan at least part of said space.
According to some embodiments, the controlling unit controls the actuation of the plurality of pressure-pulse producing elements so as to alternate between the production of at least an ultrasonic beam during a first subset of time intervals and the production of audible content during a second subset of time intervals, wherein the breaks in the audible content produced by the digital sound reconstruction speaker apparatus during the second subset of time intervals do not produce unwanted audible distortion to the audible content.
According to some embodiments, the controlling unit controls the actuation of the plurality of pressure-pulse producing elements so as to alternate between the production of at least an ultrasonic beam during a first subset of time intervals and the production of audible content during a second subset of time intervals, wherein the breaks in the audible content produced by the digital sound reconstruction speaker apparatus during the second subset of time intervals do not produce audible distortion to the audible content.
According to some embodiments, the method further comprises determining at least one of the dimensions, the distance, the form, the direction, data representing the motion and sound reflecting properties of at least part of the object based at least on the sensing of the said reflected ultrasonic sound waves.
According to some embodiments, the method comprises coding the ultrasonic beam sent towards space.
According to some embodiments, the method comprises controlling the audible content produced by the at least digital sound reconstruction speaker reconstruction apparatus based at least on the detection of at least the position of at least part of an object present in a space surrounding said at least digital sound reconstruction speaker apparatus.
According to some embodiments, the method comprises detecting at least the position of at least an object present around a vehicle on which the at least digital sound reconstruction speaker apparatus is located, for assisting the parking of said vehicle.
According to some embodiments, the method comprises the step of producing, by the at least digital sound reconstruction speaker of the sound and detection system, at least an audible message in a space surrounding the vehicle, based on the detection of the position of at least an object present around said vehicle.
According to some embodiments, the method comprises detecting a gesture performed by at least a part of a body.
In accordance with some aspects of the presently disclosed subject matter, there is provided a non-transitory storage device readable by a processing unit, tangibly embodying a program of instructions executable by the processing unit to perform the method according to one or more of the embodiments previously described.
According to some embodiments, the solution proposes a system which can be both used for the production of audible content and the detection of various data of a least part of an object, such as its position. In particular, according to some embodiments, it is possible, with the same components of the system, to detect at least the position of an object and to produce audible content. This avoids the need of adding new components for performing said functions.
According to some embodiments, the solution proposes a system which does not need the installation of dedicated emitters, such as ultrasound transducers.
According to some embodiments, the solution proposes a system which allows the control of the sensing direction for which it is desired to detect the position of objects.
According to some embodiments, the solution proposes a system which allows the scan of a space, to detect the position of at least part of an object present in said space.
According to some embodiments, the solution proposes a system which allows the scan of a least part of an object.
According to some embodiments, the solution proposes a system which allows the scan of a least part of an object without physically moving the position or direction of the emitter.
According to some embodiments, the solution proposes a system which allows the determination of various characteristics of the object, such as the dimensions, the distance, the form, the direction, data representing the motion, and sound reflecting properties of at least part of the object.
According to some embodiments, the solution proposes a system which allows identifying a gesture of a least part of a human body.
According to some embodiments, the solution proposes a system which allows efficient detection of a gesture made by a human for controlling various devices.
According to some embodiments, the solution proposes a system which allows tracking at least part of an object.
According to some embodiments, the solution proposes a system which allows an area mapping for controlling the sound of an audio sound system.
According to some embodiments, the solution proposes a system which allows efficient assistance for parking of a vehicle.
According to some embodiments, the solution proposes a system which allows the detection of at least the position of an object located in a low visibility environment, and/or located behind an obstacle.
According to some embodiments, the solution can further provide a visualization of said object and a display of data of said object.
According to some embodiments, the solution provides a motion sensor.
In order to understand the invention and to see how it can be carried out in practice, embodiments will be described, by way of non-limiting embodiments, with reference to the accompanying drawings, in which:
In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be understood by those skilled in the art that the presently disclosed subject matter may be practiced without these specific details. In other instances, well-known methods have not been described in detail so as not to obscure the presently disclosed subject matter.
Unless specifically stated otherwise, as apparent from the following discussions, it is appreciated that throughout the specification discussions utilizing terms such as “controlling”, “detecting”, “determining”, “sensing”, “identifying” or the like, refer to the action(s) and/or process(es) of a processing unit that manipulate and/or transform data into other data, said data represented as physical, such as electronic, quantities and/or said data representing the physical objects.
The term “processing unit” covers any computing unit or electronic unit that may perform tasks based on instructions stored in a memory, such as a computer, a server, a chip, etc. It can encompass a single processor or multiple processors, which may be located in the same geographical zone or may, at least partially, be located in different zones and may be able to communicate together.
The term “non-transitory memory” as used herein should be expansively construed to cover any volatile or non-volatile computer memory suitable to the presently disclosed subject matter.
The term “digital speaker” refers in the present specification to a digital sound reconstruction speaker.
Embodiments of the presently disclosed subject matter are not described with reference to any particular programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of the presently disclosed subject matter as described herein.
In the present description, the term “object” includes any physical object which has at least a part which can reflect ultrasonic sound waves. The “object” can include inert objects and/or living objects (such as humans, animals, etc.).
The system 10 comprises at least a controlling unit 11 operating on a processing unit. The controlling unit 11 can perform various tasks and steps which will be described later in the specification. Although the system 10 was depicted as comprising a controlling unit operable on a processing unit, according to some embodiments the processing unit runs said different tasks and steps or at least part of them.
According to some embodiments, the system 10 comprises a plurality of controlling units 11, which can be located in the same processing unit or in different processing units (the processing units can be located in different physical locations). According to some embodiments, a plurality of controlling units is used, each controlling unit controlling specific tasks of the system. According to some embodiments, the controlling units can communicate between themselves through any adapted communication channel.
The system 10 further comprises at least a digital sound reconstruction speaker apparatus 12. The digital sound reconstruction speaker apparatus comprises a plurality of pressure-pulse producing elements. This allows the digital sound reconstruction speaker to produce sound waves.
According to some embodiments, the system 10 comprises a plurality of digital sound reconstruction speaker apparatus. If a plurality of digital sound reconstruction speaker apparatus 12 is used, these digital sound reconstruction speaker apparatus 12 are not necessarily located in the same physical location, and at least a subset of the digital sound reconstruction speaker apparatus can be located away from the other digital sound reconstruction speaker apparatus.
According to some embodiments a first subset of the digital sound reconstruction speaker apparatus is located in a first package, a second subset of the digital sound reconstruction speaker apparatus is located in a second package, etc. The different packages can be located in different physical locations. A common controlling unit or a plurality of controlling units can be used to control each digital sound reconstruction speaker apparatus.
Although the controlling unit 11 and the digital sound reconstruction speaker apparatus 12 are represented in
As illustrated, the controlling unit 11 can communicate with the digital sound reconstruction speaker apparatus 12, for example through at least a wired connection. In particular, the controlling unit 11 can control the operation of the digital sound reconstruction speaker apparatus.
Non limiting embodiments for this digital sound reconstruction speaker apparatus will be described with reference to
The system 10 further comprise at least a sensor 13 configured to sense ultrasonic sound waves. Ultrasonic sound waves include sound waves whose frequency is higher than 30 KHz.
According to some embodiments, the system 10 comprises a plurality of sensors 13. For example, the sensors can be located at different physical locations.
According to some embodiments, at least a sensor is associated to each digital sound reconstruction speaker apparatus of the system 10, in order to sense the reflection of the ultrasonic sound waves sent by said digital sound reconstruction speaker apparatus towards the space and reflected by at least part of an object.
According to some embodiments, the sensor 13 can be a dedicated sensor which senses only ultrasonic sound waves.
According to some embodiments, the sensor 13 can also be a sound sensor which can sense both ultrasonic sound waves and other sound waves. In this case, a post-processing of the sensed data (which can be performed in the sensor or by an external processing unit) can be performed to filter the sensed data and obtain only the ultrasonic components.
The sensor 13 can be part of the system 10 or can be external to the system 10.
According to some embodiments, the sensor 13 and the digital sound reconstruction speaker 12 are in the same package. According to some embodiments, the sensor 13 and the digital sound reconstruction speaker 12 are not in the same package.
According to some embodiments, the sensor 13 is a part of the chip of the digital sound reconstruction speaker 12. According to other embodiments, the sensor 13 is located on a chip which is different from the chip of the digital sound reconstruction speaker 12.
According to some embodiments, the sensor 13 can exchange data with the controlling unit 11 and/or with the digital sound reconstruction speaker 12, through a wired connection or a wireless connection.
According to some embodiments, at least part of the components of the system 10 is located into a unique package.
According to some embodiments, the system 10 further comprises a non-transitory memory for storing data (not represented), which can communicate with the controlling unit.
According to some embodiments, the system 10 can comprise an acoustic window that is transparent to ultrasonic sound waves. The acoustic window can also be made such that it does not let particles (typically small particles) that may harm the components of the system, such as the sensor 13 or digital sound reconstruction speaker apparatus 12, enter the package.
According to some embodiments, the system 10 can comprise an amplifier (not represented) which is connected to the sensor 13. The ultrasonic sound waves sensed by the sensor 13 can be sent to the amplifier which allows the amplification of the signal for further processing by a controlling unit, for detection of at least the position of at least part of an object in space.
According to some embodiments, the system 10 comprises a display unit (not represented, such as a screen) so as to display results and/or indications on the calculated data and/or to allow a user to enter data through an adapted interface which is displayed on the display unit.
For example, the system 10 can display the location or other parameters of the object that were calculated (e.g. size, form, etc.).
As shown, the digital sound reconstruction speaker apparatus 23 comprises an array of pressure-pulse producing elements 21. Each pressure-pulse producing element 21 comprises at least a moving element 22, which can be constrained to move along at least an axis in response to a force such as an electrostatic force and/or piezoelectric force.
A controlling unit 20, which is operable on a processing unit, computes the signals which are to be applied to the array of moving elements in order to control their motion and thus produce a sound wave. The controlling unit 20 can be the same as the controlling unit 11 or can be a different controlling unit.
In a particular embodiment, the digital sound reconstruction speaker apparatus comprises 1024 pressure-pulse producing elements which can be located on a matrix of 32 pressure-pulse producing elements by 32 pressure-pulse producing elements each have a total travel in the order of 6 microns.
As shown in
According to some embodiments, the controlling unit 20 is configured to apply voltages (through e.g. switching mechanisms) between the moving element 31 and the electrodes 32, 36. The application of a different voltage between the moving element 31 and the electrodes 32, 36 induces an electrostatic force, which provokes the translation of the moving element along an axis.
According to some embodiments, the moving element 31 can be latched in at least one of its extreme positions on the axis along which it is moving, which is either a position adjacent to the bottom electrode or a position adjacent to the upper electrode.
According to some embodiments, and as described in the non limiting embodiment of
In this embodiment, the pressure-pulse producing elements 410 (comprising moving elements 420 and electrodes 430, 440) are partitioned into different subsets.
The upper electrodes 430 belonging to the pressure-pulse producing elements 410 of the same column are connected to the controlling unit 450 with the same wire 411.
The lower electrodes 440 belonging to the pressure-pulse producing elements 410 of the same column are connected to the controlling unit 450 with the same wire 412.
The moving elements 420 belonging to the pressure-pulse producing elements 410 of the same line are connected to the controlling unit 450 with the same wire 402.
Further embodiments and variations of such a digital sound reconstruction speaker apparatus are described in patent application WO 2012/070042 of the Applicant, which is hereby incorporated by reference in its entirety.
Referring now to
As illustrated, the method can comprise a step 50 of controlling the actuation of a plurality of pressure-pulse producing elements of at least a digital sound reconstruction speaker apparatus, so as to produce at least an ultrasonic beam directed towards space.
According to some embodiments, the ultrasonic beam is controlled so as to obtain a desired directivity. The “directivity” or “directivity pattern” includes the pattern of the spatial distribution of the acoustic energy generated by the digital sound reconstruction speaker apparatus. According to some embodiments, the shape of the ultrasonic beam is controlled. Embodiments for controlling the directivity and shape of the ultrasonic beam in space will be described later in the specification.
The control performed at step 50 can comprise determining which moving elements of the array of the digital sound reconstruction speaker to move during a control cycle, in order to create a wave with desired parameters (such as frequency, amplitude, shape, direction, etc.), and sending the corresponding signal to the pressure-pulse producing elements by the controlling unit.
As mentioned, in step 50, this control is performed so as to obtain ultrasonic sound waves.
The control performed at step 50 can be performed by the controlling unit of the sound and detection system 10 (such as controlling unit 11 of
The ultrasonic sound waves, produced at step 50, are sent and directed towards at least a direction of the space facing the digital sound reconstruction speaker apparatus.
If at least part of an object is present on the path of the ultrasonic beam, said part can reflect (at least part) of the ultrasonic beam.
The method can comprise a step 51 of sensing the ultrasonic sound waves reflected by the part of the object.
The method can comprise a step 52 of detecting/calculating at least the position at which the ultrasonic beam was reflected. This position corresponds to the position of the part of the object which reflected the ultrasonic beam.
The method can comprise calculating various parameters of at least part of the object, such as (but not limited to) the position, velocity, acceleration, direction, or physical parameters of at least part of the object such as (but not limited to) its size, its dimensions, its form, etc. The method can also comprise determining sound reflecting properties of at least part of the object.
The method can also comprise locating and/or tracking the object. The method can also comprise performing range finding of at least part of the object. Other parameters can be calculated depending on the needs.
The sensing 51 of the reflected ultrasonic sound waves can be performed by the at least sensor 13 of
The method can further comprise a step (not represented) of outputting the data that were calculated, such as the position of the object or its form. These data can be e.g. displayed on a screen.
According to some embodiments, the controlling unit can use the timing, and/or the amplitude, and/or the phase of the sensed reflected signal together with known parameters of the ultrasonic beam which was emitted by the digital sound speaker, in order to detect at least the position of at least part of an object and calculate various data on the object. In particular, the controlling unit can calculate at what position (and possibly at what time) the reflection of the ultrasound beam was made on the part of the object.
The known parameters of the emitted ultrasonic beam can include: time of emission of the ultrasonic beam, direction, shape, spectral content, amplitude, coding (as explained later in the specification), etc. These known parameters can be calculated or determined by the controlling unit of the digital sound reconstruction speaker apparatus, since said controlling unit controls the emission of the ultrasonic beam. The known parameters can also include the location of previous reflections (which were calculated in previous steps).
The data that can be calculated by the controlling unit based on the reflected ultrasonic waves can include e.g. at least one of the position of the object (and thus its relative distance), the dimensions of the object (such as its size, or the form of the object), data representing the motion of the object (such as the evolution of the position, the velocity or the acceleration), sound reflecting properties of the object and properties that affect the reflectance of ultrasound such as roughness, porosity, hardness.
The data representing the motion of the object can be computed for example if ultrasonic sound waves are repeatedly sent towards the object.
According to some embodiments, in order to calculate these data, the controlling unit can correlate the reflected ultrasonic waves with the emitted ultrasonic beam.
According to some embodiments, the controlling unit uses a known per se algorithm. According to some embodiments, the controlling unit calculates the difference between the time of sensing of the reflected ultrasonic waves and the time at which the ultrasonic beam was emitted. By multiplying this difference with the speed of sound in air, the controlling unit can calculate the position at which the reflection took place (in addition the controlling unit knows the direction of the ultrasonic beam which was emitted by the sound and detection system).
Since the position of the reflecting surface is known during time, the velocity and acceleration can be calculated.
The position of the reflecting surface can also provide information on the form and dimensions of the object.
The sound reflecting properties of the object can be calculated according to some embodiments by comparing the amplitude of the sensed ultrasonic beam with the amplitude of the emitted ultrasonic beam. Objects which have low sound reflecting properties will induce the production of reflected ultrasonic waves with reduced amplitude with respect to the amplitude of the ultrasonic beam before the reflection.
According to some embodiments, three dimensional information can be obtained on an object with a single digital sound reconstruction speaker apparatus and a single sensor. Indeed, parts of the object which are not facing the ultrasonic beam can be reached by the reflection of the ultrasonic beam on at least a reflector surrounding the object, for example on walls present around the object.
If a plurality of ultrasonic sensors and/or digital sound reconstruction speaker apparatus is used, the resolution can be increased. In addition, the three dimensional data content is increased. If several digital sound reconstruction speaker apparatus are used (and if needed, several sensors are configured to detect ultrasonic sound waves), ultrasonic sound waves can be sent towards the object from various points and/or various directions.
According to some embodiments, coding of the emitted ultrasonic beam can improve the determination of the location of the reflecting surface of the object.
Indeed, this coding can make it easier to discriminate between the primary reflection on the object and secondary reflections.
Indeed, secondary reflections from previous timing can reach the sensor at the same timing as the primary reflections, which makes it more difficult to discriminate between the reflections.
As a consequence, the controlling unit can more easily detect the object and calculate its position or other parameters of the object.
Coding of the emitted ultrasonic beam can be realized by using frequency chirp, pulse coding or any other method known in the art.
The method of
Step 71 is similar to step 50 and comprises controlling the actuation of a plurality of pressure-pulse producing elements of at least a digital sound reconstruction speaker apparatus, so as to produce at least an ultrasonic beam towards the space, wherein said ultrasonic beam has a predefined directivity.
According to some embodiments, the shape of the ultrasonic beam is also controlled (that is to say the angle which defines the opening of the beam). An example of a shape is a cone, wherein the angle of the cone can be predefined.
For example, when an object is detected, the controlling unit can reduce said angle to focus the ultrasonic beam on a part of the object.
The predefined directivity (respectively predefined shape) can be achieved by selecting parameters of the control (step 80), such as selecting the moving elements to move at each time clock.
The use of an ultrasonic beam with a predefined directivity and/or shape allows concentrating the energy of the wave towards a particular direction, and thus towards a particular part of the object.
According to some embodiments, the controlling unit controls the directivity and/or the shape of the ultrasonic beam so that the directivity and/or the shape are made to vary during time.
The directivity of the ultrasonic beam can be chosen for instance on a priori knowledge or at least rough knowledge of the position and/or form of the object to be detected. The directivity of the ultrasonic beam can also be chosen based on data input by a user, or by data provided by external sensors (such as additional position sensors which provide indications on the position of the object to detect).
The directivity of the ultrasonic beam can also be controlled based on previous data collected from previous cycles of the method. For example, if the controlling unit has determined that the object has a given position or a given form in the previous control cycles, it can predict to what direction the ultrasonic beam should be sent in the next control cycle(s) so as to follow the external surface of the object to be detected. The controlling unit can use predefined forms or pre-known forms of the object to predict the direction of the ultrasonic beam that is to be used in the next control cycle(s).
The directivity of the ultrasonic beam can also be preset. For example, the directivity of the ultrasonic beam can be chosen so as to follow a particular path in space. For example, it can be controlled to cover a cube, wherein the ultrasonic beam scans parallel lines inside the cube. Other paths can be used.
According to some embodiments, the controlling unit controls the directivity of the ultrasonic beam so as to scan the space, until an object is detected.
According to some embodiments, the controlling unit controls the directivity of the ultrasonic beam so as to scan the space, until an object with predefined parameters is detected (such as, but not limited to, an object with a predefined location/position/form . . . ).
The method can then comprise the step 72 of sensing the reflected ultrasonic waves (similar to step 51) and the step 73 of detecting at least the position of at least part of the object (similar to step 52).
As illustrated in
An application of this control is to scan the space and detect an object or objects in it. According to some embodiments, the controlling unit can detect that the ultrasonic sound waves are no longer reflected by the object when a variation of the position of the calculated reflecting surface is above a threshold, which can indicate that another object now reflects the ultrasonic sound waves.
The scan of the object can allow the controlling unit to calculate the evolution of the position of the external surface of the object in space. Indeed, at each control cycle, the controlling unit can calculate a position of the reflecting surface. The junction of these positions represents the form of the external surface of the object. As a consequence, it is possible to reconstruct the form of the external surface of the object.
The calculation of the position of the reflecting surface of the object during time can also be used to compute values representing the motion of the object such as the evolution of its position in time and/or its velocity and/or its acceleration.
According to some embodiments the controlling unit controls the directivity of the ultrasonic beam shaped initially as a knife edge so as to scan the space in one direction. When the presence of an object is detected, the controlling unit can add a single knife edge scan in an orthogonal direction and later used a focused beam to scan the area of interest.
As mentioned with respect to
Thus, according to some embodiments, the system 10 can be used during some tine intervals to produce audible content, and at other time intervals to calculate at least the position of at least part of an object present in space.
According to this embodiment, during a first time period (from time t=0 to time t=t1 in the non limiting embodiment of
When the controlling unit (such as the controlling unit 11 and/or 20) decides that a detection of at least the position of at least part of an object has to be performed, it controls the digital sound reconstruction speaker apparatus to produce ultrasonic sound wavesbeam directed towards space, for example in compliance with the methods of
The decision to switch to object detection can be taken based on various factors, such as (but not limited to) user input, data sensed by other sensors, predefined time schedule of the control performed by the controlling unit, etc.
Once the ultrasonic sound waves needed for performing the detection of at least the position of the object have been sent, the controlling unit can switch back (if necessary immediately, or after an additional time delay) to the production of sound waves comprising audible content (after time t2 until time t3).
In the embodiment of
In this embodiment, a controlling unit controls the actuation of the plurality of pressure-producing elements so as to produce:
It is to be noted that the second subset of time intervals does not necessarily comprise the time required for detecting and post-processing the sensed signals, such as the detection of the object or the calculation of physical or inertial parameters of the object. This post-processing can be performed at any time interval.
In this embodiment, the controlling unit alternates several times between the production of sound waves comprising audible content and the production of ultrasonic sound waves.
According to some embodiments, the controlling unit selects the first subset of time intervals and/or the second subset of time intervals (in particular their duration, and/or their frequency can be selected) so as to produce audible content (with a quality which depends on the afore-mentioned selection) and to detect at least the position of the object.
According to some embodiments, the controlling unit is configured to control the actuation of the plurality of moving elements so as to alternate between the production of at least an ultrasonic beam during a first subset of time intervals and the production of audible content during a second subset of time intervals, wherein the breaks in the audible content produced by the digital sound reconstruction speaker apparatus during the second subset of time intervals do not produce unwanted audible distortion to the audible content.
According to some embodiments, the level of unwanted audible distortion depends on the application. If the user is parking his vehicle (it will be described later in the specification that the sound and detection system can be embedded on a vehicle to detect obstacles and emit for example audio messages or warnings for assisting vehicle parking), a predefined level of audible distortion can be acceptable.
If the user is listening to music (e.g. which does not comprise silent portions), it is desired to avoid audible distortion. In this case the control can avoid producing audible distortion to the audible content. It is thus possible to hear audible content and detect an object, without interrupting the listening session for the user (e.g. the user does not “feel” that breaks are made during the production of ultrasound).
A possible embodiment for obtaining audible content with no audible distortion caused by the breaks (or with an audible distortion caused by the breaks which is less than a threshold) comprises selecting a reduced duration for the intervals of time belonging to the second subset of time intervals, but which still allows the detection of the object.
Another possible embodiment for obtaining audible content with no audible distortion caused by the breaks (or with an audible distortion caused by the breaks which is less than a threshold) comprises performing, by the controlling unit, a control which alternates between the first subset of time intervals and the second subset of time intervals in an irregular manner. As a consequence, the human ear will not be able to detect that the audible content is interrupted by the production of ultrasonic sound waves during the second subset of time intervals.
According to some embodiments, the sound and detection system comprises at least two digital sound reconstruction speaker apparatus. The controlling unit can control one of the digital sound reconstruction speaker apparatus to produce sound waves comprising audible content (according to some embodiments, the controlling unit controls at least a regular sound speaker for producing audible content), and, simultaneously, controls the other digital sound reconstruction speaker apparatus to emit an ultrasonic beam.
According to some embodiments, the controlling unit receives information on the audible content to produce, said information indicating the time intervals of the audible content which are of less “importance” (the “importance” can be assessed based on many criteria that can be chosen by the user and can depend e.g. on the content of the sound). As a consequence, the controlling unit can control the digital sound reconstruction speaker apparatus to produce ultrasonic sound waves during these time intervals of less importance.
For instance, these time intervals can correspond to “silent” portions of the audible content. Alternatively, the controlling unit can pre-process the digital signal which represents the sound to produce, in order to identify these portions.
For a sound signal of an entertainment source, these time intervals can correspond to advertisements.
These embodiments are non limitative.
A control of the moving elements in order to produce sound waves comprising audible content or ultrasonic sound waves (as required e.g. in step 50) will now be described.
As shown,
At the beginning of time clock “1”, moving element 1-1 is released and latched to an upper position, thus creating a positive pressure pulse with amplitude of “1”.
At the beginning of time clock “2”, moving elements 1-2, 1-3 and 1-4 are released and latched to an upper position, thus creating a positive pressure pulse with amplitude of “3”.
At the beginning of time clock “3”, moving elements 1-5, 2-1, 2-2, 2-3 and 3-4 are released and latched to an upper position, and moving element 1-1 is moved and latched to a lower position thus creating a positive pressure pulse with amplitude of “4” (corresponding to 5 minus 1).
At the beginning of time clock “4”, moving elements 2-4, 2-5, 3-1 and 3-3 are released and latched to an upper position, thus creating a positive pressure pulse with amplitude of “4”.
At the beginning of time clock “5”, moving elements 1-1, 3-2 and 4-4 are released and latched to an upper position, thus creating a positive pressure pulse with amplitude of “3”.
At the beginning of time clock “6”, moving element 3-5 is released and latched to an upper position, thus creating a positive pressure pulse with amplitude of “1”.
At the beginning of time clock “7”, moving element 3-2 is moved and latched to a lower position thus creating a negative pressure pulse with amplitude of “−1”.
At the beginning of time clock “8”, moving elements 1-2, 1-3, 3-4 are moved and latched to a lower position thus creating a negative pressure pulse with amplitude of “−3”.
At the beginning of time clock “9”, moving elements 1-1, 2-1, 2-2, and 3-5 are moved and latched to a lower position thus creating a negative pressure pulse with amplitude of “−4”.
At the beginning of time clock “10”, moving elements 3-1, 4-1, 4-2 and 4-3 are moved and latched to a lower position thus creating a negative pressure pulse with amplitude of “−4”.
At the beginning of time clock “11”, moving elements 1-5, 2-3 and 2-4 are moved and latched to a lower position thus creating a negative pressure pulse with amplitude of “−3”.
At the beginning of time clock “12”, moving element 1-4 is moved and latched to a lower position thus creating a negative pressure pulse with amplitude of “−1”.
Thus, as shown in this Figure, the control of the number of moving elements which are moved at each time, and the time at which these moving elements are moved, controls the height of the pulse 101 produced after each time clock.
The envelope of all pulses 101 represents the sound wave which is produced.
The frequency of the sound wave depends on the shape of the envelope of the pulses. It is thus possible to produce a desired sound wave in the audible frequency range or in the ultrasonic frequency range.
According to some embodiments, the frequency of the control clock is correlated to the natural resonance frequency of the moving element. For instance, this control has a frequency which is a multiple of the natural resonance frequency of the moving element.
It should be noted that in order to control the directivity and shape of the emitted sound as described later on, the position of each of the moving elements or groups of moving elements in the digital speaker that are actuated in each clock is determined by the required direction and shape of the sound, so the description in
Methods for controlling the directivity of sound waves will now be described. These methods can be used in order to produce the ultrasonic beam with a desired directivity (and if necessary with a desired shape).
Thus, in
Substantially parallel ultrasonic sound waves are obtained, which are tilted with respect to a vertical axis.
This can be achieved e.g. by choosing the delays of the control signals sent to the pressure-pulse producing elements, so that the sum of the delay plus the sound travel time from the different pressure-pulse producing elements to the point in space P is the same for each pressure-pulse producing element of the array.
As illustrated in
Similar controls apply to the two dimensional matrix of pressure-pulse producing elements that make the array of the digital sound reconstruction speaker, to produce a 3D focused and shaped beam (see e.g. the array of
Other possible controls of the digital sound reconstruction speaker apparatus for producing sound waves with a desired directivity pattern and shape are described in the patent applications WO 01/23104 and WO 2007/135678 which are incorporated herein by reference.
It is to be noted that the use of an ultrasonic beam with a predefined directivity pattern, rather than a sound beam mainly located in the audible frequency range, allows creating a narrower beam. Thus, the ultrasonic beam can be more focused on parts of the object and provides a more precise and detailed detection of the object.
According to some embodiments, the ultrasonic beam may be emitted in a wide band frequency (for example, in a frequency range from 60 KHz to 100 KHz). The use of a wide band frequency may enable more precise distance and position location than when using a narrow band signal (for example, in a frequency range from 98 KHz to 100 KHz). According to other embodiments, any frequency in the ultrasonic range can be used for the ultrasonic beam.
The distance between the two far pressure-pulse producing elements of the digital sound reconstruction speaker (that is to say the pressure-pulse producing elements located at each extremity of the array) also influences the narrow shape of the beam. In particular, the wider this distance, the narrower the emitted beam will be.
According to some embodiments, when the available number of moving elements is large enough, either by using multiple digital sound reconstruction speakers or using high count moving element digital sound reconstruction speaker, both tasks of creating audio content and directed (and if necessary shaped) ultrasonic sound beam can be performed at the same time. In the non limiting example of
According to some embodiments, the ultrasonic sound waves produced when creating audio sound by the digital sound reconstruction speaker may be used for detecting at least the location of the position of an object in space, at lower accuracy than when using a dedicated (if necessary shaped) ultrasonic beam scanning (as described previously with respect e.g. to
There is now described a method for detecting at least the position of objects or surfaces which are located in an environment with low visibility, and/or located behind an obstacle.
As shown, the method can comprise the step 131 of controlling the actuation of the pressure-pulse producing elements, for producing an ultrasonic beam towards space with the required direction (and according to some embodiments required shape), the step 132 of sensing the reflected ultrasonic waves and the step 133 of detecting at least the position of at least part of the object. This at least part of the object is located in an environment with low visibility (or with no visibility, since the system detects the object based on ultrasound waves), and/or located behind an obstacle.
The method can comprise a step 134 of displaying the object on a screen, and/or data of the object (such as the data that were mentioned in the previous embodiments, which include the dimensions, the distance, the form, the direction, data representing the motion, and sound reflecting properties of at least part of the object).
If necessary, the controlling unit can select parameters for choosing the directivity of the ultrasonic beam at the current and/or next control cycle(s) (step 130).
The environment with low visibility can comprise for example smoke, fog, fumes, steam, etc.
According to some embodiments, the environment is a light-absorbing environment.
If the part of the object is located behind an obstacle, the ultrasonic beam can be sent towards reflectors which are located in the environment of the object. The ultrasonic beans can be reflected by said reflectors and thus reach the object even if it is located behind an obstacle. By sensing the ultrasonic sound waves reflected back by the object and the reflectors, the system can calculate various data on the object, such as its position.
In this embodiment, the reflectors are thus used as ultrasonic mirrors. This requires knowledge on the position of the reflectors which are present in the environment. The reflectors include for example the walls.
This system can be viewed as camera which allows visualizing objects and/or data of the objects even if the visibility of the object is low (due to the environment and/or to the presence of obstacles). In addition, this camera can be used as a loud speaker. For example, firemen can wear this camera to detect objects through smoke, and can also use the camera to provide audio communication.
There is now described an audio sound system which takes advantage of the sound and detection system described previously. The description of the different parts of this system applies herein, mutadis mutandis.
As shown in
During some time intervals, the audio sound system 150 can produce sound waves comprising (mainly) audible content (through the digital sound reconstruction speaker apparatus), and during other time intervals, the audio sound system 150 can send ultrasonic sound waves for detecting at least the position of an object.
According to some embodiments, the audio sound system 150 is configured to map at least part of the area surrounding the audio sound system. This mapping can be used to control parameters of the audible sound produced by the audio sound system 150.
As shown in the non limiting embodiment of
According to some embodiments, the controlling unit changes the directivity pattern of the ultrasonic beam during different control cycles (or during different groups of control cycles), so as to scan the surrounding area.
According to some embodiments, a scan with an angle of view of 180 degrees is obtained. This value is not limitative.
The method can comprise a step 161 of controlling the actuation of the pressure-pulse producing elements, for producing an ultrasonic beam with the desired directivity. Step 161 is similar to step 71 of
As already described in the previous embodiments, the audio sound system 150 can alternate between the emission of ultrasonic sound waves and the emission of sound waves comprising audible content. Various patterns for this control were described in the previous embodiments and apply here.
The method can then comprise a step 162 of sensing the ultrasonic sound waves reflected by the elements present in the area surrounding the audio sound system. Step 162 is similar to step 72 of
The method can then comprise a step 163 of mapping the area surrounding the audio sound system. This mapping can be performed by a controlling unit of the audio sound system, or by an external controlling unit operable on a processing unit.
The audio sound system 150 can learn about the physical parameters of the elements of the area in which it is located, and can thus map the area. This mapping can comprise building a representation of the elements of the area. This representation can comprise the position and/or the form and/or the dimensions and/or the distance and/or data representing the motion of the elements and/or the sound reflecting properties of at least part of the elements present in the area surrounding the audio sound system. This representation can be stored in a memory of the audio sound system, and can be updated from time to time, or continuously. This representation can also be output to a user through a displaying unit (such as a screen).
The audio sound system 150 can be configured to control the emission of the sound waves comprising audible sound (step 164 in
In particular, it can control the directivity pattern of the audible content (see
For example, if the audio sound system 150 has detected that a strong reflector is present in a given direction (for example, when a curtain is moved from a window), it can lower the amplitude of sound waves projected towards this direction.
An optimization of the directivity of the sound waves can be achieved.
According to some embodiments, the audio sound system can adjust the directivity pattern of the sound waves after each time it updates its representation of the elements present in the surrounding area. According to some embodiments, a continuous and dynamic optimization of the directivity pattern of the sound waves is thus achieved.
According to some embodiments, the audio sound system 150 is used to map the area, and this mapping is communicated to additional sound systems (see reference 172 in
According to some embodiments, the audio sound system 150 can be configured to detect particular elements of the area. According to some embodiments, the audio sound system 150 is configured to detect at least the position of listeners in the area. The audio sound system can thus locate and map at least the position of the persons that are currently listening to the audible content emitted by the audio sound system.
According to some embodiments, the listeners can be physical devices, such as sound sensors which detect the sound emitted by the audio sound system.
The identification of the listeners can be performed as described in the non limiting embodiment of
A controlling unit (such as the controlling unit of the audio sound system) calculates the position of the reflecting surfaces (step 180), and can thus calculate the form of the elements which reflected the ultrasonic sound waves (step 181). The controlling unit can compare the calculated form to a reference representation (step 182), in order to identify the elements present in the area (step 183). For example, it can identify a human. If the comparison provides a result which complies with a matching criterion, the audio sound system can determine that a listener is present at this position.
The audio sound system can further calculate the sound reflecting properties of the elements present in the area, and compare the calculated value to an expected range of values. This can confirm that the element which was detected is for example a human.
The method can comprise a subsequent step of controlling the directivity pattern of the sound waves of the audio sound system. This control can comprise selecting the directivity pattern of the sound waves of the audio sound system so as to orient them towards the listener.
According to some embodiments, the audio sound system 150 is configured to provide active noise cancellation based on the detection of the elements present in the area and/or based on the position of the listeners and/or at other positions in space where the noise cancelation should be optimal.
According to some embodiments, the audio sound system 150 is embedded in a vehicle.
According to some embodiments, the audio sound system 150 can be used to map the interior of the vehicle, in order to control/optimize the sound waves sent by the audio sound system. This control can comprise sending different content to different directions, optimizing volume in target areas, adapting the audio to the presence of many reflectors i.e. passengers or missing reflectors such as an open window.
According to some embodiments, the audio sound system 150 can be used to locate the position of the passengers in the vehicle, in order to optimize the sound waves sent by the audio sound system.
According to some embodiments, the audio sound system 150 can be used to locate the position of the passengers in the vehicle, in order to perform an active noise cancellation specific to each passenger.
A system for vehicle parking assistance is now described. The expression “parking assistance” can comprise assistance to a human driver, or assistance for automated parking.
As shown in
As shown, the system 190 can communicate through any adapted wire and/or wireless communication channels with for example an alarm unit 191 (such as an alarm unit which can produce visual and/or audio alerts e.g. to the people present around the vehicle), and/or a display unit 192 (such as a screen present in the vehicle).
According to some embodiments, the system 190 is embedded in a vehicle. Similarly, the system 190 can comprise a plurality of digital sound reconstruction speaker apparatus and a plurality of sensors (such as sensors 13). A first digital sound reconstruction speaker apparatus is for example mounted on the rear part of the vehicle, and a second digital sound reconstruction speaker is for example mounted on a lateral part of the vehicle. This allows the detection of at least the position of objects located in different directions of the vehicle.
If the system 190 is located on the vehicle, it can detect obstacles and help the vehicle to avoid them during the parking phase.
The position of the obstacles can also be displayed on a display unit of the vehicle and indications to avoid these obstacles can be displayed.
According to some embodiments, the system 190 can detect the presence of humans (as explained with reference to
This is shown in
According to some embodiments, the system 190 can produce predefined audio messages, e.g. for alerting a human or providing audio instructions. These audio messages can be stored for example in the alarm unit 191.
Motion sensors are for example used for security purposes (this embodiment is not limitative). They can detect the presence and/or the motion of people or objects, in order to provide an alert or take any appropriate security actions.
As already explained in the various previous embodiments, the system 10 comprises at least one digital sound reconstruction speaker apparatus which sends at least an ultrasonic beam. The directivity of the ultrasonic beam can be controlled by a controlling unit of the system 10.
By detecting the reflected ultrasonic waves with a sensor (which can be part of the motion sensor 220 or external to it), the system can detect reflecting surfaces and calculate various data such as position, velocity, etc.
If the motion sensor 220 detects that the position of the object varies and that the evolution of this position in time does not comply with a security threshold, it can send an alarm signal to an alarm unit 221 for raising an alarm (such as, but not limited to, an audio alarm). For example, if the evolution of the position in time of the object is above a threshold, this can show that a moving object is present in the field of view of the motion sensor. An alarm can thus be raised.
According to some embodiments, since the motion sensor 220 comprises at least a digital sound reconstruction speaker apparatus, it can raise an audio alarm by itself.
According to some embodiments, a sound and detection system that is used for producing e.g. music at home or in an office, or parts of it, can be also used as a motion sensor based alarm.
A system configured to detect a gesture is now described. A gesture can be defined by a form/shape of part of a human body, and/or by a particular motion of a part of a human body. For example, a gesture can include a particular motion of a human's hand, such as (but not limited to) a movement from a bottom position to an upper position. It can include also a particular shape of the hand which corresponds to a particular gesture.
In particular, the system can be configured to remotely detect a gesture, via ultrasound waves (touch-less detection).
As illustrated in the embodiment of
This memory 231 can store gesture definitions, which comprise e.g. motions of parts of a body and/or characteristics of said parts of a body (such as their form, their size etc.). A non limitative embodiment of a gesture definition can be a hand which moves from left to right. In this case, the memory 231 can store a motion from left to right (which comprises e.g. the variation of the coordinates in space corresponding to this motion, the velocity, etc.) and/or physical characteristics of a hand.
These gesture definitions can comprise, for each part of the body, a plurality of trajectories, each trajectory or each subset of trajectories corresponding to a particular gesture.
According to some embodiments, the user performs a training session for defining typical gestures, which can then be stored in the memory 231. This training session can be performed with the system 230 or with another system configured to detect gestures (such as a system comprising a camera and a processing unit running a method for detecting objects in an image or in a video).
The method can comprise steps 240 to 243 which are similar e.g. to steps 70 to 73 of
At step 243, the method can comprise calculating the position of the different reflecting points of the part of the body. This allows calculating the shape of the part of the body.
In addition, since ultrasonic sound waves are repeatedly sent, the method can comprise calculating the evolution of the position of the part of the body, which represents the motion of said part, i.e. the gesture of said part.
The method can then comprise identifying the gesture of the part of the body (step 244). The identification can comprise comparing the detected motion and/or shape with a repository of predefined gestures (stored e.g. in the memory 231).
A possible use of the system 230 could be to integrate it in a device such as a television (this example not limitative). The user can listen to the audio content of the television which is produced by audio speakers, which can comprise the digital audio speaker apparatus of the system 230. If the user wants to command the television, he can make a gesture with his hand, such as a bottom-up gesture which can be defined as a command for increasing sound. The gesture is identified by the system 230. The system 230 communicates with a controlling unit of the television for increasing sound.
This example is however non limitative.
More generally, the controlling unit can compute a control signal based on the identification of the gesture in order to control an electronic device (TV, computer, fridge, etc.). Thus, a user can control remotely a device based on his gestures.
Various other applications can use the different systems and methods previously described.
The invention contemplates a computer program being readable by a processing unit for executing one or more methods of the invention. The invention further contemplates a machine-readable memory tangibly embodying a program of instructions executable by the machine for executing one or more methods of the invention.
It is to be noted that the various features described in the various embodiments may be combined according to all possible technical combinations.
It is to be understood that the invention is not limited in its application to the details set forth in the description contained herein or illustrated in the drawings. The invention is capable of other embodiments and of being practiced and carried out in various ways. Hence, it is to be understood that the phraseology and terminology employed herein are for the purpose of description and should not be regarded as limiting. As such, those skilled in the art will appreciate that the conception upon which this disclosure is based may readily be utilized as a basis for designing other structures, methods, and systems for carrying out the several purposes of the presently disclosed subject matter.
Those skilled in the art will readily appreciate that various modifications and changes can be applied to the embodiments of the invention as hereinbefore described without departing from its scope, defined in and by the appended claims.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/IL2016/050400 | 4/14/2016 | WO | 00 |
| Number | Date | Country | |
|---|---|---|---|
| 62147710 | Apr 2015 | US | |
| 62189839 | Jul 2015 | US |
