ORIENTATION ASSISTANCE SYSTEM

Abstract

An orientation assistance system comprises acquisition means for acquiring a real or virtual visual environment, non-visual human/machine interface means, and processing means for processing the digital representation of the visual environment to provide an electrical control signal for controlling a non-visual interface. The human/machine interface means comprise a bracelet having a haptic region with a surface area of between 60×60 millimeters and 150×150 millimeters, with a set of N×M active spikes, where N is between 5 and 100 and M is between 10 and 100. The processing means for processing the digital representation is configured to periodically extract at least one pulsed digital activation pattern of a subset of the spikes of the haptic region.

Claims

1. An orientation assistance system, comprising: acquisition means for acquiring a real or virtual visual environment, non-visual human/machine interface means and processing means for processing the digital representation of the visual environment to provide an electrical control signal for controlling a non-visual interface, wherein: the human/machine interface means comprise a bracelet having a single haptic region having a surface area of between 60×60 millimeters and 150×150 millimeters, with a set of N×M active spikes, where N is between 5 and 100 and M is between 10 and 100; and the processing means for processing the digital representation is configured to periodically extract at least one pulsed digital activation pattern of a subset of the spikes of the haptic region.

2. The system of claim 1, wherein the acquisition means comprise: at least one image sensor configured to be carried by the wearer of the bracelet, and processing means for generating a digital depth map.

3. The system of claim 2, said wherein the digital representation is calculated depending on a representation model selected from a series of differentiated representation models.

4. The system of claim 3, further comprising a server configured to communicate with individual items of equipment of the system to receive geolocated acquisition data of the digital environment and storage data of a geolocated digital model of the environment, and to transmit the digital model to an individual item of equipment of the individual items of equipment, depending on the position thereof.

5. The system of claim 4, wherein the processing means for processing the digital representation are configured to periodically extract a sequence of successive pulsed digital activation patterns of a subset of the spikes of the haptic region to provide progressive haptic information during a time period.

6. The system of claim 5, wherein one of the digital patterns includes a pulsed activation command for an alignment of spikes, forming, together with a reference axis of the bracelet, an angle that corresponds to a direction of movement with respect to the reference direction of the visual environment.

7. The system of claim 6, wherein one of the digital patterns includes a pulsed activation command for a configuration of spikes corresponding to a projection in the horizontal plane of main points of interest of the digital representation of the visual environment.

8. The system of claim 7, wherein the pulsed digital activation pattern model of a subset of spikes of the haptic region is determined on the basis of the membership of the visual environment to a prerecorded class of environments.

9. The system of claim 8, wherein the pulsed digital activation pattern model of a subset of spikes of the haptic region is determined on the basis of the level of experience of the user.

10. The system of claim 1, wherein the digital representation is calculated depending on a representation model selected from a series of differentiated representation models.

11. The system of claim 1, further comprising a server configured to communicate with individual items of equipment of the system to receive geolocated acquisition data of the digital environment and storage data of a geolocated digital model of the environment, and to transmit the digital model to an individual item of equipment of the individual items of equipment, depending on the position thereof.

12. The system of claim 1, wherein the processing means for processing the digital representation are configured to periodically extract a sequence of successive pulsed digital activation patterns of a subset of the spikes of the haptic region to provide progressive haptic information during a time period.

13. The system of claim 1, wherein one of the digital patterns includes a pulsed activation command for an alignment of spikes, forming, together with a reference axis of the bracelet, an angle that corresponds to a direction of movement with respect to the reference direction of the visual environment.

14. The system of claim 1, wherein one of the digital patterns includes a pulsed activation command for a configuration of spikes corresponding to a projection in the horizontal plane of main points of interest of the digital representation of the visual environment.

15. The system of claim 1, wherein the pulsed digital activation pattern model of a subset of spikes of the haptic region is determined on the basis of the membership of the visual environment to a prerecorded class of environments.

16. The system of claim 1, wherein the pulsed digital activation pattern model of a subset of spikes of the haptic region is determined on the basis of the level of experience of the user.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present disclosure will be more clearly understood upon reading the following detailed description of a non-limiting embodiment of the present disclosure, with reference to the accompanying drawings, in which:

[0022] FIG. 1 is a schematic view illustrating an environment in which embodiments of the present disclosure may be employed.

[0023] FIG. 2 shows the inner surface of a bracelet according to the present disclosure.

[0024] FIG. 3 shows the functional architecture of an embodiment of the present disclosure.

DETAILED DESCRIPTION

General Description of the Hardware Architecture

[0025] Referring to FIG. 1, the individual components of the system according to the present disclosure comprise a bracelet (1) worn on the user's forearm, or optionally in the femoral position, a frame (2), which, in the embodiment described, is in the form of a spectacle frame, provided with image sensors, for example, in the extension of each branch, in order to provide a stereoscopic image. The frame (2) is equipped with a georeferencing or geolocation sensor, and/or a module that provides an indication of the orientation of the frame with respect to magnetic north.

[0026] These various elements communicate in BLE Bluetooth mode, with the smartphone (3) of the user with which they are paired. The smartphone (3) ensures some of the computer processing by way of an application and communication with a server via radiofrequency communication of the 3G, 4G or 5G type, or Wi-Fi.

[0027] Of course, the smart phone (3) could be replaced by a computer, a tablet, and more generally a calculator.

Description of the Bracelet

[0028] FIG. 2 shows an embodiment of a bracelet for implementing the present disclosure.

[0029] It comprises a flexible shell (10) provided with straps (11, 12, 13, 14) for fixing around the forearm (or optionally around the lumbar region).

[0030] The bracelet comprises a matrix of 5×12 spikes (15) that can each be activated in a pulsed manner, between a retracted rest position and a pulsed erected position, for a fraction of a second in the case of activation of an electromagnetic actuator by way of an electrical signal.

[0031] The configuration of the haptic surface is not limited to a rectangular zone having a regular distribution of spikes (15).

Digital Processing

[0032] FIG. 3 shows the functional architecture of the apparatus. The first step (100) involves acquiring two streams of synchronized images, using two laterally offset sensors, on the user's frame (2).

[0033] This pair of sensors forms a stereoscopic camera, which camera is oriented toward the scene that the user could see.

[0034] This camera is connected via a radio frequency link to the smartphone (3) comprising a calculation unit that allows for the processing (110) of the images originating from the two sensors. This processing makes it possible to calculate the depth map from the two images, as well as the position of the camera in space. The camera can also be connected to a computer or a smartphone via a wireless (Bluetooth®, Wi-Fi, etc.) or wired connection.

[0035] One possible method of image processing is a succession of algorithms making it possible to extract the depth map of the scene and then to use this result with the associated left-hand and right-hand images in order to deduce therefrom the change in position and orientation of the camera between two consecutive recording moments (typically separated by a sixtieth of a second).

[0036] Two processes then take place.

[0037] First, a software module (120) controls the recording of images or visible features constituting points of interest, and the storing, in the memory, of the position of the frame (2) at the moment of the points being observed. The module provides a database of points of interest, which is transmitted by the user's telephone (3) to a server that stores the geolocated data in a database that is shared among all the users.

[0038] Storage of a new entry in the database thus formed is preferably triggered depending on a collection criterion that determines the amount of redundant information with the other entries of the database. Other criteria may be used, such as manual triggering of storage by the user, the calculation of a physical distance between each position of points of interest, or a period of time that has elapsed between two instances of storage.

[0039] A database E1 is thus constructed (130). It contains a set of reference positions associated with features or images. It also serves, during the use of a system in the same region, to relocate the frame (2).

[0040] In parallel, a software module (140) calculates a depth map, and the parameters of the stereoscopic system are used to generate a point cloud, by projecting each pixel of the image in order to obtain coordinates of points in space. The points in space then undergo a change of reference frame by using the information relating to the position of the headset in space, the information originating from the odometry module C1, in order to place all the points sensed during the initialization phase in a common fixed reference frame.

[0041] These sets of points are merged in order to create a dense model (cartography) of the operating region, while reducing the amount of redundant information.

[0042] This process can be carried out, for example, by passing through all the points and merging the points identified as being close to one another, depending on a distance, or indeed using a truncated signal distance function (TSDF) volume.

[0043] A subsequent step (150) involves generating a network in the set of points, in three dimensions. The network is made up of connected triangles, modeling the surfaces of the operating regions.

[0044] This set of points (voxels) subsequently undergoes processing in order to calculate the activation patterns for the spikes (15) of the bracelet (1).

[0045] In order to achieve this, the system comprises a library of different processing options.

[0046] A first method of processing (200) involves determining a movement direction or a simplified trajectory, in the form of consecutive segments calculated on the basis of the voxels corresponding to obstacles, and the orientation of which is recalculated, with respect to the direction of the frame (2). The result is an activation pattern of the spikes that is recalculated periodically, for example, once per second, in order to haptically transmit the direction or the trajectory to follow.

[0047] A second method of processing (210) involves calculating a projection on a horizontal plane of the voxels in order to determine a low-resolution digital map (resolution according to the number of spikes), and in applying, to the bracelet, pulsed patterns corresponding to the map, oriented depending on the direction of the frame (2).

[0048] A third method of processing (220) involves calculating consecutive transverse planes, and in transmitting sequences of patterns corresponding to low-resolution transverse planes, at a temporal succession that is representative of the spacing along the longitudinal axis, perpendicular to the transverse planes. Thus, bursts of patterns, spaced apart by rest periods, are applied to the spikes, allowing the user to identify the formation of their environment by the succession of tactile sensations.

[0049] A fourth method of processing (230) involves calculating a low-definition black and white image of the stereoscopic image, and in calculating a pattern on the basis of the low-definition image, to control the periodic activation of the spikes (15).

[0050] The selection of one of the methods of processing (200 to 230) may be performed by the user, by manual or voice control. It can also be performed automatically, depending on the type of environment (obstacle density, environment already known vs. new environment, etc.), or depending on the user's level of learning, some methods of processing requiring greater sensitivity and experience than others.

[0051] According to a variant, the bracelet computer will be connected by cable, Bluetooth, or Wi-Fi. The connection of the computer to the servers will be performed by Wi-Fi, or 3G, 4G or 5G.