RO129857A0 - Method and device for acoustic and tactile perception of space - Google Patents

Abstract

The invention relates to a method and a device for acoustic and tactile perception of 3D space, intended for motion and navigation of visually-impaired persons within the environment. According to the invention, the method enables the visually-impaired persons' orientation and navigation by converting the position space into a frequency space by associating each position point within the 3D-mapped space P(x, y, z) to a tridimensional frequency vector vwhile performing a scanning of the variable of the main frequency, where the limits of the scanning range are given by the limits of the range associated to the space of position points P(x, y, z) but with variable resolution of the scanning range similar to the human vision field, leading to the conversion of the 3D space expressed as a position into an acoustic perception field, applicable to an acoustic module, or into a tactile perception field, by applying it to a piezoceramic module or magneto-rheological module. The device, as claimed by the invention, consists of a set of 3D laser scanning or 3D ultrasound scanning modules or a image processing module providing signals for a virtual environment map module () to convert into a virtual map the environment with a stable image, an acoustic or tactile map generation module () which converts the 3D space into an acoustic and/or tactile perception field and an acoustic actuator module () which receives a signal of the acoustic perception field and converts the same into an acoustic signal.

Description

Method and device for acoustic and tactile perception of space

The invention relates to a method and device for acoustic and tactile perception of 3D space intended for moving and navigating in the environment of blind people, visually impaired persons and in general users of the device.

The design and realization of methods and devices that allow the perception of 3D space intended for the displacement and navigation in the environment of the blind, the visually impaired and the users of the device in general concern so many renowned research units in the world, with projects launched worldwide, such as the "Project Tango" project or financed by the EU through FP7 research programs known as I Cane, but also the big companies in order to implement and develop new products on the market. The importance of the proposed technical solution is due to the over 3 million blind people in Europe, this method allowing a first step for the blind to perceive the environment in which they live.

The disadvantages of the known solutions consist in the fact that the use of a stick with sensors to detect objects from the environment (the FP7 EU project and the "I Cane" products) provides partial information of the environment in which the user of the device moves. Very well known in this regard is the European project for scientific development and research "IMAGO" which aims to create an "embeded" device, inserted into the cane of blind persons, which will allow them to navigate in space, but restricted to detecting obstacles, with ease. similar offered by the use of the cane.

At the European level, there are over 3,000,000 blind or partially blind and at national level, their number registered at the Romanian Watchers Association is about 80,000. In order to improve the life of this social category, a series of scientific researches have been carried out through the appearance on the market of products that use voice communication and respond directly to information needs - speaker clock, speaker scale, etc. Problems arise in the equipment that tries to describe to a blind person the surrounding world, due to the limited possibilities of information. In this case, the information channels available are the auditory and tactile ones received directly, without processing the information for generating a space map. If within the visual area the perception area is very large, with the possibility of focusing and ignoring certain areas of the visual field - the thing that allows the display of certain information in the peripheral areas of the vision - within the auditory sense the direct perception area without processing the information presents a selectivity small. In these conditions, the treatment of events is made with the same priority, even if they are secondary or priority sounds, important in navigating a blind spot, which limits the possibility of using sound communication only for point-to-point or on-demand signaling equipment (GPS speaker, alarms, etc.).

Other technical solutions for the perception of a 3D map by using two cameras mounted on a mobile phone (Tango Project), is in an incipient phase in generating a high resolution of the navigation environment and looking for solutions for transforming the space. 3D positions in a perceptible acoustic or tactile 3D space of the blind.

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The problem solved by the invention is the acoustic and tactile perception of the 3D space intended for moving and navigating in the environment of the blind, the visually impaired and in general the users of the device.

The method according to the invention removes the above disadvantages by ensuring that the orientation and navigation in space of the blind, the elderly with visual problems and the users is generated by a 3D laser scanner module or an ultrasound scanner module or an image processing module, of a 3D virtual environment in the form of a stable graphical virtual interface in relation to the movement of the module, followed by the acoustic and tactile generation of the 3D environment space through an Fvl transformation function from the 3D space expressed in position, to the space 3D expressed in the common domain, which associates each position point in space P (x, y, z), mapped 3D, a three-dimensional vector v _L (fi>, f _m , fx) associated with 3D position mapping, with values fi ,, f _m , f _A , wherein the transform functions Fvl are of the form FvLb = v (fbx, fby, fbz) or F _V Lm ⁼ v (f _mx , f _my , fmz) or F _V at = ν ( ί _Δχ , f _Ay , fv) or combinations of va of the functions v, by performing a sweep of the basic frequency variable fb, or the modulation frequency variable of the noted basic frequency f _m , or of the phase difference between the basic frequency fr and the modulation frequency f _m noted f \, with the limits the range of the sweep given by the limits of the range associated with the position of the position points P (x, y, z), but with the variable resolution of the sweep range similar to the human visual field, the transformation of the 3D space expressed in position into an acoustic perception field is thus obtained , by applying the resulting signal to an acoustic module (e.g. speaker, headset, etc.), or in a tactile field of perception by applying it to a piezoceramic module or magnetoreological module. The notations are defined:

P (x, y, z) - point in the space of the position in the environment, where: x, y, z - the Cartesian coordinates, v _L (fb, fm, G) a vector associated with the point P (x, y, z) through which is associated with the coordinate x frequency f _b , the coordinate y frequency f _m , the coordinate z frequency;

fb - the basic frequency that represents a frequency associated with a point in space, against which the modulated frequencies f _m or the offset frequencies f \ will be defined, defined by a bi-univocal linear relationship between the position space range and the base frequency range, with variable resolution of the sweep range similar to the human visual field;

f _m - the modulation frequency which represents a frequency associated with a point in space, by which the basic frequency f _b is modulated, with association relation defined by a bi-univocal linear relationship between the position space range and the modulation frequency range, with resolution variable sweep range similar to human visual field;

f \ - the offset frequency which represents a phase difference between the base frequency fi, and the modulated frequency f _m associated with a point in space, with an association relation defined by a bi-univocal linear relationship between the range of the position space and the range of the phase shift, with variable resolution of the range of sweeping resembling the human field of vision;

v - represents the transformation function from the space of the positions defined by the set of points P (x, y, z) in the space of the frequencies defined by the set of points Fvl, having as variables fb _X , fby, fbz corresponding to the basic frequencies related to the Cartesian coordinates x, y , z, respectively fmx, fmy, fmz corresponding to the basic frequencies related to the Cartesian coordinates x, y, z, '2014- 0 0 3 2 3 - ² 5 -04- 2014

f _Ax , f & y, respectively phase corresponding to the basic frequencies related to the Cartesian coordinates x, y, z.

Fvl - represents points in the frequency space obtained by transforming the points P (x, y, z) from the position space through a transformation function v, in which we have noted:

Fvl with FvLb, if we have associated the point x in the position space with a frequency f _bx , associated with a point in the space defined by a bi-univocal linear relationship between the range of the position space and the range of the base frequencies, with variable resolution of the sweep range similar to the visual field human, respectively if we have associated with the point y in the position space a frequency f _by , associated with a point in the space defined by a bi-univocal linear relationship between the range of the position space and the range of the basic frequencies, with variable resolution of the range of the sweep resembling the human visual field , respectively if we have associated with the point z in the position space a frequency f _bz , associated with a point in the space defined by a bi-univocal linear relationship between the range of the position space and the range of the base frequencies, with variable resolution of the sweep range similar to the field of view,

Fvl with FvLm, if we have associated with the point x in the position space a frequency f _mx , associated with a point in the space defined by a bi-univocal linear relation between the range of the position space and the range of the modulated frequencies, with variable resolution of the sweep range similar to the human field of view respectively if we associate point y in the space positions of a frequency f _my, associated with a point in space defined by the linear bi-univocal between wide area position and frequency range modulated with a resolution variable range Scanning similar visual field of human or if we have associated with the point z in the position space a frequency f _mz , associated with a point in the space defined by a bi-univocal linear relationship between the range of the position space and the range of the modulated frequencies, with variable resolution of the sweep range similar to the human visual field,

Fvl with F _V at, if we have associated with the point x in the position space a frequency f \ _x , associated with a point in the space defined by a bi-univocal linear relationship between the range of the position space and the range of the phase frequencies, with variable resolution of the similar sweep range. of the human visual field, respectively if we have associated the point y in the position space with a frequency f _ây , associated with a point in the space defined by a bi-univocal linear relationship between the range of the position space and the range of the offset frequencies, with variable resolution of the sweep range similar to the visual field human, respectively if we have associated with the point z in the position space a frequency fv, associated with a point in the space defined by a bi-univocal linear relationship between the range of the position space and the range of the offset frequencies, with variable resolution of the range of scanning similar to the human visual field.

V _L (fb, fm, Îa) is a three-dimensional vector associated with 3D position mapping, with values f _b , f _m , fâ

The sequences of the acoustic and tactile perception method of the space are realized in the sequence presented below, respectively: (i) capturing and processing the image of the space through a 3D laser scanning module or a 3D ultrasonic scanning module or by using an image preprocessing module and the transformation in a virtual environment map; (ii) by processing signals from 3G gravity transducers and / or compass transducers, the unstable image obtained from the 3D laser scanning module or the 3D ultrasonic scanning module or by using an image processing module is transformed into a '2 Ο 1 A - Ο Ο 3 2 3 -2 5 -04- 2014

virtual map of the environment with a stable image of the environment, in which directions the respective image capture modules move, (iii) transforming by a Fvl transform function the 3D space expressed in position, to the 3D space expressed in the common domain, by associating each position point in space P (x, y, z), mapped 3D, a three-dimensional vector v _L (fb, f _m , fi) associated with 3D position mapping, with values fi, f _m , fi, wherein the transform functions F _V l are of the form Fvtb ⁼ v (fi _x , fi _y , fi _z ) or FvLm = v (f _mx , f _my , f _mz ) or F _V la = v (fi _x , f _Ay , f _Ă7 ) or combinations of the variables of the functions v. (iv) the sweep of the variable of the basic frequency fi, or the variable of the modulation frequency of the noted basic frequency f _m , or of the phase shift between the basic frequency fi and the modulation frequency f _m noted Ϊδ with the limits of the sweep range given by the limits of the range associated with the punctual space r of position P (x, y, z), but with variable resolution of the sweep range similar to the human visual field, (v) transforming in this way the 3D space expressed in position into an acoustic perception field, by applying the resulting signal to a acoustic actuator; (vi) or transforming in this way the 3D space expressed in position into a tactile field of perception by applying it to a piezo-ceramic actuator; (vii) or transforming in this way the 3D space expressed in position into a tactile field of perception by applying it to a magnetorheological actuator.

The device according to the invention removes the disadvantages mentioned by the fact that it is made up of a scalar and filtering module that receives from the 3D environment a signal of the positions in space P (x, y, z) that it scales and filters out noise and parasitic signals in the field. operating a 3D laser scanning module or a 3D ultrasonic scanning module or image processing module and filtering out noise signals, a 3D laser scanning module or a 3D ultrasound scanning module or image processing module, that receive the scaled and filtered signals and generate the mapped virtual map of the 3D environment stable if the acoustic and tactile reception device is fixed, but unstable in relation to the user's hand movement on the acoustic and tactile reception device, a virtual ultrasonic scanned environment map module receives the signal from a 3D ultrasonic scan module with unstable image relative to m shaking the user's hand of the acoustic and tactile reception device, which it processes together with the signals received from a 3D gravitational transducer and / or from a magnetic compass, transforming it into a virtual map of the environment with stable image no matter in which directions move the acoustic and tactile reception device and transmit them to an acoustic or tactile map generation module, or a virtual map of the laser scanned environment that receives the signal from a 3D laser scanning module (SL3D) with unstable image in relation to movement the user's hand of the acoustic and tactile reception device, which it processes together with the signals received from a 3D gravitational transducer and / or from a magnetic compass, transforming it into a virtual map of the environment with stable image no matter in which directions it moves. the acoustic and tactile reception device and transmits them to an acoustic or tactile map generation module ila, or a virtual environment map module by image processing that receives the signal from a 3D image processing module with unstable image in relation to the movement of the hand

-2014-00323-2 5 -04- 2014

the user of the acoustic and tactile reception device, which processes it together with the signals received from a 3D gravitational transducer and / or from a magnetic compass, transforming it into a virtual map of the environment with stable image no matter in which directions it moves. the acoustic and tactile reception device and transmits them to an acoustic or tactile map generation module, an acoustic or tactile map generation module that receives from a ultrasonic scanned environment virtual map module or a laser scanned environment virtual map module or a module virtual map of the environment through image processing, signals with the virtual map of the environment stable in relation to the movements of the acoustic and tactile reception device, from a frequency module with variable resolution frequency signal of frequency in a given range with variable resolution of the sweep range similar to the human visual field and from a module limit the range of the signals signals which generates the upper limit and the lower limit of the sweep range and performs the transformation according to the method of the invention, through a transform function F _V to the 3D space expressed in position, to the 3D space expressed in the common domain, by which it is associated with each position point from space P (x, y, z), mapped 3D, a three-dimensional vector vl (fb, f _m , f \) associated with 3D position mapping, with frequency sweeps in a given range, with variable resolution of the sweep range similar to the human visual field and with upper limitation and lower limitation of the range of sweep, in an acoustic perception field and / or in a tactile perception field, an acoustic actuator module that receives a signal of the acoustic perception field from the module for generating the acoustic or tactile map that it transforms into an acoustic signal by using an acoustic actuator, such as a speaker or a hearing aid, and which will act on the sense of perception human-eardrum acoustics, or a tactile actuator module that receives a signal from the tactile perception field from the acoustic or tactile map generation module that transforms it into a tactile signal by using a piezoceramic actuator, such as a set of piezoceramic tablets, and which will act on the sense of human tactile perception such as the fingers or other bets of the body in contact with the piezoelectric actuator, or by using a magnetorheological actuator, such as a semi-active shock absorber with magnetorheological fluids, and which will act on the sense of human tactile perception such as the fingers in contact with the magnetorheological actuator.

The invention presents the advantages of determining the acoustic and tactile perception of the 3D space intended for moving and navigating in the environment of the blind, the visually impaired and in general the users of the device with complete information of the environment in which it is moving.

Following is an example of embodiment of the invention in connection with FIG. 1 which shows a schematic diagram of the device. The acoustic and tactile perception device of the space is made up of the modules presented below.

Scaling and filtering mode (MSF) that receives from the 3D environment a signal of the positions in space P (x, y, z), which it scales and filters out noise and parasitic signals in the operating range of a 3D laser scanning module ( SL3D) or a 3D ultrasound scanning module (SU3D) or an image processing module (PI3D) and filters out noise signals.

'20 Η- 0 0 3 2 3 - ² 5 -W- 20M

3D laser scanning module (SL3D) or 3D ultrasound scanning module (SU3D) or image processing module (PI3D), which receives scaled and filtered signals (SSF) and generates the mapped virtual map of the stable 3D environment if the receiving device acoustic and tactile (DPAT) is fixed, but unstable in relation to the MUT user's hand movement on the acoustic and tactile reception device (DPAT).

The ultrasonic scanned environment (HVU) virtual map module that receives the signal from a 3D ultrasonic scanning module (SU3D) with unstable image in relation to the MUT user's hand motion of the acoustic and tactile reception device (DPAT), which it processes together with the signals received from a 3D gravitational transducer (TGR) and / or from a magnetic compass (TBM), with the transformation into a virtual map of the stable image environment no matter in which directions the acoustic and tactile reception device moves ( DPAT) and sends them to an acoustic or tactile map (GAT) generation module.

The virtual map mode of the laser scanned environment (HVL) that receives the signal from a 3D laser scanning module (SL3D) with unstable image in relation to the MUT user's hand movement of the acoustic and tactile reception device (DPAT), which it processes together with the signals received from a 3D gravitational transducer (TGR) and / or from a magnetic compass (TBM), with the transformation into a virtual map of the stable image environment no matter in which directions the acoustic and tactile reception device moves ( DPAT) and sends them to an acoustic or tactile map (GAT) generation module.

The virtual map environment of the image processing (HVI) module that receives the signal from a 3D image processing module (PI3D) with unstable image in relation to the MUT user's hand movement of the acoustic and tactile reception device, which it processes together with the signals received from a 3D gravity transducer (TGR) and / or a magnetic compass (TBM), with the transformation into a virtual map of the stable image environment regardless of which directions the acoustic and tactile reception device (DPAT) move and sends them to an acoustic or tactile map (GAT) generation module.

The best-known example in achieving stable image in the conditions of the MUT user's hand movement, which leads to the movement of the acoustic and tactile reception device (DPAT), is the android phone, smart phone and the equipment developed with accelerometric 3D gravity transducers and magnetic compass transducers, within the project "Project Tango". This method combines the information received at the translators with the image processing techniques by using two cameras to generate the mapped map of the navigation space of the mobile phone user. The fixed reference in space is obtained by processing the signal from the magnetic compass and compensating for the movement of the acoustic and tactile reception device (DPAT) is obtained by double integrating the acceleration received from the gravitational 3D accelerometric transducers.

The acoustic or tactile map generation (GAT) module that receives from a virtual ultrasonic scanned environment (HVU) module or a virtual laser scanned environment (HVL) module or a virtual image processing module (HVI) ), signals with the stable virtual map of the environment in relation to the movements of the acoustic and tactile reception device (DPAT), also from a variable frequency module with variable resolution (MBF), the frequency sweep signal (SBF) in a given range with variable resolution of the range of “201 4-003 23 -2 5 θ * - 2014 sweep similar to the human visual field and from a module limit the range of empty signals (LGB) that generate the upper limit (SGBs) and the lower limit (SGBsj) of the sweep range and performs the transformation according to the method of the invention, through a function of Fvl transformation of the 3D space expressed in position, to the 3D space expressed in the common domain, by which it is associated with each position point in s step P (x, y, z), 3D mapped, a three-dimensional vector vl (fb, f _m , D associated with 3D position mapping, with frequency sweeps in a given range with variable resolution of the sweep range similar to the human visual field and with upper limitation and lower limitation of the sweep range, in an acoustic perception field and / or in a tactile perception field,

Acoustic Actuator Module (MAA) that receives an acoustic perception field (SPA) signal from the acoustic or tactile map generation (GAT) module that it transforms into an acoustic signal (SAA) by using an acoustic actuator, such as a speaker or a headset, and that will act on the sense of human acoustic perception US-eardrum.

The tactile actuator module (MAT) that receives a signal from the tactile perception field (SPT) from the acoustic or tactile map generation module (GAT) that it transforms into a tactile signal (SPT) by using a piezoceramic actuator, such as a set of piezoceramic pills, and which will act on the human SUT tactile sense of perception such as the fingers or other parts of the body in contact with the piezoelectric actuator, or by using a magnetorheological actuator, such as a semi-active magnetorheological fluid buffer, and which will generate a tactile actuation signal (SAT) on the human SUT tactile sense of perception such as the fingers in contact with the magnetorheological actuator.

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Claims (10)

1. Method of acoustic and tactile perception of the space in which the orientation and navigation in space of the blind, the visually impaired persons and the users are ensured, by generating by a 3D laser scanner module or a module ultrasound scanner or image processing module, of a 3D virtual environment in the form of a stable graphical virtual interface in relation to the movement of the module, followed by the acoustic and tactile generation of the 3D environment space through an Fvl transformation function from the 3D space expressed in position, at the 3D space expressed in the common domain, by which each position point in the space P (x, y, z), 3D mapped, a three-dimensional vector vl (f _b , f _m , f \) associated with the position mapping is associated 3D, with values f _b , f _m , fx, in which the transformation functions Fvl are of the form FvLb ⁼ v (f _bx , f _by , f _bz ) or FvLm = v (f _mx , f _my , fmz) or F _V la = v (f _Ax , f _Ay , f _Az ) sa u combinations of the function variables v, with a sweep of the basic frequency variable f _b , or of the modulation frequency variable of the noted basic frequency f _m , or of the phase shift variable between the basic frequency f _b and the modulation frequency f _m noted f _A , with the limits of the sweep range given by the limits of the range associated with the position of the position points P (x, y, z), but with the variable resolution of the sweep range similar to the human visual field, is obtained thus transforming the 3D space expressed in position into an acoustic perception field, by applying the resulting signal to an acoustic module (e.g. loudspeaker, headset, etc.), or in a tactile field of perception by applying to a piezoceramic module or magnetorheological module, having the following stages: (i) capturing and processing the image of the space through a 3D laser scanning module or a 3D ultrasonic scanning module or by using an image pre-processing module and transforming it into a virtual environment map; (ii) by processing signals from 3G gravity transducers and / or compass-type transducers, the unstable image obtained from the 3D laser scan module or the 3D ultrasound scan module or by using an image processing module is transformed into a virtual map of the environment with stable image of the environment no matter in which directions the respective image capture modules mentioned above move. (iii) transforming by a Fvl transform function the 3D space expressed in position, to the 3D space expressed in the common domain, by which it is associated with each position point in space P (x, y, z), mapped 3D, a vector three-dimensional vl (f _b , f _m , f _A ) associated with 3D position mapping, with values f _b , f _m , f _A , in which the transformation functions Fvl are of the form F _V Lb = V (f _bx , fby, fbz ) Or FvLm ^- v (f _mx , fmy, fm _Z ) or Fvla = v (f _Ax , f _Ay , f _v ) or combinations of the variables of functions v. (iv) sweeping the basic frequency variable f _b , or the variable frequency modulation of the noted basic frequency f _m , or of the phase shift between the basic frequency f _b and the modulation frequency f _m noted f _A with the limits of the given sweep range. by the limits of the range associated with the position of the position points P (x, y, z), but with variable resolution of the sweep range similar to the human visual field. (v) transforming in this way the 3D space expressed in position into an acoustic field of perception, by applying the resulting signal to an acoustic actuator; -2014-00323-2 5 "04" 2014 (vi) or the transformation in this way of the 3D space expressed in position in a field of tactile perception by applying it to a piezoceramic actuator; (vii) or transforming in this way the 3D space expressed in position into a tactile field of perception by applying it to a magnetorheological actuator. 2. Acoustic and tactile perception device of the space with the application of the method of claim 1, characterized in that it comprises: from a scaling and filtering module (MSF) that receives from the 3D environment a signal of the positions in space P (x, y, z) that it scales and filters out noise and parasitic signals in the operating range of a laser scanning module 3D (SL3D) and filters out noise signals, a 3D laser scanning module (SL3D), which receives scaled and filtered (SSF) signals and generates the mapped virtual map of the stable 3D environment if the acoustic and tactile reception device (DPAT) is fixed , but unstable in relation to the MUT user's hand placing on the acoustic and tactile reception device (DPAT), a virtual map of the laser scanned environment (HVL) that receives the signal from a 3D laser scanning module (SL3D) with unstable image in relation to the MUT user's hand movement of the acoustic and tactile reception device (DPAT), which it processes together with the signals received from a 3D gravity transducer (TGR) and / or from a magnetic compass (TBM), with the transformation into a virtual map of the environment with stable image no matter in which directions the acoustic and tactile reception device (DPAT) moves and transmits them to a generation acoustic or tactile map (GAT) module ), a module for generating acoustic or tactile map (GAT) which receives from a virtual map of the laser scanned environment (HVL), the signal with the virtual environment map stable in relation to the movements of the acoustic and tactile reception device (DPAT), also from a variable-frequency sweeping module (MBF) the frequency-sweeping signal (SBF) in a given range with variable resolution of the sweep range resembling the human visual field and from a limiting range of signals (LGB) which generates the upper limit (SGBs) and the lower limit (SGBsj) of the sweep range and performs the transformation according to the method of the invention, by means of a Fvl transformation function of the 3D space expressed in position , to the 3D space expressed in the common domain, by which it is associated with each position point in space P (x, y, z), mapped 3D, a three-dimensional vector v _L (fr, f _m , f &) associated with 3D position mapping, with frequency sweeps in a given range with variable resolution of the sweep range similar to the human visual field and with upper and lower limitation of the sweep range, in an acoustic perception field and / or in a tactile perception field , an acoustic actuator module (MAA) that receives an acoustic perception field (SPA) signal from the acoustic or tactile map generation module (GAT) that it transforms into an acoustic signal (SAA) by using an acoustic actuator, such as be a speaker or a headset, and that will act on the sense of human acoustic perception US-eardrum. 3. Device for acoustic and tactile perception of the space by applying the method of claim 1, characterized in that it comprises: “2014-00323- ² 5 'IM * 2014 from a scaling and filtering module (MSF) that receives from a 3D environment a signal of the positions in space P (x, y, z) that it scales and filters out noise and signals parasites in the area of operation of a 3D ultrasonic scanning module (SU3D) and filters out noise signals, a 3D ultrasonic scanning module (SU3D), which receives the scaled and filtered signals (SSF) and generates the mapped virtual map of the stable 3D environment if the acoustic and tactile reception device (DPAT) is fixed, but unstable in relation to the MUT user's hand movement on the acoustic and tactile reception device (DPAT), a virtual map of the ultrasonic scanned environment (HVU) that receives the signal from a 3D ultrasonic scanning mode (SU3D) with unstable image in relation to the MUT user's hand movement of the acoustic and tactile reception device (DPAT), which it processes together with the received signals you get from a 3D gravity transducer (TGR) and / or a magnetic compass (TBM), with the transformation into a virtual map of the stable image environment no matter in which directions the acoustic and tactile reception device (DPAT) moves and transmits them to an acoustic or tactile map (GAT) generation module, an acoustic or tactile map generation (GAT) module that receives from the virtual ultrasonic environment map (HVU) signal the report with the virtual environment map stable in the report with the movements of the acoustic and tactile reception device (DPAT), also from a variable frequency modulation (MBF) frequency sweeping signal (SBF) in a given range with variable resolution of the sweep range similar to the human visual field and from a module limit the range of empty signals (LGB) which generates the upper limit (SGBs) and the lower limit (SGBsj) of the range of the sweep and realizes the transformation according to the method of the invention, through a function for transforming Fvl of the 3D space expressed in position, to the 3D space expressed in the frequent domain, by which it is associated to each position point in the space P (x, y, z), mapped 3D, a three-dimensional vector v _L (fb, f _m , f) associated with 3D position mapping, with frequency sweeps in a given range with variable resolution of the sweep range similar to the human visual field and with upper and lower limitation of the sweep range, in an acoustic perception field and / or in a tactile perception field, an acoustic actuator module (MAA) that receives a signal of the acoustic perception field (SPA) from the acoustic or tactile map generation module (GAT) which it transforms into an acoustic signal (SAA) ) by using an acoustic actuator, such as a speaker or a hearing aid, and which will act on the sense of human acoustic perception US-eardrum. 4. Acoustic and tactile perception device of the space with the application of the method of claim 1, characterized in that it comprises: from a scaling and filtering module (MSF) that receives from the 3D environment a signal of the positions in space P (x, y, z) that it scales and filters out noise and parasitic signals in the operating area of an image pre-processing module (PI3D) and filters out noise signals, an image processing module (PI3D), which receives scaled and filtered (SSF) signals and generates the mapped virtual map of the stable 3D environment if the receiving device -2014-00323-2 5 * «· 2014 acoustic and tactile (DPAT) is fixed, but unstable in relation to the MUT user's hand placing on the acoustic and tactile reception device (DPAT), or a virtual map of the environment through processing image (HVI) that receives the signal from a 3D image processing module (PI3D) with unstable image in relation to the MUT user's hand movement of the acoustic and tactile reception device, which it processes together with the signals received from a gravitational transducer 3D (TGR) and / or from a magnetic compass (TBM), with the transformation into a virtual map of the environment with stable image no matter in which directions the acoustic and tactile reception device (DPAT) moves and transmits them to a module. acoustic or tactile map generation (GAT), an acoustic or tactile map generation (GAT) module that receives a virtual map signal from the virtual image environment (HVI) module to the environment stable in relation to the movements of the acoustic and tactile reception device (DPAT), also from a variable frequency frequency module (MBF) frequency frequency signal (SBF) signal in a given range with variable range resolution of a sweep similar to the human visual field and from a module limit the range of empty signals (LGB) that generates the upper limit (SGBs) and the lower limit (SGBsj) of the range of sweep and realizes the transformation according to the method of the invention, through a function of transformation Fvl of the 3D space expressed in position, to the 3D space expressed in the frequent domain, by which it is associated to each position point in the space P (x, y, z), mapped 3D, a three-dimensional vector v _L (fb, f _m , fx) associated with 3D position mapping, with frequency sweeps in a given range with variable resolution of the sweep range similar to the human visual field and with upper and lower limitation of the sweep range, in a field of acoustic perception and / or in a tactile perception field, an acoustic actuator module (MAA) that receives a signal of the acoustic perception field (SPA) from the acoustic or tactile map (GAT) module that it transforms into acoustic signal (SAA) through the use of an acoustic actuator, such as a speaker or hearing aid, and which will act on the sense of human acoustic perception US-eardrum. 5. Acoustic and tactile perception device of the space with the application of the method of claim 1, characterized in that it comprises: from a scaling and filtering module (MSF) that receives from the 3D environment a signal of the positions in space P (x, y, z) that it scales and filters out noise and parasitic signals in the operating range of a laser scanning module 3D (SL3D) and filters out noise signals, a 3D laser scanning module (SL3D), which receives scaled and filtered (SSF) signals and generates the mapped virtual map of the stable 3D environment if the acoustic and tactile reception device (DPAT) is fixed , but unstable in relation to the MUT user's hand placing on the acoustic and tactile reception device (DPAT), a virtual map of the laser scanned environment (HVL) that receives the signal from a 3D laser scanning module (SL3D) with unstable image in relation to the MUT user's hand movement of the acoustic and tactile reception device (DPAT), which it processes together with the signals received from a 3D gravity transducer (TGR) and / or d it's on a magnetic compass (TBM), transforming it into a virtual map of the imaging environment -201 4- 0 0 3 2 3 2 5 Μ- 2014 stable no matter in which directions the acoustic and tactile reception device (DPAT) moves and transmits them to an acoustic or tactile map (GAT) generation module, a generation module acoustic or tactile map (GAT) that receives from a module the virtual map of the laser scanned environment (HVL), the signal with the virtual environment map stable in relation to the movements of the acoustic and tactile reception device (DPAT), also from a module variable frequency sweeping (MBF) frequency sweeping signal (SBF) in a given range with variable resolution of the sweep range similar to the human visual field and from a module limiting the range of sweeping signals (LGB) generating the upper limit (SGBs) ) and the lower limit (SGBsj) of the sweep range and performs the transformation according to the method of the invention, through a transform function F _V to the 3D space expressed in position, to the 3D space expressed in the common domain, through which associates each position point in space P (x, y, z), mapped 3D, a three-dimensional vector vl (fb, f _m , Îa) associated with 3D position mapping, with frequency sweeps in a given range with variable resolution a the sweep range similar to the human visual field and with upper and lower limitation of the sweep range, in a tactile perception field, a tactile actuator module (MAT) that receives a signal of the tactile perception field (SPT) from the module generating acoustic or tactile map (GAT) which it transforms into tactile signal (SPT) by using a piezoceramic actuator, such as a set of piezoceramic pills, and which will act on the human SUT tactile sense of perception such as fingers or other parts of the body in contact with the piezoelectric actuator, or by using a magnetorheological actuator, such as a semi-active magnetorheological fluid buffer, which will generate a tactile actuation signal (SAT) on the sim SUT's perception human touch like fingers in contact with magnetorheological actuator. 6. Acoustic and tactile perception device of the space with the application of the method of claim 1, characterized in that it comprises: from a scaling and filtering module (MSF) that receives from the 3D environment a signal of the positions in space P (x, y, z) that it scales and filters out noise and parasitic signals in the operating range of an ultrasonic scan module 3D (SU3D) and filters out noise signals, a 3D ultrasonic scanning module (SU3D), which receives scaled and filtered signals (SSF) and generates the mapped virtual map of the stable 3D environment if the acoustic and tactile reception device (DPAT) is fixed , but unstable in relation to the MUT user's hand placement on the acoustic and tactile reception device (DPAT), a virtual ultrasonic scanned environment (HVU) map module that receives the signal from an unstable image ultrasonic 3D scanning module (SU3D) in relation to the MUT user's hand movement of the acoustic and tactile reception device (DPAT), which it processes together with the signals received from a gravity transducer ional 3D (TGR) and / or from a magnetic compass (TBM), with the transformation into a virtual map of the stable image environment regardless of which directions the acoustic and tactile reception device (DPAT) moves and transmits them to a module for generating acoustic or tactile map (GAT), a module for generating acoustic or tactile map (GAT) that receives from a virtual ultrasonic scanned environment (HVU) map signal with the virtual environment map stable in -2 OU - Ο Ο 3 2 3 - 2 5 Ο <“20« in relation to the movements of the acoustic and tactile reception device (DPAT), also from a frequency-modulated variable-resolution (MBF) frequency-leakage signal ( SBF) in a given range with variable resolution of the sweep range similar to the human visual field and from a module limit the range of empty signals (LGB) that generate the upper limit (SGBs) and the lower limit (SGBsj) of the sweep range and realize the transformation according to the method of the invention, by a function of transformation F _V to the 3D space expressed in position, to the 3D space expressed in the common domain, by which it is associated with each position point in the space P (x, y, z), mapped 3D, a three-dimensional vector vl (fb, f _m , f ₄ ) associated with 3D position mapping, with frequency sweeps in a given range with variable resolution of the sweep range similar to the human visual field and with upper and lower limitation of the range. Bale in a tactile perception field, a tactile actuator module (MAT) that receives a signal of the tactile perception field (SPT) from the acoustic or tactile map generation module (GAT) which it transforms into a tactile signal (SPT) through the use of a piezo-ceramic actuator, such as a set of piezo-ceramic tablets, and which will act on the human SUT tactile sense of perception such as the fingers or other parts of the body in contact with the piezoelectric actuator, or by using a magnetorheological actuator, such as a semi-active magnetorheological fluid damper, which will generate a tactile actuation signal (SAT) on the human SUT tactile sense of perception such as the fingers in contact with the magnetorheological actuator. 7. Acoustic and tactile perception device of the space with the application of the method of claim 1, characterized in that it comprises: from a scaling and filtering module (MSF) that receives from the 3D environment a signal of the positions in space P (x, y, z) that it scales and filters out noise and parasitic signals in the operating area of an image pre-processing module (PI3D) and filter out noise signals, an image processing module (PI3D), which receives scaled and filtered signals (SSF) and generates the mapped virtual map of the stable 3D environment if the acoustic and tactile reception device (DPAT) is fixed, but unstable in relation to the MUT user's hand motion on the acoustic and tactile reception device (DPAT), a module virtual map of the environment through image processing (HVI) that receives the signal from a 3D image processing module (PI3D) with unstable image in relation to the MUT user's hand movement of the acoustic and tactile reception device, which it processes together with the signals received from a 3D gravitational transducer (T GR) and / or from a magnetic compass (TBM), with the transformation into a virtual map of the environment with stable image no matter in which directions the acoustic and tactile reception device (DPAT) moves and transmits them to a map generation module acoustic or tactile (GAT), a module for generating acoustic or tactile map (GAT) that receives from a virtual environment map module through image processing (HVI) the signal with the virtual environment map stable in relation to the movements of the acoustic reception device and tactile (DPAT), also from a variable resolution frequency sweep module (MBF) the frequency sweep signal (SBF) in a given range with variable resolution of the sweep range similar to the human visual field and from a limiting module range of empty signals (LGB) which -2014-00323-2 5 -04- 2014 generates the upper limit (SGBs) and the lower limit (SGBsj) of the sweep range and realizes the transformation according to the method of the invention, by means of an Fvl transformation function of the 3D space expressed in position, at 3D space expressed in the common domain, which associates each position point in space P (x, y, z), mapped 3D, a three-dimensional vector v _L (fi, f _m , fâ) associated with 3D position mapping, with sweeps in frequency in a given range with variable resolution of the sweep range similar to the human visual field and with upper and lower limitation of the sweep range, in a tactile perception field, a tactile actuator module (MAT) that receives a signal of the tactile perception field (SPT) from the acoustic or tactile map generation module (GAT) that it transforms into tactile signal (SPT) by using a piezoceramic actuator, such as a set of piezoceramic pills, and which will act on sense of human tactile perception SUT such as the fingers or other parts of the body in contact with the piezoelectric actuator, or by using a magnetorheological actuator, such as a semi-active magnetorheological fluid buffer, which will generate a tactile actuation signal (SAT) ) on the sense of human tactile perception SUT such as the fingers in contact with the magnetorheological actuator. 8. Acoustic and tactile perception device of the space with the application of the method of claim 1, characterized in that it comprises: from a scaling and filtering module (MSF) that receives from the 3D environment a signal of the positions in space P (x, y, z) that it scales and filters out noise and parasitic signals in the operating range of a laser scanning module 3D (SL3D) and filters out noise signals, a 3D laser scanning module (SL3D), which receives scaled and filtered (SSF) signals and generates the mapped virtual map of the stable 3D environment if the acoustic and tactile reception device (DPAT) is fixed , but unstable in relation to the MUT user's hand placing on the acoustic and tactile reception device (DPAT), or a virtual laser scanning environment (HVL) map module that receives the signal from a 3D laser scanning module (SL3D) with image unstable in relation to the MUT user's hand movement of the acoustic and tactile reception device (DPAT), which it processes together with the signals received from a 3D gravity transducer (TGR) and / or from a magnetic compass (TBM), transforming it into a virtual map of the environment with stable image no matter in which directions the acoustic and tactile reception device (DPAT) moves and transmits them to an acoustic or tactile map generation module ( GAT), a module for generating acoustic or tactile map (GAT) that receives from a virtual map of the laser scanned environment (HVL), the signal with the virtual map of the environment stable in relation to the movements of the acoustic and tactile reception device (DPAT) , also from a variable frequency sweeping module (MBF) the frequency sweeping signal (SBF) in a given range with variable resolution of the sweep range similar to the human visual field and from a limiting range of signals (LGB) range ) which generates the upper limit (SGBs) and the lower limit (SGBsj) of the sweep range and performs the transformation according to the method of the invention, by means of a Fvl transformation function of the 3D space expressed in position to you, to the 3D space expressed in the common domain, by which each position point in the space P (x, y, z), 3D mapped, a three-dimensional vector v _L (fi, f _m , f ₄ ) associated with the mapping is associated -2014-00323-2 5 -04- 2014 of 3D position, with frequency sweeps in a given range with variable resolution of the sweep range similar to the human visual field and with upper and lower limitation of the sweep range, in an acoustic perception field and in a tactile perception field, an acoustic actuator module (MAA) that receives a signal of the acoustic perception field (SPA) from the acoustic or tactile map (GAT) module that it transforms into acoustic signal (SAA) through the use of an acoustic actuator, such as a speaker or hearing aid, and which will act on the US-eardrum human acoustic sense of perception, a tactile actuator module (MAT) that receives a signal from the field of perception tactile (SPT) from the acoustic or tactile map generation module (GAT) that it transforms into tactile signal (SPT) by using a piezoceramic actuator, such as a set of piezoceramic pills, and which will act on the sense of perception. human touch SUT such as the fingers or other parts of the body in contact with the piezoelectric actuator, or by using a magnetorheological actuator, such as a semi-active magnetorheological fluid buffer, which will generate a tactile actuation signal (SAT) on the sense of human tactile perception SUT such as the fingers in contact with the magnetorheological actuator. 9. Acoustic and tactile perception device of the space with the application of the method of claim 1, characterized in that it comprises: from a scaling and filtering module (MSF) that receives from the 3D environment a signal of the positions in space P (x, y, z) that it scales and filters out noise and parasitic signals in the operating range of an ultrasonic scan module 3D (SU3D) and filters out noise signals, a 3D ultrasonic scanning module (SU3D), which receives scaled and filtered signals (SSF) and generates the mapped virtual map of the stable 3D environment if the acoustic and tactile reception device (DPAT) is fixed , but unstable in relation to the MUT user's hand placement on the acoustic and tactile reception device (DPAT), a virtual ultrasonic scanned environment (HVU) map module that receives the signal from an unstable image ultrasonic 3D scanning module (SU3D) in relation to the MUT user's hand movement of the acoustic and tactile reception device (DPAT), which it processes together with the signals received from a gravity transducer ional 3D (TGR) and / or from a magnetic compass (TBM), with the transformation into a virtual map of the stable image environment regardless of which directions the acoustic and tactile reception device (DPAT) moves and transmits them to a module acoustic or tactile map generation (GAT), an acoustic or tactile map generation (GAT) module that receives from a virtual ultrasonic scanned environment (HVU) signal the virtual environment map signal stable in relation to the movements of the receiving device acoustics and tactile (DPAT), also from a variable resolution frequency sweep module (MBF) the frequency sweep signal (SBF) in a given range with variable resolution of the sweep range similar to the human visual field and from a module limiting the range of empty signals (LGB) that generates the upper limit (SGBs) and the lower limit (SGBsj) of the range of the sweep and realizes the transformation according to the method of the invention, through a function of Fvl transformation of the space ui 3D expressed in position, to the 3D space expressed in the common domain, by which it is associated with each position point in the space P (x, y, z), mapped 3D, a three-dimensional vector vl (ft, f _m , fâ) associated " 2014-00323- ² 5 -04- 2014 3D position mapping, with frequency sweeps in a given range with variable resolution of the sweep range similar to the human visual field and with upper and lower limitation of the sweep range, in an acoustic perception field and in a tactile perception field, an acoustic actuator module (MAA) that receives a signal of the acoustic perception field (SPA) from the acoustic or tactile map (GAT) module that it transforms into acoustic signal (SAA) through the use of an acoustic actuator, such as a speaker or hearing aid, and which will act on the US-eardrum human acoustic sense of perception, a tactile actuator module (MAT) that receives a signal from the field of perception tactile (SPT) of the the acoustic or tactile map generation module (GAT) that it transforms into tactile signal (SPT) by using a piezoceramic actuator, such as a set of piezoceramic pills, and which will act on the human SUT tactile sense of perception such as fingers or other parts of the body in contact with the piezoelectric actuator, or by using a magnetorheological actuator, such as a semi-active magnetorheological fluid buffer, which will generate a tactile actuation signal (SAT) on the human SUT tactile sense of perception such as be your fingers in contact with the magnetoreological actuator. 10. Acoustic and tactile perception device of the space with the application of the method of claim 1, characterized in that it comprises: from a scaling and filtering module (MSF) that receives from the 3D environment a signal of the positions in space P (x, y, z) that it scales and filters out noise and parasitic signals in the operating area of an image pre-processing module (PI3D) and filter out noise signals, an image processing module (PI3D), which receives scaled and filtered signals (SSF) and generates the mapped virtual map of the stable 3D environment if the acoustic and tactile reception device (DPAT) is fixed, but unstable in relation to the MUT user's handshake on the acoustic and tactile reception device (DPAT), or a virtual image processing module (HVI) that receives the signal from an unstable 3D image processing (PI3D) module in relation to the movement due to the MUT user's hand of the acoustic and tactile reception device, which they process together with the signals received from a gravitational transducer 3 D (TGR) and / or from a magnetic compass (TBM), transforming it into a virtual map of the stable image environment, regardless of which direction the acoustic and tactile reception device (DPAT) moves and transmits them to a module. acoustic or tactile map generation (GAT), an acoustic or tactile map generation (GAT) module that receives from a virtual environment map module by image processing (HVI) the signal with the virtual environment map stable in relation to the movements of the device. acoustic and tactile reception (DPAT), also from a variable resolution frequency sweeping module (MBF) the frequency sweeping signal (SBF) in a given range with variable resolution of the sweep range similar to the human visual field and from a how to limit the range of empty signals (LGB) that generates the upper limit (SGBs) and the lower limit (SGBsj) of the range of the sweep and realizes the transformation according to the method of the invention, through a function of transforming Fvl of space of 3D expressed in position, to the 3D space expressed in the common domain, by which it is associated to each position point in space P (x, y, z), mapped 3D, a three-dimensional vector vl (f _b , * 2 Ο 1 A - Ο Ο 3 2 3 - - ² 5 -04- 2014 5 f _m , ί _Δ ) associated with 3D position mapping, with frequency sweeps in a given range with variable resolution of the sweep range similar to the human visual field and with upper limitation and lower limitation of the sweep range, in an acoustic perception field and in a tactile perception field, an acoustic actuator module (MAA) that receives an acoustic perception field (SPA) signal from the acoustic map generation module or tactile (GAT) that it transforms into acoustic signal (SAA) by using an acoustic actuator, such as a speaker or a hearing aid, and which will act on the US-eardrum human acoustic sense of perception, a tactile actuator module (MAT) ) which receives a signal from the perception field ie tactile (SPT) from the acoustic or tactile map generation module (GAT) that it transforms into tactile signal (SPT) by using a piezoceramic actuator, such as a set of piezoceramic pills, and which will act on the sense of perception. human touch SUT such as the fingers or other parts of the body in contact with the piezoelectric actuator, or by using a magnetorheological actuator, such as a semi-active magnetorheological fluid buffer, which will generate a tactile actuation signal (SAT) on the sense of human tactile perception SUT such as the fingers in contact with the magnetorheological actuator.