WO2019092386A1 - Gesture-based control system for actuators - Google Patents

Gesture-based control system for actuators Download PDF

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Publication number
WO2019092386A1
WO2019092386A1 PCT/FR2018/052804 FR2018052804W WO2019092386A1 WO 2019092386 A1 WO2019092386 A1 WO 2019092386A1 FR 2018052804 W FR2018052804 W FR 2018052804W WO 2019092386 A1 WO2019092386 A1 WO 2019092386A1
Authority
WO
WIPO (PCT)
Prior art keywords
detection
indicator
zone
control system
zones
Prior art date
Application number
PCT/FR2018/052804
Other languages
French (fr)
Inventor
Patrick NICAND
Frédéric DELANOUE
Thomas NACHAR
Corentin HAAS
Thomas RAFFESTIN
Thomas STEEGMANS
Thomas BONCZOSZEK
Erwan SAMMUT
Maxime DALEAU
Original Assignee
Nicand Patrick
Delanoue Frederic
Nachar Thomas
Haas Corentin
Raffestin Thomas
Steegmans Thomas
Bonczoszek Thomas
Sammut Erwan
Daleau Maxime
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from FR1760632A external-priority patent/FR3073649B1/en
Application filed by Nicand Patrick, Delanoue Frederic, Nachar Thomas, Haas Corentin, Raffestin Thomas, Steegmans Thomas, Bonczoszek Thomas, Sammut Erwan, Daleau Maxime filed Critical Nicand Patrick
Publication of WO2019092386A1 publication Critical patent/WO2019092386A1/en

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/0304—Detection arrangements using opto-electronic means
    • G06F3/0325—Detection arrangements using opto-electronic means using a plurality of light emitters or reflectors or a plurality of detectors forming a reference frame from which to derive the orientation of the object, e.g. by triangulation or on the basis of reference deformation in the picked up image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/18—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering by patient's head, eyes, facial muscles or voice
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
    • G06F3/042—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by opto-electronic means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
    • G06F3/043—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means using propagating acoustic waves
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
    • G06F3/044—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by capacitive means

Definitions

  • the present invention relates to a gesture control system of one or more actuators by the movements of an indicator driven by an operator, such as an operator's hand.
  • These various controls or remote controls comprise a lever that pivots around a ball joint to directly or indirectly generate a control signal activating one or more actuators in the direction of pivoting of the joystick and the amplitude of this pivoting movement.
  • these two-axis remote controls make it possible to control reversible actuators associated with the two directions of movement of the joystick in the same direction with respect to a central reference.
  • the present invention aims to develop a gesture control system for controlling one or more actuators by simple gestures performed by an indicator moved by an operator, such as the hand, part of the hand or an element such as a rod held by the hand or attached to the forearm of the operator, and which is not disturbed by an uncertain gesture or clumsy.
  • the subject of the invention is a gestural control system of one or more actuators by the movements of an indicator driven by an operator, comprising: a support forming a location for positioning a reference part of the body of the operator and forming a marker for positioning the indicator, which remains free in motion,
  • this detection plane being defined by at least one sensor detecting the indicator for providing position signals of the indicator in the detection plane
  • the detection plane being divided into detection zones of the indicator and to which control signals are associated
  • a processor receiving the signals from the instantaneous position of the indicator in a detection zone in the detection plane and generating the control signal associated with the detection zone of the instantaneous position of the indicator, this control signal being transmitted to the actuators,
  • the support being mobile on a fixed base, at least one translating member translating movements of the support relative to the fixed base into additional signals, the processor receiving the additional signals and generating the control signal associated with the additional signals.
  • the indicator moved by an operator may correspond to one of the hands of the operator.
  • the indicator may also, non-exhaustively, correspond to a part of the hands or the chin of the operator, or also to an element (such as a prosthesis) carried by the hand or the forearm of the operator.
  • the reference part of the body of the operator may correspond non-exhaustively to the forearm or wrist (in the case where the indicator is the hand, or part of the hand or a prosthesis ) or the operator's neck or even the back of the head or one side of the head (in the case where the indicator is the chin).
  • the gesture control system makes it possible to use extremely simple gestures performed by an indicator driven by an operator without requiring very precise movements but only a very simple movement of positioning in a zone of movement from a zone such as the neutral zone to another adjacent zone activating such or such function of an actuator.
  • the action being controlled by the presence of the indicator in an area detection and not on a detection point that would be by definition very limited.
  • the controlled action remains stable even though the indicator naturally moves slightly in the zone; the indicator can move unsteadily in the detection zone without disturbing the operation of the control system. This stability is particularly important in the main case of application of this control system used by disabled people whose hand gestures may be hesitant or the hand may tremble and in general, the gestures are difficult to block, even during a brief period.
  • the identification of this neutral zone is easy for the operator who, starting from this neutral zone, will be able to choose the action to be commanded by moving the indicator (his hand, a finger or a hand-held element, fixed by hand or forearm) to choose an action of the actuator associated with this detection zone in which is located the indicator.
  • the passage through the neutral zone is a marker allowing the operator to direct his indicator to the active area he wants to use, always passing through the neutral zone.
  • the use of the movements of the support makes it possible to increase the number of signals analyzable by the processor and to increase the number of actuators controlled by means of the control signal.
  • the translating member (s) may for example be potentiometers.
  • the reference zone is a detection zone defined in the detection plane around the intersection of the detection plane by the geometric axis of the reference part of the body positioned on the support, this reference zone being surrounded. other detection zones that constitute the active zones for actuating one or the other actuator.
  • the support comprises a start contact for activating the system as soon as the reference part of the body of the operator is resting on the support. This security conditions the use of the control system by placing the reference part of the body of the operator on the support, which avoids any inadvertent action of the actuators if at the time of installation of the operator, the The indicator had to be unintentionally located in a particular detection zone associated with an action.
  • control system comprises a display placed beyond the detection plane and showing the detection zones in front of the position of the indicator moved by the operator to display the detection zone activated by the occupying indicator. its instantaneous position.
  • This display allows the operator to learn the operation of the control system or control during operation, the activation state of this or that actuator.
  • control signal is an on-off signal or a signal depending on the position of the indicator moved by the operator in the detection zone.
  • the control signal in the form of an on-off signal starts an actuator which will be stopped as soon as the indicator leaves the zone associated with this actuator. It can also be a signal that depends on the position of the indicator in the detection zone and thus allows to control the amplitude of the action of the actuator.
  • the detection zones are grouped together in pairs on a line passing through the neutral zone and the control signals generated by the two detection zones of a pair are signals controlling the direct movement and the reverse movement of the actuator associated with this zone.
  • the detection zones to the right and left of the neutral zone will be associated with the direction to the right or left of the wheelchair while the zones at the top and bottom of the neutral zone will be associated with the forward or reverse movement of the wheelchair.
  • FIG. 1 is a side view of a gesture control system of one or more actuators by the movements of the hand or part of the hand;
  • FIG. 2 is a diagrammatic front view of the gesture control system of FIG. 1;
  • FIG. 3 is an example of a display for the gesture control system according to the invention.
  • FIG. 4 is a schematic representation illustrating an alternative embodiment of the support of the gesture control system according to the invention.
  • the invention relates to a gesture control system 100 of one or more actuators Ai by the movements of an indicator 2 moved by the operator.
  • the operator can control the control system 100 by the movements of an indicator 2 formed, for example, by his chin, his hand or part of his hand, or by the extension of his hand, ( prosthesis, stem attached or held by hand, etc.).
  • an indicator 2 formed, for example, by his chin, his hand or part of his hand, or by the extension of his hand, ( prosthesis, stem attached or held by hand, etc.).
  • the gesture control system 100 consists of a support 1 for positioning a reference part AB of the body of the operator, for example his forearm according to the present embodiment, and to give a reference to the operator for the gestures it is to be controlled by the indicator 2.
  • the indicator 2 is represented by a broken line in FIG. 1 in different positions PMi.
  • the support 1 is equipped with a switch or detector 1 1 which detects the presence of the reference portion AB of the body well placed on the support 1 to close a contact or send a signal SM / A putting the system 100 into operation.
  • the system 100 comprises a detection plane 3, immaterial, defined by at least one sensor 31, 32.
  • This detection plane 3 located within range of the indicator 2 makes it possible to detect the instantaneous position PMi of the indicator intersecting this plane 3 to provide position signals (Sy, Sz) associated with commands SCi that the operator wants to generate.
  • position signals Sy, Sz
  • Figure 2 we have represented an oval shape showing the section of a hand (the indicator 2) in the different zones of detection Zi instead of representing the indicator 2 by a point to better show the detection.
  • the control system 100 comprises a processor 4 receiving the position signals Sz, Sy of the indicator 2 corresponding to the instantaneous position PMi of the indicator 2 to generate a control signal SCi of the action to be performed by the actuator Ai associated with the position PMi of the indicator 2.
  • a processor 4 receiving the position signals Sz, Sy of the indicator 2 corresponding to the instantaneous position PMi of the indicator 2 to generate a control signal SCi of the action to be performed by the actuator Ai associated with the position PMi of the indicator 2.
  • geometric landmarks namely the directions X, Y, Z defining an orthogonal reference including:
  • the axis XX is the main direction of the reference part AB of the body of the operator (for example his forearm, the main direction then being an orientation direction),
  • the axis YY is the transverse axis associated with the axis XX
  • the ZZ axis is the vertical axis.
  • the detection plane 3 contains the axes Y, Z.
  • the detection plane 3 is divided into zones of detection Zi in the area within range of the indicator 2. These zones Zi are not materialized in space and are just as immaterial as the detection plane 3. According to the example of FIG. 2, by way of illustration, the detection plane 3 is divided into a central zone ZN surrounded by four zones, two of which are located on the axis YY and two on the axis ZZ.
  • the detection plane 3 is oriented by the arrangement of the sensor (s) 31, 32 and according to their detection principle.
  • the sensors can be optical sensors (infrared sensors for example), ultrasonic sensors or capacitive sensors.
  • This detection plane 3 is vertical (it contains the Y and Z axes) and in general, it is at least substantially perpendicular to the axis XX.
  • the detection plane can be defined by a single capacitive sensor in the form of a slab.
  • the zones Zi other than the central zone ZN are active zones Zi.
  • the zones ZN, Zi of the detection plane 3 are each associated with an action of one or more actuators Ai.
  • One of the detection zones Zi is a reference zone ZN with respect to which the other detection zones Zi are oriented or located to be activated.
  • the reference zone ZN allows the operator to know the neutral position as to the activation of the actuators and by which the operator must go through the gesture of his indicator 2 to activate any other detection zone Zi and generate control signals .
  • the ZN neutral zone is also an area in which the indicator must return to stop the activity of the zone in which its indicator was.
  • the control system 100 must be of very simple use for a few elementary gestures of the indicator 2;
  • the neutral zone ZN is the detection zone in which the indicator 2 is naturally located when the reference part AB of the operator is installed on the support 1. This is generally the detection zone situated in the extension of the reference part AB of the body of the operator), that is to say the indicator 2 in the rest position.
  • the other Zi detection zones are distributed around this neutral zone
  • the other detection zones Zi are active zones because they make it possible to control an action associated with each zone.
  • These active zones are in reduced number, for example four active zones Zi located in a cross around the neutral zone ZN, preferably two zones in the vertical plane above and below the neutral zone ZN and two zones in the horizontal plane of on both sides of the ZN neutral zone.
  • a more elaborate division of the detection plane 2 can provide four intermediate active zones Zli between the four active zones Zi described above. This division of the detection plane into active zones around the neutral zone depends on the precision of the gestures that the operator can make and the number of actions to be controlled.
  • the active zones Zi can also be limited to two zones, for example in the vertical plane or in the horizontal plane on either side of the neutral zone.
  • the active zones Zi are associated with a control signal, generally of all / nothing type, or possibly depending on the position of the indicator 2 in the active zone Zi to have a stronger or weaker activation of the actuator Ai. associated with this active zone Zi.
  • the neutral zone ZN has the function of a positioning marker of the indicator 2, necessary for the operator to locate the position of the other zones Zi surrounding this neutral zone ZN.
  • the position of the indicator (for example the hand of the operator) in the neutral zone ZN is necessary at the beginning of a control cycle and this position which does not generate a control signal of an actuator is nevertheless indicated to the operator by sending a sound signal, a haptic signal or a light signal. Only after the passage of the indicator 2 in this neutral zone ZN, another zone Zi or a succession of zones can be activated.
  • the neutral zone ZN also constitutes a stopping zone if one or two pairs of active zones Zi, diametrically opposite to the neutral zone ZN, are associated with commands for opposite actions of the same actuator Ai. This is for example a reversible movement actuator, operating in forward and reverse.
  • the neutral zone ZN will thus be the stopping zone of the movement of the actuator Ai to move from a certain direction of movement to the opposite direction of movement.
  • the support 1 is linearly mobile and makes it possible to switch the actions associated with the detection zones Zi to multiply the possibilities of actions. This switching can also be done with a switch actuated by another member, for example a foot.
  • the support 1 is movable on a fixed base 12 and can control actuators. This control can be performed independently of the command exerted by the processor following the displacement of the indicator.
  • one or more translating members are used to detect the movements of the support.
  • the longitudinal and / or lateral translation of the support can thus be exploited, thus providing a new possibility of controlling associated actuators.
  • these translating elements take the form of potentiometers making it possible to translate movements from front to rear and from left to right of the support 1 with respect to the fixed base into additional signals Ssup sent to the processor 4. These additional signals are received and processed by the processor which then generates a control signal associated with these additional signals.
  • a forearm positioned on the support 1 may allow to trigger a specific action during a movement / translation of the forearm and the support 1 forwards, backwards, left or right .
  • the system 100 comprises a display 5 for displaying the image of the zone in which the indicator 2 is located.
  • the display 5 is divided into display zones ZAi representing the active zones Z 1 of the detection plane 2 and visualizing for the operator the position of the indicator 2 in the detection plane 3 which itself is immaterial.
  • Zones Zi shown in Figure 2 are delimited by rectangles to simplify their presentation and description. But in reality, the zones Zi are not delimited so precisely by a geometrical figure and they have limits which can, for some, remain unclear according to the possible precision of the detection of the position of the indicator 2 by the sensors 31, 32.
  • the important thing for the good operation of the gesture control system 100 is to define zones that are easy to reach with the indicator 2.
  • the zones Zi are separated from each other to be associated each one with a precise action and for this, the zones must not be confused.
  • the neutral zone ZN has, in the detection plane, a different contour according to the associated function which is the function of stopping the action or the locating function.
  • the limit can be advantageously more restricted since it is a question of defining a reference mark in some way for the axes YY and ZZ which, themselves, a horizontal and vertical natural orientation.
  • the intermediate zones Zli which can be provided in certain cases are located above / below the zones Zi on the horizontal axis YY and on the right side D and on the left G of the zones Zi situated on the vertical axis 33
  • These zones are represented in the form of dashed rectangles in FIG. 2 and they can be associated with intermediate actions or combining two actions of neighboring zones Zi, for example ZD + ZH which would be the action forward on the right.
  • Figure 3 shows schematically the display that can appear on the registration display 5.
  • the neutral zone ZN, STOP is associated with the shutdown of the actuator functions.
  • the active zone D is associated with the right direction and the active zone G is associated with the left direction. These two zones form a pair of zones on either side of the neutral zone corresponding to the shutdown of the actuators (STOP).
  • the middle column corresponds to the forward movements for the zone marked "HIGH” and the reverse direction for the zone marked "BAS”.
  • the indications could also be AV for forward in the upper zone and AR for the active zone on the bottom.
  • the gesture control system 100 advantageously applies to equipment such as a wheelchair or a hospital bed; in the case of the wheelchair, the support 1 and the sensors 31, 32 are associated with an armrest of the chair with possibly a small display 5 if this identification is necessary.
  • the electronic parts such as the processor 4 and its power supply are integrated into the chair.
  • control system according to the invention can be used in different applications.
  • control system can be associated with a wheelchair for controlling and directing the wheelchair and its movement.
  • control system can also be associated:
  • control system can replace a conventional remote control.
  • An operator can then, for example, use his right hand (or left as appropriate) as an indicator and his right forearm as reference part to control all possible movements of a flying drone;
  • signals can then be used to control the lifting hook of the crane.
  • an operator may, for example, use his right hand (or left as appropriate) to control the orientation of the boom and the descent or ascent of the suspended load, as well as his right forearm pressed on the movable support for controlling the movement of the carriage (to which the load is attached) along the arrow; to a control device of a turret, for example the turret of a tank.
  • an operator can control the orientation and elevation of the gun with his right hand (or left if necessary), and control other predetermined actions using his right forearm. pressed on the mobile support.
  • control system can be in a miniaturized form.
  • the support is in the form of a mobile housing resting on a surface of use. More specifically, the support 1 takes the form of a housing intended to be positioned under the palm of a hand of a user, which is then the reference part AB.
  • the housing comprises at least one sensor 31, 32 forming the detection plane 3 in front of the housing, that is to say at the user's fingers, which then each become an indicator 2.
  • the detection plane 3 is divided into several detection zones
  • Each detection zone Zi is associated with a control signal (SCi), and intended to capture the movements of one of the indicators 2.
  • SCi control signal
  • the housing is also equipped with a laser system for detecting the movements of the support 1 on the use surface, such a laser system being known for example computer optical mice.
  • At least one translating member translating the movements of the support 1 with respect to the fixed base, in this case the usage support, into additional Ssup signals,
  • a processor 4 which receives the additional signals Ssup and generates the control signal SCi associated with each additional signal Ssup received.
  • the housing may also include buttons or other sensors for generating other control signals by detecting motions or being actuated by other indicators.
  • the user moves the housing by the palm of his hand, for example to control the direction of movement of a machine, then can validate actions or navigate in contextual menus through indicators 2, in this case their fingers.
  • NOMENCLATURE OF MAIN ELEMENTS NOMENCLATURE OF MAIN ELEMENTS

Abstract

The invention relates to a gesture-based control system using an indicator (2) moved by an operator, comprising a support (1) for positioning a reference part (AB) of the body of the operator and forming a position marker (ZN) for the indicator, which remains able to move freely, a detection plane (3) in front of the support (1) to be travelled through by the indicator (2), and defined by sensors (31, 32) for providing position signals (Sz, Sy). The detection plane (3) is divided into detection zones (Zi) with which there are associated control signals (SCi) generated by a processor (4) receiving the signals (Sz, Sy) of the instantaneous position (PMi) of the indicator (2) in a detection zone (Zi).

Description

Système de commande gestuelle d'actionneurs  Gesture control system of actuators
La présente invention se rapporte à un système de commande gestuelle d'un ou plusieurs actionneurs par les mouvements d'un indicateur mû par un opérateur, tel qu'une main de l'opérateur.  The present invention relates to a gesture control system of one or more actuators by the movements of an indicator driven by an operator, such as an operator's hand.
On connaît déjà, notamment des documents de brevets publiés sous les numéros WO2010030822, US2013300662, EP1537845, FR3029655 et KR101492587, de multiples télécommandes ou systèmes de commande d'actionneurs par les gestes de la main tels que par exemple les manettes de jeu, les commandes de fauteuils roulants, d'équipements électroniques, ou encore les télécommandes deux axes pour les engins de chantier ou autres équipements de ce type.  Already known, including patent documents published under the numbers WO2010030822, US2013300662, EP1537845, FR3029655 and KR101492587, multiple remote controls or actuator control systems by the hand gestures such as for example joysticks, commands wheelchairs, electronic equipment, or two-axis remote controls for construction machinery or other equipment of this type.
Ces différentes commandes ou télécommandes comportent une manette qui pivote autour d'une rotule pour générer directement ou indirectement un signal de commande activant un ou plusieurs actionneurs selon la direction de pivotement de la manette et l'amplitude de ce mouvement de pivotement.  These various controls or remote controls comprise a lever that pivots around a ball joint to directly or indirectly generate a control signal activating one or more actuators in the direction of pivoting of the joystick and the amplitude of this pivoting movement.
En général, ces télécommandes à deux axes permettent de commander des actionneurs réversibles associés aux deux sens de déplacement de la manette dans une même direction par rapport à un repère central.  In general, these two-axis remote controls make it possible to control reversible actuators associated with the two directions of movement of the joystick in the same direction with respect to a central reference.
Mais ces dispositifs de commande ou télécommandes nécessitent une manipulation précise, c'est-à-dire la tenue précise de la manette pour gérer les différentes actions.  But these control devices or remote controls require precise handling, that is to say, the precise holding of the joystick to manage the different actions.
Ces télécommandes ne peuvent être utilisées sauf à excepter des fausses manœuvres par des personnes dont la main, voire le bras, sont handicapés et qui ne peuvent exécuter que des mouvements relativement simples et souvent peu précis.  These remote controls can not be used except with the exception of false maneuvers by people whose hand or arm are disabled and who can only perform relatively simple movements and often not accurate.
La présente invention a pour but de développer un système de commande gestuelle permettant de commander un ou plusieurs actionneurs par des gestes simples exécutés par un indicateur mû par un opérateur, tel que la main, une partie de la main ou un élément tel qu'une tige tenue par la main ou fixée à l'avant-bras de l'opérateur, et qui ne soit pas perturbé par un geste incertain ou maladroit.  The present invention aims to develop a gesture control system for controlling one or more actuators by simple gestures performed by an indicator moved by an operator, such as the hand, part of the hand or an element such as a rod held by the hand or attached to the forearm of the operator, and which is not disturbed by an uncertain gesture or clumsy.
A cet effet, l'invention a pour objet un système de commande gestuelle d'un ou plusieurs actionneurs par les mouvements d'un indicateur mû par un opérateur, comprenant : - un support formant un emplacement pour positionner une partie référence du corps de l'opérateur et former un repère de positionnement de l'indicateur, qui reste libre en mouvement,To this end, the subject of the invention is a gestural control system of one or more actuators by the movements of an indicator driven by an operator, comprising: a support forming a location for positioning a reference part of the body of the operator and forming a marker for positioning the indicator, which remains free in motion,
- un plan de détection situé devant le support dans la région de mobilité de l'indicateur, a detection plane situated in front of the support in the mobility region of the indicator,
ce plan de détection étant défini par au moins un capteur détectant l'indicateur pour fournir des signaux de position de l'indicateur dans le plan de détection,  this detection plane being defined by at least one sensor detecting the indicator for providing position signals of the indicator in the detection plane,
- le plan de détection étant divisé en zones de détection de l'indicateur et auxquelles sont associés des signaux de commande,  the detection plane being divided into detection zones of the indicator and to which control signals are associated,
- un processeur recevant les signaux de la position instantanée de l'indicateur dans une zone de détection dans le plan de détection et générant le signal de commande associé à la zone de détection de la position instantanée de l'indicateur, ce signal de commande étant transmis aux actionneurs,  a processor receiving the signals from the instantaneous position of the indicator in a detection zone in the detection plane and generating the control signal associated with the detection zone of the instantaneous position of the indicator, this control signal being transmitted to the actuators,
le support étant mobile sur une base fixe, au moins un organe traducteur traduisant des mouvements du support par rapport à la base fixe en des signaux supplémentaires, le processeur recevant les signaux supplémentaires et générant le signal de commande associé aux signaux supplémentaires. the support being mobile on a fixed base, at least one translating member translating movements of the support relative to the fixed base into additional signals, the processor receiving the additional signals and generating the control signal associated with the additional signals.
L'indicateur mû par un opérateur peut correspondre à l'une des mains de l'opérateur. L'indicateur peut encore, de manière non exhaustive, correspondre à une partie de mains ou au menton de l'opérateur, ou également à un élément (tel qu'une prothèse) porté par la main ou l'avant-bras de l'opérateur.  The indicator moved by an operator may correspond to one of the hands of the operator. The indicator may also, non-exhaustively, correspond to a part of the hands or the chin of the operator, or also to an element (such as a prosthesis) carried by the hand or the forearm of the operator.
La partie référence du corps de l'opérateur, quant à elle, peut correspondre de manière non exhaustive à l'avant-bras ou au poignet (dans le cas où l'indicateur est la main, ou un partie de la main ou une prothèse) ou au cou de l'opérateur voire la partie arrière de la tête ou un côté de la tête (dans le cas où l'indicateur est le menton).  The reference part of the body of the operator, meanwhile, may correspond non-exhaustively to the forearm or wrist (in the case where the indicator is the hand, or part of the hand or a prosthesis ) or the operator's neck or even the back of the head or one side of the head (in the case where the indicator is the chin).
Le système de commande gestuelle selon l'invention permet d'utiliser des gestes extrêmement simples effectués par un indicateur mû par un opérateur sans nécessiter des mouvements très précis mais seulement un mouvement très simple de positionnement dans une zone de déplacement à partir d'une zone de repère telle que la zone neutre vers une autre zone adjacente activant telle ou telle fonction d'un actionneur. L'action étant commandée par la présence de l'indicateur dans une zone de détection et non sur un point de détection qui serait par définition très limité. L'action commandée reste stable même si naturellement l'indicateur bouge légèrement dans la zone ; l'indicateur peut bouger de manière instable dans la zone de détection sans que cela ne perturbe le fonctionnement du système de commande. Cette stabilité est particulièrement importante dans le cas principal d'application de ce système de commande utilisé par des personnes handicapées dont les gestes de la main peuvent être hésitants ou la main peut trembler et en général, les gestes sont difficiles à bloquer, même pendant une brève période. The gesture control system according to the invention makes it possible to use extremely simple gestures performed by an indicator driven by an operator without requiring very precise movements but only a very simple movement of positioning in a zone of movement from a zone such as the neutral zone to another adjacent zone activating such or such function of an actuator. The action being controlled by the presence of the indicator in an area detection and not on a detection point that would be by definition very limited. The controlled action remains stable even though the indicator naturally moves slightly in the zone; the indicator can move unsteadily in the detection zone without disturbing the operation of the control system. This stability is particularly important in the main case of application of this control system used by disabled people whose hand gestures may be hesitant or the hand may tremble and in general, the gestures are difficult to block, even during a brief period.
Comme ces zones de détection actives sont réparties autour de la zone neutre occupant une position de référence telle que la position centrale, correspondant à la position naturelle de la main (dans le cas d'application où l'indicateur mû par l'opérateur est sa main), de l'avant-bras ou d'un élément porté par ceux-ci, le repérage de cette zone neutre est facile pour l'opérateur qui, partant de cette zone neutre, pourra choisir l'action à commander en déplaçant l'indicateur (sa main, un doigt ou un élément tenu à la main, fixé à la main ou à l'avant-bras) pour choisir une action de l'actionneur associé à cette zone de détection dans laquelle s'est placé l'indicateur.  As these active detection zones are distributed around the neutral zone occupying a reference position such as the central position, corresponding to the natural position of the hand (in the case of application where the indicator moved by the operator is its hand), of the forearm or of an element carried by them, the identification of this neutral zone is easy for the operator who, starting from this neutral zone, will be able to choose the action to be commanded by moving the indicator (his hand, a finger or a hand-held element, fixed by hand or forearm) to choose an action of the actuator associated with this detection zone in which is located the indicator.
Comme toutes les zones de détection sont réparties autour de la zone neutre, il est avantageux pour certains types d'actions que toute activation d'une zone soit nécessairement précédée par le passage par la zone neutre.  As all the detection zones are distributed around the neutral zone, it is advantageous for certain types of actions that any activation of an area is necessarily preceded by the passage through the neutral zone.
Le passage par la zone neutre constitue un repère permettant à l'opérateur de diriger son indicateur vers la zone active qu'il souhaite utiliser, toujours en passant par la zone neutre.  The passage through the neutral zone is a marker allowing the operator to direct his indicator to the active area he wants to use, always passing through the neutral zone.
Par ailleurs, l'utilisation des mouvements du support permet d'augmenter le nombre de signaux analysables par le processeur et d'augmenter le nombre d'actionneurs contrôlés par le biais du signal de commande.  Moreover, the use of the movements of the support makes it possible to increase the number of signals analyzable by the processor and to increase the number of actuators controlled by means of the control signal.
Le ou les organes traducteurs peuvent par exemple être des potentiomètres. The translating member (s) may for example be potentiometers.
La présente invention sera décrite ci-après de manière plus détaillée à l'aideThe present invention will be described hereinafter in more detail using
De façon avantageuse, la zone de repère est une zone de détection définie dans le plan de détection autour de l'intersection du plan de détection par l'axe géométrique de la partie référence du corps positionnée sur le support, cette zone de repère étant entourée des autres zones de détection qui constituent les zones actives pour actionner l'un ou l'autre actionneur. De façon avantageuse, le support comporte un contact de mise en marche pour activer le système dès que la partie référence du corps de l'opérateur est en appui sur le support. Cette sécurité conditionne l'utilisation du système de commande par la mise en place de la partie référence du corps de l'opérateur sur le support, ce qui évite toute action intempestive des actionneurs si au moment de l'installation de l'opérateur, l'indicateur devait se trouver de manière non intentionnelle dans telle ou telle zone de détection associée à une action. Advantageously, the reference zone is a detection zone defined in the detection plane around the intersection of the detection plane by the geometric axis of the reference part of the body positioned on the support, this reference zone being surrounded. other detection zones that constitute the active zones for actuating one or the other actuator. Advantageously, the support comprises a start contact for activating the system as soon as the reference part of the body of the operator is resting on the support. This security conditions the use of the control system by placing the reference part of the body of the operator on the support, which avoids any inadvertent action of the actuators if at the time of installation of the operator, the The indicator had to be unintentionally located in a particular detection zone associated with an action.
Suivant une autre caractéristique, le système de commande comporte un affichage placé au-delà du plan de détection et figurant les zones de détection devant la position de l'indicateur mû par l'opérateur pour afficher la zone de détection activée par l'indicateur occupant sa position instantanée.  According to another characteristic, the control system comprises a display placed beyond the detection plane and showing the detection zones in front of the position of the indicator moved by the operator to display the detection zone activated by the occupying indicator. its instantaneous position.
Cet affichage permet à l'opérateur d'apprendre le fonctionnement du système de commande ou de contrôler en cours de fonctionnement, l'état d'activation de tel ou tel actionneur.  This display allows the operator to learn the operation of the control system or control during operation, the activation state of this or that actuator.
Suivant une autre caractéristique avantageuse, le signal de commande est un signal tout ou rien ou un signal fonction de la position de l'indicateur mû par l'opérateur dans la zone de détection.  According to another advantageous characteristic, the control signal is an on-off signal or a signal depending on the position of the indicator moved by the operator in the detection zone.
Le signal de commande sous forme de signal tout ou rien fait démarrer un actionneur qui sera arrêté dès que l'indicateur quittera la zone associée à cet actionneur. Il peut également s'agir d'un signal qui dépend de la position de l'indicateur dans la zone de détection et permet ainsi de commander l'amplitude de l'action de l'actionneur.  The control signal in the form of an on-off signal starts an actuator which will be stopped as soon as the indicator leaves the zone associated with this actuator. It can also be a signal that depends on the position of the indicator in the detection zone and thus allows to control the amplitude of the action of the actuator.
De façon avantageuse, les zones de détection sont regroupées deux à deux sur une ligne passant par la zone neutre et les signaux de commande générés par les deux zones de détection d'une paire sont des signaux commandant le mouvement direct et le mouvement inverse de l'actionneur associé à cette zone.  Advantageously, the detection zones are grouped together in pairs on a line passing through the neutral zone and the control signals generated by the two detection zones of a pair are signals controlling the direct movement and the reverse movement of the actuator associated with this zone.
Ainsi, dans le cas d'un système de commande appliqué à une installation telle qu'une chaise roulante, de façon intuitive, les zones de détection à droite et à gauche de la zone neutre seront associées à la direction à droite ou à gauche du fauteuil roulant alors que les zones en haut et en bas de la zone neutre seront associées à la marche avant ou à la marche arrière du fauteuil roulant.  Thus, in the case of a control system applied to an installation such as a wheelchair, intuitively, the detection zones to the right and left of the neutral zone will be associated with the direction to the right or left of the wheelchair while the zones at the top and bottom of the neutral zone will be associated with the forward or reverse movement of the wheelchair.
Cette association, intuitive, permet à l'opérateur de gérer très facilement le fonctionnement de son fauteuil roulant sans nécessiter de gestes très précis, d'autant plus que toute manœuvre non voulue, engagée à tort, peut être arrêtée immédiatement par la sortie de la zone activée et le passage dans la zone neutre qui est la zone de repère. This intuitive combination allows the operator to easily manage the operation of his wheelchair without requiring very precise gestures, especially since any unwanted maneuver, wrongly engaged, can be stopped. immediately by the exit of the activated zone and the passage in the neutral zone which is the reference zone.
d'un exemple de système de commande gestuelle représenté dans les dessins annexés dans lesquels :  an example of a gesture control system shown in the accompanying drawings in which:
- la figure 1 est une vue de côté d'un système de commande gestuelle d'un ou plusieurs actionneurs par les mouvements de la main ou d'une partie de la main ;  - Figure 1 is a side view of a gesture control system of one or more actuators by the movements of the hand or part of the hand;
- la figure 2 est une vue de face schématique du système de commande gestuelle de la figure 1 ;  FIG. 2 is a diagrammatic front view of the gesture control system of FIG. 1;
- la figure 3 est un exemple d'affichage pour le système de commande gestuelle selon l'invention ;  FIG. 3 is an example of a display for the gesture control system according to the invention;
- la figure 4 est une représentation schématique illustrant une variante de réalisation du support du système de commande gestuelle selon l'invention.  - Figure 4 is a schematic representation illustrating an alternative embodiment of the support of the gesture control system according to the invention.
Selon les figures 1 et 2, l'invention a pour objet un système de commande gestuelle 100 d'un ou plusieurs actionneurs Ai par les mouvements d'un indicateur 2 mû par l'opérateur.  According to Figures 1 and 2, the invention relates to a gesture control system 100 of one or more actuators Ai by the movements of an indicator 2 moved by the operator.
De façon générale, l'opérateur peut commander le système de commande 100 par les mouvements d'un indicateur 2 formé, par exemple, par son menton, sa main ou une partie de sa main, ou encore par le prolongement de sa main, (prothèse, tige fixée ou tenue à la main, etc.).  In general, the operator can control the control system 100 by the movements of an indicator 2 formed, for example, by his chin, his hand or part of his hand, or by the extension of his hand, ( prosthesis, stem attached or held by hand, etc.).
Le système de commande gestuelle 100 se compose d'un support 1 pour positionner une partie référence AB du corps de l'opérateur, par exemple son avant- bras selon le présent mode de réalisation, et donner un repère à l'opérateur pour les gestes de commande qu'il aura à effectuer avec l'indicateur 2. L'indicateur 2 est représenté par un trait interrompu à la figure 1 dans différentes positions PMi. Le support 1 est équipé d'un interrupteur ou détecteur 1 1 qui détecte la présence de la partie référence AB du corps bien mise en place sur le support 1 pour fermer un contact ou envoyer un signal SM/A mettant le système 100 en marche.  The gesture control system 100 consists of a support 1 for positioning a reference part AB of the body of the operator, for example his forearm according to the present embodiment, and to give a reference to the operator for the gestures it is to be controlled by the indicator 2. The indicator 2 is represented by a broken line in FIG. 1 in different positions PMi. The support 1 is equipped with a switch or detector 1 1 which detects the presence of the reference portion AB of the body well placed on the support 1 to close a contact or send a signal SM / A putting the system 100 into operation.
Devant la position de l'indicateur 2, au-delà du support 1 , le système 100 comporte un plan de détection 3, immatériel, défini par au moins un capteur 31 , 32. Ce plan de détection 3 situé à portée de l'indicateur 2 permet de détecter la position instantanée PMi de l'indicateur coupant ce plan 3 pourfournir des signaux de position (Sy, Sz) associés à des commandes SCi que l'opérateur veut générer. A la figure 2, nous avons représenté une forme ovale figurant la coupe d'une main (l'indicateur 2) dans les différentes zones de détection Zi au lieu de représenter l'indicateur 2 par un point pour mieux montrer la détection. In front of the position of the indicator 2, beyond the support 1, the system 100 comprises a detection plane 3, immaterial, defined by at least one sensor 31, 32. This detection plane 3 located within range of the indicator 2 makes it possible to detect the instantaneous position PMi of the indicator intersecting this plane 3 to provide position signals (Sy, Sz) associated with commands SCi that the operator wants to generate. In Figure 2, we have represented an oval shape showing the section of a hand (the indicator 2) in the different zones of detection Zi instead of representing the indicator 2 by a point to better show the detection.
Le système de commande 100 comporte un processeur 4 recevant les signaux de position Sz, Sy de l'indicateur 2 correspondant à la position instantanée PMi de l'indicateur 2 pour générer un signal de commande SCi de l'action que doit effectuer l'actionneur Ai associé à la position PMi de l'indicateur 2. Pour faciliter la description, il sera utilisé des repères géométriques, à savoir les directions X, Y, Z définissant un repère orthogonal dont :  The control system 100 comprises a processor 4 receiving the position signals Sz, Sy of the indicator 2 corresponding to the instantaneous position PMi of the indicator 2 to generate a control signal SCi of the action to be performed by the actuator Ai associated with the position PMi of the indicator 2. To facilitate the description, it will be used geometric landmarks, namely the directions X, Y, Z defining an orthogonal reference including:
- l'axe XX est la direction principale de la partie référence AB du corps de l'opérateur (par exemple son avant-bras, la direction principale étant alors une direction d'orientation),  the axis XX is the main direction of the reference part AB of the body of the operator (for example his forearm, the main direction then being an orientation direction),
- l'axe YY est l'axe transversal associé à l'axe XX,  the axis YY is the transverse axis associated with the axis XX,
- l'axe ZZ est l'axe vertical.  the ZZ axis is the vertical axis.
Ainsi le plan de détection 3 contient les axes Y, Z.  Thus the detection plane 3 contains the axes Y, Z.
Le plan de détection 3 est divisé en zones de détection Zi dans la surface à portée de l'indicateur 2. Ces zones Zi ne sont pas matérialisées dans l'espace et sont tout aussi immatérielles que le plan de détection 3. Selon l'exemple de la figure 2, à titre d'illustration, le plan de détection 3 est divisé en une zone centrale ZN entourée de quatre zones dont deux sont situées sur l'axe YY et deux, sur l'axe ZZ.  The detection plane 3 is divided into zones of detection Zi in the area within range of the indicator 2. These zones Zi are not materialized in space and are just as immaterial as the detection plane 3. According to the example of FIG. 2, by way of illustration, the detection plane 3 is divided into a central zone ZN surrounded by four zones, two of which are located on the axis YY and two on the axis ZZ.
Le plan de détection 3 est orienté par la disposition du ou des capteurs 31 , 32 et selon leur principe de détection. Les capteurs peuvent être des capteurs optiques (capteurs infrarouges par exemple), des capteurs à ultrasons ou des capteurs capacitifs. Ce plan de détection 3 est vertical (il contient les axes Y et Z) et en général, il est au moins sensiblement perpendiculaire à l'axe XX. Par exemple, le plan de détection peut être défini par un unique capteur capacitif sous forme de dalle.  The detection plane 3 is oriented by the arrangement of the sensor (s) 31, 32 and according to their detection principle. The sensors can be optical sensors (infrared sensors for example), ultrasonic sensors or capacitive sensors. This detection plane 3 is vertical (it contains the Y and Z axes) and in general, it is at least substantially perpendicular to the axis XX. For example, the detection plane can be defined by a single capacitive sensor in the form of a slab.
Les orientations naturelles des directions G, D (gauche/droite) et H, B (haut, bas) sont associées aux axes YY/ZZ et aussi aux zones Zi portant les repères  The natural orientations of the directions G, D (left / right) and H, B (up, down) are associated with the axes YY / ZZ and also with the zones Zi bearing the marks
- ZG, ZD pour les zones Zi à gauche et à droite,  - ZG, ZD for Zi zones on the left and right,
- ZH, ZB pour les zones Zi situées en haut et en bas.  - ZH, ZB for Zi zones located at the top and bottom.
Plus généralement, les zones Zi autres que la zone centrale ZN sont des zones actives Zi. Les zones ZN, Zi du plan de détection 3 sont associées chacune à une action d'un ou plusieurs actionneurs Ai. L'une des zones de détection Zi est une zone repère ZN par rapport à laquelle sont orientées ou repérées les autres zones de détection Zi pour être activées. La zone repère ZN permet à l'opérateur de connaître la position neutre quant à l'activation des actionneurs et par laquelle l'opérateur doit passer par le geste de son indicateur 2 pour activer toute autre zone de détection Zi et générer des signaux de commande. La zone neutre ZN est également une zone dans laquelle l'indicateur doit revenir pour arrêter l'activité de la zone dans laquelle était son indicateur. More generally, the zones Zi other than the central zone ZN are active zones Zi. The zones ZN, Zi of the detection plane 3 are each associated with an action of one or more actuators Ai. One of the detection zones Zi is a reference zone ZN with respect to which the other detection zones Zi are oriented or located to be activated. The reference zone ZN allows the operator to know the neutral position as to the activation of the actuators and by which the operator must go through the gesture of his indicator 2 to activate any other detection zone Zi and generate control signals . The ZN neutral zone is also an area in which the indicator must return to stop the activity of the zone in which its indicator was.
Le système de commande 100 doit être d'une utilisation très simple pour quelques gestes élémentaires de l'indicateur 2 ; la zone neutre ZN est la zone de détection dans laquelle se trouve naturellement l'indicateur 2 lorsque la partie référence AB de l'opérateur est installée sur le support 1. Il s'agit en général de la zone de détection située dans le prolongement de la partie référence AB du corps de l'opérateur), c'est-à-dire de l'indicateur 2 en position de repos.  The control system 100 must be of very simple use for a few elementary gestures of the indicator 2; the neutral zone ZN is the detection zone in which the indicator 2 is naturally located when the reference part AB of the operator is installed on the support 1. This is generally the detection zone situated in the extension of the reference part AB of the body of the operator), that is to say the indicator 2 in the rest position.
Les autres zones de détection Zi sont réparties autour de cette zone neutre The other Zi detection zones are distributed around this neutral zone
ZN. Toujours dans un but de simplification et d'efficacité du système de commande 100, les autres zones de détection Zi sont des zones actives car elles permettent de commander une action associée à chaque zone. Ces zones actives sont en nombre réduit par exemple quatre zones actives Zi situées en croix autour de la zone neutre ZN, de préférence deux zones dans le plan vertical au-dessus et en dessous de la zone neutre ZN et deux zones dans le plan horizontal de part et d'autre de la zone neutre ZN. ZN. Still for the sake of simplification and efficiency of the control system 100, the other detection zones Zi are active zones because they make it possible to control an action associated with each zone. These active zones are in reduced number, for example four active zones Zi located in a cross around the neutral zone ZN, preferably two zones in the vertical plane above and below the neutral zone ZN and two zones in the horizontal plane of on both sides of the ZN neutral zone.
Une division plus élaborée du plan de détection 2 peut prévoir quatre zones actives intermédiaires Zli entre les quatre zones actives Zi décrites ci-dessus. Cette division du plan de détection en zones actives autour de la zone neutre dépend de la précision des gestes que peut faire l'opérateur et du nombre d'actions à commander.  A more elaborate division of the detection plane 2 can provide four intermediate active zones Zli between the four active zones Zi described above. This division of the detection plane into active zones around the neutral zone depends on the precision of the gestures that the operator can make and the number of actions to be controlled.
Les zones actives Zi peuvent aussi se limiter à deux zones, par exemple dans le plan vertical ou dans le plan horizontal de part et d'autre de la zone neutre.  The active zones Zi can also be limited to two zones, for example in the vertical plane or in the horizontal plane on either side of the neutral zone.
Les zones actives Zi sont associées à un signal de commande, en général de type tout/rien, ou éventuellement fonction de la position de l'indicateur 2 dans la zone active Zi pour avoir une activation plus forte ou plus faible de l'actionneur Ai associé à cette zone active Zi.  The active zones Zi are associated with a control signal, generally of all / nothing type, or possibly depending on the position of the indicator 2 in the active zone Zi to have a stronger or weaker activation of the actuator Ai. associated with this active zone Zi.
La zone neutre ZN a la fonction d'un repère de positionnement de l'indicateur 2, nécessaire à l'opérateur pour repérer la position des autres zones Zi entourant cette zone neutre ZN. La position de l'indicateur (par exemple la main de l'opérateur) dans la zone neutre ZN est nécessaire au début d'un cycle de commande et cette position qui ne génère pas de signal de commande d'un actionneur est néanmoins signalée à l'opérateur par l'émission d'un signal sonore, d'un signal haptique ou d'un signal lumineux. Ce n'est qu'après le passage de l'indicateur 2 dans cette zone neutre ZN, qu'une autre zone Zi ou une succession de zones peut être activée. The neutral zone ZN has the function of a positioning marker of the indicator 2, necessary for the operator to locate the position of the other zones Zi surrounding this neutral zone ZN. The position of the indicator (for example the hand of the operator) in the neutral zone ZN is necessary at the beginning of a control cycle and this position which does not generate a control signal of an actuator is nevertheless indicated to the operator by sending a sound signal, a haptic signal or a light signal. Only after the passage of the indicator 2 in this neutral zone ZN, another zone Zi or a succession of zones can be activated.
La zone neutre ZN constitue aussi une zone d'arrêt si une ou deux paires de zones actives Zi, diamétralement opposées par rapport à la zone neutre ZN, sont associées à des commandes pour des actions opposées d'un même actionneur Ai. Il s'agit par exemple d'un actionneur de déplacement réversible, fonctionnant en marche avant et en marche arrière. La zone neutre ZN sera ainsi la zone d'arrêt du mouvement de l'actionneur Ai pour passer d'un certain sens de mouvement au sens de mouvement opposé.  The neutral zone ZN also constitutes a stopping zone if one or two pairs of active zones Zi, diametrically opposite to the neutral zone ZN, are associated with commands for opposite actions of the same actuator Ai. This is for example a reversible movement actuator, operating in forward and reverse. The neutral zone ZN will thus be the stopping zone of the movement of the actuator Ai to move from a certain direction of movement to the opposite direction of movement.
Suivant une variante non représentée, le support 1 est mobile linéairement et permet de commuter les actions associées aux zones de détection Zi pour multiplier les possibilités d'actions. Cette commutation peut également se faire avec un commutateur actionné par un autre membre, par exemple un pied.  According to a variant that is not shown, the support 1 is linearly mobile and makes it possible to switch the actions associated with the detection zones Zi to multiply the possibilities of actions. This switching can also be done with a switch actuated by another member, for example a foot.
Suivant une autre variante représentée par la figure 4, le support 1 est mobile sur une base fixe 12 et permet de piloter des actionneurs. Ce pilotage peut être effectué de manière indépendante de la commande exercée par le processeur suite au déplacement de l'indicateur.  According to another variant shown in Figure 4, the support 1 is movable on a fixed base 12 and can control actuators. This control can be performed independently of the command exerted by the processor following the displacement of the indicator.
Dans ce cas, un ou plusieurs organes traducteurs sont mis en œuvre pour détecter les déplacements du support. La translation longitudinale et/ou latérale du support peut ainsi être exploitée, fournissant ainsi une nouvelle possibilité de commande d'actionneurs associés.  In this case, one or more translating members are used to detect the movements of the support. The longitudinal and / or lateral translation of the support can thus be exploited, thus providing a new possibility of controlling associated actuators.
En l'occurrence, ces organes traducteurs prennent la forme de potentiomètres permettant de traduire des mouvements d'avant en arrière et de gauche à droite du support 1 par rapport à la base fixe en des signaux supplémentaires Ssup envoyés au processeur 4. Ces signaux supplémentaires sont reçus et traités par le processeur qui permet alors de générer un signal de commande associé à ces signaux supplémentaires.  In the present case, these translating elements take the form of potentiometers making it possible to translate movements from front to rear and from left to right of the support 1 with respect to the fixed base into additional signals Ssup sent to the processor 4. These additional signals are received and processed by the processor which then generates a control signal associated with these additional signals.
Par exemple, un avant-bras positionné sur le support 1 peut permettre de déclencher une action spécifique lors d'un déplacement/translation de l'avant-bras et du support 1 vers l'avant, l'arrière, la gauche ou la droite. Selon une variante, le système 100 comporte un afficheur 5 pour afficher l'image de la zone dans laquelle se trouve l'indicateur 2. L'afficheur 5 est divisé en zones d'affichage ZAi figurant les zones actives Zi du plan de détection 2 et visualisant pour l'opérateur la position de l'indicateur 2 dans le plan de détection 3 qui, lui, est immatériel. For example, a forearm positioned on the support 1 may allow to trigger a specific action during a movement / translation of the forearm and the support 1 forwards, backwards, left or right . According to one variant, the system 100 comprises a display 5 for displaying the image of the zone in which the indicator 2 is located. The display 5 is divided into display zones ZAi representing the active zones Z 1 of the detection plane 2 and visualizing for the operator the position of the indicator 2 in the detection plane 3 which itself is immaterial.
Les zones Zi représentées à la figure 2 sont délimitées par des rectangles pour simplifier leur présentation et leur description. Mais en réalité, les zones Zi ne sont pas délimitées de manière aussi précise par une figure géométrique et elles ont des limites qui peuvent, pour certaines, rester floues selon la précision possible de la détection de la position de l'indicateur 2 par les capteurs 31 , 32. L'important pour le bon fonctionnement du système de commande gestuelle 100 est de définir des zones simples à atteindre avec l'indicateur 2.  Zones Zi shown in Figure 2 are delimited by rectangles to simplify their presentation and description. But in reality, the zones Zi are not delimited so precisely by a geometrical figure and they have limits which can, for some, remain unclear according to the possible precision of the detection of the position of the indicator 2 by the sensors 31, 32. The important thing for the good operation of the gesture control system 100 is to define zones that are easy to reach with the indicator 2.
Les zones Zi sont écartées l'une de l'autre pour être associées chacune à une action précise et pour cela, les zones ne doivent pas se confondre.  The zones Zi are separated from each other to be associated each one with a precise action and for this, the zones must not be confused.
La zone neutre ZN a, dans le plan de détection, un contour différent selon la fonction associée qui est la fonction d'arrêt de l'action ou la fonction de repérage.  The neutral zone ZN has, in the detection plane, a different contour according to the associated function which is the function of stopping the action or the locating function.
Pour la fonction d'arrêt d'une action : le fait de sortir d'une zone Zi est synonyme d'arrêt de l'action associée à cette zone. Cette limite de la zone Zi constitue donc pour cette fonction également la limite de la zone neutre ZN.  For the stop function of an action: leaving a zone Zi is synonymous with stopping the action associated with this zone. This limit of the zone Zi thus constitutes for this function also the limit of the neutral zone ZN.
Pour la fonction de repérage de la zone ZN : la limite peut être avantageusement plus restreinte puisqu'il s'agit de définir un repère en quelque sorte pour les axes YY et ZZ qui, eux, une orientation naturelle horizontale et verticale.  For the locating function of the zone ZN: the limit can be advantageously more restricted since it is a question of defining a reference mark in some way for the axes YY and ZZ which, themselves, a horizontal and vertical natural orientation.
Les zones intermédiaires Zli qui peuvent être prévues dans certains cas, sont situées au-dessus/en dessous des zones Zi sur l'axe horizontal YY et à côté, à droite D et à gauche G des zones Zi situées sur l'axe vertical 33. Ces zones sont représentées sous forme de rectangles en pointillés à la figure 2 et elles peuvent être associées à des actions intermédiaires ou combinant deux actions de zones Zi voisines, par exemple ZD + ZH qui seraient l'action marche avant à droite.  The intermediate zones Zli which can be provided in certain cases are located above / below the zones Zi on the horizontal axis YY and on the right side D and on the left G of the zones Zi situated on the vertical axis 33 These zones are represented in the form of dashed rectangles in FIG. 2 and they can be associated with intermediate actions or combining two actions of neighboring zones Zi, for example ZD + ZH which would be the action forward on the right.
La figure 3 montre schématiquement l'affichage qui peut apparaître sur l'afficheur de repérage 5.  Figure 3 shows schematically the display that can appear on the registration display 5.
Il s'agit par exemple d'un système de commande associé à un fauteuil roulant pour commander et diriger le fauteuil roulant et son mouvement.  This is for example a control system associated with a wheelchair for controlling and directing the wheelchair and its movement.
La zone neutre ZN, STOP est associée à l'arrêt des fonctions des actionneurs. La zone active D est associée à la direction droite et la zone active G est associée à la direction gauche. Ces deux zones forment une paire de zones de part et d'autre de la zone neutre correspondant à l'arrêt des actionneurs (STOP). The neutral zone ZN, STOP is associated with the shutdown of the actuator functions. The active zone D is associated with the right direction and the active zone G is associated with the left direction. These two zones form a pair of zones on either side of the neutral zone corresponding to the shutdown of the actuators (STOP).
La colonne médiane correspond aux mouvements en marche avant pour la zone portant l'indication « HAUT » et la marche arrière pour la zone portant l'indication « BAS ». Les indications pourraient également être AV pour la marche avant dans la zone du haut et l'indication AR pour la zone active du bas.  The middle column corresponds to the forward movements for the zone marked "HIGH" and the reverse direction for the zone marked "BAS". The indications could also be AV for forward in the upper zone and AR for the active zone on the bottom.
Le système de commande gestuelle 100 selon l'invention s'applique avantageusement à un équipement tel qu'un fauteuil roulant ou un lit médicalisé ; dans le cas du fauteuil roulant, le support 1 et les capteurs 31 , 32 sont associés à un accoudoir du fauteuil avec éventuellement un petit afficheur 5 si ce repérage est nécessaire. Les parties électroniques telles que le processeur 4 et son alimentation sont intégrés dans le fauteuil.  The gesture control system 100 according to the invention advantageously applies to equipment such as a wheelchair or a hospital bed; in the case of the wheelchair, the support 1 and the sensors 31, 32 are associated with an armrest of the chair with possibly a small display 5 if this identification is necessary. The electronic parts such as the processor 4 and its power supply are integrated into the chair.
Le système de commande selon l'invention peut être employé dans différents applications.  The control system according to the invention can be used in different applications.
Tel qu'évoqué précédemment, le système de commande peut être associé à un fauteuil roulant pour commander et diriger le fauteuil roulant et son mouvement.  As mentioned above, the control system can be associated with a wheelchair for controlling and directing the wheelchair and its movement.
Le système de commande peut également être associé :  The control system can also be associated:
à un dispositif de contrôle d'un drone, les différents signaux étant alors utilisés pour piloter les déplacements du drone dans un espace tridimensionnel. Dans ce cas, le système de commande peut remplacer une télécommande classique. Un opérateur peut alors, par exemple, utiliser sa main droite (ou gauche le cas échéant) comme indicateur et son avant-bras droit comme partie référence pour contrôler tous les déplacements possibles d'un drone volant ;  to a device for controlling a drone, the different signals then being used to control the movements of the drone in a three-dimensional space. In this case, the control system can replace a conventional remote control. An operator can then, for example, use his right hand (or left as appropriate) as an indicator and his right forearm as reference part to control all possible movements of a flying drone;
à un dispositif de contrôle d'un appareil de manutention tel qu'une grue, des signaux pouvant alors être utilisés pour contrôler le crochet de levage de la grue. Dans ce cas, un opérateur peut, par exemple, utiliser sa main droite (ou gauche le cas échéant) pour contrôler l'orientation de la flèche et la descente ou la remontée de la charge suspendue, ainsi que son avant-bras droit appuyé sur le support mobile pour contrôler le déplacement du chariot (auquel est rattaché la charge) le long de la flèche ; à un dispositif de contrôle d'une tourelle, par exemple de la tourelle d'un char. Dans ce cas, un opérateur peut contrôler l'orientation et l'élévation du canon à l'aide de sa main droite (ou gauche le cas échéant), et contrôler d'autres actions prédéterminées à l'aide de son avant-bras droit appuyé sur le support mobile. to a control device of a handling device such as a crane, signals can then be used to control the lifting hook of the crane. In this case, an operator may, for example, use his right hand (or left as appropriate) to control the orientation of the boom and the descent or ascent of the suspended load, as well as his right forearm pressed on the movable support for controlling the movement of the carriage (to which the load is attached) along the arrow; to a control device of a turret, for example the turret of a tank. In this case, an operator can control the orientation and elevation of the gun with his right hand (or left if necessary), and control other predetermined actions using his right forearm. pressed on the mobile support.
Selon un autre mode de réalisation particulier, non illustré sur les figures, le système de commande peut se présenter sous une forme miniaturisée.  According to another particular embodiment, not illustrated in the figures, the control system can be in a miniaturized form.
Dans cette forme miniaturisée, le support se présente sous la forme d'un boîtier mobile reposant sur une surface d'utilisation. Plus précisément, le support 1 prend la forme d'un boîtier destiné à se positionner sous la paume d'une main d'un utilisateur, qui est alors la partie référence AB.  In this miniaturized form, the support is in the form of a mobile housing resting on a surface of use. More specifically, the support 1 takes the form of a housing intended to be positioned under the palm of a hand of a user, which is then the reference part AB.
Le boîtier comprend au moins un capteur 31 , 32 formant le plan de détection 3 devant le boîtier, c'est-à-dire au niveau des doigts de l'utilisateur qui deviennent alors chacun un indicateur 2.  The housing comprises at least one sensor 31, 32 forming the detection plane 3 in front of the housing, that is to say at the user's fingers, which then each become an indicator 2.
Par ailleurs, le plan de détection 3 est divisé en plusieurs zones de détection Moreover, the detection plane 3 is divided into several detection zones
Zi. Chaque zone de détection Zi est associée à un signal de commande (SCi), et destinée à capter les mouvements de l'un des indicateurs 2. Zi. Each detection zone Zi is associated with a control signal (SCi), and intended to capture the movements of one of the indicators 2.
Le boîtier est également équipé d'un système laser permettant de détecter les mouvements du support 1 sur la surface d'utilisation, un tel système laser étant connu par exemple des souris optiques pour ordinateur.  The housing is also equipped with a laser system for detecting the movements of the support 1 on the use surface, such a laser system being known for example computer optical mice.
Enfin, le boîtier comprend :  Finally, the case includes:
au moins un organe traducteur traduisant les mouvements du support 1 par rapport à la base fixe, ici le support d'utilisation, en signaux supplémentaires Ssup,  at least one translating member translating the movements of the support 1 with respect to the fixed base, in this case the usage support, into additional Ssup signals,
- un processeur 4 qui reçoit les signaux supplémentaires Ssup et génère le signal de commande SCi associé à chaque signal supplémentaire Ssup reçu.  a processor 4 which receives the additional signals Ssup and generates the control signal SCi associated with each additional signal Ssup received.
Le boîtier peut également comprendre des boutons ou d'autres capteurs destinés à générer d'autres signaux de commande en détectant les mouvements ou en étant actionnés par d'autres indicateurs.  The housing may also include buttons or other sensors for generating other control signals by detecting motions or being actuated by other indicators.
En utilisation, l'utilisateur déplace le boîtier grâce à la paume de sa main, par exemple pour commander la direction de déplacement d'un engin, puis peut valider des actions ou naviguer dans des menus contextuels grâce aux indicateurs 2, en l'espèce ses doigts. NOMENCLATURE DES ELEMENTS PRINCIPAUX In use, the user moves the housing by the palm of his hand, for example to control the direction of movement of a machine, then can validate actions or navigate in contextual menus through indicators 2, in this case their fingers. NOMENCLATURE OF MAIN ELEMENTS
100 Système de commande gestuelle 100 Gesture Control System
1 Support de la partie référence du corps de l'opérateur 1 Support of the reference part of the body of the operator
1 1 Interrupteur marche/arrêt  1 1 On / Off switch
12 base fixe 12 fixed base
2 Indicateur 2 Indicator
3 Plan de détection  3 Detection plan
31 , 32 Capteur 4 Processeur  31, 32 Sensor 4 Processor
5 Afficheur  5 Display
AB partie référence du corps de l'opérateur AB reference part of the operator's body
Ai Actionneur  Ai Actuator
PMi Position instantanée de l'indicateur PMi Instant position of the indicator
SCi Signal de commande de l'actionneur  SCi Command signal of the actuator
SM/A Signal marche/arrêt  SM / A Signal On / Off
Sz, Sy Signaux de la position instantanée de l'indicateur S z , S y Signals of the instantaneous position of the indicator
Ssup Signaux supplémentaires produits par un déplacement du support Y-Z Axes définissant le plan de détection  Ssup Additional signals produced by a displacement of the support Y-Z Axes defining the detection plane
ZN Zone neutre ZN Neutral Zone
Zi Zone de détection  Zi detection area
ZAi Zone d'affichage image d'une zone Zi  ZAi Zi zone image display area
Zli Zone intermédiaire X Direction XX principale d'alignement de la partie référence du corps sur la zone neutre Zli Intermediate zone X Main XX alignment direction of the reference part of the body on the neutral zone
Y Direction transversale  Y Cross direction
Z Direction verticale  Z Vertical direction

Claims

REVENDICATIONS
Système de commande gestuelle d'un ou plusieurs actionneurs (Ai) par les mouvements d'un indicateur (2) mû par un opérateur, Gesture control system of one or more actuators (Ai) by the movements of an indicator (2) driven by an operator,
caractérisé en ce qu'il comprend :  characterized in that it comprises:
un support (1 ) formant un emplacement pour positionner une partie référence (AB) du corps de l'opérateur, et former un repère de positionnement (ZN) de l'indicateur (2) qui reste libre en mouvement, un plan de détection (3) situé devant le support (1 ) dans la région de mobilité de l'indicateur (2),  a support (1) forming a location for positioning a reference part (AB) of the operator's body, and forming a positioning marker (ZN) of the indicator (2) which remains free in motion, a detection plane ( 3) located in front of the support (1) in the mobility region of the indicator (2),
ce plan de détection (3) étant défini par au moins un capteur (31 , 32) détectant l'indicateur (2) pour fournir des signaux de position (Sz, Sy) de l'indicateur (2) dans le plan de détection (3),  this detection plane (3) being defined by at least one sensor (31, 32) detecting the indicator (2) to provide position signals (Sz, Sy) of the indicator (2) in the detection plane ( 3),
le plan de détection (3) étant divisé en zones de détection (Zi) auxquelles sont associés des signaux de commande (SCi), et  the detection plane (3) being divided into detection zones (Zi) to which control signals (SCi) are associated, and
un processeur (4) recevant les signaux (Sz, Sy) de la position instantanée (PMi) de l'indicateur (2) dans une zone de détection (Zi) dans le plan de détection (3) et générant le signal de commande (SCi) associé à la zone de détection (Zi) de la position instantanée (PMi) de l'indicateur  a processor (4) receiving the signals (Sz, Sy) from the instantaneous position (PMi) of the indicator (2) in a detection zone (Zi) in the detection plane (3) and generating the control signal ( SCi) associated with the detection zone (Zi) of the instantaneous position (PMi) of the indicator
(2), ce signal de commande étant transmis aux actionneurs (Ai), et en ce que le support (1 ) est mobile sur une base fixe (12), au moins un organe traducteur traduisant des mouvements du support (1 ) par rapport à la base fixe en des signaux supplémentaires (Ssup), le processeur (4) recevant les signaux supplémentaires (Ssup) et générant le signal de commande (SCi) associé aux signaux supplémentaires (Ssup). (2), this control signal being transmitted to the actuators (Ai), and in that the support (1) is movable on a fixed base (12), at least one translating member translating movements of the support (1) relative to at the fixed base in additional signals (Ssup), the processor (4) receiving the additional signals (Ssup) and generating the control signal (SCi) associated with the additional signals (Ssup).
Système de commande gestuelle selon la revendication 1 , caractérisé en ce qu'une zone de détection (3) a une zone repère (ZN) définie dans le plan de détection (3) autour de l'intersection du plan de détection par l'axe géométrique (XX) de la partie référence (AB) du corps positionnée sur le support (1 ), cette zone repère (ZN) étant entourée des autres zones de détection (Zi). Gesture control system according to claim 1, characterized in that a detection zone (3) has a reference zone (ZN) defined in the detection plane (3) around the intersection of the detection plane by the axis geometric (XX) of the reference part (AB) of the body positioned on the support (1), this reference zone (ZN) being surrounded by the other detection zones (Zi).
3. Système de commande gestuelle selon la revendication 2, caractérisé en ce qu'il comporte deux paires de zones de détection (ZH, ZB ; ZD, ZG) réparties en croix par rapport à la zone repère (ZN), à la verticale (zz) et à l'horizontale (yy) de cette zone repère (ZN). 3. Gesture control system according to claim 2, characterized in that it comprises two pairs of detection zones (ZH, ZB, ZD, ZG) distributed crosswise with respect to the reference zone (ZN), the vertical (zz) and the horizontal (yy) of this reference zone (ZN).
Système de commande gestuelle selon la revendication 1 , caractérisé en ce que le support (1 ) comporte un contact de mise en marche (1 1 ) pour mettre en marche le système dès que la partie référence (AB) du corps est en appui sur le support (1 ). Gesture control system according to claim 1, characterized in that the support (1) has a start contact (1 1) to start the system as soon as the reference part (AB) of the body bears on the support (1).
Système de commande gestuelle selon la revendication 1 , caractérisé en ce qu'il comporte un affichage (5) placé au-delà du plan de détection (3) et figurant les zones de détection (ZN, ZH, ZB ; ZD, ZG) devant la position de l'indicateur (2) pour afficher la zone de détection (Zi) activée par l'indicateur (2) occupant sa position instantanée (PMi). Gesture control system according to claim 1, characterized in that it comprises a display (5) placed beyond the detection plane (3) and showing the detection zones (ZN, ZH, ZB, ZD, ZG) in front of the position of the indicator (2) to display the detection zone (Zi) activated by the indicator (2) occupying its instantaneous position (PMi).
Système de commande gestuelle selon la revendication 1 , caractérisé en ce qu'une zone de détection (Zi) ne peut être activée qu'après la détection de l'indicateur (2) en position (PMi) dans la zone neutre (ZN). Gesture control system according to claim 1, characterized in that a detection zone (Zi) can only be activated after the detection of the indicator (2) in the position (PMi) in the neutral zone (ZN).
Système de commande gestuelle selon la revendication 1 , caractérisé en ce que le signal de commande (SCi) est un signal tout ou rien ou un signal fonction de la position de l'indicateur (2) dans la zone de détection (Zi). Gesture control system according to Claim 1, characterized in that the control signal (SCi) is an on-off signal or a signal which is a function of the position of the indicator (2) in the detection zone (Zi).
Système de commande gestuelle selon la revendication 1 , caractérisé en ce que les zones de détection (Zi) sont regroupées deux à deux sur une ligne passant par la zone neutre (ZN) et les signaux de commande (SCi) générés par les deux zones de détection d'une paire sont des signaux commandant le mouvement direct et le mouvement inverse de l'actionneur (Ai) associé. Gesture control system according to claim 1, characterized in that the detection zones (Zi) are grouped together in pairs on a line passing through the neutral zone (ZN) and the control signals (SCi) generated by the two zones of detection of a pair are signals controlling the direct movement and the reverse movement of the associated actuator (Ai).
PCT/FR2018/052804 2017-11-13 2018-11-09 Gesture-based control system for actuators WO2019092386A1 (en)

Applications Claiming Priority (4)

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FR1760632 2017-11-13
FR1760632A FR3073649B1 (en) 2017-11-13 2017-11-13 ACTUATOR GESTUAL CONTROL SYSTEM
FR1853227A FR3073647B1 (en) 2017-11-13 2018-04-12 GESTURE CONTROL SYSTEM FOR ACTUATORS
FR1853227 2018-04-12

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WO2010030822A1 (en) 2008-09-10 2010-03-18 Oblong Industries, Inc. Gestural control of autonomous and semi-autonomous systems
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KR101492587B1 (en) 2014-01-23 2015-02-11 한국기계연구원 Auto-wheelchair driven by a sliding armrest
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