Method and device for planary sensory detection

• US 8,169,404 B1
• Filed: 08/15/2007
• Issued: 05/01/2012
• Est. Priority Date: 08/15/2006
• Status: Expired due to Fees

• Current Assignee: Navisense
• Original Assignee: Navisense
• Inventors: Boillot, Marc Andre
• Primary Examiner(s): Nguyen, Kevin M
• Assistant Examiner(s): ALMEIDA, CORY A
• Application Number:
  US11/839,323
• Time in Patent Office: 1,721 Days
• Field of Search: 345156-158, 345173-183
• US Class Current: 345/158
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06F 3/017 Gesture based interaction, e.g. based on a set of recognized hand gestures interaction based on gestures traced on a digitiser G06F3/04883

Abstract

A method and system (500) for generating an approximately planar sensory field (199) and confirming a presence of an object (310) in the field is provided. The system can include at least one paired receiver (121/122) and at least one transmitter (130) in a front and back orientation of a touchless sensing unit (110). The method can include detecting a movement of the object within a sensory space (176/177), estimating a phase angle of the movement; and evaluating whether the phase angle is within a predetermined range (197), and if so, confirming a presence of the object within the approximately planar sensory field.

Claims

1. A method for determining a presence of an object comprising:

detecting a movement and location of an object within a sensory space by tracking ultrasonic signals directed to and reflected off the object;

estimating a phase angle of received waveforms for each of three transmit and receive pair transducers generating the sensory space;

saving a history of received ultrasonic waveforms reflected off the object to within a predetermined time range according to the phase angle;

creating a three-dimensional volumetric surface from the phase angles for each of the transmit and receive pair transducers

calculating therefrom a broad intersection region of the three-dimensional volumetric surfaces;

in addition to the phase angle, estimating a phase difference between successively received ultrasonic waveforms in the history of the movement;

evaluating the phase difference to less than a wavelength of the received ultrasonic signals where the phase angle of the ultrasonic waveforms is within the predetermined range, and

constraining the location of the object to a particular point within the intersection of the three-dimensional volumetric surfaces from the phase difference;

and,

resolving the location of the object with approximately a positional accuracy of one millimeter in the sensory space.

2. The method of claim 1, wherein the wavelength is the ratio of the speed of sound to the ultrasonic signal fundamental frequency, and the fundamental frequency is between 40 Khz and 120 KHz.

3. The method of claim 1, wherein the estimating a phase angle comprises:

estimating a first time of flight for the object based on peak detection of a first reflection of a transmitted signal from the object;

estimating a second time of flight for the object based on peak detection of a second reflection of the transmitted signal from the object; and

comparing the first time of flight with the second time of flight, and if the first time of flight within a predetermined proportion to the second time of flight, confirming the presence of the object within the approximately sensory space.

4. The method of claim 1, further comprising:

determining that the object is approaching when the phase angle measured from successive waveforms captured and stored in the history decreases; and

determining that the object is leaving when the phase angle measured from successive waveforms captured and stored in the history increases.

5. The method of claim 1, further comprising generating the sensory field by:

transmitting a plurality of ultrasonic signal pulses with a fundamental frequency between 40 Khz and 120 KHz;

detecting a first echo from a first reflection of the ultrasonic signal pulse off the object from a first sensor;

detecting a second echo from a second reflection of the ultrasonic signal pulse off the object from a second sensor;

estimating the first distance of the object within the sensory field based on a time of flight measurement from the first reflection; and

estimating the second distance of the object within the sensory space based on a time of flight measurement from the second reflection

where the wavelength is the ratio of the speed of sound to the ultrasonic signal fundamental frequency.

6. The method of claim 1, wherein the detecting a movement of an object comprises tracking a finger or stylus moving within an ultrasonic sensing space.

7. A sensing unit for accurately determining a location of an object comprising:

at least one transmitter for transmitting a plurality of ultrasonic signal pulses;

at least three receivers for each respectively capturing a first reflection and a second reflection of the ultrasonic signal pulses from an object in a sensing space created by the at least one transmitter and receivers; and

a processor for accurately detecting a location and movement of an object within the sensory field by;

tracking ultrasonic signals directed to and reflected off the object,

saving received ultrasonic signals reflected off the object to memory,

estimating a phase angle of received ultrasonic signals in the history of the movement;

in addition to the phase angle, estimating a phase difference between peak amplitudes of successively received ultrasonic signals in the history

creating a three-dimensional volumetric surface from the phase angle for transmit and receiver pairs and calculating therefrom an intersection of the three-dimensional volumetric surfaces; and

evaluating the phase difference to is less than a wavelength of the received ultrasonic signals where the wavelength is the ratio of the speed of sound to the ultrasonic signal fundamental frequency that is between 40 Khz and 120 KHz, and the phase angle is within a predetermined time of flight range, and locating the object with a positional accuracy on the order of one millimeter in the sensory space by constraining the detected location of the object to an intersection point of the three-dimensional volumetric surfaces from the phase difference.

8. The sensing unit of claim 7, further comprising:

a second pair of receivers for capturing a first reflection and a second reflection of the signal from the object in a sensing field created by the transmitter,

wherein the first pair of receivers, the second pair of receivers, and the at least one transmitter are positioned approximately in-line to one another.

9. The sensing unit of claim 8, wherein a first receiver and a second receiver of each pair of receivers are positioned in an approximately front and back orientation with respect to the in-line orientation of the first pair of receivers, the second pair of receivers, and the at least one transmitter.

10. The sensing unit of claim 8, wherein processor

calculates a first phase angle of the object in the sensory field;

calculates a second phase angle of the object in the sensory field; and

compares the first phase angle with the second phase angle to produce a phase difference, and if the phase difference is within the wavelength,

confirms the presence and location of the object within the approximately sensory field of the sensory space

where the wavelength corresponds to a period of the ultrasonic signals transmitted frequency and the period is defined as the time between ultrasonic signals pulses and is the inverse of the fundamental frequency.

11. The sensing unit of claim 8, further comprising:

a visual element for identifying the presence of the object within the sensory field.

12. The sensing unit of claim 8, wherein the transmitter is an ultrasonic transmitter or light source, and the receivers are micro-electromechanical (MEMS) microphones having ultrasonic sensitivity.

13. A method for accurate ultrasonic sensing, comprising:

emitting a plurality of ultrasonic signals in air from a transmitter with a fundamental frequency between 40 to 120 KHz for generating a sensory space therein;

detecting a location and movement of an object within the sensory space by tracking the ultrasonic signals directed to and reflected off the object;

saving a history of received ultrasonic signals reflected off the object within a predetermined range;

estimating a phase angle of the received ultrasonic signals stored in the history of the movement for each transmitter and receiver pair;

estimating a phase difference between peak amplitudes of successively received ultrasonic signals stored in the history for each transmitter and receiver pair, and

creating a three-dimensional volumetric surface from the phase angle measurements for each of three transmit and receive pair transducers and calculating therefrom an intersection of the three-dimensional volumetric surfaces;

constraining the location of the object to a region within the intersection of the three-dimensional volumetric surfaces by evaluating the phase difference to less than a wavelength of the received ultrasonic signals;

determining that the object is at a location with approximately a positional accuracy of one millimeter in the sensory space when the phase difference is less than a wavelength of the received ultrasonic signals and the phase angle is within the predetermined range, where the wavelength is the ratio of the speed of sound to the ultrasonic signal fundamental frequency, and the fundamental frequency is between 40 Khz and 120 KHz.

14. The method of claim 13, further comprising:

estimating a first time of flight based on a first reflection received at a first receiver of a receiver pair;

estimating a second time of flight based on a second reflection received at a second receiver of a receiver pair;

evaluating a time difference between the first time of flight and the second time of flight; and

confirming a presence of the object within the approximately planar sensory space.

15. The method of claim 13, wherein the determining further comprises:

evaluating whether a phase difference between a first echo signal indicating the first time of flight and a second echo signal indicating the second time of flight is less than a wavelength of the transmitted signal.