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    • 专利摘要:
    This device for locating an impact (P) against an interactive surface (10) comprises at least three transducers (PTA, PTB, PTC, PTD) distributed against the interactive surface (10) and an electronic central unit (12) programmed to locate the impact (P) by an analysis of differences in the propagation time of progressive mechanical waves from the impact (P) to the transducers (PTA, PTB, PTC, PTD) on the basis of detection times of the impact (P) identified in electrical signals provided by the transducers (PTA, PTB, PTC, PTD). The electronic central unit (12) is programmed to trigger an impact detection from a first moment when at least one M-th derivative of at least one of the electrical signals received exceeds a predetermined threshold value (Vs ) and then to determine, for each electrical signal received from each transducer (PTA, PTB, PTC, PTD), at least a second instant, after the first instant, of the first zero crossing of at least one N-derivative. th of this electrical signal, from which at least one moment of impact detection is identified.
    公开号:FR3056780A1
    申请号:FR1659133
    申请日:2016-09-27
    公开日:2018-03-30
    发明作者:Jean-Marc Alexandre；Robert Boden
    申请人:Commissariat a lEnergie Atomique CEA；Commissariat a lEnergie Atomique et aux Energies Alternatives CEA；
    IPC主号:
    专利说明:

    Holder (s): COMMISSIONER OF ATOMIC ENERGY AND ALTERNATIVE ENERGIES Public establishment.
    Extension request (s)
    Agent (s): CABINET BONNET.
    DEVICE FOR LOCATING AN IMPACT AGAINST AN INTERACTIVE SURFACE, CORRESPONDING FACILITIES, METHOD AND COMPUTER PROGRAM.
    FR 3 056 780 - A1
    This device for locating an impact (P) against an interactive surface (10) comprises at least three transducers (PT A , PT B , PT C , PTq) distributed against the interactive surface (10) and an electronic central unit (12 ) programmed to locate the impact (P) by analyzing the differences in propagation time of progressive mechanical waves from the impact (P) to the transducers (PT A , PT B , PT C , PT D ) on the basis of moments of impact detection (P) identified in electrical signals supplied by the transducers (PT A , PT B , PT C , PT D ).
    The electronic central unit (12) is programmed to trigger an impact detection from a first instant when at least one derivative M-th of at least one of the electrical signals received exceeds a predetermined threshold value (V s ) non-zero and then to determine, for each electrical signal received from each transducer (PT A , PT B , PT C , PT D ), at least a second instant, after the first instant, of first zero crossing of at least minus an N-th derivative of this electrical signal, from which at least one moment of impact detection is identified.
    The present invention relates to a device for locating an impact against an interactive surface, by analyzing differences in the propagation time of progressive mechanical waves propagating from the impact. It also relates to installations comprising this device, a method implementing it and a corresponding computer program.
    Numerous objects with interactive surfaces are known, in particular display devices, mobile telephones or other portable devices for personal digital assistance. Their interface is generally a flat, rectangular screen with which a user can interact using a projectile, a stylus or even a finger. It should be noted, however, that the invention applies more generally to any type of object having an interactive surface capable of propagating progressive mechanical waves from an impact, this surface not necessarily being flat, nor of rectangular outline. .
    By interactive surface is meant a two-dimensional or three-dimensional surface, capable of changing shape in the sense of the static and dynamic elasticity of the materials when it is subjected to an impact such as a touch, a contact force, a mechanical impulse. or a shock, thus allowing the propagation of progressive mechanical waves detectable using transducers, in particular surface acoustic waves, from the place of impact. The surface deformation can be submillimetric not visible to the naked eye. Plastic, glass or metal surfaces are suitable.
    Each of the known interactive surface objects includes an impact location device using one or more detection techniques. A strong trend towards reducing the manufacturing cost and reducing the overall size aims to retain only the simplest technologies using a limited number of sensors. The invention thus relates more precisely to a localization device implementing a technology for detecting the propagation of progressive mechanical waves in an interactive surface, in particular using detectors of the piezoelectric transducer type.
    A first solution is disclosed in US patent 7,345,677 B2. It is based on recognition of the position of an impact by learning. The method implemented operates a cross-correlation between at least one measured acoustic signal resulting from the detection of an acoustic wave generated by an impact on the interactive surface of the object and a reference set called “set of signatures” consisting of prerecorded impulse acoustic responses, each relating to a predefined position which one wishes to associate with a function and to recognize when an impact is brought to this position.
    A second solution, for example disclosed in US patent 8,330,744 B2, consists in measuring the disturbance of an impact on the propagation of progressive mechanical waves regularly emitted in the interactive surface independently of this impact. This solution is deemed to be more precise and reliable than the previous one, in particular for qualifying or monitoring the impact, but it is also based on recognition of the position of an impact by learning.
    These first two solutions have the disadvantage of depending on this learning which can be both complex to implement and quickly unusable in the event of variations in the medium or the interactive surface. They also require fairly large computing power.
    A third solution, older, is based on the measurement of a transit time difference of a wave packet generated by an impact to a plurality of piezoelectric detectors and on deterministic calculation, using a pre-established mathematical formula, of the position of a source emitting the packet of waves. Thus, this solution requires an impact location device comprising:
    - at least three transducers arranged and distributed against the interactive surface, designed to pick up the progressive mechanical waves propagating in the interactive surface and transform them into electrical signals, and
    - an electronic central unit, connected to the transducers to receive their electrical signals, programmed to locate the impact in the interactive surface by an analysis of the propagation time differences of the progressive mechanical waves coming from the impact towards the transducers on the basis of 'moments of impact detection identified in the electrical signals received.
    In general, it is thus possible to locate an impact of a finger or a point object (for example a projectile or a stylus), since the latter then emits an impulse. But with this fairly old technology, which is advantageously simple, it is difficult to achieve good localization accuracy, in particular beyond certain dimensions of the interactive surface or when the impact is of low intensity, because it is then difficult to precisely identify the moments of impact detection in the electrical signals transmitted to the electronic central unit.
    For example, if the method of identifying the moments of impact detection is based on exceeding a predetermined threshold in the signals returned by the transducers, this generates a measurement error from the moment when the returned signals are not not the same amplitudes, which is inevitable given the generally strong attenuation of the traveling waves and the different distances between the impact and the different transducers. The moment of impact detection will be delayed in the most attenuated signals returned by the transducers farthest from the impact. Furthermore, the predetermined threshold is necessarily common to all the transducers since no assumption can be made a priori on the location of an impact and therefore on the respective amplitudes of the returned signals. It is generally chosen at a few tens of millivolts to avoid any false detection on ambient noise.
    Concretely, for an interactive steel surface, the slope of the rising wave signal is around 80 mV / ps. If the difference in amplitude between two signals from two transducers is a factor of two (the first having a rising slope at 80 mV / ps), the result is, for a triggering threshold at 20 mV, an error of approximately 250 ns. The waves propagating at a speed of 5500 m / s, this gives a localization error close to 1.5 mm.
    In practice, to attenuate the localization error, a broadband preamplification, a squared rise, a peak detection, an integration (using a strong resistance at the transducer output) and a frequency-selective amplification can be performed at the output of the transducers, as for example taught in US patent 6,933,930 B2. This results in a higher amplitude of the returned signals and a better adaptation to the subsequent processing in the case of a detection based on obtaining an energy threshold. However, significant measurement errors remain when the impact is close to the periphery of which the transducers form the vertices because the amplitude differences between signals are large and the integration times differ. US 6,933,930 B2 therefore teaches to correct these integration times by attempting to evaluate them to remove them from the instants of detection. However, the resulting processing, notably requiring analog / digital conversion, is fairly complex and not very robust.
    US Patent 6,367,800 B1 proposes an amplification followed by a resonator stage centered on 25 kHz, making it possible to amplify the signal on a given frequency. This method which can be very precise is however not robust. The choice of a resonant frequency makes the system sensitive to variations in the frequency profile of the signal which can vary depending on the energy of the impact, its direction and the nature of the object causing the impact.
    As for the methods consisting in digitizing the signals at the output of the transducers, as for example taught in the patent US Pat. No. 7,088,347 B2, before any processing and possible normalization, the problem is that they require analog / digital conversion frequencies and memory capacities. and very high calculation taking into account the speed of the progressive mechanical waves in the interactive surface.
    It may thus be desired to design an impact localization device which makes it possible to overcome at least some of the above problems and constraints.
    It is therefore proposed a device for locating an impact against an interactive surface capable of propagating progressive mechanical waves from the impact, comprising:
    - at least three transducers arranged and distributed against the interactive surface, designed to pick up the progressive mechanical waves propagating in the interactive surface and transform them into electrical signals, and
    - an electronic central unit, connected to the transducers to receive their electrical signals, programmed to locate the impact in the interactive surface by an analysis of the propagation time differences of the progressive mechanical waves coming from the impact towards the transducers on the basis of 'moments of impact detection identified in the electrical signals received, in which the electronic central unit is programmed to:
    - trigger an impact detection from a first instant when at least one M-th derivative of at least one of the electrical signals received exceeds a non-zero predetermined threshold value, where M is a positive or zero integer , and
    - after triggering of impact detection:
    • determine, for each electrical signal received from each transducer, at least a second instant, after the first instant, of first passage to zero of at least one N-th derivative of this electrical signal, where N is a positive integer or zero, and • identify, for each electrical signal received from each transducer, at least one impact detection instant in this electrical signal from said at least one second determined instant.
    It has in fact been observed that, surprisingly, while the ascending slopes of the signals returned by the transducers are very dependent on the distances between the impact and the transducers, this is not then the case with the first zero crossings of the signals, or their successive derivatives, when they have exceeded the predetermined threshold value. Thus, by proceeding in two simple steps as taught above, the instant of impact detection can be identified in a robust manner in the signals returned by the transducers. It should also be noted that exceeding a threshold value and detecting a zero crossing can be carried out on analog signals, so that the implementation of the present invention does not require analog / digital conversion.
    Optionally, each transducer is a piezoelectric sensor having a capacity and an output load connected in parallel such as:
    - the output load is purely resistive and its impedance is less than one tenth of the capacity impedance at an average frequency of the progressive mechanical waves resulting from the impact, or
    - the output load comprises an operational amplifier mounted as a current to voltage converter.
    Also optionally, the electronic central unit is programmed to trigger the impact detection by storing sampled values of at least one signal from at least one zero comparator of said at least one Nth derivative of each electrical signal received from each transducer, for a predetermined maximum time.
    Also optionally, the electronic central unit is programmed to:
    - determine, for each electrical signal received from each transducer, several second instants of first zero crossings of several n-th derivatives of this electrical signal, 0 <n <N, where N is strictly positive,
    - identify, for each electrical signal received from each transducer, several instants of impact detection in this electrical signal from the second determined instants, and
    - deduce several possible locations of the impact and determine a final location by average and / or optimization of a likelihood criterion.
    Also optionally, an impact location device according to the invention may comprise at least four transducers arranged and distributed against the interactive surface, the electronic central unit being further programmed for:
    - from at least one determined location of the impact, determine, geometrically and by knowing a propagation speed of the progressive mechanical waves in the interactive surface, the expected theoretical instants of detection of the impact by each of the transducers,
    - compare the theoretical instants of impact detection with the identified instants of impact detection, and
    - deduce therefrom a likelihood value from said at least one location.
    It is also proposed a sports shooting installation comprising:
    - an interactive surface target,
    - an impact location device according to the invention, for determining values of impact locations against the interactive surface of the target,
    - a server for storing said impact location values,
    a transmitter for transmitting said impact location values from the electronic central unit of the location device to the storage server, and
    - a portable telephone or personal digital assistance device provided with a software application for downloading and processing at least part of the impact location values stored by the server for presentation to a user.
    It is also proposed an archery installation comprising:
    - an interactive surface target,
    - an impact location device according to the invention, and
    - at least one arrow, one end of which is intended to reach the interactive surface of the target, is provided with a shock absorbing end-piece.
    Optionally, the target includes:
    a first plate, for example made of straw or dense foam, on a front face of which is displayed a mark of the target, and
    - A second transparent protective plate disposed against the front face of the first plate, this second transparent protective plate comprising the interactive surface and having a visual mark allowing centering with respect to the mark of the target.
    A method of locating an impact against an interactive surface is also proposed, capable of propagating progressive mechanical waves from the impact, comprising the following steps:
    - capture, using at least three transducers arranged and distributed against the interactive surface, the progressive mechanical waves propagating in the interactive surface and transform them into electrical signals, and
    - locate the impact in the interactive surface, using an electronic central unit connected to the transducers to receive their electrical signals, by an analysis of differences in propagation time of the progressive mechanical waves resulting from the impact towards the transducers on the basis of impact detection instants identified in the electrical signals received, the impact location comprising the following steps:
    triggering an impact detection from a first instant when at least one derivative M-th of at least one of the electrical signals received by the electronic central unit exceeds a non-zero predetermined threshold value, where M is a positive or zero integer, and
    - after triggering of impact detection:
    • determine, for each electrical signal received from each transducer, at least a second instant, after the first instant, of first passage to zero of at least one N-th derivative of this electrical signal, where N is a positive integer or zero, and • identify, for each electrical signal received from each transducer, at least one impact detection instant in this electrical signal from said at least one second determined instant.
    There is also proposed a computer program downloadable from a communication network and / or recorded on a computer-readable medium and / or executable by a processor, comprising instructions for the execution of the steps of a method for locating impact according to the invention, when said program is executed on a computer.
    The invention will be better understood with the aid of the description which follows, given solely by way of example and made with reference to the appended drawings in which:
    FIG. 1 schematically represents the general structure of an installation comprising an impact location device according to an embodiment of the invention,
    FIG. 2 illustrates the temporal form of an electrical signal returned by a transducer of the location device of FIG. 1 during an impact,
    - Figures 3 and 4 illustrate two embodiments of a transducer of the location device of Figure 1,
    FIG. 5 illustrates the successive steps of an impact location method according to an embodiment of the invention,
    FIG. 6 schematically represents a sports shooting installation according to an embodiment of the invention,
    FIG. 7 is a side view of an interactive surface target of the sports shooting installation of FIG. 6, and
    - Figure 8 schematically shows an archery installation according to an embodiment of the invention.
    The installation shown schematically in FIG. 1 comprises a rectangular interactive surface 10, capable of propagating progressive mechanical waves from an impact P, and a device for locating any impact against this interactive surface 10.
    The location device includes:
    - four transducers PT A , PT B , PT C and PT D arranged and distributed against the interactive surface 10, more precisely at the four corners of the rectangle which it forms, designed to capture the progressive mechanical waves propagating in the interactive surface and the transform into electrical signals, and
    - an electronic central unit 12, connected to the transducers PT A , PT B , PT C and PT D to receive their electrical signals, programmed to locate the impact P in the interactive surface 10 by an analysis of differences in propagation time of the waves progressive mechanics from the P impact to the PT A , PT B , PT C and PT D transducers based on P impact detection times identified in the electrical signals received.
    Note that, in general, the interactive surface 10 is arbitrary, not necessarily rectangular. The number of transducers is also arbitrary, at least equal to three to allow localization by analysis of the propagation time differences as taught in document US 6,933,930 B2 or US 6,367,800 B1.
    The electronic central unit 12 more precisely comprises an interface 14 for receiving the electrical signals supplied by each of the four transducers PTa, PT b , PT c and PT D. This interface can include an analog amplifier.
    The electronic central unit 12 further comprises a comparator 16 between a non-zero predetermined threshold value V s and at least one derivative M-th of at least one of the electrical signals received and transmitted by the interface 14, where M is a positive or zero integer. In the nonlimiting example illustrated in FIG. 1, M = 0 and the signals received by the comparator 16 are directly the electrical signals received and transmitted by the interface 14. But M could be different from 0 so that the signals that receives comparator 16 could be derivatives of the electrical signals received and transmitted by interface 14.
    The electronic central unit 12 further comprises a module 18 for detecting the passage to zero of at least one N-th derivative of each electrical signal received and transmitted by the interface 14, where N is a positive or zero integer. In the nonlimiting example of FIG. 1, this detection module 18 includes three comparators and two differentials. A first comparator 20 directly compares (N = 0) each electrical signal received and transmitted by the interface 14 at a zero voltage. A second comparator 22 compares each first derivative (N = 1) of each electrical signal received and transmitted by the interface 14 at a zero voltage. To do this, each electrical signal received and transmitted by the interface 14 is processed by a differentiator 24 before being supplied to the second comparator 22. Finally, a third comparator 26 compares each second derivative (N = 2) of each electrical signal received and transmitted by the interface 14 at zero voltage. To do this, each electrical signal received and transmitted by the interface 14 is processed by a double tap 28 before being supplied to the third comparator 26. Although this is not illustrated in FIG. 1, the detection module 18 could include on the same principle other comparators associated with other differentiators for the detection of zero crossings of derivatives N-ths, N> 3, of the signals received and transmitted by the interface 14. As a variant, it could also include less than three comparators, in particular at least one comparator to perform only one zero crossing detection for each electrical signal received and transmitted by the interface 14, whether on the signal itself or one any of its derivatives.
    The electronic central unit 12 further comprises a computer 30 whose digital inputs are connected to the outputs of the comparators 16, 20, 22 and 26. This computer 30 is for example a microprocessor programmed for:
    triggering an impact detection from a first instant h when the comparator 16 detects at least an overstepping of the predetermined threshold value V s , and
    - after triggering of the impact detection at time h:
    • determine, for each electrical signal received from each transducer, three second instants t 2 , t 2 'and t 2 ”, subsequent to the first instant, respectively of the first zero crossing of this electrical signal (t 2 = instant when the comparator 20 detects a first zero crossing by decreasing values), its first derivative (t 2 '= instant when the comparator 22 detects a first zero crossing by decreasing values) and its second derivative (t 2 ”= instant when the comparator 26 detects a first zero crossing by decreasing values), and • identify, for each electrical signal received from each transducer, three instants of impact detection in this electrical signal from the three determined second instants t 2 , t 2 ′ and t 2 ”.
    More specifically, the digital inputs sample the signals received and are, for example, clocked by the internal clock of the computer 30 (in particular using peripherals such as microcontroller "timers"). Typical sampling frequencies today range from 60 MHz to over 200 MHz. As soon as time h is detected by the digital input receiving the output of comparator 16, storage of the other digital inputs receiving the outputs of comparators 20, 22 and 26 is carried out at the sampling frequency for a predetermined maximum duration. This maximum duration is defined so as to be sufficient to consider that all the first zero crossings of the Nth derivatives considered will take place before its expiration: it is therefore understood that it is defined as a function of the speed of propagation of the progressive mechanical waves and of the lateral dimensions of the interactive surface 10. In practice, a duration of 50 ps or less may be sufficient for an interactive surface of lateral dimensions less than 30 cm in which the progressive mechanical waves propagate at 5500 m / s.
    The instants b, t 2 , t 2 'and t 2 ”are illustrated in FIG. 2 in the same signal returned by any one of the transducers PT A , PT B , PT C and PT D during an impact P. This signal presents some micro-oscillations of very low amplitudes preceding a main lobe characteristic of the impact P and followed by other oscillations which are attenuating. The instant L is that of the exceeding of the predetermined threshold value V s . This is chosen so as to exceed the noise and micro-oscillations preceding the impact P represented by the main lobe L of the illustrated signal, generally around 10 mV. It is used to detect the rising edge of this main lobe L. The instant t 2 is that of the first zero crossing by descending values of the main lobe L. The instant t 2 'is that of the first zero crossing by descending values of the first derivative of the main lobe L, that is to say the maximum of the main lobe L. The instant t 2 ”is that of the first zero crossing by descending values of the second derivative of the main lobe L, it is ie the first inflection point by increasing values of the main lobe L. The property cleverly exploited by the present invention is that the instants t 2 , t 2 'and t 2 ”are much less dependent on the distances between the impact P and the transducers PT A , PT B , PT C , PT D that the instant b- This property is due to the fact that they are linked to characteristic points of the main lobe L which do not depend on the amplitude of the signal , unlike time b In an embodiment pr ferred, they are the instants t 2, t 2 'and t 2' of zero crossings themselves that are identified as instants of detection of the impact P by the electronic central unit 12.
    Furthermore, according to a possible embodiment, the instant L is common to all the signals supplied by the four transducers PT A , PT B , PT C and PT D. It is the instant of detection of the exceeding of the predetermined threshold value V s by the first of these signals. Following this unique instant b, the instants t 2 , t 2 'and t 2 ”are determined for each of these signals by imposing for example a certain minimum number of successive high values in the digital inputs sampled before a zero crossing so that the latter is effectively considered as a first zero crossing by decreasing values, so as to avoid false detections on the micro-undulations preceding each main lobe which is significant for detecting the impact P. This minimum number, significant for a assumed width of the main lobe of each signal, can be established by calibration and differ depending on the signals analyzed, depending on whether it is a signal directly supplied by a transducer or one of its derivatives. It is thus noted that, for progressive mechanical waves propagating at 5500 m / s in an interactive polycarbonate surface, the main lobe of an electrical signal supplied by any one of the transducers following an impact has an expected width of about 2 ps.
    According to another possible embodiment, an instant t! of exceeding the predetermined threshold value V s could be determined independently for each of the signals supplied by the four transducers PT A , PT B , PT C and PT D.
    In a variant also, the instant h can be determined by exceeding the threshold V s of any one of the successive derivatives of one or more of the signals supplied by the four transducers PT A , PT B , PT C and PT D.
    In the example illustrated in FIG. 1, the operation of the electronic central unit 12 as detailed above makes it possible to obtain twelve instants for detecting the impact P identified in the electrical signals received:
    - the three instants t A2 , t A , 2 'and t A , 2 ”respectively identified in the electrical signal supplied by the transducer PT A , its first derivative and its second derivative,
    - the three instants t B> 2 , t B , 2 'and t B , 2 ”respectively identified in the electrical signal supplied by the PT B transducer, its first derivative and its second derivative,
    - the three instants te, 2, tc, 2 'and tc, 2 ”respectively identified in the electrical signal supplied by the transducer PT C , its first derivative and its second derivative, and
    - the three instants t D2 , t D , 2 'and t D , 2 ”respectively identified in the electrical signal supplied by the PT D transducer. its first derivative and its second derivative.
    Note that, although the instants h, t A , 2 , t B> 2 , t c , 2 , t D , 2 , t A , 2 ', t B , 2 ', t c , 2 ', t D , 2 ', t A , 2 ”, t B , 2 ”, t c , 2 ”, t D , 2 ” have been described as detected after sampling by the digital inputs of the computer 30, the processing of the signals by the elements 14 , 16 and 18 can be entirely analog, so that the detection of these instants itself could alternatively also be analog.
    In a manner known per se and using calculation formulas which can be pre-established, the computer 30 is programmed to determine a location, noted for example (x, y) in Cartesian coordinates in a coordinate system linked to the interactive surface 10, from the instants identified t A2 , t B2 , t c , 2 and t D2 , the propagation speed of the progressive mechanical waves in the interactive surface 10 and the locations of the four transducers PT A , PT B , PT C and PT D . Similarly, it is programmed to determine a noted location (x ', y') from the instants identified t A> 2 ', t B , 2 ', te, 2 'and t D , 2 ' · Similarly, it is programmed to determine a noted location (x ”, y”) from the instants identified t A2 ”, t B2 ”, tc, 2 ”and t D2 ”. By generalization, it is programmed to determine a noted location (x (N) , y (N) ) from times tA2 (N) , tB2 (N) , tc, 2 (N) and tD2 (N) which could be identified in N-th derivatives of the signals supplied by the four transducers PT A , PT B , PT C and PT D.
    In theory, the coordinates (x, y), (x ', y') and (x ”, y”) should be identical since the quadruplets (t A , 2 , t B> 2 , t c , 2 , t D , 2 ), (t A , 2 ', t B , 2 ', t c , 2 ', t D , 2 ') and (t A , 2 ”, t B , 2 ”, t c , 2 ”, t D , 2 ”) are theoretically identical to two constants. In practice, this is never the case, in particular because of the sampling pitch of the digital inputs of the computer 30 and of the measurement noise. It is then possible to exploit the redundancies resulting from the twelve instants of detection of the impact P identified, since only three instants identified from three different transducers are at least theoretically necessary. In particular, it is possible to determine a final location (x f , y f ) by averaging the locations (x, y), (x ', y') and (x ”, y”). It is also possible to associate each location (x, y), (x ', y') and (x ”, y”) with a likelihood calculation and take them into account when calculating the above-mentioned average or for select one of the locations.
    The likelihood calculation mentioned above exploits for example the fact that for each location (x, y), (x ', y'), (x ”, y”) or more generally (x (N) , y (N ) ), more than three transducers are requested. Thus, for each location (x (N) , y (N) ), with N> 0, it is possible to determine geometrically (by Pythagoras), and knowing the speed of propagation of the progressive mechanical waves in the interactive surface 10, expected theoretical instants of detection t-thA2 (N) , t-thB 2 (N) , t-thc, 2 (N) , t-thD 2 (N) and to deduce a likelihood value (square error or other well-known method) by comparing them to the identified instants tAj2 (N) , tB, 2 (N) , tc, 2 (N) and tD, 2 < N >.
    The computer 30 has been presented previously in the form of a microprocessor programmed to perform a certain number of functions which can be implemented with the aid of computer programs, that is to say in the form of a IT device. But these functions could also be at least partly micro programmed or micro wired in dedicated integrated circuits. Thus, as a variant, the computer device implementing the computer 30 could be replaced by an electronic device composed solely of digital circuits (without a computer program) for carrying out the same actions.
    Each transducer PT A , PT B , PT C or PT D of FIG. 1 can be produced in the form illustrated diagrammatically in FIG. 3. It comprises a piezoelectric sensor 32 whose equivalent electrical diagram includes a current source 34 connected in parallel with a capacity 36. The capacity 36 is itself connected in parallel with a purely resistive output load. It is more precisely a resistor 38 whose impedance is advantageously less than one tenth of the impedance of the capacitor 36 at an average frequency of the progressive mechanical waves resulting from the impact P, that is to say for example at a frequency close to 200 kHz for an interactive surface 10 of steel. It is clever to choose a resistive load as low as compared to the capacity 36. This makes it possible to avoid an integrating effect and a distortion of the electrical signal supplied by the piezoelectric sensor 32. This results in better relevance of the times t 2 , t 2 'and t 2 ”of zero crossings identified as instants for detecting the impact P by the electronic central unit 12, and therefore better localization. It should be noted that this trick is contrary to known teaching, for example that of documents US 6,933,930 B2 and US 6,367,800 B1. In fact, in these documents, the integration and amplification effect produced by a high impedance at the output of the piezoelectric sensor 32 is sought in order to be able to detect low energy impacts. But this is done to the detriment of the quality of the localization for two reasons: first, we lower the frequency of the electrical signals, the rising edges are less stiff and we are less precise on the threshold detection, in particular in presence of noise or if the signals are strongly attenuated; then, we delay the moments of detection of zero crossings and we are therefore more sensitive to echoes or disturbances that appear on signals in the vicinity of changes in mechanical properties such as, for example, interactive surface edges.
    To make it possible to detect low energy impacts in accordance with the invention, if the assembly of FIG. 3 is not suitable, it is possible to produce each transducer PT A , PT B , PT C or PT D of FIG. 1 under the shape illustrated schematically in FIG. 4. The transducer PT A , PT B , PT C or PT D comprises, as in the previous example, the piezoelectric sensor 32 whose equivalent electrical diagram comprises the current source 34 connected in parallel with the capacitor 36 But the capacitor 36 is connected in parallel this time with an output load comprising an operational amplifier 40 mounted as a current to voltage converter. It has for this purpose a resistor 42 disposed between the output and the inverting input of the operational amplifier 40, the two inverting and non-inverting inputs of the latter being respectively connected directly to the two terminals of the capacitor 36. This arrangement makes it possible to eliminate the integrating role of the capacitor 36 since the voltage at its terminals remains almost zero, the current generated by the piezoelectric sensor 32 in turn generating a voltage in the resistor 42 which can this time be of high value and therefore allow the low energy impact detection.
    The operation of the installation in FIG. 1 will now be detailed with reference to FIG. 5.
    At an initial time t = 0, during a first step 100, an impact P generates progressive mechanical waves intended to propagate in all directions in the interactive surface 10.
    From this initial instant, during a step 102, the four transducers PT A , PT B , PT C and PT D capture these progressive mechanical waves and transform them into electrical signals.
    In parallel with this step 102, during steps 104, 106, 108, the electronic central unit 12 receives the electronic signals supplied by the transducers PTa, PT b , PT c and PT D and its computer 30 processes them to locate the impact P in the interactive surface 10 by an analysis of differences in propagation time of these progressive mechanical waves from the impact to each of the transducers.
    More specifically, during step 104, the computer 30 triggers an impact detection from an instant when at least one derivative M-th of at least one of the electrical signals received by the central unit electronics 12 exceeds the predetermined threshold value V s . In the example of FIG. 1, this is the first instant 1 when the comparator 16 detects at least an overshoot of the predetermined threshold value V s . From this moment, a storage of the digital inputs receiving the outputs of the comparators 20, 22 and 26 is carried out at the sampling frequency for the predetermined maximum duration.
    Then, during step 106, the computer 30 determines for each electrical signal received from each transducer PT A , PT B , PT C and PT D , at least a second instant, after the first instant L, from first pass to zero of at least one Nth derivative of this electrical signal. In the example of Figure 1, these are the twelve second instants t A> 2 , t B , 2 , t c , 2 , t D , 2 , t A , 2 ', t B , 2 ', t c , 2 ', t D , 2 ', t A , 2 ”, t B> 2 ”, te, 2 ”, t D , 2 ” first zero crossing of the electrical signals received (t A , 2 , t B , 2 , t c , 2 , t D , 2 = times when comparator 20 detects a first zero crossing by decreasing values), of their first derivatives (t A2 , t B> 2 ', t c , 2 ', t D2 '= instants when comparator 22 detects a first zero crossing by decreasing values) and their second derivatives (t A2 ”, t B 2 ”, t c , 2 ”, t D 2 ” = instants where comparator 26 detects a first zero crossing by decreasing values). All these second instants are identified as instants for detecting the impact P.
    Then, during step 108, the computer 30 determines as detailed above the location of the impact P, for example in Cartesian coordinates in the interactive surface 10, based on the twelve instants of detection of the impact P identified in the electrical signals received. It is then ready for the detection of a new impact (return to step 100).
    It will be noted that the computer 30 can also be configured to measure an energy of the impact P in addition to its location.
    The installation of FIG. 6 is a sports shooting installation which advantageously but optionally implements the principles of the present invention. It can be air rifle, 22LR rifle, crossbow, etc.
    It involves :
    a target 44 with an interactive surface 46 provided with a localization device for determining values of localization of impacts against the interactive surface: this device advantageously comprises the electronic central unit 12 and the transducers PT A , PT B , PT C , PT D described above, but it could also be a location device in accordance with the teachings of documents US 6,933,930 B2 or US 6,367,800 B1,
    a server 48 for storing the values of impact locations localized by the device 12, PT A , PT B , PT C and PT D ,
    a transmitter 50, provided for example in the electronic central unit 12, for the transmission of these impact location values from the electronic central unit 12 to the storage server 48, and
    - A portable device 52 for telephony or personal digital assistance provided with a software application for downloading and processing at least part of the values of impact locations stored by the server 48 with a view to their presentation to a user (display, historical and statistical data, ...).
    The storage server 48 communicates with the transmitter 50 of the electronic central unit 12 and with the portable device 52 using at least one network 54 for wired or wireless data transmission. For example, the transmitter 50 transmits its data to the storage server 48 according to a wireless communication protocol such as Bluetooth or WiFi and the storage server 48 communicates with the portable device 52 according to a wireless telecommunication protocol.
    The interactive surface 46 is for example made of a rigid sheet resistant to the energy of impacts on the back of which are bonded the transducers PTa, PT b , PT c and PT D. As further illustrated in FIG. 7 in side view, it may include fastening elements 56 and a housing 58 at the rear in which the transducers PT A , PT B , PT C and PT D , the electronic central unit 12 and an autonomous unit 60 for supplying electrical energy (battery, battery, etc.).
    Finally, it should be noted that at least part of the electronic central unit 12, in particular a part of the computer 30, can be functionally remote on the portable device 52 for telephony or personal digital assistance since the latter has its own computing capacities. .
    The installation of FIG. 8 is an archery installation which advantageously but optionally implements the principles of the present invention.
    It involves :
    a support 62 for stable holding on the ground, for example an easel,
    a target 64 with an interactive surface 66 provided with a device for locating an impact against the interactive surface: this device advantageously comprises the electronic central unit 12 and the transducers PT A , PTb, PT c , PT d described above, but it could also be a location device in accordance with the teachings of documents US 6,933,930 B2 or US 6,367,800 B1,
    at least one arrow 68, one end of which 70, intended to reach the interactive surface 66 of the target 64, is provided with an end piece 72 for shock absorption, for example a plastic or rubber end piece of the "blunt tip" type so as not to damage the interactive surface 66.
    Optionally, the target 64 may include a first conventional plate 74 made of straw or dense foam against a front face of which the interactive surface 66 is arranged in the form of a second transparent protective plate, for example made of polycarbonate.
    Thus for driving and in order to limit the wear of the conventional plate 74, the transparent protective plate 66 can be placed against its front face and fixed to the support 62. A visual mark on this protective plate 66 allows, for example, centering relative to the conventional plate 74 on the front face of which is displayed a target mark. The transducers PT A , PT B , PT C , PT D are then positioned at the four corners of the protective plate 66. The arrow 68, when it reaches the target 64, bounces against the transparent protective plate 66 but the point of impact can be located as detailed previously.
    For competitions, the transparent protective plate 66 can be removed and the target 64 then comprises only the conventional plate 74.
    It will also be noted that, as in the previous example, the impact locations can be transmitted in real time to a portable telephone or personal digital assistance device provided with a suitable software application, thus allowing a user to see immediately the result of his shots and his training statistics. In a preferred embodiment, for more realism, one can display on the portable device an arrow in perspective instead of a simple point of impact. The shape of the signal measured by the transducers PT A , PTb, PT c , PT d can in particular give an idea of the orientation of the arrow.
    It clearly appears that an impact location device against an interactive surface such as that described above makes it possible to improve the performance of a location technology by detecting progressive mechanical waves and analyzing propagation time differences.
    It also clearly appears that firing installations such as those described above very significantly improve the technical possibilities of interaction, by cleverly exploiting the advantage of a localization technology by detection of progressive mechanical waves and analysis of time differences of propagation, with or without the performance improvements made by the device of FIG. 1.
    Note also that the invention is not limited to the embodiments described above. It will appear to those skilled in the art that various modifications can be made to the embodiments described above, in the light of the teaching which has just been disclosed to him. In the presentation of the invention which was made previously between page 4 line 16 and page 8 line 2, the terms used should not be interpreted as limiting the invention to the embodiments set out in this description, but must be interpreted to include all the equivalents whose forecasting is within the reach of those skilled in the art by applying his general knowledge to the implementation of the teaching which has just been disclosed to him.
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    1. Device for locating an impact (P) against an interactive surface (10) capable of propagating progressive mechanical waves from the impact (P), comprising:
    at least three transducers (PT A , PT B , PT C , PT D ) arranged and distributed against the interactive surface (10), designed to capture the progressive mechanical waves propagating in the interactive surface (10) and transform them into electrical signals , and an electronic central unit (12), connected to the transducers (PT A , PT B , PTc, PT D ) to receive their electrical signals, programmed to locate the impact (P) in the interactive surface (10) by an analysis differences in propagation time of the progressive mechanical waves from the impact (P) to the transducers (PT A , PT B , PT C , PT D ) on the basis of times (t 2 , t 2 ', t 2 ”) For detecting the impact (P) identified in the electrical signals received, characterized in that the electronic central unit (12) is programmed to:
    trigger an impact detection from a first instant (h) where at least one derivative M-th of at least one of the electrical signals received exceeds a non-zero predetermined threshold value (V s ), where M is a positive or zero integer, and after triggering of impact detection:
    • determine, for each electrical signal received from each transducer (PT A , PT B , PT C , PT D ), at least a second instant (t 2 , t 2 ', t 2 ”), after the first instant (h) , the first zero crossing of at least one N-th derivative of this electrical signal, where N is a positive or zero integer, and • identify, for each electrical signal received from each transducer (PT A , PT B , PT C , PT D ), at least one instant (t 2 , t 2 ', t 2 ”) of impact detection in this electrical signal from said at least one second determined instant (t 2 , t 2 ', t 2 ”).
    [2" id="c-fr-0002]
    2. An impact location device (P) according to claim 1, wherein each transducer (PT A , PT B , PT C , PT D ) is a piezoelectric sensor (32) having a capacity (36) and a load output connected in parallel such as:
    the output load is purely resistive (38) and its impedance is less than one tenth of the capacity impedance (36) at an average frequency of the progressive mechanical waves resulting from the impact (P), or the output load comprises an operational amplifier (40, 42) mounted as a current to voltage converter.
    [3" id="c-fr-0003]
    3. An impact location device (P) according to claim 1 or 2, in which the electronic central unit (12) is programmed to trigger the impact detection by storing sampled values of at least one signal from at least one zero comparator (20, 22, 26) of said at least one Nth derivative of each electrical signal received from each transducer (PT A , PT B , PT C , PT D ), for a predetermined maximum duration.
    [4" id="c-fr-0004]
    4. An impact location device (P) according to any one of claims 1 to 3, in which the electronic central unit (12) is programmed for:
    determine, for each electrical signal received from each transducer (PT A , PT B , PT C , PT D ), several second instants (t 2 , t 2 ', t 2 ”) of first zero crossings of several n-th derivatives of this electrical signal, 0 <n <N, where N is strictly positive, identify, for each electrical signal received from each transducer (PT A , PT B , PT C , PT D ), several times (t 2 , t 2 ' , t 2 ”) of impact detection in this electrical signal from the second determined instants (t 2 , t 2 ', t 2 ”), and deduce therefrom several possible locations of the impact (P) and determine a location final by average and / or optimization of a likelihood criterion.
    [5" id="c-fr-0005]
    5. An impact location device (P) according to any one of claims 1 to 4, comprising at least four transducers (PT A , PT B , PT C , PT D ) disposed and distributed against the interactive surface (10 ), in which the electronic central unit (12) is further programmed to:
    from at least one determined location of the impact (P), determine, geometrically and by knowing a propagation speed of the progressive mechanical waves in the interactive surface (10), expected theoretical instants of detection of the impact ( P) by each of the transducers (PT A , PT B , PT C , PT D ), compare the theoretical instants of impact detection (P) with the identified instants (t 2 , t 2 ', t 2 ”) of detection impact, and deduce a likelihood value from said at least one location.
    [6" id="c-fr-0006]
    6. Sports shooting facility comprising:
    an interactive surface target (44) (46), an impact location device according to any one of claims 1 to 5, for determining values of impact locations against the interactive surface (46) of the target (44), a server (48) for storing said impact location values, a transmitter (50), for the transmission of said impact location values from the central electronic unit (12) of the location device to the storage server (48), and a portable device (52) for telephony or personal digital assistance provided with a software application for downloading and processing at least part of the values of impact locations stored by the server for presentation to a user.
    [7" id="c-fr-0007]
    7. Archery installation comprising:
    an interactive surface target (64) (66), an impact location device according to any one of claims 1 to 5, and at least one arrow (68) including one end (70) intended to reach the surface interactive (66) of the target (64) is provided with a shock absorbing end piece (72).
    [8" id="c-fr-0008]
    8. Archery installation according to claim 7, the target (64) of which comprises:
    a first plate (74), for example made of straw or dense foam, on a front face of which is displayed a mark of the target (64), and a second transparent protective plate (66) disposed against the front face of the first plate (74), this second transparent protective plate (66) comprising the interactive surface and having a visual mark allowing centering with respect to the mark of the target (64).
    [9" id="c-fr-0009]
    9. Method for locating an impact (P) against an interactive surface (10) capable of propagating progressive mechanical waves from the impact (P), comprising the following steps:
    sensing (102), using at least three transducers (PT A , PT B , PT C , PT D ) arranged and distributed against the interactive surface (10), the progressive mechanical waves propagating in the interactive surface ( 10) and transform them into electrical signals, and locate (104, 106, 108) the impact (P) in the interactive surface (10), using a central electronic unit (12) connected to the transducers (PT A , PT B , PT C , PT D ) to receive their electrical signals, by an analysis (108) of differences in propagation time of the progressive mechanical waves resulting from the impact (P) towards the transducers (PT A , PT B , PT C , PT D ) on the basis of instants (t 2 , t 2 ', t 2 ”) of impact detection (P) identified in the electrical signals received, characterized in that the location of the impact (104, 106, 108) comprises the following steps:
    trigger (104) an impact detection from a first instant (h) where at least one M-th derivative of at least one of the electrical signals received by the electronic central unit (12) exceeds a value non-zero predetermined threshold (V s ), where M is a positive or zero integer, and after triggering (104) of impact detection:
    • determine (106), for each electrical signal received from each transducer (PT A , PT B , PT C , PT D ), at least a second instant (t 2 , t 2 ', t 2 ”), after the first instant (h), the first zero crossing of at least one N-th derivative of this electrical signal, where N is a positive or zero integer, and • identify (106), for each electrical signal received from each transducer (PT A , PT B , PT C , PT D ), at least one instant (t 2 , t 2 ', t 2 ”) of impact detection in this electrical signal from said at least one second determined instant (t 2 , t 2 ', t 2 ”).
    [10" id="c-fr-0010]
    10. Computer program downloadable from a communication network and / or recorded on a computer-readable medium and / or executable by a processor (30), characterized in that it comprises instructions for the execution of the steps of an impact location method according to claim 9,
    5 when said program is executed on a computer.
    1/3
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    同族专利:
    公开号 | 公开日
    FR3056780B1|2018-10-12|
    US20190227690A1|2019-07-25|
    WO2018060564A1|2018-04-05|
    EP3519760B1|2020-11-11|
    US11163393B2|2021-11-02|
    CN109937339A|2019-06-25|
    EP3519760A1|2019-08-07|
    CN109937339B|2022-02-08|
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    法律状态:
    2017-09-19| PLFP| Fee payment|Year of fee payment: 2 |
    2018-03-30| PLSC| Publication of the preliminary search report|Effective date: 20180330 |
    2018-09-20| PLFP| Fee payment|Year of fee payment: 3 |
    2019-09-19| PLFP| Fee payment|Year of fee payment: 4 |
    2020-09-10| PLFP| Fee payment|Year of fee payment: 5 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1659133|2016-09-27|
    FR1659133A|FR3056780B1|2016-09-27|2016-09-27|DEVICE FOR LOCATING AN IMPACT AGAINST AN INTERACTIVE SURFACE, INSTALLATIONS, CORRESPONDING COMPUTER PROGRAM AND METHOD|FR1659133A| FR3056780B1|2016-09-27|2016-09-27|DEVICE FOR LOCATING AN IMPACT AGAINST AN INTERACTIVE SURFACE, INSTALLATIONS, CORRESPONDING COMPUTER PROGRAM AND METHOD|
    CN201780069573.1A| CN109937339B|2016-09-27|2017-09-18|Device for locating the impact of an interactive surface, corresponding installation, method and computer program|
    PCT/FR2017/052483| WO2018060564A1|2016-09-27|2017-09-18|Device for locating an impact against an interactive surface, corresponding equipment, method and computer program|
    US16/337,204| US11163393B2|2016-09-27|2017-09-18|Device for locating an impact against an interactive surface, corresponding facilities, method and computer program|
    EP17780485.3A| EP3519760B1|2016-09-27|2017-09-18|Device for locating an impact against an interactive surface, corresponding equipment, method and computer program|
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