Interactive 3D method and system for assisting during manual assembly or disassembly operations

Abstract

The invention relates to a method for assisting a user in performing an assembly sequence comprising a series of part assembly operations. For each operation in the series, the method comprises the following steps: displaying a 3D image of a real part to be manipulated within the user's field of vision using a display (2) held in front of the user's eyes, while leaving the user's surroundings visible in the field of vision; capturing, by means of a capture device (SNS) attached to the user's hand, translational and / or rotational movements of the user; moving the displayed image of the part by applying the captured movements in an active state; detecting, by means of the capture device, a command applied by the user in the active state; and upon detection of the command in the active state, activating the next operation in the series. Figure 1

Description

Title of the invention: 3D interactive method and system for assistance during manual assembly or disassembly operations Technical field

[0001] The present invention relates to the assembly of mechanical parts, in particular supplied in a kit to be assembled. The present invention also relates to maintenance operations requiring the partial or complete disassembly of a system, in particular to replace a faulty part. State of the art

[0002] Many objects such as furniture or more complex systems are marketed in separate parts in the form of kits bringing together parts to be assembled. Generally, printed assembly instructions are provided with the kit. Such instructions are also used to describe assembly operations in the manufacturing industry and for training purposes. Furthermore, printed maintenance instructions are produced to describe maintenance operations for complex systems. Generally, these instructions describe sequences for assembling and / or disassembling and reassembling parts of a system.

[0003] However, it is often difficult to read and understand diagrams presented in such assembly or maintenance instructions, especially since producing sufficiently clear diagrams can pose great difficulties. Furthermore, some people have difficulty representing three-dimensional parts from two-dimensional diagrams. Thus, it can be difficult to identify a part from its representation in a two-dimensional diagram, and to determine in which position a part must be assembled to another part. In addition, producing sufficiently clear and complete assembly or maintenance instructions requires great expertise and a significant amount of time, and can therefore be relatively costly. As a result, many manufacturers neglect this essential task.

[0004] Furthermore, assembly and maintenance operations are manual tasks. It can therefore be difficult to consult a printed manual and at the same time, to devote oneself to handling parts or tools. In addition, certain maintenance operations must be carried out in severe conditions making it difficult to consult printed instructions. Such severe conditions may be encountered, for example, during interventions at great height, in confined spaces, when handling fluids such as mechanical oils, outdoors in adverse weather conditions, underwater or even in space.

[0005] It is therefore desirable to be able to provide access to information on the assembly or disassembly of parts, which is sufficiently explicit to be useful, in any situation or environment. It is also desirable to be able to leave the operator's hands free while allowing access to this information at any time. It may also be desirable to reduce the duration of assembly and disassembly operations, to reduce the risk of error and to enable results to be achieved having the required level of quality without depending on the experience and training of the operator. Summary

[0006] Embodiments relate to a method for assisting a user in carrying out an assembly sequence comprising a series of operations for assembling mechanical parts, the method comprising, for each operation in the series of operations, steps consisting of: displaying a three-dimensional image of a real part to be handled during the operation, in a portion of the user's field of vision using a display held on the user's head and in front of the user's eyes, while leaving the user's environment visible in another portion of the user's field of vision; capturing, using a capture device associated with a hand of the user, rotational movements of the user; moving the displayed image of the part by applying the captured movements to it, in an active state of the capture device; detecting an end of operation in the active state;and upon detecting the end of an operation in the active state, activating a next operation in the series of operations. ;

[0007] Thanks to these provisions, the user can carry out a sequence of manual operations to be performed, having the possibility at each operation of viewing an image of the part to be handled from all angles. Furthermore, viewing the image of the part leaves the user's hands free to carry out the operation using the part and does not require a space to arrange a printed plan or a display screen. The user thus remains completely free of movement and can move around without having to use his hands to carry equipment other than that which may be necessary to carry out the sequence of operations. The method can therefore be implemented in any environment, and in particular in harsh or cramped environments.

[0008] According to one embodiment, the end of operation is triggered by: a first command applied by the user in the active state, and / or by a shape recognition application upon recognition in an image of the user's field of vision, provided by an image sensor, that the displayed part P2 is correctly mounted.

[0009] Thus, by implementing a shape recognition application, a subsequent operation in the sequence of assembly operations can be automatically activated. This arrangement makes it possible to inform the user that he has correctly assembled the part corresponding to the completed detected assembly operation.

[0010] According to one embodiment, the method comprises steps consisting of: detecting using the capture device a second command applied in the active state by the user; upon detecting the second command in the active state, switching to an inactive state in which the displayed image of the part is frozen; detecting using the capture device a third command applied in the inactive state by the user; and upon detecting the third command in the inactive state, switching to the active state in which the displayed image of the part follows the hand movements captured by the capture device.

[0011] Thus, the user can use both hands without the image of the displayed part moving.

[0012] According to one embodiment, the method comprises steps consisting of: detecting using the capture device a fourth command applied in the active state by the user; and upon detecting the fourth command in the active state, activating a previous operation of the series of operations.

[0013] Thanks to the fourth command combined with the command for activating a next operation, the user can navigate through the sequence of operations to be executed.

[0014] According to one embodiment, the method comprises steps consisting of: detecting using the capture device a fifth manual command applied in the active state by the user; upon detecting the fifth command, switching to a first state in which the displayed image of the part is frozen; detecting using the capture device the sixth, seventh and eighth manual commands applied in the first state by the user; upon detecting the sixth command in the first state, enlarging the displayed image of the part; upon detecting the seventh command in the first state, shrinking the displayed image of the part; and upon detecting the eighth command in the first state, switching to the active state.

[0015] Using these commands, the user can access a state where he can enlarge or shrink the image of the displayed part, and return to the active state in which he can manipulate the image of the displayed part.

[0016] According to one embodiment, the commands are provided by the user: by pressing a push button, and / or by applying shakes to the capture device, and / or by hand gestures recognized by a shape recognition application in images of the user's field of vision provided by an image sensor, and / or by voice commands recognized by a shape recognition application. voice command coupled with a microphone positioned in the capture device or on the display.

[0017] According to one embodiment, the method comprises a step of animating the image of the part to move it from a current position to a final position in which the corresponding real part must be positioned to carry out the operation.

[0018] Embodiments may also relate to a system for assisting a user in executing a sequence for assembling mechanical parts, the assembly sequence comprising a series of operations, the system comprising: a motion capture device to be associated with a hand of the user to capture translational and / or rotational movements of the user; a display to be placed on the head and in front of the eyes of the user, while leaving the user's environment visible in a portion of the user's field of vision; and a processing unit connected to the capture device and to the display, and configured to acquire motion data provided by the set of sensors and control the display, the system being configured to implement the method previously defined.

[0019] According to one embodiment, the system comprises augmented reality glasses, or a head-up display associated with a visor.

[0020] Thus, the user does not have to carry equipment when he has to move, and does not need a location nearby to place a display screen, or a control device such as a mouse, or even printed documents.

[0021] According to one embodiment, the capture device comprises translation and / or rotation movement sensors housed on the back of a glove, or in a ring to be slipped onto a finger of the user, or in a bracelet to be placed around the user's wrist.

[0022] According to one embodiment, the capture device comprises a push button which can be actuated by a finger of the hand, to manually control changes in state of the system.

[0023] Being associated with the motion sensors, such a push button can be actuated with the same hand supporting the set of sensors.

[0024] According to one embodiment, the push button is positioned on the index finger of the hand, so that it can be actuated by the thumb of the hand in the closed position.

[0025] According to one embodiment, the capture device comprises sensors configured to detect translational and rotational movements in three perpendicular directions.

[0026] According to one embodiment, the sensors are associated with the user's hand so that a first direction of the three directions is oriented from the wrist towards the end of the fingers or vice versa, a second direction of the three directions either oriented from an inner lateral edge to an outer lateral edge of the hand, or vice versa, and a third direction of the three directions is oriented in a direction perpendicular to the palm of the hand.

[0027] According to one embodiment, the system comprises an image sensor associated with a shape recognition application, and / or a microphone associated with a voice recognition application. Brief description of the figures

[0028] The present invention will be better understood with the aid of the following description of exemplary embodiments with reference to the appended figures, in which identical reference signs correspond to structurally and / or functionally identical or similar elements.

[0029] [Fig-1] Figure 1 schematically represents an execution assistance system of mechanical part assembly operations, according to one embodiment,

[0030] [Fig.2] Figure 2 schematically represents a motion capture device used in the assistance system, according to one embodiment,

[0031] [Fig.3] Figure 3 schematically represents a state and transition diagram implemented in the assistance system, according to one embodiment,

[0032] [Fig.4] Figures 4A, 4B and 4C represent an example of a succession of images displayed by the assistance system, according to one embodiment,

[0033] [Fig.5] Figures 5A and 5B respectively represent the dorsal face and the palm of a hand on which is arranged a system for assisting in the execution of operations for assembling mechanical parts, according to another embodiment. Detailed description

[0034] Figure 1 represents a system for assisting in the execution of assembly operations of mechanical parts, according to one embodiment. The assistance system comprises a motion capture device SNS installed for example in or on a glove 1, for example in a part corresponding to the back of the hand, a processing unit UC, an interface and power supply circuit INT, and augmented reality glasses 2. The interface circuit INT is connected by wired links L1, L2 to the SNS sensor and comprises a power supply circuit VS of the SNS capture device and a wireless communication circuit CM3 for communicating with the processing unit UC via a wireless communication interface CM1 associated with the processing unit.The processing unit UC also communicates with a control unit PU installed in the glasses 2 via the communication interface CM1 and a wired or wireless communication interface CM2 also installed in the glasses 2 and coupled to the control unit PU. The glasses allow the user wearing them to see at . both its environment and information displayed overlaying the environment. Thus, part of the user's field of vision is obscured by the displayed information.

[0035] Figure 1 shows a dorsal face of the glove 1. The SNS motion capture device associated with the glove 1 is configured to capture rotational and possibly translational movements of the hand, along directions X, Y, Z orthogonal to each other, the X direction being oriented along a direction going from the wrist towards the end of the fingers, the Y direction being oriented from an inner lateral edge towards an outer lateral edge of the glove and the Z direction extending in a direction perpendicular to the back of the glove. The signals provided by the SNS capture device may comprise amplitudes or speeds of linear movement along each of the X, Y, Z axes, and angles or speeds of rotation around the X, Y, Z axes.

[0036] The interface circuit INT can be separate or integrated into the same housing as the SNS capture device. The SNS capture device can be connected via a wired connection L3 to a push button 5 allowing the user to enter commands other than by movements of the hand wearing the glove 1. According to one embodiment, the button 5 is positioned so that it can be actuated using the thumb of the same hand, for example by closing the fist.

[0037] The processing unit UC is a fixed or mobile terminal connected to the Internet network, for example of the personal or portable computer type, tablet or mobile phone. The processing unit UC comprises an application for displaying mechanical parts in 3D, the glasses 2 being coupled to the processing unit to provide the display monitor function. The processing unit UC can have access to a library of 3D parts, for example accessible via the Internet network. The 3D parts can be presented in assembly or maintenance instructions.

[0038] The wireless connection between the processing unit UC and the interface circuit INT (communication circuit CM3) may be of the Bluetooth, BLE ("Bluetooth Low Energy") or WiFi™ type. The connection between the processing unit UC and the communication interface CM2 may be wired or wireless, for example of the Bluetooth or WiFi™ type.

[0039] Figure 2 represents circuits of the SNS capture device, according to one embodiment. The SNS capture device comprises a set of IPS sensors integrating accelerometric and gyroscopic sensors along three perpendicular detection axes, a processing unit MC, such as for example of the microcontroller or microprocessor type, and an input / output circuit IO connected to the wired links L1, L2. The SNS capture device is associated with the glove 1 so that the detection axes of the IPS sensors coincide with the axes X, Y, Z described previously.

[0040] According to one embodiment, the processing unit MC of the SNS capture device is configured to operate according to the state and transition diagram shown in Figure 3. This diagram includes states PF off, PN on, ACT active, STB inactive, FF forward, RW backward and ZM zoom, and transitions T1 to T13. Transition T1 switches the SNS sensor from the PF off state to the PN on state. Transition T1 can be triggered by switching to the on state of an on / off button on the INT interface or on the SNS capture device. In the PN on state, the processing unit MC attempts to establish a wireless communication link with the UC processing unit. Transition T2 from the PN on state to the ACT active state is triggered by the establishment of the wireless link between the INT interface circuit and the UC processing unit. The T3 transition from any state to the PF off state is triggered by the on / off button switching to the off state.In the active state ACT, the processing unit UC controls the three-dimensional (3D) display by the glasses 2 of a mechanical part previously selected by the user. In parallel, the processing unit MC collects the measurement signals from the IPS sensors, converts them into digital measurements and transmits them to the processing unit UC via the previously established wireless link. In response to the reception of these measurements, the processing unit UC controls rotational and possibly translational movements of the mechanical part displayed by the glasses 2.

[0041] The transition T4 from the active state ACT to the inactive state STB is activated by a brief press on the button 5. In the state STB, the processing unit MC does not send any measurements via the wireless link with the processing unit UC. The user can thus use both hands to carry out the current operation, without the display of the part by the glasses 2 being modified. The transition T5 from the inactive state STB to the active state ACT is activated by a further brief press on the button 5. Access to the advance state FF makes it possible to trigger the display on the glasses 2 by the processing unit UC of a following mechanical part in a sequence of assembly operations currently being executed and previously selected by the user. The advance state FF is reached from the active state ACT by the transition T6 triggered for example by two successive brief presses on the button 5.The return to the ACT state by the transition T7 is carried out as soon as the display command for the next part has been transmitted to the processing unit UC or when the next part is displayed by the glasses 2. Access to the reverse state RW makes it possible to trigger the display by the processing unit UC of a previous mechanical part in the sequence of assembly operations currently being executed. The reverse state RW is reached from the active state ACT by the transition T8 triggered for example by three short successive presses on the button 5. The return to the ACT state by the transition T9 is carried out as soon as the display command for the previous part has been transmitted to the processing unit UC or when the previous part is displayed by the glasses 2.

[0042] The zoom state ZM is reached from the active state ACT by the transition T10 and from the inactive state STB by the transition T12, these transitions being triggered by a long press (for example, greater than 2 s) on the button 5. In this state, the processing unit MC transmits only the measurements of rotation of the glove around an axis, for example, the X axis, via the wired connection with the processing unit UC. In response to these measurements, the processing unit UC controls the enlargement or shrinking of the mechanical part displayed by the glasses 2. For example, a rotation around the X axis or a translation along the X axis of the hand (forward) triggers an enlargement of the displayed part, and an opposite movement a shrinking of this part. The amplitude of the enlargement or shrinking is defined as a function of the amplitude of the movement measured by the capture device SNS.The transition T11 from the zoom state ZM to the active state ACT is triggered for example by a short press on button 5. The transition T13 from the zoom state ZM to the inactive state STB is triggered for example by a new long press on button 5.

[0043] Thanks to these provisions, the user can view and virtually manipulate in the active mode ACT or zoom ZM the mechanical part displayed with the hand wearing the glove 1, while having the possibility of viewing the real part through the glasses 2 and having his other hand available to manipulate the real part or a tool. If the user wishes to have both hands to carry out this operation, without modifying the display parameters of the part by the control unit UC, he can command the transition to the inactive mode STB. The user thus has both hands to carry out complex operations while having in his field of vision an image showing in detail the operation to be carried out and the real system to which this operation must be applied.

[0044] According to one embodiment, the transitions to the zoom states ZM, FF and RW can be triggered by jolts or shocks applied to the glove, for example with the other hand, and detected from the movement measurements provided by the SNS capture device.

[0045] According to another embodiment, the active state ACT is activated as long as the button 5 is pressed, the inactive state STB being activated when the button 5 is not pressed. In this way, the user can easily chain together several repeated movements of his hand from an initial position to control a movement of the image of the part in the same direction of large amplitude without the part returning back when he replaces his hand in the initial position to repeat the same hand movement. Furthermore, from an ergonomic point of view, pressing the button 5 can be similar to a grip of the part to be manipulated, until the button is released. In this case, the states ACT and STB can be interchanged in the diagram of figure 3, and the transitions between the active state and the zoom state are no longer necessary.

[0046] Figures 4A, 4B and 4C represent examples of images capable of being displayed by the glasses 2 controlled by the processing unit UC. Figures 4A-4C show images of two parts PI, P2 to be assembled, the image of part PI being fixed and the image of part P2 being movable using glove 1. In Figure 4A, the image of part P2 does not present a correct assembly orientation with the image of part PL. An arrow Fl can be displayed to show what rotational movement can be applied to the image of part P2 so that it is presented in a correct assembly orientation relative to the image of part PL. In the example of Figure 4A, a rotation around the X axis can allow the image of part P2 to be correctly oriented relative to the image of part PL. An animation, for example highlighting the image of part P2, can indicate to the user when he has correctly oriented the image of part P2.In Figure 4B, the image of part P2 is displayed with its correct orientation relative to the image of part PL. An arrow F2 can be displayed to indicate to the user a translational movement to be applied to the image of part P2 to assemble it to part PL. This translational movement is for example to be carried out in a direction perpendicular to the Z direction. Figure 4C shows the images of the two parts PI, P2 correctly assembled to each other.

[0047] Thus, the user can virtually manipulate the part P2 to be assembled and visualize how it must be assembled, while having the possibility of manipulating the real parts with his hands at the same time.

[0048] Instead of the arrows F1, F2, the correct movements to be applied to the image of the part P2 can be indicated by animations controlled by the processing unit UC, slowly moving the image of the part P2 between the initial position and the final position to be reached. This animation can be presented during the activation of a first operation or a subsequent operation in a sequence of operations to be executed, and / or following the activation of a command provided for this purpose using the glove 1.

[0049] According to one embodiment, the glasses 2 are equipped with one or two image sensors 6 (figure 1) transmitting images of the user's field of vision to the control unit UC. Furthermore, the control unit UC comprises a shape recognition application that the user can activate using a command applied to the glove 1 or to the button 5. The shape recognition application is configured to analyze the images of the user's field of vision, transmitted by the camera 6, identify the actual part held in the user's hand in the transmitted images, and display a highlighting element indicating whether the displayed part image P2 corresponds to the part held in the user's hand. The displayed highlighting element may be, for example, a change in color of the displayed image P2 of the part.

[0050] The shape recognition application can also be used to recognize gestures of the user's hand captured by the image sensor 6 in the user's field of vision, and trigger the state changes described previously based on the detected gestures.

[0051] The shape recognition application can also be used to recognize in the user's field of vision that the displayed part P2 is correctly mounted and automatically move on to the next operation in the sequence of operations. This recognition can simply consist of comparing the image of the part provided by the image sensor 6 in the user's field of vision with an image of the part correctly mounted on the system being mounted, stored by the processing unit UC.

[0052] According to one embodiment, the assistance system may comprise a microphone 7 installed in the SNS capture device or on the glasses 2 and coupled to the processing unit UC. Furthermore, the processing unit UC comprises a voice recognition application and translates the words spoken by the user and recognized by the application into system commands to trigger the state changes described above. Thus, the button 5 may be omitted by implementing a gesture recognition application or a voice recognition application.

[0053] It will be clear to those skilled in the art that the present invention is susceptible to various variant embodiments and various applications. In particular, the invention is not limited to the implementation of augmented reality glasses. Indeed, such glasses can be replaced by any display device fixed to the user's head and configured to display in the user's field of vision or project into the user's eyes, images partially covering the user's field of vision. Thus, the glasses 2 can be replaced for example by a visor fixed to the user's head and associated with a head-up display ("Head Up Display").

[0054] The invention is also not limited to the implementation of motion sensors arranged in a glove. Indeed, such sensors can be housed in a ring to be arranged on a finger of the user or a bracelet to be arranged around the wrist.

[0055] According to an embodiment illustrated by Figures 5A and 5B, the SNS capture device is arranged in a fabric pocket 11 fixed on the back of the hand 10 by means of a bracelet or a strap 12, the interface and power supply circuit INT can be fixed on the wrist using a bracelet or a strap or housed in the pocket 11. The strap 12 can be held around the hand 10 by a fixing device 15, for example of the hook and loop type. The push button 5 is mounted on a ring 13, for example formed by a strap to be placed on the index finger of the hand, the pocket 11 and the ring 13 being linked to each other by a sleeve 14 housing the wire connection L3.

[0056] In certain applications, it may not be necessary to capture hand movements in three mutually perpendicular directions. Thus, the SNS capture device may only detect rotational and possibly translational movements, in a single direction or two perpendicular directions. It is also not necessary for the detection directions of the SNS capture device to be perpendicular. Indeed, it is sufficient for these directions to be different and for the possible third direction not to be located in the plane defined by the other two directions.

Claims

Claims

1. 1. A method for assisting a user in carrying out an assembly sequence comprising a series of operations for assembling mechanical parts, the method comprising, for each operation in the series of operations, steps consisting of: displaying a three-dimensional image (P2) of a real part to be handled during the operation, in a portion of the user's field of vision using a display (2) held on the user's head and in front of the user's eyes, while leaving the user's environment visible in another portion of the user's field of vision; capturing, using a capture device (SNS, 6), rotational movements of a user's hand; moving the displayed image of the part by applying the captured movements to it, in an active state of the capture device; detecting an end of operation in the active state;and upon detecting the end of an operation in the active state, activating a next operation in the series of operations.;

2. 2. Method according to claim 1, in which the end of operation is triggered by: a first command applied by the user in the active state, and / or by a shape recognition application upon recognition in an image of the user's field of vision, provided by an image sensor (6), that the displayed part P2 is correctly mounted.

3. 3. A method according to claim 1 or 2, comprising steps of: detecting a second command applied in the active state by the user; upon detecting the second command in the active state, switching to an inactive state in which the displayed image (P2) of the part is frozen; detecting using the capture device a third command applied in the inactive state by the user; and upon detecting the third command in the inactive state, switching to the active state in which the displayed image of the part follows the hand movements captured by the capture device (SNS, 6).

4. 4. Method according to one of claims 1 to 3, comprising steps of: detecting a fourth command applied in the active state by the user; and upon detecting the fourth command in the active state, activating a previous operation of the series of operations.

5. 5. Method according to one of claims 1 to 4, comprising steps consisting of: detecting a fifth command applied in the active state by the user; upon detection of the fifth command, switching to a first state in which the displayed image of the part is frozen; detecting sixth, seventh and eighth commands applied in the first state by the user; upon detection of the sixth command in the first state, enlarging the displayed image (P2) of the part; upon detection of the seventh command in the first state, shrinking the displayed image of the part; and upon detection of the eighth command in the first state, switching to the active state.

6. 6. Method according to claim 5, wherein the commands are provided by the user: by pressing a push button (5), and / or by applying shakes to the capture device (SNS), the capture device being associated with the hand, and / or by hand gestures recognized by a shape recognition application in images of the user's field of vision provided by an image sensor (6), and / or by voice commands recognized by a voice control application coupled to a microphone positioned in the capture device (SNS) or on the display (2).

7. 7. Method according to one of claims 1 to 6, comprising a step of animating the image of the part to move it from a current position to a final position in which the corresponding real part must be positioned to carry out the operation.

8. 8. System for assisting a user in carrying out a sequence for assembling mechanical parts, the assembly sequence comprising a series of operations, the system comprising: a motion capture device to be associated with a hand of the user to capture translational and / or rotational movements of the user; a display to be placed on the head and in front of the eyes of the user, while leaving the user's environment visible in a part of the user's field of vision; and a processing unit connected to the capture device and to the display, and configured to acquire motion data provided by the set of sensors and control the display, the system being configured to implement the method according to one of claims 1 to 7.

9. 9. System according to claim 8, in which the display comprises augmented reality glasses (2), or a head-up display associated with a visor.

10. 10. System according to claim 8 or 9, in which the capture device (SNS) comprises translational and / or rotational movement sensors (IPS) housed on the back of a glove (1), or in a ring to be put on a finger of the user, or in a bracelet to be placed around the wrist of the user.

11. 11. System according to one of claims 8 to 10, in which the capture device (SNS) comprises a push button (5) which can be actuated by a finger of the hand, to manually control changes in the state of the system.

12. 12. System according to claim 11, in which the push button (5) is positioned on the index finger of the hand, so as to be able to be actuated by the thumb of the hand in the closed position.

13. 13. System according to one of claims 8 to 12, in which the capture device (SNS) comprises sensors (IPS) configured to detect translational and rotational movements in three perpendicular directions (X, Y, Z).

14. 14. The system of claim 13, wherein the sensors (IPS) are associated with the user's hand such that a first direction (X) of the three directions is oriented from the wrist toward the fingertips or vice versa, a second direction (Y) of the three directions is oriented from an inner lateral edge to an outer lateral edge of the hand, or vice versa, and a third direction (Z) of the three directions is oriented in a direction perpendicular to

15. the palm of the hand.

15. System according to claim 14, comprising: an image sensor (6) associated with a shape recognition application, and / or a microphone (7) associated with a voice recognition application.

Images