System and method for tracking objects in indoor space

Abstract

A system (100) and method (500) for tracking a position of an object (110) in an indoor space (120) is provided. The system comprises a light source (130) configured to emit modulated illumination, a scanning device (140) configured to receive the modulated illumination and obtain location information of the scanning device, a wireless communication system (160), a mobile device (170) arranged to be portable by an object and connectable to the wireless communication system, wherein the mobile device is configured to generate its location data (180) via the wireless communication system, and wherein a processor (200) of the system is configured according to at least one predetermined condition (230a-230e) to register the location of the object based on the location of the scanning device, or to obtain the location data of the mobile device, and / or to register the location of the object based on the location data of the mobile device.

Description

Technical Field

[0001] The present invention generally relates to tracking or monitoring of one or more objects in an indoor space. More specifically, the present invention relates to tracking or monitoring of object(s) in a commercial space, such as a store. Background Art

[0002] Today's customers often want to shop quickly, and preferably in a single location, and large retailers with a wide variety of products can often meet these customer expectations. However, a department store or hypermarket that stocks a wide variety of products can be a challenge for efficient shopping, both for consumers and for the workers who pick delivery orders.

[0003] In visible light communication (VLC) systems, it is assumed that dedicated handheld devices (e.g., self-scanners) may be used even more in indoor spaces in the future. For example, where the indoor space is a warehouse, store, etc., the system can enhance the shopping experience and increase sales. In addition to being able to help shoppers find products that may be difficult to locate, system technology using VLC can also generate a lot of data that can be used for customer behavior, predictive queue management, employee scheduling, etc.

[0004] However, handheld devices (such as self-scanners) operated with VLC may sometimes not be able to generate the precise positioning data that customers expect. For example, if a customer leaves a self-scanner in a shopping cart, there is no data representing the customer's activity. In addition, other factors may negatively affect the accuracy of a VLC-based self-scanner, such as the current speed of the self-scanner, occlusion of the VLC location, customer operation of the self-scanner, etc.

[0005] It is therefore an object of the present invention to provide improved tracking or monitoring of object(s), such as customers, in a (commercial) indoor space. Summary of the invention

[0006] There is interest in further developing techniques for tracking, monitoring or observing the position(s) of object(s) (eg, person(s)) in indoor spaces.

[0007] This and other objects are achieved by providing a system and a method having the features of the independent claims. Preferred embodiments are defined in the dependent claims.

[0008] According to a first aspect of the present invention, a system for tracking the position of at least one object in an indoor space is provided. The system includes a plurality of light sources, wherein each of the plurality of light sources is configured to emit modulated illumination. The system also includes a scanning device, which is arranged to be operable by at least one object to scan goods, wherein the scanning device is configured to receive modulated illumination from at least one of the plurality of light sources, and obtain location information of the scanning device based on the received modulated illumination. The system also includes a wireless communication system and a mobile device arranged to be carried by at least one object, wherein the mobile device is connectable to the wireless communication system, and wherein the mobile device is configured to generate location data of the mobile device based on the connection to the wireless communication system. A processor is communicatively coupled to the scanning device and the mobile device, wherein the processor is configured to receive location information from the scanning device. The processor is configured to obtain information of the scanning device and the mobile device, wherein the information includes location data of the scanning device based on the received location information, and at least one of location data of the mobile device and motion data of the mobile device. The processor is also configured to switch between the following according to at least one predetermined condition based on the information: registering the location of at least one object based on the location of the scanning device; and obtaining location data of the mobile device, and registering the location of at least one object based on the obtained location data of the mobile device.

[0009] According to a second aspect of the present invention, a method for tracking the position of at least one object in an indoor space via a system is provided. The system comprises: a plurality of light sources, wherein each of the plurality of light sources is configured to emit modulated illumination; a scanning device, which is arranged to be operable by at least one object to scan goods, wherein the scanning device is configured to receive modulated illumination from at least one of the plurality of light sources, and obtain position information of the scanning device based on the received modulated illumination. The system also comprises a wireless communication system, a mobile device arranged to be carried by at least one object, wherein the mobile device is connectable to the wireless communication system, and wherein the mobile device is configured to generate position data of the mobile device based on the connection to the wireless communication system. The method comprises receiving position information from the scanning device, obtaining information of the scanning device and the mobile device, wherein the information comprises position data of the scanning device based on the received position information, and at least one of the position data of the mobile device and the motion data of the mobile device, wherein the method further comprises, according to at least one predetermined condition based on the information, switching between: registering the position of at least one object based on the position of the scanning device; and obtaining the position data of the mobile device, and registering the position of at least one object based on the obtained position data of the mobile device.

[0010] Thus, the present invention is based on the idea of ​​providing a system and method for tracking, monitoring or observing (one or more) objects in an indoor space, wherein the (one or more) positions of (one or more) objects are obtained via a VLC-connected scanning device (e.g., a self-scanner) and (or) a mobile device (e.g., a mobile phone, an augmented reality headset, etc.), depending on one or more predetermined conditions related to the (one or more) objects, the scanning device and (or) the mobile device. Thus, the system provides a (dynamic) switching between the scanning device and the mobile device for object positioning. The switching may include a change in the type of sensing used to track the position of the object, from tracking the position via the scanning device to tracking the position via the mobile device, or vice versa.

[0011] An advantage of the present invention is that the positioning of the object(s) can be performed even more accurately via a scanning device or via a mobile device than in existing systems and / or methods. More specifically, the system can, for example, estimate that the object has (temporarily) left the scanning device and by tracking / monitoring the object(s) via its mobile device(s) instead, the accuracy of the positioning can be maintained. Similarly, the system can use the location information via a scanning device operated by VLC based on predetermined condition(s) for the accuracy of the deployed VLC system.

[0012] Another advantage of the present invention is that the system can save battery time of scanning devices and / or mobile devices. It should be noted that the system is configured to conditionally register the location of an object via a scanning device or a mobile device. Therefore, in some cases, tracking / monitoring an object via its (one or more) scanning devices rather than its (one or more) mobile devices (or vice versa) can include saving batteries of scanning devices and mobile devices. In addition, the system can also be able to protect or minimize privacy issues associated with mobile devices.

[0013] The present invention is particularly advantageous in indoor spaces such as stores, warehouses, etc., because the scanning device is with the subject at certain times, while at other times, the subject may be separated from the scanning device. For example, the system may determine or estimate that the subject / shopper has left the scanning device (e.g., in / on a shopping cart) and continued into an isle, shelf, etc. of the indoor space. Thus, the system may conveniently adjust the tracking / monitoring of the subject via switching from the scanning device (e.g., as left in the shopping cart) to the mobile device (e.g., as carried in the subject's pocket) (and vice versa).

[0014] A further advantage of the present invention is that the improved accuracy of the location(s) of(s) object(s) in an indoor space thereby improves any analysis based on that data, such as customer behavior, predictive queue management, staff scheduling, etc.

[0015] A system for tracking the position of at least one object in an indoor space is provided. The term "object" refers here to, for example, a person (such as a customer or a worker). The system includes a plurality of light sources, wherein each of the plurality of light sources is configured to emit modulated illumination. The system also includes a scanning device, such as, for example, a self-scanner, which is arranged to be operable by at least one object to scan goods. The term "goods" here refers essentially to any goods, articles, merchandise, etc. in a (commercial) indoor space. The scanning device is configured to receive modulated illumination from at least one of the plurality of light sources, and obtain position information of the scanning device based on the received modulated illumination, such as visible light communication (VLC). The system also includes a wireless communication system and a mobile device arranged to be carryable by at least one object, wherein the mobile device is connectable to the wireless communication system, and wherein the mobile device is configured to generate position data of the mobile device based on the connection to the wireless communication system. The term "wireless communication system" here essentially refers to any communication system to which the mobile device can be wirelessly connected, and through which the mobile device can generate its position data. A processor is communicatively coupled to the scanning device and the mobile device, wherein the processor is configured to receive position information from the scanning device. The processor is configured to obtain information of a scanning device and a mobile device, wherein the information includes location data of the scanning device based on the received location information. Therefore, the processor can be configured to generate a scanning device location based on the information obtained. The information also includes location data of the mobile device and / or motion data of the mobile device. The term "motion data" here refers to any data related to the transportation (movement) of the mobile device, the movement of the mobile device (e.g., shaking, lifting, etc.), etc. The processor is also configured to register the location of (one or more) objects based on the location of the scanning device, or obtain the location data of the mobile device, and register the location of (one or more) objects based on the location data of the obtained mobile device according to (one or more) predetermined conditions based on the information. "(One or more) predetermined conditions" here refers to one or more conditions related to (one or more) objects, scanning devices and / or mobile devices.

[0016] According to an embodiment of the present invention, a first predetermined condition in at least one predetermined condition may be associated with a processor's determination of the movement of a scanning device based on the position data of the scanning device, a processor's determination of the stillness of the scanning device based on the position data of the scanning device, and a processor's determination of the height of the scanning device above the floor level of an indoor space based on the position data of the scanning device. Therefore, the first predetermined condition may be associated with the movement or stillness of the scanning device or the height of the scanning device. An advantage of this embodiment is that the system can effectively and conveniently register position data via a scanning device or a mobile device based on the (first) predetermined condition. For example, if it is determined that the scanning device is in motion, it can be inferred or at least estimated that the object moves with the scanning device, and the processor can register the position of (one or more) objects based on the position of the scanning device. According to another example, via the determined height of the scanning device, the system can determine or estimate that a user (e.g., a shopper) has placed the scanning device on a scanning device holder in a shopping cart, which can indicate that the user is walking away from the shopping cart.

[0017] According to an embodiment of the present invention, the processor may be configured to obtain location data of the mobile device, wherein the second predetermined condition of the at least one predetermined condition is associated with one of the processor's determination of the movement of at least one object based on the location data of the mobile device and the processor's determination of the stillness of at least one object based on the location data of the mobile device. Therefore, the second predetermined condition may be associated with the movement (e.g., walking, running, etc.) or stillness (e.g., standing) of (one or more) objects, and the processor may register the location of (one or more) objects via the scanning device or the mobile device based on it.

[0018] According to an embodiment of the present invention, the processor may be configured to obtain gyroscope motion data of the mobile device, wherein a third predetermined condition in the at least one predetermined condition is related to the processor determining that the gyroscope motion of the mobile device based on the obtained gyroscope motion data of the mobile device is greater than a first threshold value T 1 The processor determines that the gyroscope motion of the mobile device is less than a first threshold value T based on the gyroscope motion data of the mobile device obtained. 1 Thus, the third predetermined condition is associated with determining the occurrence of gyroscopic motion, or alternatively, with determining the non-occurrence of gyroscopic motion, which advantageously facilitates the processor to register the position of (one or more) objects via the scanning device or the mobile device. For example, in the event that the processor of the mobile device does not detect gyroscopic motion (or possibly in the event that the processor detects the stillness of the mobile device), the processor can register the position of (one or more) objects via the scanning device.

[0019] According to an embodiment of the present invention, the processor may be configured to obtain the location data of the mobile device, wherein a fourth predetermined condition in the at least one predetermined condition is consistent with the processor determining, based on the obtained location data of the scanning device and the obtained location data of the mobile device, that the distance d between the scanning device and the mobile device is greater than a second threshold value T 2 The processor determines that the distance d between the scanning device and the mobile device is less than a second threshold T based on the obtained location data of the scanning device and the obtained location data of the mobile device. 2 In other words, the fourth predetermined condition can be associated with the processor determining a relatively short distance between the scanning device and the mobile device (i.e., the scanning device and the mobile device are relatively close to each other) or a relatively long distance between the scanning device and the mobile device (i.e., the scanning device and the mobile device are relatively far away from each other). This embodiment advantageously facilitates the processor to register the location of (one or more) objects through the scanning device or the mobile device. For example, in the case where the processor detects that the scanning device and the mobile device are relatively close to each other, it can register the location of (one or more) objects via the scanning device. Alternatively, in the case where the processor detects that the scanning device and the mobile device are relatively far away from each other, it can register the location of (one or more) objects via the mobile device.

[0020] According to an embodiment of the present invention, the fifth predetermined condition in the at least one predetermined condition may be related to the processor determining, based on the position data of the scanning device, that the scanning device is stationary during the time interval (wherein the stationary state is longer than the third threshold value T 3 ) and the processor determines, based on the position data of the scanning device, a stationary state during a time interval of the scanning device (wherein the stationary state is shorter than a third threshold value T 3 Thus, the fifth predetermined condition may be associated with a determination by the processor of a relatively short or relatively long stillness of the scanning device, which in turn may affect the registration of the position of the object(s) via the scanning device or the mobile device.

[0021] According to an embodiment of the present invention, the processor is configured to register the position of at least one object based on the position of the scanning device based on one of the following: a) the first predetermined condition is associated with a determination by the processor of a motion of the scanning device based on the position data of the scanning device, b) the first predetermined condition is associated with a determination of stationary state of the scanning device, and the fourth predetermined condition is associated with a distance d being less than a second threshold value T 2 c) the first predetermined condition is associated with the determination that the scanning device is stationary, the second predetermined condition is associated with the determination of the movement of at least one object, and the fourth predetermined condition is associated with the distance d being less than a second threshold value T 2 d) the first predetermined condition is associated with the determination that the scanning device is stationary, and the fourth predetermined condition is associated with the determination that the distance d is greater than the first threshold value T2 The fifth predetermined condition is associated with the determination of 3 e) a first predetermined condition is associated with the determination of the stationary state of the scanning device based on the position data of the scanning device, a second predetermined condition is associated with the determination of the movement of at least one object, a fourth predetermined condition is associated with the distance d being greater than a second threshold value T 2 The fifth predetermined condition is associated with the determination of 3 Thus, the processor is configured to register the position of the object(s) based on the position of the scanning device based on one of the five sets of predetermined conditions according to a)-e).

[0022] According to an embodiment of the present invention, the processor may be configured to obtain location data of the mobile device, and to register the location of at least one object based on the obtained location data of the mobile device: a first predetermined condition is associated with a determination of stationaryness of the scanning device based on the location data of the scanning device, a second predetermined condition is associated with a determination of movement of the at least one object, a fourth predetermined condition is associated with a determination of a distance d greater than a second threshold value T 2 The fifth predetermined condition is associated with a determination of being less than the third threshold value T 3 Thus, the processor is configured to register the location of the object(s) based on the location of the mobile device based on a current set of predetermined conditions.

[0023] According to an embodiment of the present invention, the processor may be configured to obtain location data of the mobile device, and based on the obtained location data of the mobile device, register the location of at least one object based on at least one of the following: a) a first predetermined condition is associated with a determination that the scanning device is stationary, a second predetermined condition is associated with a determination that the at least one object is moving, and a fourth predetermined condition is associated with a distance d greater than a second threshold value T 2 b) a second predetermined condition is associated with a determination of the stillness of at least one object based on the location data of the mobile device; c) a third predetermined condition is associated with a gyroscopic motion of the mobile device being greater than a first threshold value T 1 and d) the third predetermined condition is associated with the gyroscope movement of the mobile device being less than the first threshold value T 1 In other words, based on one or more of the four sets of predetermined conditions a)-d), the processor may be configured to register the location of the object(s) based on the location of the mobile device.

[0024] According to an embodiment of the present invention, the processor may be configured to register the position of at least one object based on the position of the scanning device based on: a) a second predetermined condition associated with a determination of the stationary state of at least one object based on the position data of the mobile device, and b) a third predetermined condition associated with a determination that the gyroscopic motion of the mobile device is less than a first threshold value T 1 Determined related.

[0025] According to an embodiment of the present invention, the system may be configured to set the scanning device to sleep mode and to set the mobile device to sleep mode. For example, in the case where the processor is configured to register the location of (one or more) objects based on the location of the scanning device, the system may be configured to set the mobile device to sleep mode. According to another example, in the case where the processor is configured to register the location of (one or more) objects based on the location of the mobile device, the system may be configured to set the mobile device to sleep mode.

[0026] According to an embodiment of the present invention, the processor may be configured to obtain location data of the mobile device and determine a distance d between the scanning device and the mobile device, wherein, in the case where the determined distance d is greater than a fourth threshold, the processor is further configured to estimate the location data of the mobile device based on an extrapolation of the location data of the scanning device. An advantage of this embodiment is that the system can effectively determine or estimate that the user has moved away from the scanning device (e.g., when leaving the scanning device in a shopping cart), and use the (usually very accurate) location of the scanning device as obtained via the VLC system as location data, based on which the location data of the mobile device can be determined or estimated based on extrapolation (e.g., via dead reckoning). This embodiment is particularly advantageous in cases where the location data of the mobile device via the wireless communication system may be inaccurate.

[0027] According to an embodiment of the present invention, a mobile device is configured to estimate at least one motion path of a mobile device in an indoor space, wherein the mobile device is further configured to update the estimated at least one motion path based on at least one of the layout of the indoor space and historical location data, and the historical location data includes at least one of the location data of the scanning device and the location data of the mobile device. Therefore, the mobile device may include or maintain one or more estimated motion paths (e.g., in the form of multiple hypotheses), and based on the indoor space layout (e.g., shelves, isles, etc.) and / or the historical (saved) location data of the scanning device and / or the mobile device, (one or more) estimated paths / hypotheses may lead to further improved estimates of the motion paths of the mobile device (i.e., the object) in the indoor space. In turn, this may lead to improved use of (object) data (such as, for example, non-real-time data for object (shopper) behavior analysis).

[0028] According to an embodiment of the present invention, the processor may be configured to obtain location data of a mobile device and determine a distance d between the scanning device and the mobile device, wherein, when the determined distance d is greater than a fifth threshold, the processor is further configured to determine the movement of at least one object based on the location data of the mobile device, determine the movement of the scanning device based on the location data of the scanning device, and perform at least one of the following: registering a first position of at least one first object based on the location of the scanning device, and registering a second position of at least one second object based on the location data of the mobile device obtained. Thus, the system may determine or estimate that the first object has moved away from the scanning device and that the second object has moved the scanning device (e.g., the first object leaves the shopping cart and the second object moves with the shopping cart (e.g., in another direction)). Thus, the system may conveniently register a first position of at least one first object based on the location of the scanning device, and / or register a second position of at least one second object based on the location data of the mobile device obtained.

[0029] According to an example of the present invention, the indoor space is one of a warehouse, a supermarket, a store, and a shop.

[0030] According to an example of the present invention, the mobile device may be one of a wireless transmit / receive unit, a WTRU, and a wearable device. The advantage of the mobile device of this example in the form of a WTRU (such as (one or more) mobile phones) is that such mobile devices are commonly used and carried by people. The term "wearable device" herein refers to an electronic device that is arranged to be worn by an object (person).

[0031] Further objectives, features and advantages of the present invention will become apparent when studying the following detailed disclosure, the drawings and the appended claims.Those skilled in the art will realize that different features of the present invention can be combined to create embodiments other than those described in the following. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] This and other aspects of the present invention will now be described in more detail, with reference to the appended drawings showing embodiment(s) of the invention.

[0033] Figure 1 schematically illustrates tracking of an object in an indoor space, and

[0034] Figure 2 A system for tracking a position of at least one object in an indoor space is schematically illustrated. DETAILED DESCRIPTION

[0035] Figure 1The tracking of an object 110 in an indoor space 120 is schematically shown. The indoor space 120 may be a commercial space, such as a warehouse, a (retail) store, etc., but may alternatively be a manufacturing facility, etc. In the case of a commercial space (such as a store), the indoor space 120 may have everyday goods (such as vegetables, dairy products, pet food, etc.) available on shelves. The object 110 carries a scanning device 140 for self-scanning of the goods. The indoor space 120 is provided with a visible light communication (VLC) system for tracking the object 110 via the scanning device 140. Through such tracking, the VLC system can indicate or estimate the (one or more) positions and / or paths of the object 110 in the indoor space 120. In Figure 1 In the example path of object 110 in FIG. 1 , a solid dot (“HA”) indicates a relatively high accuracy of the position of object 110 , a cross (“LA”) indicates a relatively low accuracy of the position of object 110 , and a circle (“VLA”) indicates a very low accuracy of the position of object 110 .

[0036] Figure 1 It is shown that the determination of the position of the object 110 is not sufficiently accurate, and there may be one or more reasons for this. For example, if the customer leaves the scanning device 140 in the shopping cart, there is no data representing the movement of the object 110. In addition, other factors may negatively affect the accuracy of the VLC-based scanning device 140, such as the current speed of the scanning device 140, occlusion of the VLC position, object operation of the scanning device 140, etc. Therefore, it is desirable to provide improved tracking or monitoring of (one or more) objects 110 (e.g., customers) in a (commercial) indoor space 120.

[0037] Figure 2 A system 100 for tracking the position of at least one object 110 (e.g., a person (customer)) in an indoor space 120 is schematically shown. The indoor space 120 may be a commercial space such as a warehouse, a supermarket, a store, a shop, etc., and examples of such indoor spaces 120 may refer to Figure 1 and associated text. It should be noted that the indoor space 120 may alternatively be a manufacturing facility.

[0038] The system 100 includes a plurality of light sources 130, wherein each of the plurality of light sources 130 is configured to emit modulated illumination. The system 100 also includes a scanning device 140, such as, for example, a self-scanner, which is arranged to be operable by the object 110 for scanning goods in the indoor space. It should be noted that in the case where the indoor space 120 is a manufacturing facility, a factory, etc., the scanning device 140 can also be used as part of a manufacturing workflow, or to track maintenance work orders or inspection work orders. In addition, the scanning device 140 can scan QR codes, but can also be configured to use NFC.

[0039] The scanning device 140 is configured to receive modulated illumination from the plurality of light sources 130. Based on the received modulated illumination, the scanning device 140 is configured to obtain location information of the scanning device 140. Thus, the system may include coded light and / or visible light communication (VLC) technology, whereby the system uses visible light as a method of wirelessly transmitting data. Alternatively, the modulated information may include invisible illumination (e.g., by a LiFi system that emits coded light in the infrared spectrum). The system 100 may also be capable of sending data in a first visible channel (e.g., blue light) and a second invisible channel (IR light). It should be noted that the details of coded light, VLC, and / or LiFi are known to those skilled in the art, and therefore the details thereof are omitted.

[0040] The system 100 also includes a wireless communication system 160 , such as Bluetooth Low Energy (BLE) or Ultra Wideband (UWB). Figure 1 100 is schematically indicated in the figure, and its positioning, size, etc. are shown only for the sake of understanding. The system 100 also includes a mobile device 170 arranged to be carried by the object 110. The mobile device 170 may be, for example, a mobile phone (or any kind of wireless transmit / receive unit, WTRU), a wearable device, etc. The mobile device 170 may also be or include an augmented reality device (e.g., AR glasses). For example, although the scanning device 140 may be equipment / property of the indoor space 120 (i.e., a scanning device 140 of a store that allows the object / customer 110 to use during shopping), the mobile device 170 may be a personal mobile device 170 of the object 110. The mobile device 170 may be connected to the wireless communication system 160, and the mobile device 170 is configured to generate location data of the mobile device 170 based on the connection to the wireless communication system 160. The mobile device 170 may receive BLE or UWB beacons (e.g., emitted by the plurality of light sources 130) or transmit BLE or UWB beacons (which may be received by a BLE or UWB receiver in the plurality of light sources 130, for example). The mobile phone 170 does not necessarily have to join a BLE or UWB network.

[0041] The system 100 can be configured to perform pairing of the scanning device 140 and the mobile device 170, for example, when the subject enters the indoor space 120. The pairing can be achieved by statistical methods without any user participation. The pairing can be performed, for example, in the entrance corridor of the indoor space 120, where the subject (customer) 110 picks up the scanning device 140 before entering the indoor space 120. After successful pairing, the scanning device 140 and the mobile device 170 can be used for location tracking purposes.

[0042] The system 100 also includes a processor 200. It should be noted that for reasons of understanding, Figure 21 . Only the processor 200 is indicated. For example, the processor 200 may be part of a server or the like of the system 100. The processor 200 is communicatively coupled to the scanning device 140 and the mobile device 170, i.e., connectable to the scanning device 140 and the mobile device 170 via unidirectional or bidirectional communication. The processor 200 is configured to receive the position information from the scanning device 140. Thus, the scanning device 140 is configured to send information of the position 110 of the object to the processor 200.

[0043] The processor 200 is configured to obtain (e.g., receive and / or generate) information 210 of the scanning device 140 and the mobile device 110. The information 210 includes the location data 150 of the scanning device 140 based on the received location information. Thus, the processor 200 can be configured to generate the location of the scanning device 140 based on the obtained information. The information 210 also includes the location data 180 of the mobile device 170 and / or the motion data 220 of the mobile device 170.

[0044] Figure 2 A plurality of schematically indicated predetermined conditions 230a-230c are also shown, wherein the predetermined conditions 230a-230c are related to the object 110, the scanning device 140 and / or the mobile device 170. Thus, the predetermined conditions 230a-230c are based on and / or associated with the information 120 of the scanning device 140 and / or the mobile device 170. The processor 200 is configured, according to one or more of the predetermined conditions(s) 230a-230c based on the information 120, to register the position of the object 110 based on the position of the scanning device 140, or to obtain the position data 180 of the mobile device 170 and to register the position of the object 110 based on the obtained position data 180 of the mobile device 170.

[0045] like Figure 1 As illustrated in FIG. 2 , the first predetermined condition 230a is associated with a determination 232 of the movement of the scanning device 140 by the processor 200 based on the position data 150 of the scanning device 140 or a determination 234 of the stationary state of the scanning device 140 by the processor 200 based on the position data 150 of the scanning device 140. The first predetermined condition 230a may also be associated with a determination by the processor 200 of the height of the scanning device 140 above the floor level of the indoor space 120 based on the position data 150 of the scanning device 140 ( Figure 1 Examples not shown in FIG.

[0046] Thus, the first predetermined condition 230a is associated with the motion or stationary state of the scanning device 140. For example, if the processor 200 determines 232 that the scanning device 140 is in motion, the processor 200 may infer or at least estimate that the object 110 is moving with the scanning device 140, and the processor 200 may register the position of the object 110 based on the position data 150 of the scanning device 140.

[0047] The processor 200 may be configured to obtain the location data 180 of the mobile device 170, wherein the second predetermined condition 230b is associated with the processor 200's determination 236 of the movement of the object 110 based on the location data 180 of the mobile device 170 or the processor 200's determination 238 of the stationary state of the object 110 based on the location data 180 of the mobile device 170. Therefore, the second predetermined condition 230b is associated with the movement (e.g., walking, running, etc.) or stationary state (e.g., standing) of the object 110 in the indoor space 120, and the processor 200 may register the location of the object 110 via the scanning device 140 or the mobile device 170 based thereon. For example, the system 100 may determine or estimate that the object 110 moves (e.g., away from the shopping cart).

[0048] The processor 200 may also be configured to obtain gyroscopic motion data 200 of the mobile device 110. The third predetermined condition 230c may thus be associated with the processor 200 determining 240 that the gyroscopic motion of the mobile device 170 is greater than the first threshold value T based on the obtained gyroscopic motion data 200 of the mobile device 170. 1 associated with, or related to, the processor 200 determining 242 that the gyroscope motion of the mobile device 170 is less than a first threshold value T based on the obtained gyroscope motion data 200 of the mobile device 170 1 Thus, the third predetermined condition 230c is associated with a determination 240 of an occurrence of a gyroscopic movement of the mobile device 170, or alternatively, associated with a determination 242 of a non-occurrence of a gyroscopic movement of the mobile device 170. For example, in the event that the processor 200 does not determine / detect a gyroscopic movement of the mobile device 170, the processor 200 may register the location of the object 110 via the scanning device 140.

[0049] The processor 200 may also be configured to obtain the location data 180 of the mobile device 170, wherein the fourth predetermined condition 230d is related to the processor 200 determining, based on the obtained location data 150 of the scanning device 140 and the obtained location data 180 of the mobile device 170, that the distance d between the scanning device 140 and the mobile device 170 is greater than the second threshold value T 2The processor 200 determines that the distance d between the scanning device 140 and the mobile device 170 is less than the second threshold value T based on the obtained location data 150 of the scanning device 140 and the obtained location data 180 of the mobile device 170. 2 In other words, the fourth predetermined condition 230d may be associated with the processor 200 determining 244 a relatively short distance between the scanning device 140 and the mobile device 170 in the indoor space 120 (i.e., the scanning device 140 and the mobile device 170 are relatively close to each other), or alternatively, associated with determining 244 a relatively long distance between the scanning device 140 and the mobile device 170 in the indoor space 120 (i.e., the scanning device 140 and the mobile device 170 are relatively far away from each other). For example, in the case where the processor 200 determines / detects that the scanning device 140 and the mobile device 170 are relatively close to each other, it may register the position of the object 110 via the scanning device 140. Alternatively, in the case where the processor 200 detects that the scanning device 140 and the mobile device 170 are relatively far away from each other, it may register the position of the object 110 via the mobile device 170.

[0050] exist Figure 2 , the fifth predetermined condition 230e is associated with the processor 200 determining 248 based on the position data 150 of the scanning device a stationary state during the time interval of the scanning device 140, wherein the stationary state is longer than the third threshold value T 3 , or is associated with the processor 200 determining 250 based on the position data 150 of the scanning device a stationary state during a time interval of the scanning device 140, wherein the stationary state is shorter than a third threshold value T 3 Thus, the fifth predetermined condition 230e may be associated with a determination by the processor 200 of a relatively short or alternatively relatively long stillness of the scanning device 140 , which in turn may affect the registration of the position of the object 110 in the indoor space 120 via the scanning device 140 or via the mobile device 170 .

[0051] By way of the illustrated predetermined conditions 230a-230e, the system 100 may be configured to register the location of the object 110 via the location 150 of the scanning device 140 or via the location 150 of the mobile device 170. For example, the processor 200 is configured to register the location of the object 110 based on the location 150 of the scanning device 140 if the processor 200 satisfies at least one of the following scenarios / events a)-e):

[0052] a) a first predetermined condition 230a is associated with a determination 232 of a movement of the scanning device 140 based on the position data 150 of the scanning device 140,

[0053] b) The first predetermined condition 230a is associated with the determination 234 that the scanning device 140 is stationary, and the fourth predetermined condition 230d is associated with the distance d being less than the second threshold value T 2 The determination 246 is associated with

[0054] c) The first predetermined condition 230a is associated with a determination 234 that the scanning device 140 is stationary, the second predetermined condition 230b is associated with a determination 236 that the object 110 is moving, and the fourth predetermined condition 230d is associated with a determination that the distance d is less than a second threshold value T 2 The determination 246 is associated with

[0055] d) The first predetermined condition 230a is associated with the determination 234 that the scanning device 140 is stationary, and the fourth predetermined condition 230d is associated with the distance d being greater than the first threshold value T 2 The fifth predetermined condition 230e is associated with the determination 244 of 3 The determination 250 of the stillness during the time interval is associated with, and

[0056] e) a first predetermined condition 230a is associated with a determination of the stationary state of the scanning device based on the position data 150 of the scanning device 140, a second predetermined condition 230b is associated with a determination 236 of the motion of the object 110, and a fourth predetermined condition 230d is associated with a distance d being greater than a second threshold value T 2 The fifth predetermined condition 230e is associated with the determination 244 of 3 The determination 250 of stillness during the time interval is associated.

[0057] As yet another example of the processor 200 registering the position of the object 110 based on the position 150 of the scanning device 140, it is based on the following:

[0058] a1) a second predetermined condition 230b is associated with a determination 238 of the stationary state of the object 110 based on the position data 180 of the mobile device 170, and

[0059] b1) The third predetermined condition 230c is that the gyroscope motion of the mobile device 170 is less than the first threshold value T 1 The determination 242 is associated with.

[0060] Therefore, the processor 200 of the system 100 is configured to register the position of the object 110 based on the position 150 of the scanning device 140 based on one of the five sets of predetermined conditions according to a)-e) and / or one of the two sets of predetermined conditions according to a1) and b1).

[0061] Alternatively, the processor 200 of the system 100 may be configured to obtain the position data 180 of the mobile device 170, and register the position of the object 110 in the indoor space 120 based on the obtained position data 180 of the mobile device 170 via the following: a first predetermined condition 230a is associated with a determination 234 that the scanning device 140 is stationary based on the position data 150 of the scanning device 140, a second predetermined condition 230b is associated with a determination 236 that the object 110 is moving, and a fourth predetermined condition 230d is associated with a distance d greater than a second threshold value T. 2 The fifth predetermined condition 230e is associated with the determination of 3 Thus, the processor 220 is configured to register the location of the object 110 based on the location 180 of the mobile device 170 based on the current set of predetermined conditions 230a, 230b, 230d, 230e.

[0062] As yet another alternative example, the processor 200 is configured to register the location of the object 110 based on the obtained location data 180 of the mobile device 170, which may be based on at least one of the following scenarios / events:

[0063] a2) The first predetermined condition 230a is associated with a determination 234 that the scanning device 140 is stationary, the second predetermined condition 230b is associated with a determination 236 that the object 110 is moving, and the fourth predetermined condition 230d is associated with a determination that the distance d is greater than a second threshold value T 2 The determination 244 is associated with

[0064] b2) a second predetermined condition 230b is associated with a determination 238 of the stationary state of the object 110 based on the position data 180 of the mobile device 170,

[0065] c2) The third predetermined condition 230c is that the gyroscope motion of the mobile device 170 is greater than the first threshold value T 1 The determination 240 is associated with, and

[0066] d2) The third predetermined condition 230c is that the gyroscope motion of the mobile device 170 is less than the first threshold value T 1 The determination 242 is associated with.

[0067] In other words, based on one or more of the four sets of predetermined conditions a2)-d2), the processor 200 of the system 100 may be configured to register the position of the object 110 in the indoor space based on the position 180 of the mobile device 170 .

[0068] The registration of the location of the object 110 by the processor 200 of the system 100 based on the location 150 of the scanning device 140 or the location 180 of the mobile device 170 can be deployed in many different ways. For example, after the mobile phone 170 and the scanning device 140 have been paired, whenever the object 110 is walking with a shopping cart, the mobile device 170 (the application) can be placed in a sleep mode. However, the system 100 can (continuously) look for evidence indicating that the object 110 has begun to move away from his / her shopping cart. For example, this can be detected by monitoring the gyroscope data of the mobile device 170 after the shopping cart has come to a complete stop, which gyroscope data is used to indicate the movement of the object 110 has walked a few steps. Upon realizing that the object 110 may have begun to move further away from the shopping cart, the system 100 can "wake up" the mobile device 170 and can ask the mobile device 170 to start registering its BLE asset tracking and gyroscope data. Optionally, even when the object 110 is away from the shopping cart, whenever the object 110 has been standing (statically) for a period of time, the mobile device 170 may not store tracking / gyroscope data. When the system 100 has estimated that the object 110 has indeed left the scanning device 140 for more than a certain distance threshold, it can trigger the mobile device 170 to perform mobile device 170 tracking and instruct it to take over the position tracking task from the scanning device 140. The switching of the position tracking task can be performed as follows: after the object 110 carrying the mobile device 170 has walked away from the shopping cart with the docked scanning device 140, the mobile device 170 application can retrieve the last known position from the scanning device 140 (as determined by the very accurate VLC positioning engine) and send the scanning device 140 to sleep mode. Most of the time, the mobile device 170 of the object 110 will remain in his / her pocket and may need to activate BLE based positioning: in this case, the BLE positioning system retrieves the starting position (= latest shopping cart position) as determined by the more accurate VLC positioning engine. The mobile device 170 can record and store BLE tracking data and micro movement data at any time it is relevant (especially after the mobile device 170 has been triggered that the object 110 has left the shopping cart). When instructed to store data, the mobile device 170 may send its logged data locally to the scanning device 140 via BLE and / or first pre-process the data on the mobile device 170. Such pre-processing ensures that only very little data is transmitted from the mobile device 170. Furthermore, from a privacy perspective, it is advantageous to only share a higher level of abstraction.

[0069] It will be appreciated that one or more of the predetermined conditions 230a-230e may be updated based on machine learning (ML) to personalize these conditions. For example, the ML system may learn that the (first) object 110 usually moves with the shopping cart and only leaves the shopping cart for a few meters. The (second) object 110 may be accustomed to leaving the shopping cart in a central location, such as at the beginning of the grocery store in the indoor space 120, and then freely move around to pick up items. In the second case, once the object is only, for example, 2m away from the shopping cart, the system 100 may activate the mobile device 170 and / or the wireless communication system 160, because the system 100 knows from the past that the second object 110 is most likely to leave the shopping cart.

[0070] In the case where the processor 200 of the system 100 registers the position of the object 110 based on the position of the scanning device 140, the system 100 can be configured to maintain or (re)activate the positioning of the VLC system and / or the scanning device 140, as illustrated by box 300a. Therefore, the system 100 can set the mobile device 170 to a sleep mode, or the mobile device 170 is (temporarily) deactivated, as schematically indicated by box 300d. Similarly, in the case where the processor 200 of the system 100 registers the position of the object 110 based on the position 180 and / or the motion data 220 of the mobile device 170, the system 100 can be configured to maintain or (re)activate the positioning of the wireless communication system 160 and / or the mobile device 170, as illustrated by box 300c. Therefore, the system 100 can set the scanning device 140 to a sleep mode, or (temporarily) deactivate the scanning device 140, as schematically indicated by box 300b.

[0071] Compared to positioning via BLE alone, the system 100 according to the present invention can accurately determine the height of the scanning device 140 by triangulating based on the VLC signals from the multiple light sources 130. The height of the scanning device 140 can be used to discern whether the scanning device 140 is currently placed on / in the shopping cart (i.e., held at a fixed height) or is possibly being held in the hand of the subject 110 (i.e., at different heights from the bottom of the shopping cart).

[0072] According to one example, if the subject 110 shopper walks away from his shopping cart, the joint movement trajectory of the scanning device 140 and the mobile device 170 may be terminated, and the scanning device 140 and the mobile device 170 may present two different movement trajectories. BLE may have limited position tracking accuracy (compared to the superior position tracking capabilities of the (legacy) scanning device 140). Fortunately, according to the VLC data, the (customer's) true movement direction of the subject 110 is known just before the position tracking task is switched from the scanning device 140 to the mobile device 170.

[0073] Unlike the BLE-based position tracking of the mobile device 170, the VLC-based system of the scanning device 140 can accurately determine the 3D spatial orientation of the scanning device 140. Therefore, according to the VLC system, the moving direction of the object 110 in the indoor space 120 can be known. When the system 100 recognizes that the object 110 has walked away from the scanning device 140 (for example, the scanning device 140 has been left in the shopping cart), the BLE-based position tracking algorithm of the mobile device obtains the latest accurate known position of the object 110 in the indoor space 120 from the VLC system. The BLE-based positioning system of the mobile device 170 (i.e., the wireless communication system 160) can thereby use this data as an anchor / fulcrum for inferring the further movement trajectory of the object 110 based on the BLE signal of the mobile device 170 and the gyroscope and accelerometer data of the mobile device 170.

[0074] The mobile device 170 may first keep multiple hypotheses about the BLE derived motion path of the object 110 valid in parallel, and then gradually eliminate hypotheses that are proven to be wrong. Since the main purpose of the semi-dead reckoning motion trajectory data (BLE+gyroscope of the mobile device) is for non-real-time data shopper behavior analysis performed by the retailer (and not for real-time pathfinding of the object / customer), several competing scenarios about the motion trajectory can be stored in the data lake of the system 100. Therefore, the decision of which scenario to use is only made later (using hindsight). For example, the retailer may also use historical data from previous shopping trips of the same object 110 (or from other comparable objects 110) to decide which of the multiple hypotheses to choose. For example, the system 100 may utilize historical data where the object 100 put the personal mobile device 170 in pathfinding mode, and therefore both VLC data and BLE data were recorded, while the object 110 was holding his / her personal mobile device 170 while picking products from the retail shelf while walking away from the scanning device 140 in the shopping cart. In the latter case, the concurrent VLC data can be used by the system 100 as a ground truth to label the first motion trajectory recorded by the BLE tracking and gyroscope. The labeled first BLE motion trajectory can then be used to discern the likelihood of a second BLE motion trajectory hypothesis. In addition, the hypothesis analysis can of course also take into account the layout of the indoor space 120. For example, whenever a motion trajectory hypothesis begins to extend right through a retail shelf (which is physically impossible), this particular hypothesis may be proven to be wrong.

[0075] As the object 110 will eventually return to the shopping cart, the motion trajectory of the mobile device 170 and the motion trajectory of the scanning device 140 will eventually merge again into a single joint motion trajectory. Once the object 110 is again pushing his shopping cart, the VLC system can again provide the precise location of the torso of the object 110 to the location engine of the mobile device 170. This insight can be used by the location tracking system of the mobile device 170 to use hindsight to refute certain assumptions about the most recent dead-reckoned motion trajectory. For the benefit of the retailer's non-real-time data analysis, the system 100 can annotate the dead-reckoned motion trajectory with an accuracy indicator that represents the confidence level estimated at a given location when the object 110 was away from the shopping cart.

[0076] One purpose of the combination of BLE and gyroscopic motion through the system 100 of the present invention can be non-real-time data shopper behavior analysis performed by retailers. Retailers can also use historical data from previous shopping trips of the same subject 110 (or from other comparable subjects 110). For example, the system 100 can utilize historical data where the subject 110 has the personal mobile device 170 in wayfinding mode, and therefore both VLC data and BLE data are recorded by the mobile device 170, while the subject 110 is holding his personal mobile device 170 while walking away from the scanning device 140 in the shopping cart.

[0077] According to one example, the system 100 may periodically monitor the BLE location of the mobile device 170, and may check the distance between the mobile device 170 and the scanning device 140. If it is greater than a threshold, and both the scanning device 140 and the mobile device 170 are moving independently, the system 100 may infer that there must be a (first) object 110 that is pushing a shopping cart and a (second) object 110 that is carrying the mobile device 170 and searching for shopping items away from the shopping cart. In this particular case, navigation may be active on both the mobile device 170 (BLE) and the scanning device (VLC). When the objects 110 swap roles and another object 110 starts pushing the shopping cart, the scanning device 140 may exhibit a brief stop, which enables the system 100 to once again associate the mobile device 170 as now moving in unison with the scanning device 140 again. Although the switch in the role of pushing the shopping cart occurs very quickly (and can therefore be easily missed by the BLE tracking system), the system 100 can use hindsight to detect the moment when a different object 110 starts pushing the shopping cart.

[0078] According to one example, a retailer of indoor space 120 may be interested in which direction object 110 is facing at any given time. This may be accomplished by utilizing the initial facing direction of object 110 (as determined by VLC-equipped scanning device 140) and then dead reckoning a new facing direction of object 110 based on gyroscope data of mobile device 170. The combination of dead reckoned motion trajectory data and facing direction data of object 110 may aid in layout optimization of indoor space 120, e.g., to minimize travel paths and improve shopping efficiency (so that items are easily found).

[0079] It will also be appreciated that since the system 100 involves both the mobile device 170 and the scanning device 140 for positioning, it is possible to seamlessly monitor the actions of the subject 110 (customer) in real time. For example, real-time data analysis can enable a retailer to identify that the subject 110 is looking for his left-behind shopping cart, and the mobile device 170 can then point the subject 110 to the location of his / her shopping cart in the store and / or warn him / her if the subject 110 has accidentally taken the wrong shopping cart.

[0080] Those skilled in the art realize that the present invention is by no means limited to the preferred embodiments described above. Instead, many modifications and variations are possible within the scope of the appended claims.

Claims

1. A system (100) for tracking the position of at least one object (110) in an indoor space (120), comprising: a plurality of light sources (130), wherein each of the plurality of light sources is configured to emit modulated illumination, A scanning device (140) is arranged to be operable by the at least one object to scan the cargo, wherein the scanning device is configured to receiving modulated illumination from at least one of the plurality of light sources, and obtaining position information of a scanning device based on the received modulated illumination; A wireless communication system (160); a mobile device (170) arranged to be carryable by the at least one object, wherein the mobile device is connectable to the wireless communication system, and wherein the mobile device is configured to generating location data of the mobile device based on the connection to the wireless communication system (180); A processor (200) communicatively coupled to the scanning device and the mobile device, wherein the processor is configured to Receive location information from scanning devices, obtaining information of the scanning device and the mobile device (210), wherein the information includes location data (150) of the scanning device based on the received location information, and At least one of the following Mobile device location data, and motion data of the mobile device (220), wherein the processor is further configured to switch between: registering a location of at least one object based on the location of the scanning device (250), and Location data of the mobile device is obtained, and a location of at least one object is registered based on the obtained location data of the mobile device (250).

2. The system according to claim 1, wherein a first predetermined condition (230a) of the at least one predetermined condition is associated with one of the following: determining (232), by the processor, a movement of the scanning device based on the position data of the scanning device, determining (234), by the processor, that the scanning device is stationary based on the position data of the scanning device, and The height of the scanning device above a floor level of the indoor space is determined by the processor based on the position data of the scanning device.

3. The system according to claim 1 or 2, wherein the processor is configured to obtain location data of the mobile device, wherein a second predetermined condition (230b) of the at least one predetermined condition is associated with one of the following: determining (236), by the processor, motion of at least one object based on the location data of the mobile device, and Stationary state of at least one object is determined (238) by the processor based on the position data of the mobile device.

4. The system according to any of the preceding claims, wherein the processor is configured to obtain gyroscope motion data of the mobile device, wherein a third predetermined condition (230c) of the at least one predetermined condition is associated with one of the following: The processor determines (240) based on the obtained gyroscope motion data of the mobile device that the gyroscope motion of the mobile device is greater than a first threshold value T 1 ,as well as The processor determines (242) based on the obtained gyroscope motion data of the mobile device that the gyroscope motion of the mobile device is less than a first threshold value T 1 .

5. The system according to any one of the preceding claims, wherein the processor is configured to obtain location data of the mobile device, wherein a fourth predetermined condition (230d) of the at least one predetermined condition is associated with one of the following: The processor determines (244) based on the obtained location data of the scanning device and the obtained location data of the mobile device that the distance d between the scanning device and the mobile device is greater than a second threshold T 2 ,as well as The processor determines (246) based on the obtained location data of the scanning device and the obtained location data of the mobile device that the distance d between the scanning device and the mobile device is less than a second threshold value T 2 .

6. The system according to any one of the preceding claims, wherein a fifth predetermined condition (230e) of the at least one predetermined condition is associated with one of the following: Determining (248), by the processor based on the position data of the scanning device, a period of inactivity during a time interval of the scanning device, wherein the inactivity is longer than a third threshold value T 3 , The processor determines (250) a period of inactivity during a time interval of the scanning device based on the position data of the scanning device, wherein the inactivity is shorter than a third threshold value T 3 .

7. The system of claims 2, 3, 5 and 6, wherein the processor is configured to register the location of at least one object based on the location of the scanning device based on one of: The first predetermined condition is associated with a determination by the processor of a movement of the scanning device based on the position data of the scanning device, The first predetermined condition is associated with the determination of the stationary state of the scanning device, and the fourth predetermined condition is associated with the determination that the distance d is less than a second threshold value T 2 The determination is related to The first predetermined condition is associated with the determination of the stationary state of the scanning device, the second predetermined condition is associated with the determination of the motion of at least one object, and the fourth predetermined condition is associated with the determination of the distance d being less than a second threshold value T 2 The determination is related to The first predetermined condition is associated with the determination of the stationary state of the scanning device, and the fourth predetermined condition is associated with the determination that the distance d is greater than the first threshold value T 2 The fifth predetermined condition is associated with the determination of 3 associated with the determination of the stationary period during the time interval, and The first predetermined condition is associated with the determination of the stationary state of the scanning device based on the position data of the scanning device, the second predetermined condition is associated with the determination of the motion of at least one object, and the fourth predetermined condition is associated with the determination of the motion of at least one object being greater than a second threshold value T 2 The fifth predetermined condition is associated with the determination of the distance d of 3 The determination of stillness during the time interval is associated with the determination of stillness during the time interval.

8. The system of claim 2, 3, 5 and 6, wherein the processor is configured to obtain location data of the mobile device and register the location of at least one object based on the obtained location data of the mobile device: The first predetermined condition is associated with the determination of the stationary state of the scanning device based on the position data of the scanning device, the second predetermined condition is associated with the determination of the movement of at least one object, and the fourth predetermined condition is associated with the distance d being greater than a second threshold value T. 2 The fifth predetermined condition is associated with the determination of 3 The determination of mobility during the time interval is associated with.

9. The system of claims 2-5, wherein the processor is configured to obtain location data of the mobile device and register the location of at least one object based on the obtained location data of the mobile device based on one of the following: The first predetermined condition is associated with the determination of stationary state of the scanning device, the second predetermined condition is associated with the determination of motion of at least one object, and the fourth predetermined condition is associated with the determination of a distance d being greater than a second threshold value T 2 The determination is related to The second predetermined condition is associated with a determination of stationaryness of at least one object based on the position data of the mobile device, The third predetermined condition is related to the gyroscope movement of the mobile device being greater than the first threshold value T 1 The determination of The third predetermined condition is related to the gyroscope movement of the mobile device being less than the first threshold value T 1 Determined related.

10. The system according to claim 3 and 4, wherein the processor is configured to register the position of at least one object based on the position of the scanning device: The second predetermined condition is associated with a determination of stationaryness of the at least one object based on the position data of the mobile device, and The third predetermined condition is related to the gyroscope movement of the mobile device being less than the first threshold value T 1 Determined related.

11. The system according to any one of claims 7 to 10, configured as at least one of the following: Put the scanning device into sleep mode, and Put your mobile device into sleep mode.

12. A system according to any one of the preceding claims, wherein the processor is configured to obtain location data of mobile devices, and determining the distance d between the scanning device and the mobile device, in, In the case where the determined distance d is greater than a fourth threshold, the processor is further configured to The location data of the mobile device is estimated based on extrapolation of the location data of the scanning device.

13. The system according to any one of the preceding claims, wherein the mobile device is configured to estimate at least one motion path of the mobile device in the indoor space, wherein the mobile device is further configured to update the estimated at least one motion path based on at least one of the following: The layout of the interior space, and Historical location data, including at least one of the following Scan the device's location data, and Location data of your mobile device.

14. A system according to any one of the preceding claims, wherein the processor is configured to obtain location data of mobile devices, and determining the distance d between the scanning device and the mobile device, in, In the case where the determined distance d is greater than a fifth threshold, the processor is further configured to determining a motion of at least one object based on the position data of the mobile device, determining a movement of the scanning device based on the position data of the scanning device, and Do at least one of the following, registering a first position of at least one first object based on the position of the scanning device, and Based on the obtained location data of the mobile device, a second location of at least one second object is registered.

15. A method for tracking a position of at least one object (110) in an indoor space (120) via a system (100), comprising: a plurality of light sources (130), wherein each light source of the plurality of light sources is configured to emit modulated illumination; A scanning device (140) is arranged to be operable by the at least one object to scan the cargo, wherein the scanning device is configured to receiving modulated illumination from at least one of the plurality of light sources, and obtaining position information of a scanning device based on the received modulated illumination; A wireless communication system (160); a mobile device (170) arranged to be carryable by the at least one object, wherein the mobile device is connectable to the wireless communication system, and wherein the mobile device is configured to generating location data of the mobile device based on the connection to the wireless communication system (180); wherein the method comprises Receive location information from scanning devices, obtaining information of the scanning device and the mobile device (210), wherein the information includes location data (150) of the scanning device based on the received location information, and At least one of the following Mobile device location data, and motion data of the mobile device (220), The method further comprises, according to at least one predetermined condition (230a-230e) based on the information, switching between registering a location of at least one object based on the location of the scanning device, and Location data of the mobile device is obtained, and a location of at least one object is registered based on the obtained location data of the mobile device.

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