Apparatus for measuring spatial displacement in 3D space using tether and orientation sensing

Abstract

Devices, a system, and a method for tracking a three-dimensional position of an object absent an external reference. The embodiments include: a tether tied to the object; an encoder associated with the tether so as to measure linear displacement of the tether; at least one orientation sensor configured to sense a spatial orientation of the linear displacement of the tether; a joint configured to associate the orientation sensor with the tether, and to associate the tether with the object without impedance to three-dimensional movement of the object; and a computing system communicative with at least the encoder and the orientation sensor and configured to execute non-transitory computing code capable of the tracking of the three-dimensional position of the object from an initial position according to a combined output from the encoder and the orientation sensor.

Description

APPARATUS FOR MEASURING SPATIAL DISPLACEMENT TN 3D SPACE USING TETHER AND ORIENTATION SENSINGCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to U.S. provisional application No. 63 / 670,398 filed July 12, 2024, incorporated herein by reference in its entirety.BACKGROUND OF THE DISCLOSUREField of the Invention

[0002] The disclosure relates to the field of spatial displacement measurement, and more particularly to utilizing velocity measurements and tether-based mechanisms combined with orientation sensors for accurate positional tracking in three-dimensional space, without reliance on external references.Description of the Background

[0003] Position and displacement measurements are components used in countless applications. Shortcomings of traditional positional sensors have led to a dependence in many of these countless applications on the use, and consequent expense, of a plurality of both internal and external sensors, as well as external reference points, in order to track positional data.

[0004] External references or sensors may include any of a variety of different sensing types and methods. For example, external sensing may include: tower sensors for virtual / augmented reality (VR / AR) headsets and controllers; infrared lights, cameras, and sensors to spatially sense reference points in the form of walls and room boundaries; global position sensing (GPS);external cameras used for pose estimation to track body movements; and VR / AR headset cameras to capture hand orientation while holding hands in view.

[0005] Traditional sensors for position and displacement measurement, such as accelerometers and inertial measurement units (IMUs), measure acceleration values and then compute the displacement by taking a double integral. As such, these sensors experience exponential increases in displacement error, and are severely limited by integration drift due to the taking of the double integral. This exponential error, for both horizontal and vertical measured displacements, is illustrated graphically in FIGs. 1A and IB for a variety of different types of devices (see Capuano et al., Sensors 2023, 23(17), 7609).

[0006] Gyroscopic (“gyro”) sensors, on the other hand, are capable of measuring angular velocity. Gyros experience a linear increase in displacement error, as they require only a single integral to compute the displacement. This is illustrated in relation to the graph of FIG. 2 (see Chen et al., International Journal of Autonomous and Adaptive Communications Systems, 2013 Vol.6 No.3, pp.253 - 271).

[0007] However, even the linear integration error of gyro sensors must be accounted for, typically by using another sensor, such as an IMU, as a means of verifying orientation. For example, IMUs may use a combination of accelerometers and the aforementioned gyro to re-zero orientation readings using gravity as a reference. Of course, the use of the IMU in combination with a gyro to solve the gyro’s shortcomings re-introduces the aforementioned integration drift problem from which the IMU suffers.

[0008] The use of the foregoing sensors to measure displacement and / or orientation is also impacted by the placement of the sensor in relation to the item / object for which the location is tobe tracked. For example, these sensors are typically sensitive to vibration, shock, and sensitivity to changing environmental factors, such as heat, cold and humidity. This further limits the applications in which these sensors may be suitably used.

[0009] In sum, all of the foregoing limitations hinder the effectiveness of known sensors to sense position in three-dimensional (3D) space, particularly in applications requiring precise, long-term displacement tracking, at low cost, without the need for additional reference sensors / transmitters external to the item to be tracked, and outside of a controlled environment. This is, in part, an important reason why augmented reality (AR) controllers are not currently recommended for frequent use outdoors.

[0010] Thus, there is a need for an apparatus, system and method capable of accurately measuring 3D spatial displacement using velocity measurements rather than acceleration. For example, draw wire encoders are presently known to provide reliable 2D displacement measurement, but they do not allow for orientation, i.e., 3D, measurements.SUMMARY OF THE DISCLOSURE

[0011] The disclosure is and includes devices, a system, and a method for tracking a three- dimensional position of an object absent an external reference. The embodiments include: a tether tied to the object; an encoder associated with the tether so as to measure linear displacement of the tether; at least one orientation sensor configured to sense a spatial orientation of the linear displacement of the tether; a joint configured to associate the orientation sensor with the tether, and to associate the tether with the object without impedance to three-dimensional movement of the object; and a computing system communicative with at least the encoder and the orientation sensor and configured to execute non-transitory computing code capable of thetracking of the three-dimensional position of the object from an initial position according to a combined output from the encoder and the orientation sensor.

[0012] Thus, the embodiments provide the capability of accurately measuring 3D spatial displacement using velocity measurements rather than acceleration, in satisfaction of the need in the known art.BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The foregoing purposes and features, as well as other purposes and features, will become apparent with reference to the description and accompanying figures below, which are included to provide an understanding of the disclosure and constitute a part of the specification, in which like numerals represent like elements, and in which:

[0014] FIGs. 1A and IB graphically depict known position sensing errors;

[0015] FIG. 2 graphically depicts known position sensing errors;

[0016] FIG. 3 depicts aspects of the exemplary embodiments;

[0017] FIG. 4 depicts aspects of the exemplary embodiments; and

[0018] FIGs. 5 A and 5B depict aspects of the exemplary embodiments.DETAILED DESCRIPTION OF THE DISCLOSURE

[0019] It is to be understood that the figures and descriptions of the present disclosure have been simplified to illustrate elements that are relevant for a clearer comprehension of the present disclosure, while eliminating, for the purpose of clarity, many other elements found in similar systems and methods. Those of ordinary skill in the art may thus recognize that other elementsand / or steps are desirable and / or required in implementing the present disclosure. However, because such elements and steps are well known in the art, and because they do not facilitate a better understanding of the present disclosure, a discussion of such elements and steps is not provided herein. The disclosure herein is nevertheless directed to all such variations and modifications to such elements and methods known to those skilled in the art.

[0020] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this technical subject matter belongs, and are intended to encompass similar and equivalent terminologies for the subject matters disclosed, unless noted otherwise. And although any methods and materials similar or equivalent to those described herein can be used in the practice or testing of the present disclosure, exemplary methods and materials are described.

[0021] As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having," are inclusive and therefore specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0022] The steps, processes, and operations described herein are not to be construed as necessarily requiring their respective performance in the particular order discussed or illustrated, unless specifically identified as a preferred or required order of performance. It is also to be understood that additional or alternative steps may be employed, in place of or in conjunction with the disclosed aspects.

[0023] “About” as used herein when referring to a measurable value such as an amount, a temporal duration, and the like, is meant to encompass variations of ±20%, ±10%, ±5%, ±1%, and ±0.1% from the specified value, as such variations are appropriate. Further, throughout this disclosure various aspects of the disclosure can be presented in a range format. It should be understood that the description in range format is merely for convenience and brevity and should not be construed as an inflexible limitation on the scope of the disclosure. Where appropriate, the description of a range should be considered to have specifically disclosed all the possible subranges as well as individual numerical values within that range. For example, description of a range such as from 1 to 6 should be considered to have specifically disclosed subranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6 etc., as well as individual numbers within that range, for example, 1, 2, 2.7, 3, 4, 5, 5.3, and 6. This applies regardless of the breadth of the range.

[0024] Processor-implemented modules and systems are disclosed herein that may provide access to and transformation of a plurality of types of digital content, including but not limited to data and data streams, and the algorithms applied herein may track, deliver, manipulate, transform, transceive and report the accessed digital content. Described embodiments of these modules, apps, systems and methods are intended to be exemplary and not limiting.

[0025] An exemplary computing processing system for use in association with the embodiments, by way of non-limiting example, is capable of executing software, such as an operating system (OS), applications / apps, user interfaces, and / or one or more other computing algorithms, such as the algorithms, decisions, models, programs and subprograms discussed herein. The operation of the exemplary processing system is controlled primarily by non- transitory computer readable instructions / code, such as instructions stored in a computer readablestorage medium, such as hard disk drive (HDD), optical disk, solid state drive, Random Access Memory (RAM), a flash memory, or the like. Such instructions may be executed within the central processing unit (CPU) to cause the system to perform the disclosed operations. In many known computer servers, workstations, mobile devices, personal computers, and the like, the CPU is implemented in an integrated circuit called a processor.

[0026] It is further appreciated that, although the exemplary processing system may comprise a single CPU, such description is merely illustrative, as the processing system may comprise a plurality of CPUs. As such, the disclosed system may exploit the resources of remote CPUs through a communications network or some other data communications means.

[0027] In operation, CPU fetches, decodes, and executes the instructions from the computer readable storage medium. Information, such as the computer instructions and other computer readable data, is transferred between components of the computing system via the system's main data-transfer path.

[0028] In addition, the processing system may contain a peripheral communications controller and bus, which is responsible for communicating instructions from CPU to, and / or receiving data from, peripherals as discussed herein throughout. An example of a peripheral bus is the Peripheral Component Interconnect (PCI) bus that is well known in the pertinent art.

[0029] An operator display / graphical user interface (UI) may be used to display visual output and / or presentation data generated by or at the request of processing system, such as responsive to operation of the aforementioned computing programs / applications. Such visual output may include text, graphics, animated graphics, and / or video, for example.

[0030] Further, the processing system may contain a network adapter which may be used to couple to an external communication network, which may include or provide access to the Internet, an intranet, an extranet, or the like. The communications network may provide access for processing system with means of communicating and transferring software and information electronically. Network adaptor may communicate to and from the network using any available wired or wireless technologies. Such technologies may include, by way of non-limiting example, cellular, Wi-Fi, Bluetooth, infrared, or the like.

[0031] The present disclosure provides an apparatus, system, and method for measuring spatial displacement of an object in 3D space — that is, measuring both linear displacement and orientation of an object — in an environmentally robust and low-cost package. The embodiments utilize a tether-based mechanism akin to a draw wire encoder for linear displacement measurement, in combination with an orientation sensor to track the tether's direction of displacement in 3D space. The foregoing enables the calculation of a position vector for the tracked object in spherical coordinates, which may be used to determine 3D displacement changes and thus true 3D coordinates in space.

[0032] In order to accomplish the foregoing, exemplary embodiments may also include a unique specialty / modified joint. This joint may allow tether passage to enable displacement tracking while also tying the tether to an orientation sensor to sense the orientation of the tether’s displacement, thus facilitating accurate and reliable 3D position measurement.

[0033] FIG. 3 illustrates an exemplary embodiment of the disclosure. More particularly, illustrated is 3D spatial sensor 10 that is a combination of a linear displacement line / wire sensor12, shown in the form of a draw wire / tether, with an orientation sensor 14 that indicates the orientation for the linear displacement sensor 12.

[0034] More particularly, the linear displacement sensor 12 may be any tether mechanism, and may particularly be similar in operation to a draw wire encoder. The present tether may also be encoded in the manner of a draw wire — that is, the linear displacement of the tether may be encoded by encoder 20 to a particular amount of actual spatial displacement of the object with which the disclosed sensor is associated.

[0035] The illustrated tether is coupled to an orientation sensor 14, such as an IMU or gyroscope as discussed above. The orientation sensor tracks the spatial directionality / orientation for the linear displacement of the tether.

[0036] Moreover, the coupling 30 between the tether sensor 12 and the orientation sensor 14 may comprise a modified joint. By way of non-limiting example, the modified joint 30 may be either of a 2D gimbal or a half-spherical joint. The tether may be fed through the modified joint 30 in order to track both the displacement and the orientation of the tether as it experiences the encoded displacement.

[0037] The tether mechanism may be any retractable wire or cord, such as for maintaining a compact form factor when not in use, and is typically housed with an encoder unit 20, as discussed throughout. The encoder unit 20 measures the linear displacement of the tether as the tether extends and retracts. The material of the tether may preferably be a high strength, highly durable, low-stretch, environmentally sturdy material, such as metal, plastic, or Kevlar or a similar synthetic fiber, by way of non-limiting example.

[0038] As referenced, the orientation sensor may be an IMU, a gyro sensor, or a combination thereof. The orientation sensor may be mounted or otherwise affixed within the joint 30 in any known manner so as to measure the orientation of the tether as the tether moves.

[0039] The use of an IMU in particular may allow for orientation sensing to be re-zeroed using gravity as a reference, for example, thereby ensuring consistent measurements. In any case, the orientation sensor may be re-calibrated at predetermined time periods so as to minimize drift and error over time.

[0040] The joint mechanism 30, such as the 2D gimbal or a half-spherical joint, may allow the tether a free and smooth movement in multiple directions, while maintaining tether alignment and encoder accuracy. To enable sufficient degrees of freedom for the displacement of the tether, the joint 30 may thus be modified as discussed throughout.

[0041] To the extent the joint 30 does not itself provide a housing of the sensor system 10, a housing 43 may be provided separately. In such exemplary embodiments, portions of tether 12, the joint 30, and the orientation sensor 14, as well as internal electronics 47 which may be necessary for wired or wireless external communication 49 from sensor system 10 and / or for electronic communications from and between tether 12 and orientation sensor 14, may be housed within housing 43.

[0042] In a non-limiting exemplary embodiment, a 2D gimbal joint 30 may be modified to have a central aperture 102 for the tether to pass through, while maintaining the tether’s orientation. This is illustrated with regard to the 2D gimbal joint 30, tether 12, and aperture 102 shown in FIG. 4.

[0043] Similarly, in cases where the joint mechanism is or includes a half-spherical joint 30, the joint may include a claw mechanism 202, such as is illustrated in the example of FIGs. 5A and 5B. The claw mechanism 202 supports the tether 12, and allows for its smooth passage while also enabling the orientation sensor 14 tracking discussed throughout.

[0044] With reference now to FIGs. 3-5, in use the tether 12 is attached to a target object 50 for which the position in 3D space is to be measured. As the target object moves, the tether extends and retracts, and the encoder unit thus measures the linear displacement of the object associated with the tether from any initial 3D spatial position. Simultaneously, the orientation sensor tracks the direction of the tether’s displacement, thereby providing data on the orientation of the tether during displacement. A position vector in spherical coordinates in 3D space is then calculated therefrom, such as by a wired or wirelessly associated computer processing system 300, based on the tether's displacement length / di stance (r) and the orientation angles (9, cp) of the displacement.

[0045] The tether mechanism may be manufactured in a manner akin to, and using standard components of, a draw wire encoder, with the modifications discussed herein for integration with the orientation sensor and into the joint mechanism. The joint mechanism may require a relatively precise machining as between the orientation and tether sensors so as to ensure smooth operation and accurate 3D spatial positional tracking. Further, relative precision may likewise be maintained in the assembly and calibration of the disclosed sensors and all associated electronic components, at least so as to provide optimal performance of the overall sensing device, system and method.

[0046] By way of example, regular calibration of the disclosed orientation sensor ensures minimal drift and accurate readings for the embodiments. Further, the tether mechanism may require periodic inspection to ensure that the tether wire / cord remains in good operating condition. Yet further, regular software updates to computing system 300, such as may include user and automated feedback on unit performance, may be used to enhance the accuracy and the functionality of the disclosed measurement system, as well as providing constant improvement in error correction.

[0047] Accordingly, the embodiments may provide accurate 3D positional measurements for the object associated with the disclosed device, without the need for large numbers of expensive sensors or a large, bulky device package, and without the need for external reference elements. Thus, the disclosure provides an ideal solution for applications in which external references are unavailable or impractical. Further, the disclosed embodiments minimize integration drift and reduce sensitivity to environmental factors. The embodiments thus offer a robust solution for dynamic applications requiring precise positional tracking.

[0048] Consequently, the embodiments are useful in a large number of applications, as well as in various fields and differing environments. These applications include, but are not limited to, augmented reality, virtual reality, robotics, and industrial automation. Further, the embodiments are particularly useful over the known art in outdoor environments, in which traditional sensors generally fail due to environmental conditions and the lack of fixed reference points for measurements.

[0049] In one such exemplary use context, namely that of an augmented or virtual reality (AR / VR) gaming system, the tether may be attached to, for example, a handheld controller. Asthe player of the AR game moves, the embodiments track the controller’s 3D spatial position, providing real-time input for the game in the form of an enhanced gaming experience using the extraordinarily accurate and responsive gaming input provided by the embodiments.

[0050] Alternatively, a traditional AR / VR controller may be modified with a joystick-like mechanism at the bottom thereof, to which the disclosed tether may attach. In such a case, rather than using a gyro or IMU sensor to track orientation, the controller may combine data from the tether with the joystick data to obtain the 3D position and 3D orientation of the controller and joystick.

[0051] Yet further, rather than, or in addition to, having tower sensors or walls to double check a position in 3D space, a VR headset may use its own displacement from itself to a tethered point. Therefrom, the VR headset may recalibrate its position in 3D space.

[0052] In a robotics context, the tether may be connected to a robotic end effector, as will be appreciated by the skilled artisan. The embodiments may accurately measure the robotic arm's position in 3D space, ensuring precise control and operation of the robotics. Thus, the embodiments are particularly well suited for robotic contexts necessitating very high levels of robotic precision and accuracy.

[0053] Further in relation particularly to robotics, in some use-contexts a robot unit as a whole may move from station to station. For example, a robotic arm for making fast food may, at one point, move to a fry station to put the fries into a fryer; however the robot arm may have a difficult time determining where the fry basket handle is in space, in part because the fry basket reference point and the robotic arm itself move positions. By utilizing the disclosed tether, the robot may move from a previous station and adjust its positional origin according to its measureddisplacement (and / or that of the fry basket) in order to accurately find the position of the handle of the fry basket relative to itself. Once done with the fry basket, the robotic arm may move to another station, such as to flip a burger, and may use the displacement offset found by the disclosed sensing to determine the position of the handle of the spatula relative to the robotic arm, and may then repeat upon returning to the fry basket.

[0054] The device may also be used, such as in robotics, in an active alignment context. For example, using high precision rotary encoders and IMU's or other equivalent sensors, one may perform active alignment operations or validate alignment operations with positional data. This may be accomplished by attaching the disclosed tether to a reference position on each part to be aligned.

[0055] For example, one or more tethers may be attached to each of two robotic end effectors. During the alignment process, the robots may then perform active alignment by checking the spatial displacement values, adjusting position, and repeating until the spatial positions are in the desired alignment. Moreover, the alignment of another system with one or either of the robots may be verified or improved by measuring spatial displacement data at the referenced positions.

[0056] In an industrial setting, the tether may be used to track the movement of machinery parts. Thereby, the embodiments may provide data for the control and maintenance of said machinery, as well as performance optimization of the processes performed by the machinery. Accordingly, the use of the disclosed 3D spatial sensing may better ensure efficient and reliable industrial operations.

[0057] Particularly for industrial automation, the end of the tether may be connected with a moving component, such as the tip of a robotic arm. The joint may then be used to collect position data useful in: recalibrating robots; training adversarial machine learning models; confirming robot position in low light / no light environments; or detecting abnormal machine movement or moves beyond safe areas.

[0058] Furthermore in industrial applications, a combination of data from robot encoders with data from the spherical position sensor may be used to train a machine learning model to perform robotic arm movements without sensors on the robot arm itself. For example, mounted on the same rotational axis as a 6-axis robot, the disclosed device including three spherical joints may be attached above the robot. On each rotating joint of the robot arm, a tether may be attached to a freely rotating, tensioned bearing to establish the position of each robot arm joint in spherical space. Of course, a combination of image data of the tethered point and 3D position data obtained from the multiple tethers may then be used for calibrating multiple cameras to the same 3D space, such as via N-Point calibration.

[0059] In the medical context of robotic surgery, the disclosed device may be attached at a positional reference point to a spot on the outside of the patient. Internal or external medical devices may then use that reference point to calibrate when conducting medical operations, such as surgery. This may allow for solutions for the automated traversal of internal bodily structures / organs (such as using algorithmic approaches based on differences in position), as well as more fully automated surgical procedures.

[0060] In another medical context for physical therapy applications, the device may measure patient muscle performance using pulling tensions at odd angles, and / or at angles which arestrenuous on the patient’s injury. Additionally, the device may provide a manner of comparing movement and functionality of different muscle groups.

[0061] By way of non-limiting example, three joints mounted to an apparatus behind a ambulating patient may allow for tracking of variations of and / or improvement in the patient’s walking, such as with one tether attached to a piece of kinesiology tape on the lower calf, a second attached to a piece of kinesiology tape on the back of the knee, and the third tether attached to a piece of kinesiology tape on the back of the thigh. As the patient conducts stretches, exercises and ultimately walking, the displacement of each tether is measured and compared to prior data from the patient. The tether feed(s) may also be varied to provide a higher tension, such as to provide a means of slowly ramping up the strain on particular muscle groups so as to aid in treatment (and to measure the results of that treatment).

[0062] In a movie production setting, the embodiments may provide a useful tool and a cheaper alternative in conducting motion capture of cast members. Likewise, in underwater environments the embodiments may be used as a means of position sensing. For example, the modified joint may secure electronics in a watertight environment, allowing the joint to be used underwater or in humid / wet environments to measure spatial position. In such a case, a scuba diver may tether herself to a joint attached to a submersible vehicle, while a crew inside the submersible may live-track the diver’s position relative to the ship. Accordingly, should a dangerous situation arise, the tether may be fully retracted to bring the diver back into the ship. Relatedly, “swarms” of submersibles may be tethered to each other to perform complex group maneuvers and motions, such as in dangerous underwater conditions.

[0063] In the realm of safety equipment, an emergency stop or damper may be placed on the tether. Thereby, the disclosed embodiments may also serve as a safety harnesses or other similar type of safety equipment.

[0064] Further and by way of non-limiting example, the embodiments may be used in haptic feedback systems. In such a case, an adjustable string tension on the tether feed may allow for a user to “feel” limits when a VR controller presses on a boundary. The apparatus may additionally work in conjunction with another haptic feedback systems as a measurement tool to help determine when and what type of haptic feedback to output, such as based on controller displacement. This methodology may also be applied to other wearable devices attached to the tether, such as, but not limited to, haptic headsets, gloves, bodysuits.

[0065] For some exemplary embodiments, calibration and / or positional referencing based upon static environmental elements may be performed. By way of non-limiting example, user anchors from each user’s AR headset to a static pole, such as on a playground, may be provided. Each player may then draw elements in the environment, like a hopscotch board. Thereafter, when the player moves in relation to the hopscotch board, the embodiments check where the player has moved relative to the static pole, as well as using the orientation data from the player’s headset to determine how to move the hopscotch board relative to the player. Such uses of the disclosure ease the load on computing resources that would otherwise typically be needed to find where to orient the hopscotch court via, for example, image processing using in-headset cameras.

[0066] Additionally, in many contexts, accelerometers and / or IMUs often are positioned at the location of the measurement, and thus, for these “remote” applications, the system musttransmit position data wirelessly. This wireless transmission often results in “laggy” response times. When the need for responsiveness requires such systems to provide low(er) latency positional data, the disclosed modified joint allows measurement to take place from a distance, and thus the joint may be wired directly to computing or communication resources to thereby reduce latency and response time after measurement.

[0067] In additional alternatives, the embodiments may provide a single device solution for system-wide tracking. That is, rather than having position / displacement measurement sensors embedded in each device or object in a system, the disclosed tether and orientation sensor combination may serve as a system-wide spatial sensor. Moreover, because the tether may be attached / detached, the same sensor may be used across a multitude of devices, including for spatial tracking of objects that don’t typically include position tracking capabilities.

[0068] For example, the tether may first be attached to a handheld VR controller which is brought outside. The user may then wish to track her leg movements during a run, so she may detach the tether from the VR controller and re-attach it to the side of her shoe. After her run is complete, the user may come back inside, may detach the tether from her show, and may reattach the tether to a VR glove controller to practice playing a piano with guided VR instructions.

[0069] The embodiments may also be used as a general measurement device. For example, two or more adjoined string fed joints may be used as a measurement tool for the distance and angle of the two (or more) tethered points in space in relation to the joinder thereof, or with regard to each other. Relatedly, a modified version of such a device may be used to measure two points in space undergoing varied tensioning forces. For example, the disclosed device may beused to measure X displacement resultant from application of F tension at T angle to a particular spot in a pulley system. It will be appreciated that, in such an exemplary embodiment, different-sized versions of this measuring j oint may be used to handle varying amounts of pull force, such as in the case that the load to be measured is on a large scale, such as on the scale of a car or a boat to be pulled or anchored.

[0070] Yet further, in order to calibrate an object’s position from a mobile positional reference, the disclosed embodiments may be employed. For example, in a large facility repurposed for augmented reality play, along the roof may be provided an omni-wheeled, magnetically-anchored displacement sensor using optical encoders, lasers, and / or other various means to track position along the roof of the large facility. Thereby, rather than each player’s headset performing the computation required to interact with the virtual environment around them, each player is instead tethered to one of these roof mounted position sensors using the described embodiments.

[0071] A combination of data may then be sent to the facility’s computing resources. This combination of data may contain: each player’s headset orientation; sensor data gathered by each tether sensor; and positional data gathered by the roof-anchored displacement sensor. Using this data, the facility may update the environment around each user while requiring much less computing power on or in relation to each headset. Even if factors, such as latency, impact the usefulness of the embodiments for certain situations like the foregoing, elements of the environment which do not require low latency interaction with the A / R player (such as cutscene triggers, reactionary features like flowers opening up as the player gets close, etc,) may still be handled in the manner indicated above.

[0072] In additional and alternative embodiments, the algorithms 300a resident within computing system 300 and used herein to make the disclosed determinations may be local to the sensor, or remote from the sensor, such as accessible via the cloud 323. As such, the algorithms used may be thick- or thin-client. In either case, the data and sensor system operation may be monitored and / or modified via interaction with user interface 337. Further, the algorithms 300a may integrate the feedback discussed herein, and / or advanced algorithms for error correction and data smoothing.

[0073] Alternatives may use so-called “wireless tethers”, such as may use collimated light or the like. Additionally, the embodiments may include multiple tethers, such as to enable heightened complexity in the movements tracked, and to allow tracking of multi-point displacements.

[0074] Thus, by combining linear displacement measurement with orientation tracking, the disclosure provides a comprehensive solution for accurate 3D spatial displacement measurement. The disclosed design is suitable for a wide range of applications and environments, offering a robust, reliable, and lower cost alternative to traditional sensors. This versatility and precision ensure that the embodiments meet the needs of modern applications in both indoor and outdoor settings.

[0075] In the foregoing detailed description, it may be that various features are grouped together in individual embodiments for the purpose of brevity in the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that any subsequently claimed embodiments require more features than are expressly recited.

[0076] Further, the descriptions of the disclosure are provided to enable any person skilled in the art to make or use the disclosed embodiments. To make and use the disclosed aspects, various modifications to the disclosure will be readily apparent to those skilled in the art. Further, any generic principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein, but rather is to be accorded the widest scope consistent with the principles and novel features disclosed and claimed as follows.

Claims

CLAIMSWhat is claimed is:

1. A system for tracking a three-dimensional position of an object absent an external reference, comprising: a tether tied to the object; an encoder associated with the tether so as to measure linear displacement of the tether; at least one orientation sensor configured to sense a spatial orientation of the linear displacement of the tether; a joint configured to associate the orientation sensor with the tether, and to associate the tether with the object without impedance to three-dimensional movement of the object; and a computing system communicative with at least the encoder and the orientation sensor and configured to execute non-transitory computing code capable of the tracking of the three- dimensional position of the object from an initial position according to a combined output from the encoder and the orientation sensor.

2. The system of claim 1, wherein the at least one orientation sensor comprises a gyroscope.

3. The system of claim 1, wherein the at least one orientation sensor comprises an inertial measurement unit (IMU)4. The system of claim 1, wherein the joint is a 2D gimbal joint.

5. The system of claim 4, wherein the 2D gimbal joint has an aperture passing therethrough to accommodate movement of the tether.

6. The system of claim 5, wherein the aperture is a central aperture.

7. The system of claim 1, wherein the joint comprises a half-spherical joint.

8. The system of claim 7, wherein the half spherical joint includes a claw mechanism that supports the tether.

9. The system of claim 1, further comprising a second tether having a second encoder, the second tether being tied to a different one of the at least one orientation sensor.

10. The system of claim 1, wherein the object is an augmented reality component.

11. The system of claim 1, wherein the object is a robotic arm.

12. A method for tracking a three-dimensional position of an object, comprising: tying a tether to the object; encoding a linear displacement of the tether to an actual displacement distance of the object; sensing a spatial orientation of the linear displacement of the tether; joining the orientation sensor with the tether, and the tether with the object without impedance to three-dimensional movement of the object, using a modified joint; and executing non-transitory computing code on a computing system communicative with at least the encoder and the orientation sensor to provide the tracking of the three-dimensional position of the object taken from an initial position according to a combined output from the encoding and the sensing.

13. The system of claim 12, wherein the sensing is performed by a gyroscope.

14. The system of claim 12, wherein the sensing is performed by an inertial measurement unit (IMU)15. The system of claim 12, wherein the joining is by a 2D gimbal joint.

16. The system of claim 1, wherein the joining is by a half-spherical joint.

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