A system for tracking positions, orientations and trajectories in space

Abstract

A tracking system for positions, orientations and trajectories in space that can be used in a predefined closed or open place, provided it is adequately equipped, consisting of a pointing device (1), wearable or manually manageable, a multiplicity of antenna devices (2) and a server (3) the interactions of which allow the determination of the absolute position, trajectory, orientation, movement of the pointing device (1), any change in position of each antenna device (2) and the transmission of contents relating to the object pointed by the pointing device (1) or relating to the context.

Description

[0001] A SYSTEM FOR TRACKING POSITIONS, ORIENTATIONS AND TRAJECTORIES IN SPACE

[0002] ★ ★ ★ ★ ★

[0003] 5 Summary of the invention

[0004] The present invention concerns a system for tracking the orientations and movement of a device in a predefined closed or open space , provided that it is adequately equipped and appropriately mapped,

[0005] 10 capable of returning speci fic information depending on the orientation of said obj ect ( device ) and, therefore , providing for the return of content pertinent to the pointed obj ect .

[0006] Field of the invention

[0007] 15 The invention can therefore be used in all those contexts in which a user wants or needs to obtain information regarding the obj ect he is observing, provided that the space in which this obj ect is located is closed or in an open field, in a

[0008] 20 delimited space - confined - provided that it is adequately equipped and mappable through a variety of detection means , such as an archaeological site or a monumental square .

[0009] By way of example , but not limited to , this

[0010] 25 invention can be used as an improved audio guide device in museums , exhibitions , squares and / or streets .

[0011] State of the art

[0012] In recent years there have been signi ficant

[0013] 30 advances in the fields of acquisition, use , interaction, digiti zation, computer graphics and visuali zation techniques , however, most of the applications dedicated to the use and interaction of the user / arti f act / environment on-site and online , present limitations in their ability to adapt to di f ferent types of users .

[0014] This leads to the need to develop flexible , adaptive and interoperable technological solutions .

[0015] Some studies in the literature show that the most widely used approaches for estimating orientation and locali zation can be divided into : approaches that use 6 degrees of freedom, corresponding to the acceleration and angular velocity components ; approaches that use 9 degrees of freedom, adding to the previous ones the components of the magnetic field (Ahmad, Norhafi zan, et al . 2013 ) .

[0016] In the last 10 years the development and implementation of new technological standards has made possible the birth of a wide range of Real Time Location Systems that are able to satis fy the needs of the numerous fields of application in which they are used (Kleinrock, 1995 ; Bolter and Grusin, 2002 ) .

[0017] Current systems and devices for tracking orientations and traj ectories in space provide for the identi fication of the obj ect of interest through semantic recognition and the positioning of the observation point through geo-referential systems .

[0018] However, these systems do not ensure the intersection of the artef act / product in a suf ficiently precise manner for many of the intended purposes and therefore the correspondence between what is observed and the information transmitted by the fruition system; furthermore , semantic recognition systems are slow and impose high loads of information, slowing down data processing, and therefore interaction with the user .

[0019] In fact , currently known state-of-the-art systems show limitations in the sensory and emotional involvement of users , not guaranteeing the emotional rhythm of the augmented experience .

[0020] The following are some currently known systems for tracking and navigation in space .

[0021] Patent US2010225541A1 "Ultra-wideband radios for time-of- f light-ranging and network position estimation" describes a device for outdoor and indoor geo-locali zation that proposes the new U1 Chip aimed at locating and communicating with other devices equipped with Ul , or that support ultra-wide band . This new chip uses both Bluetooth and ultrawide band technology, emitting high- frequency, low- range radio signals , also using a time-of- f light system to precisely locate other devices . Furthermore , Bluetooth technology ensures short- range position communication . However, the potential of the chip is expressed only in the Apple proprietary ecosystem and is limited to the detection of the device ' s position .

[0022] Patent US9107178B2 "Geo-location signal fingerprinting" describes a new geo-location system connected to a database with brute- force mapping algorithms ; by connecting to the database , any mobile device can search for the physical locations of nearby towers and IEEE 802 . 11 access points . Geo-location systems such as the one described in the patent have a precision range between twenty and two hundred meters , depending on the density of nearby towers and IEEE 802 . 11 access points . This system learns the intrinsic observable characteristics of a particular position, associates them with the geo-locali zation of that particular position and stores this association in a speci fic database ( signal- fingerprint map ) . However, this system is limiting because the reconstruction of the location is only two-dimensional and does not allow the precise detection of positions in space , due to the dependence on the density of the detection points , without providing any information on the orientation .

[0023] As regards the interaction and tracking devices , the following technical documents can be cited .

[0024] Patent US8831277B1 "Optical helmet tracking system" describes a system consisting of a tracking helmet equipped with two imaging sensors that uses simultaneous locali zation and mapping ( SLAM) algorithms . This system is able to recogni ze the orientation and position of the first imaging sensor with respect to that of the second imaging sensor on the helmet ; this allows the images collected by the imaging sensors positioned on the helmet to be analyzed to reconstruct a reference system . The system described also uses processors that process the images from the sensors to determine movement and uses semantic recognition for mapping and locali zation; this requires high computing power for real-time processing of the map, which is a disadvantage of the system .

[0025] Patent US10719125B2 "Obj ect and environment tracking via shared sensor" describes a head-mounted image sensing and storage device configured to control a plurality of light sources of a pointer . The images acquired by the head-mounted device allow the helmet position to be determined based on one or more characteristics of the surrounding environment ; this system has the advantage of allowing real-time tracking of devices via light sources and the disadvantage of requiring high computing capabilities that may compromise its performance .

[0026] Patent US11079841B2 "Enabling augmented reality using eyegaze tracking" proposes a system that uses gaze tracking for electronic devices equipped with front and rear cameras ; this system includes the display of an image and the reception of information relating to the user ' s gaze . Using the front camera, and based on information on the user ' s gaze , it is possible to determine the area of interest within the image displayed on the electronic device . However, the system described provides for the display of images limited to the screen of the electronic device and only the display of two-dimensional obj ects .

[0027] As regards wearable devices for interaction with the environment , the following prior art document can be cited .

[0028] Patent JPH1124619A "Voice guide system of transmission type of radio wave and infrared ray or the like" , describes a system composed of an audio guide device and an infrared receiver device ; said audio guide device provides information on public facilities and descriptions of exhibits to visitors with visual impairments by intercepting the limited area of the infrared receiver device and starting the recorded voice transmission .

[0029] However, the system data transmission is limited to infrared pulses and FM radio signal without any selection on the observation direction; furthermore , the areas of interest are limited by distance and do not define the precise position on the geo- referential map .

[0030] Patent US2018 / 100916A1 describes a system characteri zed by critical issues related to the high complexity of installation, the considerable requirement of computing capacity and the dif ficult management of scalability . In fact , it provides for the use of many antenna units , each of which includes at least 4 non-coplanar antennas , as well as cameras .

[0031] Patent US6720876B1 describes a system that provides for pointing devices equipped each with two end transmitters , of which the spatial position must be calculated to determine the orientation of the devices themselves , also through the use of " Timestamp" data to synchroni ze the position data . This obviously entails the need for high computing power and greater construction complexity .

[0032] Purpose of the invention The purpose of the invention is to overcome the limits of the known art by providing a system for tracking positions, orientations and trajectories in space. The system is configured to provide not only localization, but also additional functions with a strong focus on interactivity and customization of the user experience and can be used in different applications, from cultural enjoyment to preventive security .

[0033] Specifically, the invention allows:

[0034] (a) the correct identification of the user's point of view to ensure enjoyment, assisted interaction and automatic dissemination of information in relation to the position;

[0035] (b) the absolute determination of the trajectory and spatial orientation in real time with respect to the internal / external environment delimited - confined - and defined with respect to artefacts ;

[0036] (c) real-time data transmission through the interaction between the system components that determines the continuous detection of the orientation with respect to the wearable device, in all "latitudes". This allows to generate constant feedback on the modes of use, visualization and assisted interaction;

[0037] (d) monitoring and tracking of experiences, interactions and activities;

[0038] (e) master-slave configuration;

[0039] (f) measurement of the speed and acceleration of the movement, providing fundamental information in the di f ferent modes of use . In safety systems , for example , it allows to identi fy risk situations when the operator looks in one direction, but moves in another, exposing himsel f to potential dangers ;

[0040] ( g) reduction of operational complexity through the use of a limited number of antennas and sensors that communicate in an integrated manner to determine the position and orientation with high precision . Thanks to the automated communication and interoperability between devices , the frequency of maintenance interventions is signi ficantly reduced, minimi zing calibration and configuration operations by the end user . This improves the ef ficiency of the system, reduces the costs associated with the product li fe cycle and ensures greater reliability and ease of use , even in complex operating environments .

[0041] Proposed Solution

[0042] The proposed solution is a tracking system consisting of at least one wearable or manually directable pointing device , at least four non- coplanar receiving antennas and at least one server for data processing and storage .

[0043] Being a wearable pointing device , i f positioned on the head, the instrument is able to determine the direction of the visitor ' s gaze , facilitating the collection of information in a simpli fied way compared to eye-tracking devices that require advanced systems for the analysis of the positioning of the gaze .

[0044] The system, through the use of inertial sensors and communication between the mobile device and the array of fixed antennas , based on the phase di f ference of the signals , provides the precise determination of the orientation of the pointing device . This is particularly useful in contexts where high accuracy is required, such as in museum audio guides and in contexts of use of complex and dangerous machinery, situations that necessarily require precise tracking of the user and his interactions with the exhibits .

[0045] In fact , the system does not limit itsel f to locating the device , but also offers , via the device itsel f , personali zed and interactive content based on the position and orientation of the user . Through the streaming data transmission module to the device , it can provide speci fic narratives and detailed information on the observed obj ects or alarm or attention signals , signi ficantly improving the user experience or their safety in the workplace .

[0046] Furthermore , the wearable device guarantees the use of space in complete freedom and with greater stability than existing devices since it can also be used without using hands . This makes the system comfortable and less invasive than other tracking devices in the state of the art .

[0047] Therefore , the tracking system according to the invention allows maximum coherence and contextuali zation between the orientation of the user ( locali zation in space of the observation point , direction and orientation) and the information useful for use , preventive safety and assisted and inclusive interaction .

[0048] By way of example , in museum use the system is able to recogni ze the point observed or intersected by the user, simultaneously allowing the trans fer of "personali zed narratives" regarding works of cultural interest and the acquisition of data relating to the user detected during the interactive experience (physical-dimensional , cognitive- behavioral analysis , etc . ) .

[0049] List of figures

[0050] A better understanding of the invention will be achieved with the following detailed description and with reference to the attached figures which illustrate , purely by way of example and not by way of limitation, a preferred embodiment .

[0051] However, the embodiment described is not limiting of the invention, rather this embodiment is provided in such a way that this description is integral and complete , and fully conveys the inventive concept and the scope of the invention to those skilled in the art .

[0052] In the drawings :

[0053] Figure 1 shows a preferred embodiment of the pointing device ( 1 ) according to the invention and four antenna devices ( 2 ) .

[0054] Figure 2 shows the elements included in the preferred embodiment of the pointing device ( 1 ) .

[0055] Figure 3 shows the elements included in each antenna device (2) .

[0056] Figure 4 shows a user wearing the pointing device (1) inside a room where four antenna devices

[0057] (2) are arranged.

[0058] Figure 5 shows the trajectory tracking performed by the system according to the invention.

[0059] Figure 6 shows an isometric figure of a user inside an enclosed space using the system according to the invention.

[0060] Detailed description of the invention

[0061] As already stated, the invention is a system for tracking positions, orientations and trajectories in space .

[0062] More specifically, said system consists of:

[0063] - at least one pointing device (1) , wearable on the head or manually orientable, of variable size and morphology / type, such as a helmet, a headband, a device anchored to eyeglasses or similar;

[0064] - a plurality of antenna devices (2) ;

[0065] - at least one server device (3)

[0066] In the preferred embodiment described, the pointing device (1) is wearable; in addition, the multiplicity of antenna devices (2) is equal to at least four devices, said devices (2) being arranged according to a non-coplanar geometric configuration.

[0067] According to the invention, the pointing device (1) is equipped with: a processor (la) for the management of inputoutput data;

[0068] - a module for determining the position parameters - trajectory and orientation - and movement (lb) ; - a data transmission-reception module (1c) ;

[0069] - at least one transceiver antenna (Id) ;

[0070] - a streaming data transmission module (le) ;

[0071] - a power supply module (If)

[0072] Specifically, the module for determining the parameters of position - trajectory and orientation and movement (lb) is in turn composed of an inertial system (lb.1) comprising a multiplicity of sensors including accelerometers, gyroscopes and magnetometers, where said system allows a first function (fl) for absolute determination of the spatial orientation in real time and a second function (f2) for determining the movement parameters .

[0073] The data transmission-reception module (1c) is configured to provide both the transmission of parameters relating to spatial orientation (fl) , to acceleration and angular velocity (f2) and is equipped with means for receiving data from the reference system (f3) .

[0074] Said reference system is determined a priori by arranging in the designated place, and according to a non-coplanar geometric configuration, the aforementioned multiplicity of antenna devices (2) ; having "mapped" and acquired the data stored in the appropriate server (3) .

[0075] Such data exchange is obviously permitted by the presence of at least one transceiver antenna (Id) ; in the preferred embodiment described, only one antenna is present.

[0076] Therefore, the first function (fl) of absolute determination of the spatial orientation in real time derives from the interoperability of the transceiver antenna (Id) , of the inertial system (lb.1) , consisting of the multiplicity of sensors mentioned above, and of at least four antenna devices (2) arranged according to a non-coplanar geometric configuration.

[0077] The module (lb) is configured to determine in an absolute manner the spatial orientation of the device by calculating the phase difference of the signals emitted by the transceiver antenna (Id) and by at least four antenna devices (2) , combined with the parameters measured by the inertial system (lb.1) .

[0078] The second function (f2) of determining the movement parameters of the device derives from the data transmitted by the transceiver antenna (Id) and by at least four antenna devices (2) placed according to a non-coplanar geometric configuration.

[0079] The third function (f3) of data reception is obtained from the interoperability of the transceiver antenna (Id) that receives streaming data from the server device (3) .

[0080] Another constituent element of the pointing device (1) is the streaming data transmission module (le) which provides for the transfer of pre-set streaming data (f4) , relating to contents customized according to user preferences. The transfer of pre-set streaming data (f4) is obtained by the interaction between the position and movement parameter determination module (lb) , at least one transceiver antenna (Id) and the streaming data transmission module (le) .

[0081] In other words, the function (f3) is the activation of the streaming flow which allows the server (3) to transfer information to the device, for example, on the "intercepted-identif led work"; the function (f4) allows the information to be transferred from the "helmet" to the user through the earphone.

[0082] Finally, the last of the constituent elements of the pointable device (1) is the power module (If) , which comprises a battery with a magnetic induction module positioned inside the wearable or pointable device (1) so as to allow it to be recharged by induction .

[0083] As mentioned, the system for tracking positions, orientations and trajectories in space according to the invention also comprises a multiplicity of antenna devices (2) , each of which is made up of:

[0084] - a processor (2a) for managing input-output data;

[0085] - a data transmission-reception module (2b) ;

[0086] - a transceiver antenna (2c) ;

[0087] - a power module (2d) .

[0088] To determine the spatial position, at least four antenna devices (2) are required, arranged in a non- coplanar geometric configuration; this configuration ensures that the antenna devices (2) can interact with the pointing device (1) via a transceiver antenna (2c) and can determine in real time the position, spatial orientation and trajectory of the pointing device (1) with respect to the reference system.

[0089] According to the invention, it is necessary that at least one of the four antenna devices (2) connects to the server (3) via the data transmission-reception module (2b) for the implementation of the functions fl, f2, and f3, namely :

[0090] - for the transmission of the absolute determination of the spatial orientation in real time (fl) ;

[0091] - for the transmission of the determination of the movement parameters of the wearable device (f2) ; for the reception of data from the reference system ( f 3 ) .

[0092] The data transmission-reception module (2b) and the transceiver antenna (2c) of at least one of the four antenna devices (2) are also necessary for the transfer of pre-set data in streaming (f4) .

[0093] Each antenna device (2) determines its position in the place, and therefore in space, through the phase difference of the signals emitted by its own 5transceiver antenna (2c) and by the signals emitted by at least three other antenna devices (2) .

[0094] The processor (2a) , contained in each antenna device (2) , allows the monitoring of the spatial configuration of each device; this system monitoring function (f5) allows the system itself to verify the correct maintenance of the spatial configuration of each antenna device (2) and the possible recalibration or definition of the space of the reference system in the event of a failure or movement of one or more of the antenna devices (2) with respect to the initial parameters.

[0095] Finally, the last of the constituent elements of each antenna device (2) is the power module (2d) which is made up of the battery equipped with a magnetic induction module, said battery being positioned inside each antenna device (2) so as to allow it to be recharged by induction.

[0096] Essentially, the pointing device (1) and the antenna device (2) are composed of similar modules, with the exception of the streaming data transmission module (le) , included in the pointing device (1) , which allows a master-slave operation.

[0097] In essence, the location is mapped by "fixed" objects, namely the antenna devices (2) , and within this mapped location, a further object moves, the pointing device (1) , which transmits a signal through which the movement, its trajectory and its orientation are mapped.

[0098] The tracking system according to the invention includes a server (3) that stores the transmitted data and allows the automatic processing of the same by determining the spatial orientation in real time (fl) , the movement parameters of the wearable device with respect to the reference system (f2) , associating the results of the processing with data already present in the server (3) and returning the transmission of preset data in streaming (f4) ; furthermore, said server allows the real-time validation of the parameters of each antenna device (2) through the monitoring function of the system ( f 5) . In the example described, the four fixed antennas determine their distance with coordinates in space at time TO; these coordinates are used to define whether there are changes in the successive states of the system in times Tl, T2, etc..

[0099] In the preferred embodiment described, the system is characterized by a pointing device (1) integral with the user's head that allows the detection of the observation point of the user by recognizing the direction, spatial orientation, and real-time tracking of movements, returning specific data-information-narrations of the intersected ob j ect .

[0100] Other system components are the antenna devices (2) that define fixed points in the three dimensional space occupied by the system and a server (3) for on site data processing; the system, after an initial configuration, determines a reference system in space, which intercepts the pointing device (1) .

[0101] This allows to obtain information through the superposition of spatial data with data present in dedicated data bases.

[0102] Specifically, the pointing device (1) , integrated with the user's head, identifies the position by communicating with the antenna devices

[0103] (2) , ensuring high precision of orientation and spatial orientation, which define the user' s observation point.

[0104] The pointing device (1) , identifying its POV, receives the information associated with the three dimensional space of interest from the server device

[0105] (3) . Through the interoperability of the pointing device (1) and at least four antenna devices (2) , the system provides for the absolute determination of the spatial orientation in real time (fl) , the determination of the movement parameters (f2) , and the reception of data from the reference system (f3) .

[0106] The pointing device (1) also allows to receive pre-set streaming data (f4) relating to personalized content based on user preferences from the server (3) .

Claims

CLAIMS1. A system for detecting and tracking positions, orientations and trajectories in space that can be used in relation to a delimited closed or open space, in which said system comprises:• At least one pointing device (1) , that can be worn or manually directed;• At least four antenna devices (2) , positioned according to a non-coplanar spatial configuration;• A server (3) for receiving, storing and processing data detected by the antennas; characterised in that said pointing device (1) comprises the following elements:- a processor (la) for managing input-output data; a module for determining position and movement parameters (lb) ;- a data transmission-reception module (1c) ;- a transceiver antenna (Id) ;- a streaming data transmission module (le) ;- a power supply module (If) ;- and in that each of said antenna devices (2) comprises the following elements: a processor (2a) for the management of inputoutput data;- a data transmission-reception module (2b) ; -- a transceiver antenna (2c) ;- a power supply module (2d) .

2. The system according to preceding claim, characterized in that said server is configured for the transmission of preset streaming audio / video data .

3. The system according to claim 1, characterized in that said pointing device (1) is wearable solidly on the user's head, with variable dimensions and morphology / type such as a headdress, a helmet, a headband, a device anchored to glasses or similar.

4. The system according to claim 1, characterized in that said pointing device (1) is manually manageable, having the shape of a gun or a bracelet .

5. The system for tracking orientations and trajectories in space according to one or more of the preceding claims, characterized in that said module for determining the position and movement parameters (lb) is in turn composed of an inertial system (lb.1) comprising a multiplicity of sensors including accelerometers, gyroscopes and magnetometers .

6. The system according to one or more of the preceding claims, characterized in that said pointing device (1) is operationally connected with at least one antenna device (2) and with the data available in the server (3) , and is configured to perform:- a first function of absolute determination of the spatial orientation (fl) in real time;- a second function of determination of the movement parameters (f2) ;- a third function of receiving data from the reference system (f3) ;- a fourth function of transferring preset data in streaming ( f 4 ) ;- a fifth function of monitoring the system (f5) ; said functions being performed by comparing the data detected by the sensors present in said pointing device ( 1 ) .

7. The system according to one or more of the preceding claims, characterized in that said pointing device (1) is configured to perform the functionality of determining the absolute orientation in real time (fl) independently of the observation and orientation point.

8. The system according to one or more of the preceding claims, characterized in that said pointing device (1) is configured to perform the functionality (f2) of determining the movement parameters of the wearable device, with respect to the reference system, independently of the observation and orientation point.

9. The system according to one or more of the preceding claims, characterized in that said pointing device (1) is configured to perform receiving (f3) data from the reference system via a transceiver antenna configured to receive streaming data from the server (3) .

10. The system according to one or more of the preceding claims, characterized in that said pointing device (1) is configured to transmit (f4) the preset data in streaming via a streaming data transmission module (le) configured to receive data from the server (3) via at least one antenna device (2) .

11. The system according to one or more of the preceding claims, characterized in that each antennadevice (2) is configured to monitor (f5) the system, allowing the system itself to verify the correct maintenance of the spatial configuration of each antenna device (2) and any recalibration or redefinition of the space of the reference system in the event of failure or movement of one or more of the antenna devices (2) with respect to the initial parameters .

12. The system according to one or more of the preceding claims, characterized in that said pointing device (1) is configured to interact with at least four antenna devices (2) , placed according to a non-coplanar spatial configuration, in order to allow the determination of the position in the reference system and the absolute determination of the orientation in real time (fl) .

13. The system according to the preceding claim, characterized in that it is configured to determine the absolute orientation, for example, through the phase difference of the signals emitted by the antennas .

14. The system according to one or more of the preceding claims, characterized in that said server (3) is configured to provide for the transmission of the determination of the movement parameters (f2) of the wearable device (1) with respect to the reference system by comparing them with the data already present in the server (3) .

15. The system according to one or more of the preceding claims, characterized in that said server (3) is configured to provide for the transmission ofpre-set data in streaming (f4) and for the real-time validation of the parameters of each antenna device (2) through the system monitoring function (f5) .

Images