IT202300006183A1 - TRACKING SYSTEM FOR POSITIONS, ORIENTATIONS AND TRAJECTORIES IN SPACE, FOR USE, PREVENTIVE SAFETY AND ASSISTED AND INCLUSIVE INTERACTION. - Google Patents

Description

Description of the patent for invention entitled: SYSTEM FOR TRACKING POSITIONS, ORIENTATIONS AND TRAJECTORIES IN SPACE, FOR THE USE, PREVENTIVE SAFETY AND ASSISTED AND INCLUSIVE INTERACTION;

Summary of the invention

[0001] 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, capable of returning specific information depending on the orientation of said object (device) and, therefore, providing for the return of contents pertinent to the pointed object.

Field of invention

[0002] The invention can therefore be used in all those contexts in which a user wants or needs to obtain information regarding the object he is observing, provided that the space in which this object is located is closed or in an open field, in a delimited - confined - space provided that it is adequately equipped and mappable through a variety of detection means, such as an archaeological site or a monumental square.

[0003] By way of example, but not limitation, this invention can be used as an improved audio guide device in museums, exhibitions, squares and/or streets.

State of the art

[0004] In recent years there have been significant advances in the field of acquisition, fruition, interaction, digitalization, computer graphics and visualization techniques, however most of the applications dedicated to the fruition and interaction between user/artefact/environment on site and online have limitations in their ability to adapt to different types of users.

[0005] This leads to the need to develop flexible, adaptive and interoperable technological solutions.

[0006] Some studies in literature highlight that the most used approaches for the estimation of orientation and localization 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, Norhafizan, et al. 2013).

[0007] Over the last 10 years, the development and implementation of new technological standards has made it possible to create a wide range of Real Time Location Systems that are able to satisfy the needs of the numerous fields of application in which they are used.

[0008] Current systems and devices for tracking orientations and trajectories in space involve the identification of the object of interest through semantic recognition and the positioning of the observation point using georeferential systems.

[0009] However, these systems do not ensure the intersection of the artefact/artifact in a sufficiently 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.

[0010] In fact, the systems currently known in the state of the art show limits in the sensorial and emotional involvement of the user, not guaranteeing the emotional rhythm of the augmented experience.

[0011] Below are some currently known space tracking and navigation systems.

Patent US2010225541A1 ?Ultra-wideband radios for time-of-flight-ranging and network position estimation? describes an outdoor and indoor geolocation device that features the new U1 Chip to locate and communicate with other U1-equipped devices or devices that support ultra-wideband. This new chip uses both Bluetooth and ultra-wideband technology, emitting high-frequency, short-range radio signals and also using a time-of-flight system to precisely locate other devices. Bluetooth technology also provides short-range position communication.

However, the chip's potential is expressed only in Apple's proprietary ecosystem and is limited to detecting the device's location only.

[0012] Patent US9107178B2 ?Geo-location signal fingerprinting? describes a new geolocalization system linked to a database with brute-force mapping algorithms; by connecting to the database, any mobile device can search for the physical locations of nearby IEEE 802.11 towers and access points. Geolocalization systems such as the one described in the patent have a precision range of 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 location, associates them with the geolocalization of that particular location, and stores this association in a specific database (signal-fingerprint map). However, this system is limited in that the reconstruction of the location is only two-dimensional and does not allow for precise detection of positions in space, precisely because of the dependence on the density of the detection points, without providing any information on orientation.

[0013] As regards interaction and tracking devices, the following prior art documents can be cited.

[0014] US Patent 8831277B1, “Optical helmet tracking system,” describes a system consisting of a tracking helmet equipped with two imaging sensors and using simultaneous localization and mapping (SLAM) algorithms. This system is capable of recognizing the orientation and position of the first imaging sensor relative to that of the second imaging sensor on the helmet; this allows the images collected by the imaging sensors 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 localization; this requires a high level of processing power for real-time processing of the map, which is a disadvantage of the system.

[0015] US Patent 10719125B2 ?Object 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 position of the helmet 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.

[0016] Patent US11079841B2 ?Enabling augmented reality using eye gaze tracking? proposes a system that uses gaze tracking for electronic devices equipped with front and rear cameras; such system includes the display of an image and the reception of information relating to the user's gaze. Through the front camera, and based on the information on the user's gaze, it is possible to determine the area of interest within the image displayed on the electronic device. The described system, however, provides for the display of images limited to the screen of the electronic device and to the display of two-dimensional objects only.

[0017] As regards wearable devices for interaction with the environment, the following prior art document can be cited.

[0018] 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 visually impaired visitors by intercepting the circumscribed area of the infrared receiver device and starting the recorded voice transmission.

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 georeferential map.

Task of the finding

[0019] The aim of the invention is to overcome the limitations of the known art by providing a system for tracking positions, orientations and trajectories in space that allows:

(a) the correct identification of the user's point of view to ensure the use, assisted interaction and automatic dissemination of information in relation to the location;

(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;

(c) constant feedback on the methods of use, viewing and assisted interaction;

(d) mapping of assisted experiences and activities;

(e) monitoring and tracking of experiences, interactions and activities;

(f) that it is a system with, for example, a master-slave configuration.

Proposed solution

[0020] The proposed solution is a tracking system consisting of at least one wearable or manually directional pointing device, at least four non-coplanar receiving antennas and at least one server for data processing and storage.

[0021] Being a wearable pointing device, if placed on the head, the instrument is able to determine the direction of the visitor's gaze, facilitating the collection of information in a simplified way compared to eye-tracking devices which require advanced gaze positioning analysis systems.

[0022] 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.

[0023] Therefore, the tracking system according to the invention allows maximum coherence and contextualization between the user's orientation (localization in space of the observation point, direction and orientation) and the information useful for use, preventive safety and assisted and inclusive interaction.

[0024] As an example, in museum use the system is able to recognize the point observed or intersected by the user, simultaneously allowing the transfer of "personalized narratives" regarding the works of cultural interest and the acquisition of data relating to the user detected during the interactive experience (physical-dimensional, cognitive-behavioral analysis, etc.).

List of figures

[0025] 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.

[0026] However, the embodiment described is not limitative 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.

[0027] In the drawings:

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

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

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

Figure 4 shows a user wearing the pointing device (1) inside a room where four antenna devices (2) are arranged.

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

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

Detailed description of the invention [0028] As already stated, the invention is a system for tracking positions, orientations and trajectories in space.

[0029] More specifically, said system is made up of:

? 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 glasses or similar;

? a plurality of antenna devices (2);

? at least one server device (3).

[0030] In the preferred embodiment described, the pointing device (1) is wearable; furthermore, the multiplicity of antenna devices (2) is equal to at least four devices, said devices (2) being placed according to a non-coplanar geometric configuration.

[0031] According to the invention, the aiming device (1) is equipped with:

? a processor (1a) for managing input-output data;

? a module for determining the position parameters - trajectory and orientation - and movement (1b);

? a data transmission-reception module (1c);

? at least one transceiver antenna (1d);

? a streaming data transmission module (1e);

? a power module (1f).

[0032] Specifically, the module for determining the position - trajectory and orientation - and movement parameters (1b) is in turn composed of an inertial system (1b.1) comprising a multiplicity of sensors including accelerometers, gyroscopes and magnetometers, where said system allows a first function (f1) for absolute determination of the spatial orientation in real time and a second function (f2) for determining the movement parameters.

[0033] The data transmission-reception module (1c) is configured to provide both the transmission of parameters relating to spatial orientation (f1), acceleration and angular velocity (f2) and is equipped with means for receiving data from the reference system (f3).

[0034] 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).

[0035] This data exchange is obviously permitted by the presence of at least one transceiver antenna (1d); in the preferred embodiment described, only one antenna is present.

[0036] Therefore, the first function (f1) for the absolute determination of spatial orientation in real time derives from the interoperability of the transceiver antenna (1d), of the inertial system (1b.1), constituted by the multiplicity of sensors mentioned above, and by at least four antenna devices (2) placed according to a non-coplanar geometric configuration.

[0037] The module (1b) is configured to absolutely determine the spatial orientation of the device by calculating the phase difference of the signals emitted by the transceiver antenna (1d) and by at least four antenna devices (2), combined with the parameters measured by the inertial system (1b.1).

[0038] The second function (f2) for determining the movement parameters of the device derives from the data transmitted by the transceiver antenna (1d) and by at least four antenna devices (2) positioned according to a non-coplanar geometric configuration.

[0039] The third function (f3) of data reception is achieved by the interoperability of the transceiver antenna (1d) which receives streaming data from the server device (3).

[0040] Another constituent element of the pointing device (1) is the streaming data transmission module (1e) which provides for the transfer of pre-set streaming data (f4), relating to contents customized on user preferences.

[0041] The transfer of preset streaming data (f4) is obtained by the interaction between the position and movement parameter determination module (1b), at least one transceiver antenna (1d) and the streaming data transmission module (1e). In other words, the function (f3) is the activation of the streaming flow that allows the server (3) to transfer information to the device, for example, on the intercepted work identified; the function (f4) allows the information to be transferred from the "helmet" to the user through the earphone.

[0042] Finally, the last of the constituent elements of the pointable device (1) is the power module (1f), which comprises a battery with magnetic induction module positioned inside the device to be worn or pointed (1) so as to allow it to be recharged by induction.

[0043] 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:

? a processor (2a) for managing input-output data;

? a data transmission-reception module (2b); ? a transceiver antenna (2c);

? a power module (2d).

[0044] To determine the spatial position, at least four antenna devices (2) are required, positioned in a non-coplanar geometric configuration; this configuration ensures that said 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.

[0045] According to the invention, at least one of the four antenna devices (2) must connect to the server (3) via the data transmission-reception module (2b) for the implementation of the functions f1, f2, and f3, i.e.:

? for the transmission of the absolute determination of spatial orientation in real time (f1);

? for the transmission of the determination of the movement parameters of the wearable device (f2);

? for receiving data from the reference system (f3).

[0046] The data transmission-reception module (2b) and the transceiver antenna (2c) of at least one of the four antenna devices (2) are also required for the transfer of preset streaming data (f4).

[0047] Each antenna device (2) determines its position in place, and therefore in space, through the phase difference of the signals emitted by its own transceiver antenna (2c) and by the signals emitted by at least three other antenna devices (2).

[0048] 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 redefinition 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.

[0049] 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.

[0050] Basically, the pointing device (1) and the antenna device (2) are composed of similar modules, with the exception of the streaming data transmission module (1e), included in the pointing device (1), which allows master-slave operation.

[0051] In essence, the place is mapped by some "fixed" objects, namely the antenna devices (2), and within this mapped place a further object moves, the pointing device (1), which transmits a signal through which its movement, its trajectory and its orientation are mapped.

[0052] 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 (f1), the movement parameters of the wearable device with respect to the reference system (f2), associating the results of the processing with the data already present in the server (3) and returning the transmission of preset data in streaming (f4); furthermore, said server allows the validation in real time of the parameters of each antenna device (2) through the system monitoring function (f5). In the example described, the four fixed antennas determine their distance with coordinates in space at time T0; these coordinates are used to define whether there are changes in the successive states of the system at times T1, T2, etc.

[0053] In the preferred embodiment described, the system is characterised by a pointing device (1) attached to the user's head which allows the detection of the user's observation point by recognising the direction, spatial orientation and real-time tracking of movements, returning specific data-information-narrations of the intersected object.

[0054] Other components of the system are the antenna devices (2) which 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).

[0055] This allows you to obtain information by overlaying spatial data with data present in dedicated databases.

[0056] Specifically, the pointing device (1), attached to the user's head, identifies the position by communicating with the antenna devices (2), ensuring high precision of orientation and spatial orientation, which define the user's observation point.

[0057] The pointing device (1), identifying its POV, receives the information associated with the three-dimensional space of interest from the server device (3).

[0058] Through the interoperability of the pointing device (1) and of at least four antenna devices (2), the system provides for the absolute determination of the spatial orientation in real time (f1), the determination of the movement parameters (f2), and the reception of data from the reference system (f3).

[0059] The pointing device (1) also allows you to receive pre-set streaming data (f4) relating to personalized content based on user preferences from the server (3).

Claims (18)

1. A system for detecting and tracking positions, orientations and trajectories in usable space in relation to a closed or open delimited location, said system being constituted by: ? At least one pointing device (1), wearable or manually directable; ? A plurality of antenna devices (2), placed according to a non-coplanar spatial configuration; ? A server (3) for receiving, storing and processing the data detected by the antennas. 2. The system according to the 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, characterised in that said pointing device (1) can be worn solidly on the user's head, with variable dimensions and morphology/typology such as a headdress, a helmet, a headband, a device anchored to glasses or similar. 4. The system according to claim 1, characterised in that said aiming device (1) is manually manageable, having the shape of a gun or a bracelet. 5. The system according to one or more of the preceding claims, characterised in that said aiming device (1) comprises the following elements: ? a processor (1a) for managing input-output data; ? a module for determining position and movement parameters (1b); ? a data transmission-reception module (1c); ? at least one transceiver antenna (1d); ? a streaming data transmission module (1e); ? a power module (1f). 6. The system for tracking orientations and trajectories in space as claimed in one or more of the preceding claims, characterised in that said module for determining the position and movement parameters (1b) is in turn composed of an inertial system (1b.1) comprising a multiplicity of sensors including accelerometers, gyroscopes and magnetometers. 7. The system according to one or more of the preceding claims, characterised in that each of said antenna devices (2) comprises the following elements: ? a processor (2a) for managing input-output data; ? a data transmission-reception module (2b); ? a transceiver antenna (2c); ? a power module (2d). 8. The system according to one or more of the preceding claims, characterised in that said plurality of antenna devices (2) is constituted by at least four antenna devices (2). 9. The system according to one or more of the preceding claims, characterised 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 for the absolute determination of the spatial orientation (f1) in real time; ? a second function for the determination of the movement parameters (f2); ? a third function for receiving data from the reference system (f3); ? a fourth function for transferring preset streaming data (f4); ? a fifth system monitoring function (f5); said functions being performed by comparing the data detected by the sensors present in said aiming device (1). 10. The system according to one or more of the preceding claims, characterised in that said pointing device (1) is configured to perform the functionality of absolute determination of the orientation in real time (f1) independently of the observation point, orientation and bearing. 11. The system according to one or more of the preceding claims, characterised 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 point, orientation and direction. 12. The system according to one or more of the preceding claims, characterised in that said pointing device (1) is configured to receive (f3) data from the reference system via a transceiver antenna configured to receive streaming data from the server (3). 13. The system according to one or more of the preceding claims, characterised in that said pointing device (1) is configured to transmit (f4) the preset data in streaming via a streaming data transmission module (1e) configured to receive data from the server (3) via at least one antenna device (2). 14. The system according to one or more of the preceding claims, characterised in that each antenna device (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 the possible 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. 15. The system according to one or more of the preceding claims, characterised 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 (f1). 16. The system according to the preceding claim, characterised in that it is configured to determine the absolute orientation, for example, through the phase difference of the signals emitted by the antennas. 17. The system according to one or more of the preceding claims, characterised 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). 18. The system according to one or more of the preceding claims, characterised in that said server (3) is configured to provide for the transmission of pre-set data in streaming (f4) and for the real-time validation of the parameters of each antenna device (2) via the system monitoring function (f5).