WO2018037425A1 - Système et procédé de suivi d'emplacement localisé - Google Patents

Système et procédé de suivi d'emplacement localisé Download PDF

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Publication number
WO2018037425A1
WO2018037425A1 PCT/IN2017/050355 IN2017050355W WO2018037425A1 WO 2018037425 A1 WO2018037425 A1 WO 2018037425A1 IN 2017050355 W IN2017050355 W IN 2017050355W WO 2018037425 A1 WO2018037425 A1 WO 2018037425A1
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Prior art keywords
vehicle
sensor
location
black
motion
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PCT/IN2017/050355
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English (en)
Inventor
Konanur Ramachandra Satyamurthy
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Konanur Ramachandra Satyamurthy
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Publication of WO2018037425A1 publication Critical patent/WO2018037425A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management

Definitions

  • the embodiments herein are generally related to location tracking.
  • the embodiments herein are particularly related to a system and method for location tracking using color sensors.
  • Locating and/ or tracking a person or an object in an indoor space or a confined are typically referred to as indoor positioning, indoor localization, local positioning and the like.
  • Indoor positioning is used for many applications including locating/directing tourists in an exhibition, locating doctors/nurses/medical equipment in a hospital, locating personnel as well as containers/merchandise in a large warehouse and tracking autonomous robots operating on a factory floor.
  • GPS Global Positioning System
  • RFID radio frequency identification
  • a wireless communication device carried by a person or affixed onto an object, sends out wireless signals that are picked up by sensors placed at different locations within the indoor environment and used for locating and/or tracking the person/object.
  • Some systems use beacons embedded in wireless communication devices that transmit/broadcast signals that are picked up by Wi-Fi receivers placed at different locations in the indoor environment and are used to locate the person/object by mapping the indoor environment or via the GPS.
  • GPS systems have relatively low accuracy of around a few meters, complex and expensive.
  • the primary object of the embodiments herein are to provide a system and method for localized tracking regardless of environmental changes and inertial errors.
  • Another object of the embodiments herein to provide a system and method for localized tracking in a simple, accurate, and robust manner.
  • Yet another object of the embodiments herein to provide a system provided with a sensor assembly, and a microprocessor mounted under a bot (object) or vehicle to be tracked.
  • Yet another object of the embodiments herein to provide a location tracking system with color sensors, a speed sensor and a direction sensor.
  • Yet another object of the embodiments herein to provide a location tracking system with comparatively high accuracy of results with respect to location coordinate.
  • Yet another object of the embodiments herein to provide a system and method for location tracking with lower error rates by providing a plurality of reference points.
  • Yet another object of the embodiments herein to provide a system and method for tracking vehicles in motion in a closed area embossable with a predetermined pattern.
  • Yet another object of the embodiments herein to provide a system and method for location tracking that is less complex and cost-effective.
  • the shortcomings discussed in the background section are addressed by a simple, accurate and robust system and method that locates a moving object in an indoor environment. Further, the localized tracking is free of environmental changes and inertial errors.
  • the system for location tracking includes a sensor assembly, and a microprocessor mounted under a bot (object) or vehicle to be tracked.
  • the sensor assembly include a color sensor, speed sensor and direction sensor.
  • sensor data is collected from the plurality of sensors and processed according to a predetermined formula to determine location coordinates of the vehicle.
  • the system provides lower error rates by providing a plurality of reference points.
  • the system for tracking vehicles in motion is applicable in a closed area embossable with a predetermined pattern.
  • the system envisaged by the present disclosure is less complex and cost-effective.
  • the ground surface of an area (where localized tracking needs to be performed) is painted with a standard pattern, for example a series of triangles, of two contrasting colors like, White and Black.
  • the tracking area has length 'L' and breadth ' ⁇ ' .
  • ⁇ is the thickness of each triangle. Tracking any vehicle/body in motion in the given area includes finding the distance of the vehicle (in the given current location) from the origin O (reference), in terms of the two coordinates x and y. The accuracy of the system along both the axes is very high.
  • the system for localized location tracking is embedded on a vehicle or a bot whose location needs to be determined.
  • the system includes a sensor assembly, a data acquisition module, a data processing unit and a communication module.
  • the system is positioned on the vehicle in such a way that the sensor assembly faces the pattern on the ground.
  • the sensor assembly includes a plurality of color sensors SI to S5, a speed sensor XI, and a direction sensor X2. Each of the color sensor possess the ability to differentiate two contrasting colors on a ground surface.
  • the speed sensor or accelerometer provides the linear speed of the vehicle. In an example, the linear speed is derived from a Digital Accelerometer.
  • the direction sensor or gyroscope provides the direction of motion of the vehicle.
  • the Data Acquisition module receives sensor data from the sensor assembly.
  • the Data Acquisition module performs the function of analog to digital conversions and compensates for environmental parameters like ambient light. In an embodiment of the embodiments herein, the Data Acquisition module supplies power to the sensor assembly.
  • the Processing unit includes a data processor, a data memory unit, and a program memory.
  • the data processing unit collects sensor data from the sensor assembly and processes the sensor data to deduce location information.
  • the data processor performs all data calculation on the sensor data and system control functions. Examples of data processor include microcontroller such as 8051 or PIC 16F877 or any other generic controller or processor.
  • the data memory unit stores all data obtained from the data acquisition unit.
  • the processor fetches the data needed to perform the co-ordinate calculations from the data memory unit.
  • Program Memory stores all the software routines for the system operation.
  • the software routines include pattern detection, initialization routine, reset routine, process routine for location tracking. The aforementioned software routines are executed by the data processor.
  • system includes the Communication Module that is responsible for communication of the system with the external world.
  • the Communication Module outputs the generated co-ordinate data.
  • the Communication Module is implemented by microcontroller s UART or a USRT, or a Bluetooth device or any communication protocol.
  • the communication module forward the sensor data to application specific processing units.
  • the communication module is a control and display unit provided in a central unit external to the bot, or a control unit, which is provided within the bot and controls the bots movement based on its current location.
  • the sensors SI, S2, S3, S4, and S5 within the sensor assembly are color sensors capable of differentiating between colors of black and white.
  • the color sensors are of non-contact type, and are configured to differentiate the color from a predefined distance.
  • the color sensor is IR/Laser based sensor.
  • the color sensors indicate Black color as ' ⁇ ', and White color as 'W' .
  • the colors included in the pattern are not limited to black and white, but include any pair of contrasting colors.
  • the color sensors measure the time (duration) for which black color (or white color depending on the output of sensor S7 - X2) is sensed or detected.
  • S2 is the primary sensor for measuring the duration for which the vehicle passes over the black triangle (or white triangle depending on S7).
  • the time duration for which, S2 outputs B (Black for +Y) or W (White for -Y) is T2.
  • SI - S2 pair is used to measure the slope l of the path of the vehicle moving (case 2).
  • the time (duration) between a receipt of output B (Black) from sensor SI and a receipt of output B (Black) from sensor S2 is T12 (When SI hits black first, then S2).
  • the time duration a receipt of output B (Black) from sensor S2 and a receipt of output B (Black) from sensor SI is T21 (When S2 hits black first, then SI).
  • S2 - S3 pair is used to measure a slope_2 (angular path) of the vehicle moving.
  • Slope_2 is distance covered by angled linear motion.
  • Value of Slope_2 is used to measure the curvature of the circular path.
  • the time (duration) between a receipt of output B (Black) from sensor S2 and a receipt of output B (Black) from sensor S3 is T23 (When S2 hits black first, then S3).
  • the time (duration) between a receipt of output B (Black) from sensor S3 and a receipt of output B (Black) from sensor S2 is T32 (When S3 hits black first, then S2).
  • S3 - S4 pair is used to measure the slope_3 (circular path) of the path of the vehicle moving.
  • S3-S4 pair is configured to determine whether the path is circular or randomly curved.
  • the time (duration) between a receipt of output B (Black) from sensor S3 and a receipt of output B (Black) from sensor S4 is T34 (When S3 hits black first, then S4).
  • the time (duration) between a receipt of output B (Black) from sensor S4 and a receipt of output B (Black) from sensor S3 is T43 (When S4 hits black first, then S3).
  • S2 - S5 pair is used to calculate linear speed in case of simple perpendicular paths of the vehicle.
  • the time (duration) between a receipt of output B (Black) from sensor S2 and a receipt of output B (Black) from sensor S5 is T25 (When S2 hits black first, then S5, ie in +YF direction). Since we know dl we have,
  • Sensor S6 (XI) provides a direct linear speed output - SL2.
  • Sensor S7 (X2) provides a direct direction output, as +Y, or -Y.
  • the two speeds obtained, SLl and SL2, along with variables such as ratio of slopes are compared with each other, and when they match successfully, the path is judged to be linear or else the path is judged to be circular.
  • the Sensor XI is a non-contact speed sensor and Sensor X2 is a direction sensor.
  • the Sensors XI and X2 requires no specific geometric arrangement.
  • the Sensors XI and X2 are located anywhere in the assembly or positioned outside the sensor assembly, anywhere within the body of the bot.
  • TABLE 1 indicates the various cases occurring from the motion of the vehicle along the predetermined pattern and the pre-determined formulae used to determine the coordinates in each case.
  • FIG. 1 is an exemplary embodiment of the predetermined pattern painted on a ground surface to track the vehicle, in accordance with one embodiment herein.
  • FIG. 2A illustrates a block diagram of a system for localized location tracking, according to one embodiment herein.
  • FIG. 2B is a diagram illustrating calculation of average speed, according to one embodiment herein.
  • FIG. 3A illustrates the mounting and alignment of the sensor assembly in the system with respect to one embodiment herein.
  • FIG. 3B illustrates the mounting and alignment of the sensor assembly in the system with respect to one embodiment herein.
  • FIG. 3C illustrates the mounting and alignment of the sensor assembly in the system with respect to one embodiment herein.
  • FIG. 4 is a flowchart illustrating the steps involved in location tracking, according to one embodiment herein.
  • FIG. 5 is a flowchart illustrating the steps involved in process of data acquisition from a sensor assembly, in accordance with one embodiment herein.
  • FIG. 6 is a diagram illustrating initialization setup for the system in accordance with one embodiment herein.
  • FIG. 7 is a flowchart illustrating the steps involved in initialization routine, according to one embodiment herein.
  • FIG. 8 is a flowchart illustrating the steps involved in system reset routine, according to one embodiment herein.
  • FIG. 9 is an example showing the movement of the vehicle across a localized area with a predefined pattern, according to one embodiment herein.
  • FIG. 10A is an example showing determination of co-ordinates of the vehicle along the predetermined pattern, according to one embodiment herein.
  • FIG. 10B and IOC is an example showing determination of direction of motion of the vehicle along the predetermined pattern, according to one embodiment herein.
  • FIG. 10D illustrates in detail the method of determination of a vehicle with angled motion, according to one embodiment herein.
  • FIG. 11 illustrates method of determination of co-ordinates of a vehicle with circular motion, according to one embodiment herein.
  • FIG. 11 A illustrates in detail a diagram for determination of a vehicle with circular motion, according to one embodiment herein.
  • FIG. 11 B illustrates in detail a diagram for determination of a vehicle with circular motion, according to one embodiment herein.
  • FIG. llC illustrates in detail a diagram showing calculations for vehicle with circular motion, according to one embodiment herein.
  • FIG. 11D illustrates in detail a diagram showing calculations for vehicle with circular motion, according to another embodiment herein.
  • FIG. HE illustrates an exemplary motion of a vehicle in a circular path of the sensor array into a straight line tangential to the point, according to one embodiment herein.
  • FIG. 12A illustrates a method of detection of motion of a vehicle in uniform curves excluding circles, according to one embodiment herein.
  • FIG.13 illustrates a movement of the vehicle in different quadrants, according to one embodiment herein.
  • FIG. 13A illustrates a movement path of the vehicle in a non-uniform circular path, according to one embodiment herein.
  • FIG. 13B is a diagram illustrating additional sensor pair added to the sensor assembly of the location tracking system, according to one embodiment herein.
  • FIG. 13D is another diagram illustrating the path of the vehicle where the circular path is in third quadrant of the circle, according to one embodiment herein.
  • FIG. 13E is another diagram illustrating the path of the vehicle where the center of the circular path is on the triangle and is in the second quadrant, according to one embodiment herein.
  • FIG. 13F is another diagram illustrating the path of the vehicle where the center of the circular path is on the triangle and is in first quadrant, according to one embodiment herein.
  • FIG. 13G is another diagram illustrating the path of the vehicle where the center of the circular path is at the vertex of the triangle, according to one embodiment herein.
  • the various embodiments herein provide a simple, and robust system and method that locates a moving object in an indoor environment with comparatively higher accuracy level. Further, the localized tracking is free of environmental changes and inertial errors.
  • the system for location tracking includes a sensor assembly, and a microprocessor mounted under a bot (object) or vehicle to be tracked.
  • the sensor assembly include color sensors, speed sensor and direction sensor.
  • sensor data is collected from the plurality of sensors and processed according to a predetermined formula to determine location coordinates of the vehicle.
  • the system provides lower error rates by providing a plurality of reference points.
  • the system for tracking vehicles in motion is applicable in a closed area embossable with a predetermined pattern.
  • the system envisaged by the present disclosure is less complex and cost-effective.
  • the ground surface of an area (where localized tracking needs to be performed) is painted with a standard pattern, for example a series of triangles, of two contrasting colors like, White and Black.
  • the area is of length 'L' and breadth ' ⁇ '.
  • ⁇ is the thickness of each triangle. Tracking any vehicle/body in motion in the given area includes finding the distance of the vehicle (in the given current location) from the origin O (reference), in terms of the two coordinates x and y. The accuracy of the system along both the axes is very high.
  • the system for localized location tracking is embedded on a vehicle or a bot whose location needs to be determined.
  • the system includes a sensor assembly, a data acquisition module, a data processing unit and a communication module.
  • the system is positioned on the vehicle in such a way that the sensor assembly faces the pattern on the ground.
  • the sensor assembly includes a plurality of color sensors SI to S5, a speed sensor XI, and a direction sensor X2. Each of the color sensor posses the ability to differentiate two contrasting colors on a ground surface.
  • the speed sensor or accelerometer provides the linear speed of the vehicle (Digital Accelerometer).
  • the direction sensor or gyroscope provides the direction of motion of the vehicle.
  • the Data Acquisition module provides power to the sensor assembly and further receives sensor data from the sensor assembly.
  • the Data Acquisition module performs the function of analog to digital conversions and compensates for environmental parameters like ambient light.
  • the Processing unit includes a data processor, a data memory unit, and a program memory.
  • the data processing unit collects sensor data from the sensor assembly and processes the sensor data to deduce location information.
  • the data processor performs all data calculation on the sensor data and system control functions. Examples of data processor include microcontroller such as 8051 or PIC 16F877 or any other generic controller or processor.
  • the data memory unit stores all data obtained from the data acquisition unit.
  • the processor fetches the data needed to perform the co-ordinate calculations from the data memory unit.
  • Program Memory stores all the software routines for the system operation.
  • the software routines includes pattern detection, initialization routine, reset routine, process routine for location tracking. The aforementioned software routines are executed by the data processor.
  • FIG. 1 is an exemplary embodiment of the predetermined pattern pained on a ground surface to track the vehicle, in accordance with one embodiment herein.
  • the present invention provides a simple, accurate and robust system and method that locates a moving object in an indoor environment. Further, the localized tracking is free of environmental changes and inertial errors.
  • the system for location tracking includes a sensor assembly, a microprocessor, and a transmission unit mounted under a bot (object) or vehicle to be tracked.
  • the sensor assembly include color sensors, speed sensor and direction sensor. Further, sensor data is collected from the plurality of sensors and processed according to a predetermined formula to determine location co-ordinates.
  • the ground surface of an area (where localized tracking needs to be performed) is painted with a standard pattern, for example a series of triangles, of two contrasting colors like, White and Black as depicted in FIG. 1.
  • the area is of length 'L' and breadth ' ⁇ '.
  • ⁇ is the thickness of each triangle. Tracking any vehicle/body in motion in the given area includes finding the distance of the vehicle (in the given current location) from the origin O (reference), in terms of the two coordinates x and y. The accuracy of the system along both the axes is very high.
  • FIG. 2A is a block diagram of a system for localized location tracking, according to one embodiment herein.
  • the system for localized location tracking is embedded on a vehicle or a bot whose location needs to be determined.
  • the system includes a sensor assembly 201, a data acquisition module 202, a data processing unit and a communication module 204.
  • the system is positioned on the vehicle in such a way that the sensor assembly faces the pattern on the ground.
  • the sensor assembly includes a plurality of color sensors SI to S5, a speed sensor XI, and a direction sensor X2. Each of the color sensor posses the ability to differentiate two contrasting colors on a ground surface.
  • the speed sensor or accelerometer provides the linear speed of the vehicle (for example, speed derived from a Digital Accelerometer).
  • the direction sensor or gyroscope provides the direction of motion of the vehicle.
  • the Data Acquisition module provides power to the sensor assembly and further receives sensor data from the sensor assembly.
  • the Data Acquisition module performs the function of analog to digital conversions and compensates for environmental parameters like ambient light.
  • the Processing unit includes a data processor 203, a data memory unit 205, and a program memory 206.
  • the data processing unit collects sensor data from the sensor assembly and processes the sensor data to deduce location information.
  • the data processor 203 performs all data calculation on the sensor data and system control functions. Examples of data processor include microcontroller such as 8051 or PIC 16F877.
  • the data memory unit 205 stores all data obtained from the data acquisition unit. The processor fetches the data needed to perform the co-ordinate calculations from the data memory unit.
  • Program Memory 206 stores all the software routines for the system operation.
  • the software routines includes pattern detection, initialization routine, reset routine, process routine for location tracking.
  • the aforementioned software routines are executed by the data processor.
  • system includes the Communication Module that is responsible for communication of the system with the external world.
  • the Communication Module outputs the generated co-ordinate data.
  • the Communication Module is implemented by microcontroller s UART or a USRT, or a Bluetooth device or any communication protocol.
  • the communication module forward the sensor data to application specific processing units.
  • the communication module is a control and display unit in a central unit external to the bot, or a control unit within the bot which controls the bots movement based on its current location.
  • sensors SI, S2, S3, S4, and S5 within the sensor assembly 201 are color sensors capable of differentiating between colors black and white.
  • the color sensors are of non-contact type, with ability to differentiate the color from about a predefined distance.
  • the color sensor is IR/Laser based.
  • the color sensors indicate color Black as B, and W as White.
  • the colors included in the pattern are not limited to black and white, but can be any pair of contrasting colors.
  • the color sensors measure the time (duration) for which black color (or white color depending on the output of sensor S7) is sensed.
  • S2 is the primary sensor measuring the duration for which the vehicle passes over the black triangle (or white triangle depending on S7). The time duration for which,
  • S2 outputs B (Black for +Y) or W (White for -Y) is T2.
  • the linear speed obtained from S6 we derive the length of the path of the vehicle on the triangle.
  • SI - S2 pair is used to measure the slope l of the path of the vehicle moving (case 2).
  • the time (duration) between when, SI outputs B (Black) and S2 outputs B (Black) is T12 (When SI hits black first, then S2).
  • the time duration when S2 outputs B (Black) and SI outputs B (Black) is T21 (When S2 hits black first, then SI).
  • S2 - S3 pair is used to measure a slope_2 (angular path) o of the vehicle moving (further elaborated in FIG.9).
  • Slope_2 is distance covered by angled linear motion. Value of Slope_2is used to measure the curvature of the circular path.
  • S3 outputs B (Black) and S2 outputs B (Black) as T32 (When S3 hits black first, then S2).
  • S3 - S4 pair is used to measure the slope_3 (circular path) of the path of the vehicle moving (illustrated in FIG.9). S3-S4 pair determines if the path is circular or randomly curved. The time (duration) between when, S3 outputs B (Black) and S4 outputs B (Black) is T34 (When S3 hits black first, then S4). S4 outputs B (Black) and S3 outputs B (Black) is T43 (When S4 hits black first, then S3).
  • S2 - S5 pair is used to calculate linear speed in case of simple perpendicular paths of the vehicle.
  • the time (duration) between when, S2 outputs B (Black) and S5 outputs B (Black) - T25 (When S2 hits black first, then S5, ie in +YF direction). Since we know dl we have,
  • FIG. 2B is a diagram illustrating calculation of average speed, according to one embodiment herein.
  • Sensor S6 will keep measuring instantaneous speeds at very different intervals, as and when there is a change in instantaneous speed. When it detects a speed 0, will pause system, and the system will wait for a reset. When measuring speed for various cases explained in the following chapters the S6 output will be an average of the various instantaneous speeds it would have measured between the two events being considered.
  • Sensor S6 (XI) provides a direct linear speed output - SL2. Further, Sensor S7 (X2) provides a direct direction output, as +Y, or -Y. The two speeds obtained, SLl and SL2 are compared to each other, and if they match the path is linear else it is circular.
  • In accordance with the present disclosure in Forward movement (+Y), all times mentioned above (such as T12), are with respect to moving in +Y, white to black, that is, moving into the triangle (sensing black as trigger event). The times mentioned with a negative suffix (such as T-12), indicate moving (in +Y) from black to white, indicating that the vehicle is leaving the triangle (sensing white as trigger event).
  • the Sensor XI is a non-contact speed sensor and Sensor X2 is a direction sensor.
  • the Sensors XI and X2 requires no specific geometric arrangement.
  • the Sensors XI and X2 is located anywhere in the assembly or positioned outside the sensor assembly, anywhere within the body of the bot.
  • TABLE 1 indicates the various cases occurring from the motion of the vehicle along the predetermined pattern and the pre-determined formulae used to determine the coordinates in each case.
  • FIG. 3 A illustrates the mounting and alignment of the sensor assembly in the system with respect to one embodiment herein.
  • FIG. 3B illustrates the mounting and alignment of the sensor assembly in the system with respect to one embodiment herein.
  • FIG. 3C illustrates the mounting and alignment of the sensor assembly in the system with respect to one embodiment herein.
  • the Sensor Assembly 300 shown is mounted under the vehicle 302, facing the ground surface (with painted pattern). The sensor assembly is aligned with the vehicle exactly at the center. The sensors S2 would have to be aligned exactly at the center of the vehicle/body to enable tracking of the vehicle. The sensors are arranged in the vehicle so that the slope of the triangle is sampled uniformly.
  • the system is implemented by a sensor assembly mounted above the vehicle, facing a roof of a building (roof painted with a triangle pattern). Further, the sensors in the sensor assembly are arranged in the vehicle so that the slope of the triangle embedded on the roof is sampled uniformly.
  • FIG. 4 is a flowchart illustrating the steps involved in location tracking, according to one embodiment herein.
  • the method of Location tracking includes executing a system flow to determine location of a vehicle in motion on a ground surface with a specified pattern.
  • the system flow includes the step of initializing the system after a startup sequence or boot sequence. On the event of an initialization trigger, the system waits for a 'Reset' . Further, sensor data processing is initialized if reset is successful.
  • the method includes determining if a linear speed of the vehicle is greater than zero. If linear speed is greater than zero, then data processing is performed on the data collected from a sensor assembly. The data processing routine determines the location of the vehicle with respect to the ground surface. The Steps from reset to data processing is repeated when interrupted by a reset trigger.
  • FIG. 5 is a flowchart illustrating the steps involved in process of data acquisition from a sensor assembly, in accordance with one embodiment herein.
  • the process includes enabling a data acquisition unit. Further, the process waits until a data ready signal is acquired from the sensors and pre-processed by the data acquisition unit.
  • the data ready signal depends on conversion of sensor data from analog to digital, and compensation for environmental parameters such as ambient light.
  • FIG. 6 is a diagram illustrating initialization routine performed by the system in accordance with one embodiment herein.
  • initialization routine the system waits for a fixed number of color changes sensed by sensor S2.
  • the previously measured T2 values from sensor S2 values are retrieved from memory.
  • the initialization routine returns a failure error upon timeout.
  • FIG. 7 is a flowchart illustrating the steps involved in initialization setup of the system, according to one embodiment herein.
  • the system triggers an initialization routine, the sensor data value (T2) 1 at a time instance 't' is fetched from sensor S2. Further, the sensor data values (T2) 2 and (T2) 3 are fetched. The routine process determines if the sensor data values (T2) 1 (T2) 2 and (T2) 3 are equal . The initialization process continues until the (T2) 1 (T2) 2 and (T2) 3 are found to be equal. The initialization routine continues for a fixed number of color changes (preferably three color changes) sensed by sensor S2.
  • the system envisaged by the present disclosure is configured to perform an initialization routine on detecting the vehicle/robot passing through a door using an RFID tag.
  • the initialization routine is performed on detecting position of the vehicle/bot at a predetermined location through one of but not limited to RFID, ultra sound, and IR.
  • FIG. 8 is a flowchart illustrating the steps involved in system reset routine, according to one embodiment herein.
  • the sensor data is fetched from a plurality of sensors in the sensor assembly.
  • the step includes determining if the linear speed has changed from zero.
  • the system reset routine is triggered when there is change in output of speed sensor S6 from zero to greater than zero. Further, the step includes determining if there is a change in direction of motion.
  • the system reset routine is also triggered when there is a transition in output of direction sensor S7 (from +Y to -Y or -Y to +Y). If there is no change in the output of direction sensor S7, the routine returns a failure and the process stop.
  • the reset process waits (even though the vehicle is in motion) until sensors SI to S5 return the same color output. Once the sensors SI to S5 indicate the same color output, the routine returns a pass value. The process ends when routine returns a pass value.
  • FIG. 9 is an example showing the movement of the vehicle across a localized area with a predefined pattern, according to one embodiment herein.
  • a plurality of movements is possible when the vehicle passes over a predefined pattern on the ground (triangle).
  • the various movements possible when the vehicle moves over the triangle are perpendicular motion 901, angled motion 902, circular motion 903, and non-uniform motion 904.
  • various cases arises such as perpendicular (movement perpendicular to X axis), angled (linear), curved, and irregular.
  • the formula used to calculate the x-coordinate and y-coordinate varies, and is further illustrated in FIG.10.
  • FIG. 10A is an example showing determination of co-ordinates of the vehicle along the predetermined pattern, according to one embodiment herein.
  • the motion can be perpendicular motion, angled motion, circular motion, and non-uniform motion.
  • the triangles drawn vary in thickness from one point to another along the x-axis. By measuring the thickness of the triangle as the vehicle/body in motion passes, x-coordinate is determined.
  • Path 1 (Length LI)
  • Path 2(Length L2) needs to be determined.
  • the lengths of LI and L2 are not equal.
  • AX 1 L 1 and AX 2 L 2 form two similar triangles.
  • ⁇ In similar triangles, their perimeters and corresponding sides, medians and altitudes will all be in the same ratio) xl and x2 can be obtained.
  • LI is the path length (normalized)
  • the system counts of the total number triangles the vehicle has passed, (by either incrementing, or decrementing this number based on the direction of motion).
  • FIG. 10B and IOC is an example showing determination of direction of motion of the vehicle along the predetermined pattern, according to one embodiment herein.
  • the direction sensor X2 directly outputs the direction of motion of the vehicle as either +Y, or -Y, (such as North or South direction output from a digital compass sensor based on the earth ' s magnetic field).
  • +Y all measurements made in this case by sensors SI to S5 is with respect to black triangles.
  • the motion of vehicle could be +Y in the two cases as depicted in FIG. 10B.
  • forward motion is denoted by 'F' Forward, and Reverse motion by 'R' (with respect to motion of vehicle).
  • SL1 speed is calculated using.
  • Sensor S6 keeps measuring instantaneous speeds at very different intervals, as and when there is a change in instantaneous speed. When it detects a speed 0, will pause system, and the system will wait for a reset. When measuring speed for various cases further elaborated, the S6 output is an average of the various instantaneous speeds measured between the two events being considered.
  • FIG. 10D illustrates in detail the method of determination of a vehicle with angled motion, according to one embodiment herein.
  • FIG. 11 illustrates a method of determination of a vehicle with circular motion, according to one embodiment herein.
  • SL1 measures the speed using displacement, which is different from the linear speed measured by speed sensor S6 as it follows a curved path.
  • the path of the vehicle is a part of circle (assumed circular).
  • FIG.13, 13A to 131 we have various derived cases as illustrated in FIG.13, 13A to 131.
  • FIG. 11 A illustrates in detail a diagram for determination of a vehicle with circular motion, according to one embodiment herein.
  • FIG. 11B illustrates in detail a diagram for determination of a vehicle with circular motion, according to one embodiment herein.
  • FIG. 11C illustrates in detail a diagram showing calculations for vehicle with circular motion, according to one embodiment herein.
  • FIG. 11D illustrates in detail a diagram showing calculations for vehicle with circular motion, according to another embodiment herein.
  • the arc lengths is a function of angle "a", which further is a function of d2, the distance between the sensors described.
  • FIG. HE illustrates an exemplary motion of a vehicle in a circular path of the sensor array into a straight line tangential to the point, according to one embodiment herein.
  • the Sensor S2 hits the triangle first.
  • FIG. 12A illustrates an exemplary motion of a vehicle in non-uniform circular path, according to one embodiment herein.
  • the condition is T12 ⁇ T23 ⁇ T34 ⁇ 0
  • FIG. 12B illustrates the path of the vehicle following a uniform curve, according to one embodiment herein. With respect to figure 12 A, for a uniform curve,
  • Lin up to time T2 (until S2 leaves black) is determined.
  • FIG.13 illustrates various cases derived from the motion of a vehicle in circular path, according to one embodiment herein.
  • the yellow path and the green path together represents the path of the vehicle.
  • the yellow path indicates path with slope l measured by the sensors, and green indicates path with slope_2.
  • FIG. 13A is a diagram illustrating the path of the vehicle in a non-uniform circular path, according to one embodiment herein. With respect to FIG. 13 A and case 3.2 illustrated in FIG. 13, the slopes are negative. T4 hits black first followed by T3, T2, and Tl . Replacing, T12 with T32, and T23 with T21, arc length Al is calculated as follows:
  • a plurality of sensors are used to calculate individual slope values ((al, a2, a3 ).
  • FIG. 13B is another diagram illustrating the path of the vehicle in a nonuniform circular path, according to one embodiment herein.
  • the condition is (T23 - T12) ⁇ (T34-T23).
  • FIG. 13D is another diagram illustrating the path of the vehicle where the circular path is in third quadrant of the circle, according to one embodiment herein.
  • T4 hits black first then T3, T2, finally Tl .
  • Replacing, T12 with T, and T23 with T we derive:
  • FIG. 13E is another diagram illustrating the path of the vehicle where the circular path is start of triangle, according to one embodiment herein.
  • FIG. 13F is another diagram illustrating the path of the vehicle where the circular path is in first quadrant, according to one embodiment herein.
  • FIG. 13G is another diagram illustrating the path of the vehicle where the circular path is in first quadrant, according to one embodiment herein.
  • the center of the circle lies exactly at the vertex of the triangle.
  • the present invention provides a simple, accurate and robust system and method that locates a moving object in an indoor environment. Further, the localized tracking provided by the invention is free of environmental changes and inertial errors. The system provides lower error rates by providing a plurality of reference points. The system for tracking vehicles/robots in motion is applicable in a closed area (for example shops, garage, and bus bay) embossable with a predetermined pattern. The present invention is less complex and cost-effective.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Navigation (AREA)

Abstract

La présente invention décrit un système et un procédé de localisation d'un objet mobile dans un environnement intérieur. Le système de suivi d'emplacement comprend un ensemble détecteur, un microprocesseur et une unité de transmission montée sur un robot (objet) ou sur un véhicule à suivre. L'ensemble détecteur comprend des détecteurs de couleur, un détecteur de vitesse et un détecteur de direction. En outre, les données de détecteur sont recueillies par la pluralité des détecteurs et traitées selon une formule prédéterminée pour déterminer les coordonnées d'emplacement du véhicule. Le système fournit des niveaux d'erreur inférieurs grâce à la fourniture d'une pluralité de points de référence. Le système de suivi de véhicules en mouvement s'applique dans une zone fermée pouvant être mise en relief selon un motif prédéterminé.
PCT/IN2017/050355 2016-08-22 2017-08-21 Système et procédé de suivi d'emplacement localisé WO2018037425A1 (fr)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109947099A (zh) * 2019-03-08 2019-06-28 安徽大学 一种基于事件触发机制的机器人控制方法及装置
US11353574B2 (en) 2019-02-08 2022-06-07 Tata Consultancy Services Limited System and method for tracking motion of target in indoor environment

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Publication number Priority date Publication date Assignee Title
US6317683B1 (en) * 2000-10-05 2001-11-13 Navigation Technologies Corp. Vehicle positioning using three metrics
US6732045B1 (en) * 1999-08-13 2004-05-04 Locanis Technologies Gmbh Method and device for detecting the position of a vehicle in a given area
EP2857799A1 (fr) * 2012-05-30 2015-04-08 Clarion Co., Ltd. Dispositif et programme de détection de la position d'un véhicule

Patent Citations (3)

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Publication number Priority date Publication date Assignee Title
US6732045B1 (en) * 1999-08-13 2004-05-04 Locanis Technologies Gmbh Method and device for detecting the position of a vehicle in a given area
US6317683B1 (en) * 2000-10-05 2001-11-13 Navigation Technologies Corp. Vehicle positioning using three metrics
EP2857799A1 (fr) * 2012-05-30 2015-04-08 Clarion Co., Ltd. Dispositif et programme de détection de la position d'un véhicule

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11353574B2 (en) 2019-02-08 2022-06-07 Tata Consultancy Services Limited System and method for tracking motion of target in indoor environment
CN109947099A (zh) * 2019-03-08 2019-06-28 安徽大学 一种基于事件触发机制的机器人控制方法及装置
CN109947099B (zh) * 2019-03-08 2024-05-14 安徽大学 一种基于事件触发机制的机器人控制方法及装置

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