SELF TRACKING SYSTEM AND ITS OPERATION METHOD

• US 20150229906A1
• Filed: 09/19/2013
• Published: 08/13/2015
• Est. Priority Date: 09/19/2012
• Status: Active Grant

• Current Assignee: Follow Inspiration Unipessoal Limitada
• Original Assignee: Follow Inspiration Unipessoal Limitada
• Inventors: Inacio De Matos, Luis Carlos, Guerra De Araujo, Pedro Jose, Ferro Martins, David Jose, Cruz Ponciano, Ricardo Samuel, Dos Santos Nascimento, Pedro Manuel, Goncalves Adaixo, Michael Carlos, Neves Goulao, Vitor Emanuel, Correia Figueira, Ana Raquel, Fragoso Mendes Gardete Correia, Luis Rodrigo
• Granted Patent: US 9,948,917 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60R 2300/107 using stereoscopic cameras
• CPC Class Codes: G01B 11/14 for measuring distance or clearance between spaced objects or spaced apertures G01B11/26 takes precedence; rangefinders G01C3/00
• CPC Class Codes: G01S 3/7864 T.V. type tracking systems
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G06F 3/041 Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
• CPC Class Codes: H04N 13/204 using stereoscopic image cameras stereoscopic photography G03B35/00

Abstract

It is described an autonomous system for tracking an individual, comprising: wheeled vehicle; 3D depth camera, distance and/or touch sensors; at least two motors, each to drive one or more wheels respectively from both sides, left and right, of the mentioned vehicle; data processing module, comprising a decision unit configured to: if the 3D depth camera detects that the distance between the system and the individual to follow is inferior to a predetermined limit, decrease the speed of the two motors; if the 3D depth camera detects that the person to be followed exceeds a predetermined limit on the left or right of a horizontal predefined point, increase the engine speed on the right, slowing the speed of the left engine, or vice versa.

Claims

1. Autonomous system for tracking a person comprising:

a. vehicle with wheels;

b. 3D depth camera;

c. distance and/or touch sensors;

d. at least two motors, each one to drive one or more wheels respectively on each of two sides, left and right sides in respect of said vehicle travel direction, and

e. data processing module, comprising a decision unit configured to;

based on the person'"'"'s location in space in reference to said vehicle, the system calculating an error between the person'"'"'s intended location in space and the person'"'"'s actual location in space; and

based on this error, the system then altering the speed of each motor such that the vehicle moves to reduce said error, in order to move the vehicle towards the intended vehicle position behind the person;

if the person'"'"'s location error is such that the person'"'"'s actual location in space is to the right or to the left of the person'"'"'s intended location in space, the motors are given different speeds such as to make the vehicle follow a curved path, thus causing the vehicle to turn;

if the person'"'"'s location error is such that the person'"'"'s actual location in space is forward or backward of the person'"'"'s intended location in space, the motors are given the same speed values as to make the system follow a linear path, thus causing the vehicle to follow a straight line.

2. System according to claim 1 further configured to stop both engines if it detects the proximity and/or touch of an object by said distance and/or touch sensors.

3. System according to claim 1 further configured to stop both motors if the 3D camera detects that the distance between the system and the person to be tracked is inferior to a predetermined safety limit.

4. System according to claim 1 further configured to, prior to tracking a person, recognizing said person by face recognition, predefined gesture recognition, predefined RFID tag or predefined bar code.

5. A system according to claim 1 further configured to, prior to tracking a person, carry out the following steps:

detect the presence of a human form with the 3D depth camera;

recognizing the person to be tracked by a pre-defined face recognition, predefined gesture recognition, predefined RFID tag or predefined bar code;

assign an unique ID to the detected human form; and

activate the tracking of the recognized person.