Device location discovery by sound

• US 6,662,137 B2
• Filed: 12/11/2001
• Issued: 12/09/2003
• Est. Priority Date: 12/19/2000
• Status: Expired due to Fees

• Current Assignee: Hewlett-Packard Development Company, L.P. (HP Inc.)
• Original Assignee: Hewlett-Packard Development Company, L.P. (HP Inc.)
• Inventors: Squibbs, Robert Francis
• Primary Examiner(s): Bui, Bryan
• Application Number:
  US10/017,226
• Publication Number:
  US 20020077772A1
• Time in Patent Office: 728 Days
• Field of Search: 702/150, 702/152, 702/155, 702/158, 702/159, 702/189, 340/825.49, 340/825.5, 340/825.36, 340/825.54, 367/6, 367/117, 367/120, 704/275, 704/270, 704/231
• US Class Current: 702/159
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G10L 15/26 Speech to text systems G10L15/08 takes precedence
• CPC Class Codes: G10L 2015/223 Execution procedure of a spoken command
• CPC Class Codes: G10L 2015/228 of application context

Abstract

Each device of a group of devices, in particular voice-controlled devices, is equipped with sound receivers and emitters and a short-range radio communication subsystem. Each device is caused to emit a test sound and, via its communications subsystem, a related timing-reference signal. Each device receiving a test sound and related timing-reference signal determines the transit time of the test sound. Using the measured transit times, the devices determine their distances one from another and, by exchanging these distances, the devices, or at least one of them, calculates the relative locations of all devices.

Claims

1. A location discovery method for a plurality of devices equipped with respective electromagnetic communication subsystems, sound emitters and sound receivers;

the method comprising the steps of;

a) emitting from each device both a test sound and, via its communications subsystem, a timing-reference signal;

b) receiving the test sound and timing-reference signal emitted by each device at at least two other said devices and determining respective measures of the transit times of the test sound between emitting and receiving devices, the timing-reference signal enabling the timing of emission of the test sound to be related to the timing of its receipt; and

c) using the transit-time measures to determine the relative locations of the devices.

2. A method according to claim 1, wherein each device sends its test sound and timing-reference signal at the same time, each receiving device determining said measure of the test-sound transit time as the interval between receipt of the timing-reference signal and the test sound.

3. A method according to claim 1, wherein each device sends its test sound and timing-reference signal separated by a time interval, this time interval being either predetermined and known to all devices or being specified in the timing reference signal by the emitting device, each receiving device determining said measure of the test-sound transit time as the interval between receipt of the timing-reference signal and the test sound as adjusted to take account of said time interval.

4. A method according to claim 1, wherein the timing reference signals exchanged by the devices are used to determine clock offset values between respective clocks of the devices.

5. A method according to claim 1, wherein step (c) is carried out by having the devices send their transit-time measures to a predetermined one of the devices using their communication subsystems, said predetermined device thereupon determining the relative device locations.

6. A method according to claim 5, wherein said predetermined device sends the determined relative device locations to the other devices using its communication subsystem.

7. A method according to claim 1, wherein step (c) is carried out by having the devices send their transit time measurements to each other using their communication subsystems, the devices thereupon each determining the relative device locations.

8. A method according to claim 1, wherein a respective said transit-time measure is determined for each direction between pairs of devices and averaged for use in determining device location.

9. A method according to claim 1, wherein measures are determined for test-sound transit times from each device to all other said devices and used in determining device locations.

10. A method according to claim 1, wherein following an initial determination of device location, a limited new determination is carried out in respect of an entity that is either one of the devices that participated in said initial determination or a new device, the new determination involving said entity sending a test sound and timing-reference signal, and at least some of the other devices determining measures of the test-sound transit times, these new transit time measures then being used to determine the current location of said entity relative to the other devices.

11. A method according to claim 10, wherein said entity is a hand-portable device including a trigger control for initiating said new determination, operation of the trigger control sending a signal via the communication subsystem to indicate to the other devices that a new determination is to be effected.

12. A method according to claim 10, wherein the transit-times measures for the new determination, are sent to said entity which then determines its location and stores this newly-determined location.

13. A method according to claim 12, wherein a label is stored along with the newly-determined location.

14. A mapping method for mapping features of a space, the method being carried out in accordance with claim 10 with a set of devices having been positioned about the space and said initial determination of the device locations effected, said entity then being successively moved to features of the space and its location at each feature being derived by said limited new determination.

15. An asset location method for finding an asset in a space, the method being carried out in accordance with claim 10 with a set of devices having been positioned about a space and said initial determination of the device locations effected;

said entity, constituting an asset to be found, thereafter being triggered to initiate a said limited new determination, the newly-determined location of the asset then being output.

16. A method according to claim 1, wherein a group discovery process is carried out to determine a group of devices to constitute said plurality of devices whose location is to be discovered, the group discovery process involving:

one said device, herein the initiator device, emitting a mating sound, via its sound emitter, in coordination with sending a mating signal via its communications subsystem, and

any other device receiving the mating signal via its communications subsystem seeking to relate it with a sound, corresponding to the mating sound, picked up by its sound receiver,

said other device receiving both the mating signal and related mating sound, herein an initial receiving device, thereby becoming at least a potential group member.

17. A method according to claim 16, wherein as part of the group discovery process, each initial receiving device subsequently emits a connectivity-check sound and, via its communication subsystem, a related connectivity-check signal whereby to enable each group member to determine its sound connectivity to other members of the group.

18. A method according to claim 17, wherein location determination is effected in parallel with the group discovery process, said mating and connectivity-check sounds serving as the test sounds and said mating and connectivity-check signals serving as said timing-reference signals.

19. A method according to claim 1, wherein said devices are stand-alone devices.

20. A method according to claim 1, wherein said communications subsystem is one of an infrared communications subsystem, a short-range radio subsystem, and a cabled network subsystem.

21. A device comprising:

a sound emitter for emitting a test sound;

a sound receiver for receiving a test sound;

an electromagnetic communications subsystem for sending and receiving timing-reference signals;

an emission control arrangement for sending a test sound via the sound emitter and a related timing-reference signal via the communications subsystem;

a measurement arrangement operative upon the receipt of a test sound and related timing-reference signal from another device to determine a measure of the transit time of that test sound and thereby of the distance between the two devices; and

a distribution arrangement for sending the determined measure to at least one other device via the communications subsystem.

22. A device according to claim 21, further comprising a location-determination arrangement for receiving, via said communications subsystem, further test-sound transit-time measures that have been determined by other devices, and for using these further measures and the measure determined by its own measurement arrangement to determine the relative locations of the devices.

23. A device according to claim 22, wherein the location-determination arrangement is operative to average transit-time measures it receives that relate to test sound passed in opposite directions between the same pair of devices.

24. A device according to claim 22, further comprising group-discovery means operative to use the emitted and received test sound and timing-reference signals to determine membership of a group of devices, including itself, having sound connectivity with each other.

25. A device according to claim 22, further comprising entity locating means for assisting in determining the location of an entity from which it has received a test sound and timing-reference signal, the entity locating means being operative to return to that entity, via the communications subsystem of the device, both the relative locations of the devices and a measure, determined by the measurement arrangement of the device, of the transit-time of the test sound received from the entity.

26. A device according to claim 22, further comprising entity locating means for assisting in determining the location of an entity from which the device has received a test sound and timing-reference signal, the single-entity locating means comprising:

means for determining the location of the entity relative to said devices using measures, determined by the measurement arrangement of the device and other devices, of the transit time of the test sound emitted by the entity, and

means for returning to that entity, via the communications subsystem of the device, the location of the entity relative to a device-related reference.

27. A device according to claim 21, further comprising a location-data arrangement for receiving, via said communications subsystem, the relative locations of the devices as determined by said at least one other device.

28. A device according to claim 27, further comprising entity locating means for assisting in determining the location of an entity from which it has received a test sound and timing-reference signal, the entity locating means being operative to return to that entity, via the communications subsystem of the device, both the relative locations of the devices and a measure, determined by the measurement arrangement of the device, of the transit-time of the test sound received from the entity.

29. A device according to claim 27, further comprising entity locating means for assisting in determining the location of an entity from which the device has received a test sound and timing-reference signal, the single-entity locating means comprising:

means for determining the location of the entity relative to said devices using measures, determined by the measurement arrangement of the device and other devices, of the transit time of the test sound emitted by the entity, and

means for returning to that entity, via the communications subsystem of the device, the location of the entity relative to a device-related reference.

30. A device according to claim 21, wherein the emission control arrangement is operative to cause the test sound and timing-reference signal to be emitted at the same time, and wherein the measurement arrangement is operative to determine said measure as the interval between receipt from another device of the timing-reference signal and test the sound.

31. A device according to claim 21, wherein the emission control arrangement is operative to cause the test sound and timing-reference signal to be emitted separated by a time interval, the measurement arrangement including means for retrieving a corresponding time interval in respect of a received test sound and related timing signal, the measurement arrangement being operative to determine said measure for this received test sound and related timing reference signal as the interval between their receipt as adjusted to take account of said corresponding time interval.

32. A device according to claim 23, wherein the device is a stand-alone device.

33. A device according to claim 23, wherein said communications subsystem is one of an infrared communications subsystem, a short-range radio subsystem, and a cabled network subsystem.

34. A device comprising:

a sound emitter for emitting a test sound;

a sound receiver for receiving a test sound;

an electromagnetic communications subsystem for sending and receiving timing-reference signals;

an emission control arrangement for sending a test sound via the sound emitter and a related timing-reference signal via the communications subsystem;

a measurement arrangement operative upon the receipt of a test sound and timing-reference signal from another device to determine a measure of the transit time of that test signal and thereby of the distance between the two devices; and

a location-determination arrangement for receiving, via said communications subsystem, further measures that have been determined by other devices, and using these further measures and the measure determined by its own measurement arrangement to determine the relative locations of the devices.

35. A device according to claim 34, wherein the emission control arrangement is operative to cause the test sound and timing-reference signal to be emitted at the same time, and wherein the measurement arrangement is operative to determine said measure as the interval between receipt from another device of the said timing-reference signal and the test sound.

36. A device according to claim 34, wherein the emission control arrangement is operative to cause the test sound and timing-reference signal to be emitted separated by a time interval, the measurement arrangement including means for retrieving a corresponding time interval in respect of a received test sound and related timing signal, the measurement arrangement being operative to determine said measure for this received test sound and related timing reference signal as the interval between their receipt as adjusted to take account of said corresponding time interval.

37. A device according to claim 34, wherein the location-determination arrangement is operative to average transit-time measures it receives that relate to test sound passed in opposite directions between the same pair of devices.

38. A device according to claim 34, further comprising group-discovery means operative to use the emitted and received test sound and timing-reference signals to determine membership of a group of devices, including itself, having sound connectivity with each other.

39. A device according to claim 34, further comprising entity locating means for assisting in determining the location of an entity from which it has received a test sound and timing-reference signal, the entity locating means being operative to return to that entity, via the communications subsystem of the device, both the relative locations of the devices and a measure, determined by the measurement arrangement of the device, of the transit-time of the test sound received from the entity.

40. A device according to claim 34, further comprising entity locating means for assisting in determining the location of an entity from which the device has received a test sound and timing-reference signal, the single-entity locating means comprising:

means for determining the location of the entity relative to said devices using measures, determined by the measurement arrangement of the device and other devices, of the transit time of the test sound emitted by the entity, and

means for returning to that entity, via the communications subsystem of the device, the location of the entity relative to the device-related reference.

41. A device according to claim 34, wherein the device is a stand-alone device.

42. A device according to claim 34, wherein said communications subsystem is one of an infrared communications subsystem, a short-range radio subsystem, and a cabled network subsystem.

43. A handheld device comprising:

a sound emitter for emitting a test sound;

an electromagnetic communications subsystem for sending and receiving signals;

an emission control arrangement for sending a test sound via the sound emitter and a related timing-reference signal via the communications subsystem; and

a location-determination arrangement for receiving, via said communications subsystem, measures of the transit time of the test sound to other devices, and data concerning the locations of those other devices relative to one another, the location-determination arrangement being operative to use the receive measures and data to determine the location of the handheld device.