Relative position positioning system and tracking system

• US 9,459,338 B2
• Filed: 08/09/2014
• Issued: 10/04/2016
• Est. Priority Date: 02/18/2014
• Status: Active Grant

• Current Assignee: PixArt Imaging Incorporated
• Original Assignee: PixArt Imaging Incorporated
• Inventors: Wu, Tsung-Ho, Kuo, Shih-Wei, Chung, Ching-Lin
• Primary Examiner(s): Beaulieu, Yonel
• Assistant Examiner(s): Ramesh, Krishnan
• Application Number:
  US14/455,900
• Publication Number:
  US 20150234032A1
• Time in Patent Office: 787 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: G01S 5/0289 of multiple transceivers, e.g. in ad hoc networks
• CPC Class Codes: G01S 5/0294 Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering

Abstract

A relative position positioning system includes a first apparatus and a second apparatus. Each one of the first and second apparatuses is configured to sense a relative position of the other in an initialization period. In an operation period, each one of the first and second apparatuses is configured to measure its own displacement relative to a plane, transmit its own measured displacement to the other through a wireless transmission unit, and update the relative position of the other according to its own displacement and the displacement received from the other.

Claims

1. A relative position positioning system, comprising:

a first apparatus including;

a first light sensing device, configured to sense a movement of the first apparatus relative to a plane and therefore obtains a plurality of images corresponding to the movement of the first apparatus;

a first wireless transmission unit; and

a first processing unit, electrically coupled to the first wireless transmission unit and the first light sensing device and configured to processing the plurality of images obtained by the first light sensing device so as to measure a displacement of the first apparatus relative to the plane; and

a second apparatus including;

a second light sensing device, configured to sense a movement of the second apparatus relative to the plane and therefore obtains a plurality of images corresponding to the movement of the second apparatus;

a second wireless transmission unit; and

a second processing unit, electrically coupled to the second wireless transmission unit and the second light sensing device and configured to processing the plurality of images obtained by the second light sensing device so as to measure a displacement of the second apparatus relative to the plane;

wherein each one of the first and second apparatuses transmits its own displacement to the other through the first and second wireless transmission units and accordingly generates a relative position from each other, each one of the first and second apparatuses is configured to sense a relative position of the other in an initialization period, wherein in an operation period, each one of the first and second apparatuses is configured to measure its own displacement relative to a plane, transmit its own measured displacement to the other through a wireless transmission mean, and update the relative position of the other according to its own displacement and the displacement received from the other.

2. The relative position positioning system according to claim 1, wherein the wireless transmission unit is implemented by a radio frequency unit.

3. The relative position positioning system according to claim 1, wherein in an operation period, each one of the first and second apparatuses is configured to regularly transmit its own measured displacement to the other.

4. The relative position positioning system according to claim 1, further comprising a third apparatus, wherein each one of the first, second and third apparatuses is configured to sense a relative position of the other two apparatuses in an initialization period, wherein in an operation period, each one of the first, second and third apparatuses is configured to measure its own displacement relative to the plane, transmit its own measured displacement to the other two apparatuses through the first, second and third wireless transmission units, and update the relative positions of the other two apparatuses according to its own displacement and the displacements received from the other two apparatuses.

5. The relative position positioning system according to claim 1, further comprising a third apparatus, wherein in an initialization period, each one of the second and third apparatuses is configured to sense the relative position of the other, and the second apparatus is configured to transmit the relative position of the first apparatus to the third apparatus through the second wireless transmission unit and accordingly the third apparatus can determine the relative position of the first apparatus, wherein in an operation period, each one of the first, second and third apparatuses is configured to measure its own displacement relative to the plane, transmit its own measured displacement to the other two apparatuses through the first, second and third wireless transmission units, and update the relative positions of the other two apparatuses according to its own displacement and the displacements received from the other two apparatuses.

6. A relative position positioning system, comprising:

a first apparatus including;

a first light sensing device, configured to sense a movement of the first apparatus relative to a plane and therefore obtains a plurality of images corresponding to the movement of the first apparatus;

a first wireless transmission unit; and

a first processing unit, electrically coupled to the first wireless transmission unit and the first light sensing device and configured to processing the plurality of images obtained by the first light sensing device so as to measure a displacement of the first apparatus relative to the plane;

a second apparatus including;

a second light sensing device, configured to sense a movement of the second apparatus relative to the plane and therefore obtains a plurality of images corresponding to the movement of the second apparatus;

a second wireless transmission unit; and

a second processing unit, electrically coupled to the second wireless transmission unit and the second light sensing device and configured to processing the plurality of images obtained by the second light sensing device so as to measure a displacement of the second apparatus relative to the plane; and

a third apparatus including;

a third light sensing device, configured to sense a movement of the third apparatus relative to the plane and therefore obtains a plurality of images corresponding to the movement of the third apparatus;

a third wireless transmission unit; and

a third processing unit, electrically coupled to the third wireless transmission unit and the third light sensing device and configured to processing the plurality of images obtained by the third light sensing device so as to measure a displacement of the third apparatus relative to the plane;

wherein each one of the first and second apparatuses transmits its own displacement to the third apparatus through the first and second wireless transmission units and thereby the third apparatus transmits the received displacements and its own displacements to the first and second apparatuses through the third wireless transmission unit so that each one of the first, second and third apparatus accordingly generates a relative position from one another, each one of the first and second apparatuses is configured to sense a relative position of the other in an initialization period, wherein in an operation period, each one of the first and second apparatuses is configured to measure its own displacement relative to a plane, transmit its own measured displacement to the other through a wireless transmission mean, and update the relative position of the other according to its own displacement and the displacement received from the other.

7. The relative position positioning system according to claim 6, wherein the first, second and third wireless transmission units are implemented by a radio frequency unit.

8. The relative position positioning system according to claim 6, wherein in an operation period, each one of the first and second apparatuses is configured to regularly transmit its own measured displacement to the third apparatus through the first and second wireless transmission units, and the third apparatus is configured to regularly transmit the displacements of the first, second and third apparatuses to the first and second apparatuses through the third wireless transmission unit.

9. A tracking system, comprising:

a host machine;

a first electronic device including;

a first light sensing device, configured to sense a movement of the first electronic device relative to a plane and therefore obtains a plurality of images corresponding to the movement of the first electronic device;

a first wireless transmission unit; and

a first processing unit, electrically coupled to the first wireless transmission unit and the first light sensing device and configured to processing the plurality of images obtained by the first light sensing device so as to measure a displacement of the first electronic device relative to the plane; and

a second electronic device including;

a second light sensing device, configured to sense a movement of the second electronic device relative to the plane and therefore obtains a plurality of images corresponding to the movement of the second electronic device;

a second wireless transmission unit; and

a second processing unit, electrically coupled to the second wireless transmission unit and the second light sensing device and configured to processing the plurality of images obtained by the second light sensing device so as to measure a displacement of the second electronic device relative to the plane;

wherein each one of the first and second electronic devices transmits its own displacement to the host machine through the first and second wireless transmission units and the host machine accordingly and dynamically represents the positions of the first and second electronic devices, each one of the first and second electronic devices is configured to sense a relative position of the other in an initialization period, wherein in an operation period, each one of the first and second electronic devices is configured to measure its own displacement relative to a plane, transmit its own measured displacement to the other through a wireless transmission mean, and update the relative position of the other according to its own displacement and the displacement received from the other.

10. A tracking system, comprising:

a mastery electronic device being disposed on a plane and including;

a first light sensing device, configured to sense a movement of the mastery electronic device relative to the plane and therefore obtains a plurality of images corresponding to the movement of the mastery electronic device;

a first wireless transmission unit; and

a first processing unit, electrically coupled to the first wireless transmission unit and the first light sensing device and configured to processing the plurality of images obtained by the first light sensing device so as to measure a displacement of the mastery electronic device relative to the plane; and

a secondary electronic device disposed on the plane and having a specific distance from the mastery electronic device, the secondary electronic device including;

a second light sensing device, configured to sense a movement of the secondary electronic device relative to the plane and therefore obtains a plurality of images corresponding to the movement of the secondary electronic device;

a second wireless transmission unit; and

a second processing unit, electrically coupled to the second wireless transmission unit and the second light sensing device and configured to processing the plurality of images obtained by the second light sensing device so as to measure a displacement of the secondary electronic device relative to the plane;

wherein the mastery and secondary electronic devices are configured to communicate with each other through the first and second wireless transmission units and maintain the specific distance according to the measured first and second displacements, each one of the mastery and secondary electronic devices is configured to sense a relative position of the other in an initialization period, wherein in an operation period, each one of the mastery and secondary electronic devices is configured to measure its own displacement relative to a plane, transmit its own measured displacement to the other through a wireless transmission mean, and update the relative position of the other according to its own displacement and the displacement received from the other.

11. The tracking system according to claim 10, wherein the secondary electronic device is further configured to have a movement following the mastery electronic device by maintaining the specific distance with the mastery electronic device according to the measured first and second displacements.