Systems and methods for ultrasonic position and motion detection

• US 9,618,618 B2
• Filed: 03/10/2014
• Issued: 04/11/2017
• Est. Priority Date: 03/10/2014
• Status: Active Grant

• Current Assignee: Elwha LLC (Intellectual Ventures LLC)
• Original Assignee: Elwha LLC (Intellectual Ventures LLC)
• Inventors: Cheatham, III, Jesse R., Hyde, Roderick A., Ishikawa, Muriel Y., Kare, Jordin T., Mundie, Craig J., Myhrvold, Nathan P., Petroski, Robert C., Rudder, Eric D., Tan, Desney S., Tegreene, Clarence T., Whitmer, Charles, Wilson, Andrew, Wing, Jeannette M., Wood, Jr., Lowell L., Wood, Victoria Y. H.
• Primary Examiner(s): Lobo, Ian J
• Application Number:
  US14/203,401
• Publication Number:
  US 20150253424A1
• Time in Patent Office: 1,128 Days
• Field of Search: 367124, 367 93
• CPC Class Codes: G01S 15/08 Systems for measuring distance only indirect measurement G01S15/46
• CPC Class Codes: G01S 15/46 Indirect determination of position data
• CPC Class Codes: G01S 15/74 Systems using reradiation of acoustic waves, e.g. IFF, i.e. identification of friend or foe
• CPC Class Codes: G01S 15/876 Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector G01S15/872 takes precedence
• CPC Class Codes: G01S 15/89 for mapping or imaging
• CPC Class Codes: G01S 5/18 using ultrasonic, sonic, or infrasonic waves
• CPC Class Codes: G01S 7/52003 Techniques for enhancing spatial resolution of targets G01S7/52046 takes precedence

Abstract

The present disclosure provides systems and methods associated with determining position and/or movement information using ultrasound. A system may include one or more ultrasonic transmitters and/or receivers. An ultrasonic transmitter may be configured to transmit ultrasound into a region bounded by one or more surfaces. The ultrasonic receiver may receive direct ultrasonic reflections and/or rebounded ultrasonic reflections from one or more objects within the region. A mapping or positioning system may generate positional data associated with one or more of the object(s) based on the direct ultrasonic reflection(s) and/or the rebounded ultrasonic reflection(s). The mapping or positioning system may generate enhanced positional data by combining the direct positional data and the rebounded positional data.

Claims

1. A method for determining positional data of a plurality of objects within a region, comprising:

transmitting ultrasound, via an ultrasonic transmitter, into a region bounded by a first surface;

receiving, via an ultrasonic receiver, a direct ultrasonic reflection from the plurality of objects within the region;

generating direct, two-dimensional positional data associated with the plurality of objects based on the direct ultrasonic reflection, wherein the direct, two-dimensional positional data of the plurality of objects includes at least a first object and a second object that appear to be overlapping in a first plane such that the first object is at least partially indistinguishable from the second object;

receiving, via the ultrasonic receiver, a rebounded ultrasonic reflection from the plurality of objects, wherein the rebounded ultrasonic reflection comprises ultrasound reflected by the plurality of objects and the first surface, and then received by the ultrasonic receiver, such that the rebounded ultrasonic reflection is reflected by the plurality of objects at an angle relative to the direct ultrasonic reflection;

generating rebounded, two-dimensional positional data using the rebounded ultrasonic reflection of the plurality of objects from the first surface, wherein the rebounded, two-dimensional positional data of the plurality of objects includes the first object and the second objects in a second plane that is at an angle relative to the first plane; and

generating enhanced positional data by combining the two-dimensional positional data in the first plane from the direct ultrasonic reflection and the two-dimensional data in the second plane from the rebounded ultrasonic reflection to distinguish the first object from the second object.

2. The method of claim 1, wherein transmitting ultrasound comprises transmitting ultrasound between 20 kHz and 250 kHz.

3. The method of claim 1, wherein the positional data comprises a two-dimensional mapping of the object.

4. The method of claim 1, wherein the positional data is configured to be used to generate a visual representation (an image) of the object.

5. The method of claim 1, wherein the positional data comprises a three-dimensional mapping of the object.

6. The method of claim 1, wherein generating enhanced positional data by combining the direct positional data and the rebounded positional data comprises:

using the direct positional data and the rebounded positional data to generate at least one of a three-dimensional image of the object, a three-dimensional representation of the object, and a three-dimensional mapping of the object.

7. A method for determining positional data of an object, comprising:

transmitting ultrasound, via an ultrasonic transmitter, into a region bounded by a first surface;

receiving, via an ultrasonic receiver, a direct ultrasonic reflection from an object within the region;

generating direct positional data associated with the object based on the direct ultrasonic reflection;

receiving, via the ultrasonic receiver, a rebounded ultrasonic reflection from the object, wherein the rebounded ultrasonic reflection comprises ultrasound reflected by the object and the first surface, and then received by the ultrasonic receiver;

generating rebounded positional data using the rebounded ultrasonic reflection of the object from the first surface; and

generating enhanced positional data by combining the direct positional data and the rebounded positional data

transmitting a first ultrasonic pulse that is received as the direct ultrasonic reflection; and

transmitting a second ultrasonic pulse that is received as the rebounded ultrasonic reflection.

8. The method of claim 7, wherein the ultrasonic receiver is configured to differentiate between the direct ultrasonic reflection and the rebounded ultrasonic reflection based on a time-of-flight difference between the first ultrasonic pulse and the second ultrasonic pulse.

9. The method of claim 7, wherein the second ultrasonic pulse is directed to an ultrasonic reflector disposed on the first surface, and wherein the ultrasonic reflector is configured to reflect the second ultrasonic pulse with a modified ultrasonic characteristic.

10. The method of claim 7, wherein the second ultrasonic pulse has a different ultrasonic characteristic than the first ultrasonic pulse.

11. The method of claim 10, wherein the ultrasonic characteristic comprises a phase.

12. The method of claim 10, wherein the ultrasonic characteristic comprises a modulation.

13. The method of claim 10, wherein the ultrasonic characteristic comprises an amplitude.

14. The method of claim 10, wherein the ultrasonic characteristic comprises a frequency.

15. The method of claim 7, further comprising:

transmitting one or more initial ultrasonic pulses prior to the first ultrasonic pulse; and

determining general positional data of at least one of the object and the first surface.

16. A system for determining positional data of a plurality of objects within a region, comprising:

an ultrasonic transmitter configured to transmit ultrasound into a region bounded by a first surface;

an ultrasonic receiver configured to;

receive a direct ultrasonic reflection from the plurality of objects within the region, and

receive a rebounded ultrasonic reflection from the plurality of objects, wherein the rebounded ultrasonic reflection comprises ultrasound reflected by the plurality of objects and the first surface, and then received by the ultrasonic receiver, such that the rebounded ultrasonic reflection is reflected by the plurality of objects at an angle relative to the direct ultrasonic reflection; and

a mapping system configured to;

generate direct, two-dimensional positional data associated with the plurality of objects based on the direct ultrasonic reflection, wherein the direct, two-dimensional positional data of the plurality of objects includes at least a first object and a second object that appear to be overlapping in a first plane such that the first object is at least partially indistinguishable from the second object;

generate rebounded, two-dimensional positional data using the rebounded ultrasonic reflection of the plurality of objects from the first surface, wherein the rebounded, two-dimensional positional data of the plurality of objects includes the first object and the second objects in a second plane that is at an angle relative to the first plane, and

generate enhanced positional data by combining the two-dimensional positional data in the first plane from the direct ultrasonic reflection and the two-dimensional data in the second plane from the rebounded ultrasonic reflection to distinguish the first object from the second object.

17. The system of claim 16, wherein the ultrasonic receiver comprises a first ultrasonic transducer configured to receive the direct ultrasonic reflection and a second ultrasonic transducer configured to receive the rebounded ultrasonic reflection.

18. The system of claim 17, wherein at least one of the first ultrasonic transducer and the second ultrasonic transducer is configured to determine a direction of the received ultrasound.

19. The system of claim 16, wherein the direct ultrasonic reflection from the object is reflected from a first portion of the object, and wherein the rebounded ultrasonic reflection from the object is reflected from a second portion of the object, where the first portion and the second portion are at least partially different portions of the object.

20. The system of claim 16, wherein the direct positional data corresponds to a first directional component of the position of the object and the rebounded positional data corresponds to a second directional component of the position of the object.

21. The system of claim 16, further comprising:

receiving, via the ultrasonic receiver, an additional rebounded ultrasonic reflection from the object,

wherein the additional rebounded ultrasonic reflection comprises ultrasound reflected by the object and a second surface bounding the region, and then received by the ultrasonic receiver;

generating additional rebounded positional data using the additional rebounded ultrasonic reflection of the object from the second surface; and

supplementing the enhanced positional data with the additional rebounded positional data.

22. The system of claim 21, wherein the ultrasonic receiver comprises a third ultrasonic transducer configured to receive the additional rebounded ultrasonic reflection.

23. The system of claim 16, wherein the ultrasonic transmitter is configured to:

transmit a first ultrasonic pulse that is received as the direct ultrasonic reflection; and

transmit a second ultrasonic pulse that is received as the rebounded ultrasonic reflection.

24. The system of claim 23, wherein the ultrasonic receiver is configured to differentiate between the direct ultrasonic reflection and the rebounded ultrasonic reflection based on a time-of-flight difference between the first ultrasonic pulse and the second ultrasonic pulse.

25. The system of claim 23, wherein the ultrasonic transmitter is configured to transmit one or more intermediary ultrasonic pulses between the time the first ultrasonic pulse is transmitted and the second ultrasonic pulse is transmitted.

26. The system of claim 23, wherein the ultrasonic transmitter is configured to transmit one or more initial ultrasonic pulses prior to the first ultrasonic pulse to aid in determining general positional data of at least one of the object and the first surface.

27. A system for determining positional data of an object within a region, comprising:

an ultrasonic transmitter configured to transmit ultrasound into a region bounded by a first surface;

an ultrasonic receiver configured to;

receive a direct ultrasonic reflection from an object within the region, and

receive a rebounded ultrasonic reflection from the object, wherein the rebounded ultrasonic reflection comprises ultrasound reflected by the object and the first surface, and then received by the ultrasonic receiver; and

a mapping system configured to;

generate direct positional data associated with the obiect based on the direct ultrasonic reflection,

generate rebounded positional data using the rebounded ultrasonic reflection of the object from the first surface, and

generate enhanced positional data by combining the direct positional data and the rebounded positional data;

wherein the ultrasonic transmitter comprises a first ultrasonic transmitter configured to transmit the ultrasound directly at the object and a second ultrasonic transmitter configured to transmit the ultrasound to be rebounded off the first surface.

28. A computer-readable medium having instructions that, when executed by a processor, cause the processor to perform operations for determining positional data of a plurality of objects within a region, the operations comprising:

transmitting ultrasound, via an ultrasonic transmitter, into a region bounded by a first surface;

receiving, via an ultrasonic receiver, a direct ultrasonic reflection from the plurality of objects within the region;

generating direct, two-dimensional positional data associated with the plurality of objects based on the direct ultrasonic reflection, wherein the direct, two-dimensional positional data of the plurality of objects includes at least a first object and a second object that appear to be overlapping in a first plane such that the first object is at least partially indistinguishable from the second object;

receiving, via the ultrasonic receiver, a rebounded ultrasonic reflection from the plurality of objects, wherein the rebounded ultrasonic reflection comprises ultrasound reflected by the plurality of objects and the first surface, and then received by the ultrasonic receiver, such that the rebounded ultrasonic reflection is reflected by the plurality of objects at an angle relative to the direct ultrasonic reflection;

generating rebounded, two-dimensional positional data using the rebounded ultrasonic reflection of the plurality of objects from the first surface, wherein the rebounded, two-dimensional positional data of the plurality of objects includes the first object and the second objects in a second plane that is at an angle relative to the first plane; and

generating enhanced positional data by combining the two-dimensional positional data in the first plane from the direct ultrasonic reflection and the two-dimensional data in the second plane from the rebounded ultrasonic reflection to distinguish the first object from the second object.