# US 2019/0320293 A1 · Tracking system for tracking and rendering virtual object corresponding to physical object and the operating method for the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0320293 A1 - Document ID: US20190320293A1 - Status: Published application - Kind: A1 - Application number: 16/383,687 - Filed: 2019-04-15 - Published: 2019-10-17 - Earliest claimed: 2018-04-16 - Assignees: HTC Corporation - Applicants: HTC Corporation - Inventors: Chien-Ting Ho; Yen-Liang Kuo; Chieh-Sen Lee; Ta-Chun Pu - Web page: https://patentgrep.com/patent/US20190320293A1 ## CPC - G06F 3/011: {Arrangements for interaction with the human body, e.g. for user immersion in virtual reality (blind teaching G09B21/00)} - H04W 4/029: Location-based management or tracking services - G06F 3/014: {Hand-worn input/output arrangements, e.g. data gloves} - G06F 3/0346: with detection of the device orientation or free movement in a three-dimensional [3D] space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors - G06K 19/07762: {the adhering arrangement making the record carrier wearable, e.g. having the form of a ring, watch, glove or bracelet (record carriers for insertion in the human body for medical purposes A61B90/00; record carriers adapted for attachment to animals A01K11/00)} - G06T 19/20: Editing of three-dimensional [3D] images, e.g. changing shapes or colours, aligning objects or positioning parts - H04W 4/027: {using movement velocity, acceleration information} - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) - G06K: GRAPHICAL DATA READING (image or video recognition or understanding G06V); PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract A tracking system and a computer-implement operating method for the same are provided. The method includes transmitting a plurality of request wireless signals; in response to receiving the request wireless signals by the tag device, transmitting a plurality corresponding response wireless signals by the tag device; in response to receiving the corresponding response wireless signals by the anchor array, calculating a plurality of distances between the tag device and each of a plurality of anchor devices of the anchor array according to the request wireless signals and the response wireless signals, and accordingly calculating an absolute coordinate of the tag device; and in response to the absolute coordinate of the tag device is identified as being in a seen space of the virtual space by the processor, rendering a virtual object corresponding to the physical object into the seen space according to the absolute coordinate of the tag device. ## Claims ### Claim 1 A tracking system, comprising: a wearable electronic device, wherein the wearable electronic device comprises an anchor array, a processor and a display device; and at least one tag device, wherein the at least one tag device is disposed in a physical object, wherein the anchor array is configured to transmit a plurality of request wireless signals, wherein each of the request wireless signals includes a transmitting time of that said each of the request wireless signals, wherein in response to receiving the request wireless signals by the at least one tag device, the at least one tag device is configured to transmit a plurality corresponding response wireless signals, wherein in response to receiving the corresponding response wireless signals by the anchor array, the processor is configured to calculate a plurality of distances between the at least one tag device and each of a plurality of anchor devices of the anchor array according to the request wireless signals and the response wireless signals, wherein the processor is configured to calculate a relative coordinate of the at least one tag device according to the distances, wherein the processor is configured to calculate an absolute coordinate of the at least one tag device according to the relative coordinate and a reference coordinate of a reference point of the wearable electronic device, wherein the reference coordinate is an absolute coordinate of the reference point in a virtual space corresponding to the wearable electronic device, wherein in response to the absolute coordinate of the at least one tag device is identified as being in a seen space of the virtual space by the processor, the processor is configured to instruct the display device to render at least one part of a virtual object corresponding to the physical object into the seen space according to the absolute coordinate of the at least one tag device, wherein the at least one part of the virtual object is corresponding to at least one part of the physical object, and the at least one tag device is disposed in the at least one part of the physical object. ### Claim 2 (depends on 1) The tracking system according to claim 1, wherein the at least one tag device and the anchor devices are implemented by the wireless transceivers capable of transmitting and receiving millimeter-level wireless signals, and a frequency of each of the request wireless signals and each of the response wireless signals is larger than 20 GHz. ### Claim 3 (depends on 1) The tracking system according to claim 1, wherein the transmitting time of one of the request wireless signals transmitted by one of the anchor devices is a current time when that said one of the anchor devices transmits that said one of the request wireless signals. ### Claim 4 (depends on 1) The tracking system according to claim 1, wherein in response to receiving one of the request wireless signals by the at least one tag device, the at least one tag device identifies a current time of the at least one tag device as a receiving time, and generates one of response wireless signals including the receiving time, wherein the at least one tag device transmits the generated one of response wireless signals corresponding to that said one of the request wireless signals to the anchor array. ### Claim 5 (depends on 4) The tracking system according to claim 4, wherein in response to receiving that said one of the response wireless signals by one of the anchor devices transmitting that said one of the request wireless signals, the processor calculates a time difference between the receiving time of that said one of the response wireless signals and the transmitting time of that said one of the request wireless signals, wherein the processor calculates the distance between the at least one tag device and that said one of the anchor devices according to the time difference. ### Claim 6 (depends on 4) The tracking system according to claim 4, wherein the anchor devices of the anchor arrays transmit the request wireless signals at the same time, wherein each of the request wireless signals further includes an anchor device identification of corresponding each of the anchor devices, wherein the generated one of response wireless signals corresponding to that said one of the request wireless signals further includes the anchor device identification of that said one of the request wireless signals. ### Claim 7 (depends on 1) The tracking system according to claim 1, wherein the reference point is a reference anchor device among the anchors devices, and the relative coordinate of the at least one tag device is a coordinate of the at least one tag device relative to the reference anchor device. ### Claim 8 (depends on 1) The tracking system according to claim 1, wherein at least two of the anchor devices are disposed with a Z-direction distance therebetween. ### Claim 9 (depends on 1) The tracking system according to claim 1, in response to the amount of the at least one tag device is larger than or equal to two, the processor identifies a first coordinate corresponding to a first timepoint of a first tag device among the at least one tag device, a second coordinate corresponding to a second timepoint of the first tag device, a third coordinate corresponding to a third timepoint of a second tag device among the at least one tag device and a fourth coordinate corresponding to a fourth timepoint of the second tag device, wherein the processor calculates a first coordinates difference of the first tag device according to the first coordinate and the second coordinate, and calculates a second coordinate difference of the second tag device according to the third coordinate and the fourth coordinate, wherein the processor calculates motion data of the physical object according to the first coordinate difference and the second coordinate difference, wherein the calculated motion data corresponding to a time period constituted by the first time point to the fourth time point. ### Claim 10 (depends on 9) The wearable electronic system according to claim 9, wherein the motion data comprises: an acceleration of the first tag device, the second tag device and the physical object; an angular acceleration value of the first tag device, the second tag device and the physical object; a velocity value of the first tag device, the second tag device and the physical object; an angular velocity value of the first tag device, the second tag device and the physical object; and a rotation vector of the first tag device, the second tag device and the physical object. ### Claim 11 A computer-implement operating method, adapted to a tracking system, wherein the tracking system comprises a wearable electronic device and at least one tag device disposed in a physical object, the method comprising: transmitting, by an anchor array of the wearable electronic device, a plurality of request wireless signals, wherein each of the request wireless signals includes a transmitting time of that said each of the request wireless signals; in response to receiving the request wireless signals by the at least one tag device, transmitting a plurality corresponding response wireless signals by the at least one tag device; in response to receiving the corresponding response wireless signals by the anchor array, calculating a plurality of distances between the at least one tag device and each of a plurality of anchor devices of the anchor array according to the request wireless signals and the response wireless signals by a processor of the wearable electronic device; calculating, by the processor, a relative coordinate of the at least one tag device according to the distances; calculating, by the processor, an absolute coordinate of the at least one tag device according to the relative coordinate and a reference coordinate of a reference point of the wearable electronic device, wherein the reference coordinate is an absolute coordinate of the reference point in a virtual space corresponding to the wearable electronic device; and in response to the absolute coordinate of the at least one tag device is identified as being in a seen space of the virtual space by the processor, rendering at least on part of a virtual object corresponding to the physical object into the seen space according to the absolute coordinate of the at least one tag device by a display device of the wearable electronic device, wherein the at least one part of the virtual object is corresponding to at least one part of the physical object, and the at least one tag device is disposed in the at least one part of the physical object. ### Claim 12 (depends on 11) The computer-implement operating method according to claim 11, wherein the at least one tag device and the anchor devices are implemented by the wireless transceivers capable of transmitting and receiving millimeter-level wireless signals, and a frequency of each of the request wireless signals and each of the response wireless signals is larger than 20 GHz. ### Claim 13 (depends on 11) The computer-implement operating method according to claim 11, wherein the transmitting time of one of the request wireless signals transmitted by one of the anchor devices is a current time when that said one of the anchor devices transmits that said one of the request wireless signals. ### Claim 14 (depends on 11) The computer-implement operating method according to claim 11, wherein the step of transmitting the plurality corresponding response wireless signals by the at least one tag device comprises: in response to receiving one of the request wireless signals by the at least one tag device, identifying, by the at least one tag device, a current time of the at least one tag device as a receiving time, and generating one of response wireless signals including the receiving time; and transmitting, by the at least one tag device, the generated one of response wireless signals corresponding to that said one of the request wireless signals. ### Claim 15 (depends on 14) The computer-implement operating method according to claim 14, wherein the step of calculating a plurality of distances between the at least one tag device and each of a plurality of anchor devices of the anchor array according to the request wireless signals and the response wireless signals by a processor of the wearable electronic device comprises: in response to receiving that said one of the response wireless signals by one of the anchor devices transmitting that said one of the request wireless signals, calculating, by the processor, a time difference between the receiving time of that said one of the response wireless signals and the transmitting time of that said one of the request wireless signals; and calculating, by the processor, the distance between the at least one tag device and that said one of the anchor devices according to the time difference. ### Claim 16 (depends on 14) The computer-implement operating method according to claim 14, wherein the anchor devices of the anchor arrays transmit the request wireless signals at the same time, wherein each of the request wireless signals further includes an anchor device identification of corresponding each of the anchor devices, wherein the generated one of response wireless signals corresponding to that said one of the request wireless signals further includes the anchor device identification of that said one of the request wireless signals. ### Claim 17 (depends on 11) The computer-implement operating method according to claim 11, wherein the reference point is a reference anchor device among the anchors devices, and the relative coordinate of the at least one tag device is a coordinate of the at least one tag device relative to the reference anchor device. ### Claim 18 (depends on 11) The computer-implement operating method according to claim 11, wherein at least two of the anchor devices are disposed with a Z-direction difference therebetween. ### Claim 19 (depends on 11) The computer-implement operating method according to claim 11, in response to the amount of the at least one tag device is larger than or equal to two, the method further comprises: identifying a first coordinate corresponding to a first timepoint of a first tag device among the at least one tag device, a second coordinate corresponding to a second timepoint of the first tag device, a third coordinate corresponding to a third timepoint of a second tag device among the at least one tag device and a fourth coordinate corresponding to a fourth timepoint of the second tag device; calculating a first coordinates difference of the first tag device according to the first coordinate and the second coordinate, and calculates a second coordinate difference of the second tag device according to the third coordinate and the fourth coordinate, calculating motion data of the physical object according to the first coordinate difference and the second coordinate difference, wherein the calculated motion data corresponding to a time period constituted by the first time point to the fourth time point. ### Claim 20 (depends on 19) The computer-implement operating method according to claim 19, wherein the motion data comprises: an acceleration of the first tag device, the second tag device and the physical object; an angular acceleration value of the first tag device, the second tag device and the physical object; a velocity value of the first tag device, the second tag device and the physical object; an angular velocity value of the first tag device, the second tag device and the physical object; and a rotation vector of the first tag device, the second tag device and the physical object. ### Claim 21 A tracking system, comprising: a wearable electronic device, wherein the wearable electronic device comprises an anchor array, a processor and a display device; and at least one tag device, wherein the at least one tag device is disposed in a physical object, wherein the at least one tag device is configured to broadcast a wireless signal, wherein the wireless signal includes a transmitting time of the wireless signal, wherein in response to receiving the wireless signal by the anchor array, the processor is configured to calculate a plurality of distances between the at least one tag device and a plurality of anchor devices of the anchor array according to the wireless signal, wherein the processor is configured to calculate a relative coordinate of the at least one tag device according to the distances, wherein the processor is configured to calculate an absolute coordinate of the at least one tag device according to the relative coordinate of the at least one tag device and a reference coordinate of a reference point of the wearable electronic device, wherein in response to the absolute coordinate of the at least one tag device is identified as being in a seen space of a virtual space by the processor, the processor is configured to instruct the display device to render at least one part of a virtual object corresponding to the physical object into the seen space according to the absolute coordinate of the at least one tag device, wherein the at least one part of the virtual object is corresponding to at least one part of the physical object, and the at least one tag device is disposed in the at least one part of the physical object. ### Claim 22 (depends on 21) The tracking system according to claim 21, wherein the transmitting time of the wireless signal transmitted by the at least one tag device is a current time when the at least one tag device transmits the wireless signal. ### Claim 23 (depends on 21) The tracking system according to claim 21, wherein in response to receiving the wireless signal by one of the anchor devices of the anchor array, the processor identifies a current time of the wearable electronic device as a receiving time, the processor calculates a time difference between the transmitting time of the wireless signal and the receiving time, wherein the processor calculates the distance between the at least one tag device and that said one of the anchor devices according to the time difference. ### Claim 24 (depends on 21) The tracking system according to claim 21, wherein in response to first time receiving the wireless signal by the anchor array, the processor establishes a wireless connection with the at least one tag device, wherein the processor performs a time synchronization with the at least one tag device via the wireless connection.