DE102018207242A1 - Method for determining a position and / or spatial position of a tool, method for outputting at least one position identification signal in the millimeter-wave frequency range and method for determining the position of a tool - Google Patents

Abstract

The invention relates to a method for determining a position and / or spatial position of a tool 105, wherein the method initially comprises a step of receiving, in which a first 135 and second 140 position identification signal emitted by a position identifier 115 in the millimeter-wave frequency range is received and finally the method a step of calculating, wherein the position and / or spatial position of the tool 105 is calculated using the first 135 and / or second 140 position identification signal and / or a temporal relationship between the first 135 and second 140 position identification signal.

Description

State of the art

The invention is based on a device or a method according to the preamble of the independent claims. The subject of the present invention is also a computer program.

In general, solutions for determining the position and / or spatial position of objects in an industrial environment are already known for today's industrial automation techniques.

Disclosure of the invention

Against this background, with the approach presented here, a method for determining a position and / or spatial position of a tool, a method for outputting at least one position identification signal in the millimeter-wave frequency range, a method for determining the position of a tool, a device that uses these methods, as well as finally presented a corresponding computer program according to the main claims. The measures listed in the dependent claims advantageous refinements and improvements of the independent claim device are possible.

The approach presented here is used in particular for a high-precision determination of a position and / or spatial position or orientation of a tool in space, for example in the region of an assembly station, by means of signals in the millimeter wave frequency range. Thus, for example, a screwing with the purpose of selective adjustment, for example, for automatic documentation of the technological parameters, such as a torque in conjunction with the tightened screw on the workpiece, are derived from the position of the screwdriver bit.

The approach presented here can also be used to record the position and position of piece goods, semi-finished products and moving machines within a workshop, in a warehouse or generally on a factory premises.

• Empfangen eines von einem Lageidentifizierer ausgesendeten ersten und zweiten Lageidentifizierungssignals im Millimeterwellenfrequenzbereich; und
• Berechnen der Position und/oder räumlichen Lage des Werkzeugs unter Verwendung des ersten und/oder zweiten Lageidentifizierungssignals und/oder einer zeitlichen Beziehung zwischen dem ersten und zweiten Lageidentifizierungssignal.

A method for determining a position and / or spatial position of a tool is presented, wherein the method comprises the following steps:

• Receiving in the millimeter-wave frequency range a first and second position identification signal emitted by a position identifier; and
• Calculating the position and / or spatial position of the tool using the first and / or second position identification signal and / or a temporal relationship between the first and second position identification signal.

A tool may be, for example, an object that acts in a machine directly on a workpiece to be machined machining or machining. In this case, a tool can be an important tool in production and production work, for example a screwing tool, wherein the screwing tool can be, in particular, a networked electric screwdriver. A position identifier may, for example, be an electronic marker and / or an electronic identifier for localizing an object, in particular an automatically and / or machine-controllable tool. In this case, the position identifier can be arranged, for example, on a tool or fixed in a rotationally fixed manner, wherein the position and / or spatial position of the position identifier and thus in particular the position and / or spatial position of the tool can be determined in particular. A millimeter wave frequency range can be understood as a frequency range in which, for example, electrical radiation with a wavelength in the range of millimeters (millimeter waves) is transmitted and / or received, wherein the size of a wavelength in the millimeter range lies between 1 mm and 10 mm, which corresponds to a frequency range of 30 GHz to 300 GHz.

For the modern Industry 4.0 applications, one important aspect is to assist a worker in manufacturing, for example on an assembly station, with intelligent tools. These networked tools recognize where they are or are located relative to the workpiece. This makes it possible, for example, to adjust the torques of a screwing tool automatically and individually, if, for example, the position of a screwdriver can be detected so precisely, so that a torque can actually be set (for example, with knowledge of a torque curve in a workpiece in such a position of the screwdriver) can, with the screwdriver a workpiece, such as a screw, rotates or edited. Furthermore, a documentation of the actual applied torques for each screw is vornehmbar. For this application, it is favorable that not only the position but also the position of the tool is detected. As a result, production cycles can be shortened, customer needs can be incorporated into production in real time, and maintenance and sales can be reduced Maintenance largely regulate itself. Consistent digitization also ensures greater transparency in production because the tools are marked or marked by chips or barcodes and can be called up at any time, where and in which state the tools are in production.

The advantages of the method approach presented here are in particular that a simultaneous measurement of a position and / or spatial position of a tool in the room is made possible. Thus, this approach is a high-precision measuring method, which is characterized by a high bandwidth and a high signal-to-noise ratio in the millimeter-wave frequency range. Thus, the high bandwidth of this approach over other solutions allows very high update rates and thus a low system latency. Due to the high operating frequency of the approach in the millimeter wave frequency range, a high immunity to interference of the system in an industrial environment, for example against WLAN, RFID or emissions of welding systems, given because they work well outside the frequency range of the localization approach presented here. Furthermore, thanks to the exploitation of the millimeter-wave frequency technology, the method approach presented here has a smaller form factor and a lower weight than other known solutions.

By means of the approach presented here it is possible, for example, to locate the position of a screwing tool within a workshop very accurately. Derived from the position determination, the correct torque for the respective task is automatically selected. Thus, for example, safety-relevant screws are always tightened with the exact prescribed force. These values can also be automatically documented to ensure and test the quality of the products. This is made possible by networking the tools with each other and with the production data of the products to be produced. Thanks to the position information of the tool and the exactly known spatial position of a component, the worker knows where the tool is currently located. The software in the background then automatically transmits the force with which screws should be tightened there. This has the distinct advantage that networked tools not only contribute to product quality and product safety, but also serve more efficient production. Networked tools also help with troubleshooting and avoidance. Should a worker erroneously use a tool for the wrong purpose or in the wrong place, the tool automatically shuts off. An error can not arise in the first place, which also contributes to more safety, quality and productivity.

The approach presented here for determining the position of a tool is also universally applicable. Industrial power tools for drilling, screwing, measuring, soldering or riveting can be seamlessly integrated into an overall system of networked tools. This works regardless of brand and tool type, with management and control done via a computer system.

According to one embodiment, the method may comprise a step of transmitting, in which at least one (first) activation signal in the millimeter-wave frequency range of at least one receiving device is transmitted to the at least one position identifier, wherein the step of receiving and / or the step of calculating in this case in response to the emitted activation signal takes place. In this case, the at least one receiving device may have a transmitting and receiving unit for communicating with the position identifier. Via this data interface, the position identifier can be activated or woken up from a standby mode. Such an embodiment of the approach presented here has the advantage that, for example, power settings can be made to minimize the set transmission power and thus the power consumption while ensuring the function. Furthermore, in the event that several position identifiers are active, they can be interrogated one after the other or their blink sequences can be synchronized.

According to a further embodiment, in the step of receiving and / or in the step of calculating, the first and / or second position identification signal can be evaluated using a time division multiplex structure. By means of the time division multiplex structure, the first and / or second position identification signal can be divided in time, wherein the transmission of the first and / or second position identification signal takes place in a defined multiplexing frame in which a fixed time slot is present for each transmission channel. Such an embodiment of the approach presented here has the advantage that multiple position identification signals can be transmitted simultaneously or sequentially via existing transmission paths by means of a time-division multiplex method. As a result, the transmission paths can be used more efficiently because several transmission channels are simultaneously transmitted over a transmission path, whereby a data transmission rate can be increased.

According to one embodiment, in the step of receiving, a third position identification signal may be further received, wherein in the step of calculating the position and / or spatial position of the tool using the first, second and third position identification signal and / or a temporal relationship between the first, second and / or third position identification signal and / or the activation signal is calculated. Such an embodiment of the approach presented here has the advantage that the more emitted signals are received and the more signals are included in the actual position calculation, the more accurate can be the determination or calculation of a position and / or spatial position of a tool.

According to one embodiment, in the step of receiving, the first and / or second received position identification signal may be received in a frequency range between 57 and 64 GHz and / or the at least one transmitted activation signal may be transmitted in a frequency range between 57 and 64 GHz. For example, a receiving device transmits an electromagnetic activation signal in the millimeter-wave frequency range, this activation signal being reflected by a position identifier. The at least two reflected position identification signals are detected, and the receiving device can determine therefrom a distance, a speed and an angle of the position identifier or of the tool. In the method approach presented here, the emitted activation signal and the received position identification signals have a wavelength in the millimeter range, which is considered to be shortwave in the electromagnetic spectrum. Such an embodiment of the approach presented here has the advantage that some system components, such as antenna devices, can be constructed smaller. Another plus point is the high accuracy: the millimeter-wave system presented here with frequencies of 57 to 64 GHz, which corresponds to a wavelength between 4.7 and 5.3 mm, can detect movements of a tool by a fraction of a millimeter.

In a further embodiment of the method, in the step of receiving the first and / or second position identification signal for identifying the position identifier can be demodulated. Such an embodiment of the approach presented here has the advantage that the originally emitted activation signal, which was previously modulated onto a carrier by modulation, can be restored by demodulation.

According to one embodiment, the step of receiving may be carried out by a stationary receiving device and / or the first and / or second position identification signal may be received by a position identifier arranged on the tool. In an alternative embodiment, the step of receiving may thus be carried out by the position identifier or the first and / or second position identification signal may be received by the position identifier arranged on the tool. Such an alternative embodiment of the approach presented here has the advantage that it can be realized more cost-effectively if significantly more receiving devices are required as position identifiers for the high-precision localization. Furthermore, no synchronization of the receiving devices is required, the installation of the infrastructure is thus simplified. Optionally, in this alternative embodiment, there may be less communication latency in determining the position and / or spatial location of the tool if a location calculator is integrated with the location identifier.

• Einlesen zumindest eines Aktivierungssignals im Millimeterwellenfrequenzbereich; und
• Aussenden eines ersten und zweiten Lageidentifizierungssignals im Millimeterwellenfrequenzbereich ansprechend auf das zumindest eine eingelesene Aktivierungssignal auf je einer von mehreren Antenneneinrichtungen, wobei die Antenneneinrichtungen voneinander beabstandet angeordnet sind.

A method is presented for outputting at least one position identification signal in the millimeter-wave frequency range, the method comprising the following steps:

• Reading at least one activation signal in the millimeter wave frequency range; and
• Emitting a first and second position identification signal in the millimeter-wave frequency range in response to the at least one read-in activation signal on each of a plurality of antenna devices, wherein the antenna devices are arranged spaced from each other.

According to one embodiment, in the step of transmission, a third position identification signal can be emitted by a third antenna device, in particular wherein the antenna devices in this case form vertices of an isosceles triangle. A Such an embodiment of the approach presented here offers the advantage that the more emitted signals are received and the more signals are included in the position calculation, the more accurate the determination or calculation of a position and / or spatial position of a tool.

According to a further embodiment, in the step of transmitting, the first and / or second position identification signal for identifying the position identifier may be modulated on the basis of a predetermined identification modulation method. In the case of signal transmission, the focus is on how much information can be transmitted via a transmission path as loss-free as possible. In the transmission of different signals on the same transmission path thus signal conditioning before the signal transmission is necessary. Such an embodiment of the approach presented here thus offers the advantage that information and data are converted into electrical signals by means of the license plate modulation method so that they are suitable for transmission. The license plate modulation method describes how the data must be mapped so that it can be transmitted over the air as loss-free and as free of interference as possible.

According to one embodiment, in the step of transmission, the first, second and / or third position identification signal in the millimeter wave frequency range can be evaluated using a time-division multiplex structure, in particular wherein the first, second and / or third position identification signal are transmitted in different time slots of the time-division multiplex structure. Such an embodiment of the approach presented here has the advantage that multiple signals can be transmitted simultaneously or sequentially via existing transmission paths by means of time division multiplexing. Through them, the transmission paths are used more efficiently because at the same time several transmission channels are transmitted over a transmission path, whereby a data transmission rate can be increased.

One or more of the methods presented here can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a device or a control device.

The approach presented here also provides a device which is designed to perform the steps of a variant of one of the methods presented here in corresponding devices to drive or implement. Also by this embodiment of the invention in the form of a device, the object underlying the invention can be solved quickly and efficiently.

For this purpose, the device may comprise at least one computing unit for processing signals or data, at least one memory unit for storing signals or data, at least one interface to a sensor or an actuator for reading sensor signals from the sensor or for outputting data or control signals to the sensor Actuator and / or at least one communication interface for reading or outputting data embedded in a communication protocol. The arithmetic unit may be, for example, a signal processor, a microcontroller or the like, wherein the memory unit may be a flash memory, an EEPROM or a magnetic memory unit. The communication interface can be designed to read or output data wirelessly and / or by line, wherein a communication interface that can read or output line-bound data, for example, electrically or optically read this data from a corresponding data transmission line or output to a corresponding data transmission line.

In the present case, a device can be understood as meaning an electrical device which processes sensor signals and outputs control and / or data signals in dependence thereon. The device may have an interface, which may be formed in hardware and / or software. In the case of a hardware-based embodiment, the interfaces can be part of a so-called system ASIC, for example, which contains a wide variety of functions of the device. However, it is also possible that the interfaces are their own integrated circuits or at least partially consist of discrete components. In a software training, the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules.

Also of advantage is a computer program product or computer program with program code which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory and for carrying out, implementing and / or controlling the steps of the method according to one of the embodiments described above is used, especially when the program product or program is executed on a computer or a device.

• 1 ein Blockschaltbild einer Vorrichtung zum Ermitteln einer Position und/oder räumlichen Lage eines Werkzeugs gemäß einem Ausführungsbeispiel;
• 2 ein Blockschaltbild einer Vorrichtung zum Ausgeben zumindest eines Lageidentifizierungssignals im Millimeterwellenfrequenzbereich gemäß einem Ausführungsbeispiel;
• 3 eine schematische Darstellung eines Gesamtsystems zur Verwendung eines Verfahrens zum Ermitteln einer Position und/oder räumlichen Lage eines Werkzeugs gemäß einem Ausführungsbeispiel;
• 4 ein Funktionsdiagramm zur Bestimmung einer Ausbreitungsdämpfung eines Signals im Millimeterwellenfrequenzbereich sowie eines ersten und zweiten Signals im Ultrabreitbandfrequenzbereich im freien Raum gemäß einem Ausführungsbeispiel;
• 5 ein Funktionsdiagramm zur Bestimmung einer Empfangsleistung eines Signals im Millimeterwellenfrequenzbereich sowie eines und zweiten Signals im Ultrabreitbandfrequenzbereich gemäß einem Ausführungsbeispiel;
• 6 ein Blockschaltbild zur Verwendung eines Verfahrens zum Ermitteln einer Position und/oder räumlichen Lage eines Werkzeugs gemäß einem Ausführungsbeispiel;
• 7 ein Blockschaltbild zur Verwendung einer alternativen Ausführungsform eines Verfahrens zum Ermitteln einer Position und/oder räumlichen Lage eines Werkzeugs gemäß einem Ausführungsbeispiel;
• 8 eine schematische Darstellung eines Lageidentifizierers mit einer Anordnung einer Mehrzahl von Antenneneinrichtungen gemäß einem Ausführungsbeispiel;
• 9 ein Blockschaltbild einer Schaltung zur Ausführung eines Aussendens eines empfangenen Aktivierungssignals im Millimeterwellenbereich gemäß einem Ausführungsbeispiel;
• 10 ein Blockschaltbild einer Schaltung zur Ausführung einer Frequenzverschiebung bei einer Übertragung eines empfangenen Aktivierungssignals im Millimeterwellenfrequenzbereich gemäß einem Ausführungsbeispiel;
• 11 ein Blockschaltbild einer Empfangseinrichtung gemäß einem Ausführungsbeispiel;
• 12 ein Ablaufdiagramm eines Ausführungsbeispiels eines Verfahrens zum Ermitteln einer Position und/oder räumlichen Lage eines Werkzeugs gemäß einem Ausführungsbeispiel;
• 13 ein Ablaufdiagramm eines Ausführungsbeispiels eines Verfahrens zum Ausgeben zumindest eines Lageidentifizierungssignals im Millimeterwellenfrequenzbereich gemäß einem Ausführungsbeispiel; und
• 14 ein Ablaufdiagramm eines Ausführungsbeispiels eines Verfahrens zur Positionsbestimmung eines Werkzeugs gemäß einem Ausführungsbeispiel.

Embodiments of the approach presented here are shown in the drawings and explained in more detail in the following description. It shows:

• 1 a block diagram of an apparatus for determining a position and / or spatial position of a tool according to an embodiment;
• 2 a block diagram of an apparatus for outputting at least one position identification signal in the millimeter wave frequency range according to an embodiment;
• 3 a schematic representation of an overall system for using a method for determining a position and / or spatial position of a tool according to an embodiment;
• 4 a functional diagram for determining a propagation loss of a signal in the millimeter wave frequency range and a first and second signal in Ultrabroadband frequency range in free space according to an embodiment;
• 5 a functional diagram for determining a received power of a signal in the millimeter wave frequency range and one and second signal in the ultra-wideband frequency range according to an embodiment;
• 6 a block diagram for using a method for determining a position and / or spatial position of a tool according to an embodiment;
• 7 a block diagram for using an alternative embodiment of a method for determining a position and / or spatial position of a tool according to an embodiment;
• 8th a schematic representation of a position identifier with an arrangement of a plurality of antenna devices according to an embodiment;
• 9 a block diagram of a circuit for carrying out a transmission of a received activation signal in the millimeter wave range according to an embodiment;
• 10 a block diagram of a circuit for performing a frequency shift in a transmission of a received activation signal in the millimeter wave frequency range according to an embodiment;
• 11 a block diagram of a receiving device according to an embodiment;
• 12 a flowchart of an embodiment of a method for determining a position and / or spatial position of a tool according to an embodiment;
• 13 a flowchart of an embodiment of a method for outputting at least one position identification signal in the millimeter wave frequency range according to an embodiment; and
• 14 a flowchart of an embodiment of a method for determining the position of a tool according to an embodiment.

In the following description of favorable embodiments of the present invention, the same or similar reference numerals are used for the elements shown in the various figures and similar acting, with a repeated description of these elements is omitted.

1 shows a block diagram of a device 100 for determining a position and / or spatial position of a tool 105 according to an embodiment. At the tool 105 is an example of a screwing tool 105 which is shown here for reasons of clarity as a manually usable tool, which, however, can also be installed in a machine tool, wherein the position and / or position of this tool 105 can be recognized very precisely by the approach presented here. The device 100 is hereby exemplary on a receiving device 110 but may additionally or alternatively also be on a location identifier 115 be arranged. In one embodiment, the location identifier is 115 on the tool 105 arranged.

The device 100 has a receiving unit 120 , a calculation unit 125 as well as an optional transmitter unit 130 on. The receiving unit 120 is formed, one of the position identifier 115 sent out first 135 and second 140 Receive location identification signal in the millimeter-wave frequency range. The calculation unit 125 is formed, the position and / or spatial position of the tool 105 using the first 135 and / or second 140 Location identification signal and / or a temporal relationship between the first 135 and second location identification signal 140 to calculate.

The optional transmitter unit 130 is formed at least a first activation signal 145 in the millimeter-wave frequency range for activating the position identifier 115 send out. Here is the receiving unit 120 in response to that from the sending unit 130 emitted activation signal 145 formed by the situation identifier 115 sent out first 135 and second 140 Receive location identification signal in the millimeter-wave frequency range. The receiving unit 120 is further formed an additional third position identification signal 150 to recieve. Here is the calculation unit 125 in response to the transmitted activation signal 145 trained, the position and / or spatial position of the tool 105 using the first 135 second 140 and third 150 Location identification signal and / or a temporal relationship between the first 135 second 140 and / or third 150 Location identification signal and the activation signal 145 to calculate.

2 shows a block diagram of a device 200 for outputting at least one location identification signal 135 in the millimeter wave frequency range according to an embodiment. The device 200 is an example of a position identifier 115 arranged, but may additionally or alternatively also on a receiving device 110 be arranged. According to one Embodiment is the location identifier 115 arranged on a tool, not shown.

The device 200 has a read-in unit 205 as well as a sending unit 210 on. The reading unit 205 is formed here, at least one of the receiving device 110 provided activation signal 145 read in the millimeter wave frequency range. The sending unit 210 is formed below, a first 135 and a second one 140 Location identification signal in the millimeter-wave frequency range in response to the at least one read-in activation signal 145 on each of a first and second antenna device of the Lageidentifizierers 115 to the receiving device 110 send out. Here is the sending unit 210 further formed, a third position identification signal 150 from a third antenna device of the position identifier 115 to the receiving device 110 send out.

3 shows a schematic representation of an overall system 300 for using a method for determining a position and / or spatial position of a tool 105 according to an embodiment.

The overall system 300 , which represents an assembly station with a worker, here by way of example has four receiving devices 110 . 305 . 310 and 315 mounted on various locations around the assembly station and make a run-time and direction measurement analogous to a radar. The overall system 300 further comprises at least one location identifier 115 which is the location identifier 115 is an electronic marking and locating device fixed to the tool 105 , by way of example a screwing tool 105 , connected is. In this case, according to one exemplary embodiment, the transit time of a millimeter-wave signal, for example in the frequency range from 57 GHz to 64 GHz, of the four receiving devices 110 . 305 . 210 and 315 to the location identifier 115 and measured back. The overall system 300 also has a localization computer, not shown, which consists of the data of the millimeter-wave signal of the receiving devices 110 . 305 . 210 and 315 the location and / or spatial location of the location identifier 115 or the tool 105 calculated and the application, for example, an automatic preselection of the torque of the screwing 105 and the documentation of the screwing provides.

In a first variant of the overall system 300 the location identifier receives 115 an activation signal from one of the receiving devices 110 . 305 . 210 or 315 and sends this signal amplified with a known delay time in the time division multiplex method using three spatially separated, on the position identifier 115 arranged antenna devices in the form of a first and / or second position identification signal to at least one of the receiving devices 110 . 305 . 210 or 315 out. The positions of the three antenna devices on the position identifier 115 be through the evaluation of the reception equipment 110 . 305 . 210 and 315 received location identification signals spatially resolved. This will determine the position and / or spatial location of the tool 105 in the room.

In a second variant of the overall system 300 are the reception facilities 110 . 305 . 310 and 315 Fixed mounted and the movable tool 105 attached location identifier 115 Measures a two-way transit time and the directions of the reception facilities 110 . 305 . 210 and 315 amplified millimeter-wave signals.

In the third variant of the overall system 300 send at least four fixed and synchronized receiving devices 110 . 305 . 310 and 315 Millimeter wave signals at the tool to be located 105 attached location identifier 115 , According to one exemplary embodiment, this variant also has a localization computer which is made up of the measured data of the position identifier 115 an exact position of the tool 105 calculated.

4 shows a function diagram 400 for determining a propagation loss of a signal 405 in the millimeter wave frequency range and a first 410 and second 415 signal in the ultra wide band frequency range in free space according to an embodiment.

The function diagram 400 represents a free space damping factor in decibels dB, which is given here as a function of the distance in meters. The signal 405 in the millimeter-wave frequency range has a frequency of 60 GHz, the first signal 410 in the ultra broadband frequency range has a frequency of 6.5 GHz and the second signal 415 in the ultra broadband frequency range has a frequency of 3.5 GHz.

From the function diagram 400 It can be seen that a free space attenuation decreases with the frequency of a signal or increases the free space attenuation with the distance and the frequency. This means that the signal 405 in the millimeter wave frequency range has a less favorable free-field damping compared to the first 410 and second 415 signal in the ultra-wideband frequency range.

5 shows a function diagram 500 for determining a received power of a signal 405 in the millimeter wave frequency range as well as a first 410 and second 415 signals in the ultra-wideband frequency range according to an embodiment.

The function diagram 500 This represents a signal strength factor of the signals 405 . 410 and 415 in decibels milliwatts (dBm) as a function of distance in meters. The signal 405 in the millimeter-wave frequency range has a frequency of 60 GHz, the first signal 410 in the ultra broadband frequency range has a frequency of 6.5 GHz and the second signal 415 in the ultra broadband frequency range has a frequency of 3.5 GHz. Signal strength is measured by a negative scale in decibels milliwatts (dBm). The higher the measured factor, ie the closer the factor approaches zero, the stronger the signal. A value of -50 dBm, for example, corresponds to a very good signal.

Opposite the two signals 410 and 415 in the ultra broadband frequency range, the signal has 405 In the millimeter wave frequency range, the advantage is that the regulated permissible effective radiation power of 13 dBm / MHz is significantly higher. As a result, despite the less favorable free-field damping, as in 4 is shown, an overall stronger received signal or to be received position identification signal is to be expected.

6 shows a block diagram 600 for using a method for determining a position and / or spatial position of a tool according to an exemplary embodiment.

The block diagram 600 has first a first 110, a second 305 and a further 310 receiving device. The block diagram 600 also has a location identifier 115 and a localization calculator 605 on. One receiving device each 110 . 305 . 310 sends by way of example a first activation signal 145 in the millimeter wave frequency range to the at least one position identifier 115 , In response to the location identifier 115 received activation signals 145 sends the location identifier 115 at least a first 135 and second 140 Location identification signal in millimeter wave frequency range by means of one of a plurality of antenna devices, wherein the antenna devices spaced from each other on the position identifier 115 are arranged, to the receiving facilities 110 . 305 . 310 out. The localization calculator 605 , with the reception facilities 110 . 305 . 310 Connected via a data interface, for example via Ethernet, calls from the receiving devices 110 . 305 . 310 received measurement data in the form of an interrogation signal 610 from. Here, the localization calculator 605 using the first 135 and / or second 140 Location identification signal and / or a temporal relationship between the first 135 and second 140 Position identification signal calculate the position and / or spatial position and optionally the speed of the tool and this position information in the form of a position signal 615 output.

A position determination of the tool essentially takes place from the measured transit times of the first 135 and / or second 140 Location identification signal of the location identifier 115 to the individual reception facilities 110 . 305 . 310 and optionally from the measured directions of the first 135 and second 140 Location identification signal. For determining the transit time, the shortest measured transit time is taken into account in each case in order to separate off multiple reflections of the radio channel. A determination of the spatial position of the tool is made from the position determination for all three transmission paths of a position identifier 115 , as well as the relative phase differences of the three different transmission paths of the position identifier 115 ,

When calculating the position of the position identifier 115 or the tool is calculated on the basis of a quality criterion, such as an LMS algorithm, a quality of position determination and / or determination of the spatial position. This quality criterion can be used to provide non-visible connections, that is, when there is no direct visual contact between the receiving devices 110 . 305 . 310 and the location identifier 115 exists to identify. When it comes to the occlusion of a single receiving device 110 . 305 or 310 This can be excluded from the position determination.

When calculating the position of the position identifier 115 or the tool can optionally a data fusion of calculated by radio positioning position with the data of the inertial measurement unit of the localization computer 605 or a micromechanical gyroscope (MEMS gyro). Known methods, such as state observers and Kalman filters, can be used for this purpose.

For the spatial area in which the location identifier 115 no line of sight to at least one or more receiving devices 110 . 305 . 310 may have a position-referenced table of the measured first 135 and / or second 140 Location identification signal (impulse response and angular spectrum) based on a data from the inertial unit of the localization computer 605 and the last measured position of the position identifier 115 respectively. This table can be generalized with the help of interpolation methods and can later be used to determine the position in the NLOS area. where due to drift and tolerances the data of the inertial measurement unit are too inaccurate.

Other methods for position calculation which correspond to the prior art can also be combined with the method approach proposed here.

The localization calculator 605 is designed to monitor the quality of the measurements and allows the operator to carry out calibration measurements if necessary. For this purpose, the tool or the position identifier 115 are brought to one or more known points and from the measurements calibration data for the transit time measurement and optionally also for an angle calculation are calculated.

Optionally, the localization calculator supports 605 also method of auto-calibration, in which the exact position of the receiving equipment 110 . 305 . 310 initially not completely known and the entire system is calibrated by scanning several reference points.

The localization calculator 605 is further formed, a synchronization between the receiving devices 110 . 305 . 310 to control and monitor. He controls the temporal sequence in the various receiving devices 110 . 305 . 310 perform their measurements. This sequence depends, for example, on the last known position of the position identifier 115 or also the number of position identifiers to be monitored 115 in a particular monitoring area, for example a mounting station.

7 shows a block diagram 700 for using an alternative embodiment of a method for determining a position and / or spatial position of a tool according to an exemplary embodiment.

The block diagram 700 first has a first 110 , a second 305 and a further 310 receiving device, wherein the at least three receiving devices 110 . 305 . 310 are firmly mounted. The block diagram 700 also has a location identifier 115 and a localization calculator 605 on, being the localization calculator 605 from the measured data of the position identifier 115 calculates the exact position and / or spatial position of the tool. The localization calculator 605 may alternatively be with the location identifier 115 be integrated in one device.

One receiving device each 110 . 305 . 310 receives this from a location identifier 115 sent out first 135 and / or second 140 Position identification signal in the millimeter-wave frequency range between 57 GHz and 64 GHz. This is indicated by the location identifier 115 According to one embodiment, a transmitting and receiving unit, the modulated high-frequency first 135 and / or second 140 Location identification signal can be sent and received with the aim of measuring transit time of the first 135 and / or second 140 Location identification signal to the various receiving devices 110 . 305 . 310 perform.

The reception facilities 110 . 305 . 310 are formed, the received first 135 and / or second 140 Strengthen position identification signal and optionally perform a shift of the carrier frequency by a fixed difference frequency and / or optionally the first 135 and / or second 140 Location identification signal for identifying the respective receiving device 110 . 305 . 310 based on a predetermined labeling modulation method. That so changed first 135 and / or second 140 Position identification signal is hereinafter with a controllable gain via at least one antenna device of the respective receiving device 110 . 305 . 310 sent out. The localization calculator 605 that with the location identifier 115 is connected via a data interface, wherein the data interface is formed, for example, as a bus on a printed circuit board or as wireless communication or wired, for example via Ethernet, calls that of the position identifier 115 received measurement data in the form of an interrogation signal 610 and calculates the position and / or the spatial position and optionally the speed of the respective position identifier using the requested measurement data 115 or the tool. The position determination takes place essentially from the measured two-way transit times of the first 135 and / or second 140 Location identification signal from the location identifier 115 to the at least three receiving devices 110 . 305 . 310 and optionally from the measured direction of at least one position identification signal 135 or 140 , where the localization calculator 605 this position information in the form of a position signal 615 outputs. In each case, the shortest measured transit time is taken into account for determining the transit time in order to separate off multiple reflections of the radio channel.

Each of the three reception facilities 110 . 305 . 310 has a so-called watchdog function, which limits self-excited oscillation by positive feedback between a transmitting antenna device and a receiving antenna device, the gain so that no permanent self-excited oscillation can occur. A delay time from receiving the first 135 and / or second 140 Position identification signal until retransmission is precisely known by calibration measurements.

The reception facilities 110 . 305 . 310 According to one embodiment, each have a transmitting and receiving unit with a low power of, for example, 2.45 GHz, which is a control of the parameter receiving devices 110 . 305 . 310 allows. The typical implementation is based on a standard such as 802.15.4, Bluetooth, or WLAN. The parameters to be transmitted include, among others, the power control of the first 135 and / or second 140 Location identification signal, turning on and off the millimeter-wave signal path as well as the modulation parameters of the optional modulation of the first 135 and / or second 140 Location identification signal, such as a blinking frequency. In this case, a phase of "flashing" of one of the receiving device 110 . 305 or 310 with the flashing phase of the other receiving devices 110 . 305 . 310 be synchronized so that in the field of view of the Lageidentifizierers 115 always only one receiving device 110 . 305 or 310 is turned on at the same time, to interference by the emissions of various receiving devices 110 . 305 . 310 to minimize.

According to one embodiment, each of the receiving devices receives 110 . 305 . 310 their power from a surrounding infrastructure or optionally from a sufficiently large battery. In one embodiment, the location identifier is obtained 115 Electricity from the carrying tool.

The location identifier 115 according to one embodiment necessarily has the ability of an angle determination of the received first 135 and / or second 140 Location identification signal by the evaluation of the relative phases, for example by digital beamforming, the various receiving channels on. The number of receive channels is at least three, but typically four to six channels. The direction determination here comprises azimuth and elevation relative to the calibrated so-called radar zero point on the board.

According to another embodiment, the location identifier 115 a microcontroller that monitors the measurement processes and data communication with the receiving devices 110 . 305 . 310 and the localization calculator 605 controls.

An embodiment of the location identifier 115 further provides that it optionally has an indicator, such as an LED light. The indicator serves to display one by the localization computer 605 in the evaluation determined and inadmissible deterioration of the calibration. The worker is then prompted to use the tool to approach a calibration point on the work surface.

The location identifier 115 Optionally has an inertial measuring unit, which is designed as a microsystem, to determine if the position identifier 115 , and so that the tool was moved. The millimeter wave signal path may depend on the movement of the position identifier 115 be controlled to save electricity. The measured values of the inertial measuring unit can also be used for sensor data fusion in the position calculation of the tool.

When calculating the position of the position identifier 115 or the tool is calculated on the basis of a quality criterion, such as an LMS algorithm, a quality of position determination and / or determination of the spatial position. This quality criterion can be used to provide nonvisual connections, that is, when there is no direct line of sight to the location identifier 115 to one of the reception facilities 110 . 305 . 310 exists to identify. When it comes to the occlusion of a single receiving device 110 . 305 or 310 This receiving device can be used 110 . 305 or 310 be excluded from the position determination. Thus, the approach presented here is robust against any occlusion, for example, by the worker or by redundant receiving devices.

When calculating the position of the position identifier 115 or the tool can optionally a data fusion of calculated by radio positioning position with the data of the inertial measurement unit of the localization computer 605 or a micromechanical gyroscope (MEMS gyro). Known methods, such as state observers and Kalman filters, can be used for this purpose.

For the spatial area in which the location identifier 115 no line of sight to one or more reception facilities 110 . 305 . 310 may have a position-referenced table of the measured first 135 and / or second 140 Location identification signal (impulse response and angular spectrum) based on a data from the inertial unit of the localization computer 605 and the last measured position of the position identifier 115 respectively. This table can be generalized with the help of interpolation methods and later used to determine the position in the NLOS range, even where the data of the inertial measuring unit are too inaccurate due to drift and tolerances.

Other methods for position calculation which correspond to the prior art can also be combined with the method approach proposed here.

The localization calculator 605 is designed to monitor the quality of the measurements and allows the operator to carry out calibration measurements if necessary. For this purpose, the tool or the position identifier 115 are brought to one or more known points and from the measurements calibration data for the transit time measurement and optionally also for an angle calculation are calculated.

The localization calculator 605 According to one embodiment, with a transmitting and receiving unit for communicating with the receiving devices 110 . 305 . 310 fitted. Via this data interface, the receiving devices 110 . 305 . 310 activated, so woken up from a standby mode. In the case of multiple receiving facilities 110 . 305 . 310 are active, these can be queried one after the other or their flash sequences synchronized.

The localization calculator 605 is further formed, a synchronization between the receiving devices 110 . 305 . 310 to control and monitor. He controls the temporal sequence in the various receiving devices 110 . 305 . 310 perform their measurements. This sequence depends, for example, on the last known position of the position identifier 115 or also the number of position identifiers to be monitored 115 in a surveillance area.

Optionally, the localization calculator supports 605 also method of auto-calibration, in which the exact position of the receiving equipment 110 . 305 . 310 initially not completely known and the entire system is calibrated by scanning several reference points.

8th shows a schematic representation of a position identifier 115 with an arrangement of a plurality of antenna devices according to an embodiment.

The illustration shows the exemplary triangular shaped position identifier 115 where the location identifier 115 According to one embodiment, at least three antenna devices 805 . 810 . 815 each denoted by the letters Tx, where the Tx stands for transmitter, to German transmitter. The three transmitting antenna devices 805 . 810 . 815 are arranged in a plane and have an equal distance from each other, wherein the three antenna devices 805 . 810 . 815 forming vertices of an isosceles triangle. In the center of the situation identifier 115 is a recipient 820 arranged, which with Rx for receiver, to German receiver, is designated.

The location identifier 115 is formed, at least a first activation signal 145 over the receiver 820 to read or to receive. This will be the activation signal 145 in a millimeter-wave frequency range, for example in the frequency band between 57 and 64 GHz, emitted by a receiving device. The location identifier 115 is further configured, the read-in activation signal 145 to reinforce and take the form of a first 135 and second 140 Location identification signal by means of the transmitting antenna devices 805 and 810 to send to the receiving device. Optionally, a carrier frequency of the first to be transmitted 135 and / or second 140 Position identification signal in this case are shifted by a fixed difference frequency and / or the first to be transmitted 135 and / or second 140 Location identification signal for identifying the location identifier 115 be modulated on the basis of a predetermined identification modulation method.

1. 1. ein langsames On-Off-Keying, eine einfache Form der Amplitudenumtastung, als sogenanntes „Blinking“, um den Lageidentifizierer 115 gegenüber dem Hintergrund abzuheben;
2. 2. eine langsame und/oder eine schnelle Phasenumtastung; oder
3. 3. eine langsame und/oder eine schnelle Quadraturamplitudenmodulation.

In the modulation of the first 135 and / or second 140 Position identification signal arise in this case the following options:

1. 1. slow on-off keying, a simple form of amplitude shift keying, so-called "blinking" to the position identifier 115 to stand out against the background;
2. 2. slow and / or fast phase shift keying; or
3. 3. a slow and / or a fast quadrature amplitude modulation.

The modulated first 135 and / or second 140 Position identification signal is then sent out with a controllable gain. A control of the three antenna devices 805 . 810 . 815 typically occurs sequentially one after another in the time slot method. Optionally, it is possible to activate all three transmit signal paths simultaneously. A delay time from reading the activation signal 145 until the first one is sent out 135 and / or second 140 Location identification signal is precisely known by calibration measurements.

The location identifier 115 according to one embodiment has a so-called watchdog function, the self-excited oscillation by positive feedback between the three antenna devices 805 . 810 . 815 and the receiver 820 the gain is limited so that no permanent self-excited oscillation can occur.

The location identifier 115 Optionally has a transmitting and receiving unit with a low power of, for example, 2.45 GHz, which controls the parameters of the position identifier 115 allows. The typical implementation is based on a standard such as 802.15.4, Bluetooth or WLAN. Among the parameters to be transmitted here include the power control of the first 135 and / or second 140 position identification signal, the switching on and off of the millimeter-wave signal path and the modulation parameters of the optional modulation of the first 135 and / or second 140 position identification signal, such as a flashing frequency ,

Optionally, the location identifier 115 an inertial measuring unit equipped, for example, with micromechanical interference sensors and optional sensor fusion to determine if the position identifier 115 and thus the tool has been moved and to merge the inertial sensor data with the measurements of the high frequency system to increase the reliability and accuracy of the system. The millimeter wave signal path may depend on the movement of the position identifier 115 be controlled to save electricity.

An embodiment of the Lageidentifizierers 115 further provides that it optionally has an indicator, such as an LED light. The indicator serves to display a deterioration of the calibration which has been detected by a localization computer in the evaluation and which is not permissible. The user is then prompted to use the tool to approach a calibration point on the work surface.

The location identifier 115 receives according to one embodiment, its power supply from the supporting tool or optionally by their own batteries. These batteries can optionally be charged by wireless inductive power transfer.

Essential circuit parts of the Lageidentifizierers 115 such as the millimeter wave signal path, control logic, and possibly also low power radio may be miniaturized in an application specific integrated circuit, such as a monolithic microwave integrated circuit, based on a CMOS semiconductor process. The miniaturization allows circuits down to the millimeter wave range.

9 shows a block diagram 900 a circuit for carrying out a transmission of a received activation signal 145 in the millimeter wave range according to an embodiment. In this case, the transmission of the received activation signal 145 in the form of a first 135 and / or second 140 Location identification signal executed on a position identifier, for example, but may alternatively be carried out on a receiving device.

The block diagram 900 first has a receiver 820 on, where it is at the receiver 820 exemplarily is a receiving antenna device of the position identifier. The block diagram 900 also has an amplifier 905 , a mixer 910 and by way of example three transmitting antenna devices 805 . 810 and 815 on, with the three antenna devices 805 . 810 and 815 for example, the three transmitting antenna devices 805 . 810 and 815 of the location identifier 8th is. The block diagram 900 finally has a bidirectional transmitting and receiving unit 915 with a low power of 2.45 GHz, for example, which allows control of the parameters of the position identifier. The transmitting parameters include, for example, the switching on and off of the millimeter-wave signal path, the modulation parameters of the optional modulation of a first to be transmitted 135 and / or second 140 Location identification signal, such as a blinking frequency, and finally the power control of the first 135 and / or second 140 Location identification signal. Here, the position identifier sends an example of a status request signal 920 to the bidirectional transmitting and receiving unit 915 to control the parameters of the position identifier by the transmitting and receiving unit 915 request, wherein the control of the parameters in the form of one of the transmitting and receiving unit 915 control signal sent to the location identifier 925 is realized.

The recipient 820 first receives the activation signal emitted by a receiving device 145 in the millimeter-wave frequency range. The received activation signal 145 , which has a frequency of 60 GHz, is supplied by the amplifier 905 amplified, the amplifier 905 a sensitivity of the receiver 820 increased by weak signal parts are amplified without contaminating them with noise. By amplifying the received activation signal 145 Greater range and accuracy of the signal are achieved.

Optionally, for the identification of the position identifier and / or the receiving device, the received activation signal 145 be modulated on the basis of a predetermined identification modulation method, wherein the mixer 910 in this case for the frequency conversion of the activation signal 145 is used. According to one embodiment, the frequency conversion is concerned for example, a rectangular modulation, so a simple Frequenzumtastung. This modulation is used for a very accurate distance measurement in the near range by phase comparison of both frequencies of the transmitted and received activation signal 145 used in the millimeter wave frequency range. The following is the amplified and / or modulated activation signal 145 in the form of a first 135 and second 140 Location identification signal, each having a frequency of 60 GHz, by means of the transmitting antenna devices 805 and 815 sent back to the receiving device. The control of the three transmitting antenna devices 805 . 810 . 815 typically occurs sequentially one after another in the time slot method. It is optionally possible to activate all three transmit paths simultaneously, wherein according to one embodiment two of the three transmit paths are activated.

10 shows a block diagram 1000 a circuit for performing a frequency shift in a transmission of a received activation signal 145 in the millimeter wave frequency range according to an embodiment. In this case, the transmission of the received activation signal 145 in the form of a first 135 and / or second 140 position identification signal by way of example on a position identifier, but may alternatively be carried out on a receiving device.

The block diagram 1000 first has a receiver 820 on, where it is at the receiver 820 exemplarily is a receiving antenna device of the position identifier. The block diagram 1000 also has an amplifier 905 , a low pass filter 1010 , a first mixer 1020 , a local oscillator 1030 , a bandpass filter 1040 , a mixer 910 and by way of example three transmitting antenna devices 805 . 810 and 815 on. The block diagram 1000 finally has a bidirectional transmitting and receiving unit 915 with a low power of 2.45 GHz, for example, which allows control of the parameters of the position identifier. The transmitting parameters include, for example, the switching on and off of the millimeter-wave signal path, the modulation parameters of the optional modulation of a first to be transmitted 135 and / or second 140 Location identification signal, such as a flashing frequency and finally the power control of the first 135 and / or second 140 Location identification signal. Here, the position identifier sends an example of a status request signal 920 to the bidirectional transmitting and receiving unit 915 to control the parameters of the position identifier by the transmitting and receiving unit 915 request, wherein the control of the parameters in the form of one of the transmitting and receiving unit 915 control signal sent to the location identifier 925 is realized.

The recipient 820 first receives the activation signal emitted by a receiving device 145 in the millimeter-wave frequency range. The received activation signal 145 , which has a frequency of 59 GHz, is provided by the amplifier 905 amplified, the amplifier 905 a sensitivity of the receiver 820 increased by weak signal parts are amplified without contaminating them with noise. The activation signal 145 then goes to the low pass filter 1010 passed, which allows the signal components with frequencies below its cutoff frequency of 61.5 GHz pass approximately unattenuated, but attenuates higher frequency components that would otherwise disturb the desired signal. The first mixer 1020 mixes the received activation signal 145 with an auxiliary signal 1050 of the local oscillator 1030 which has a frequency of 4 GHz to the activation signal 145 to convert to an intermediate frequency. The intermediate frequency will be in the high pass filter 1040 which passes the frequencies above its cut-off frequency of 61 GHz to 65 GHz almost unattenuated and attenuates lower frequencies. Optionally, for the identification of the position identifier and / or the receiving device, the received activation signal 145 be modulated on the basis of a predetermined identification modulation method, wherein the mixer 910 in this case for the frequency conversion of the activation signal 145 is used. According to one embodiment, the frequency conversion is by way of example a rectangular modulation, ie a simple frequency shift keying. This modulation is used for a very accurate distance measurement in the near range by phase comparison of both frequencies of the transmitted and received activation signal 145 used in the millimeter wave frequency range.

Finally, the amplified and / or modulated activation signal 145 in the form of a first 135 and second 140 Location identification signal, each having a frequency of 63 GHz, by means of the transmitting antenna devices 805 and 815 sent back to the receiving device. The control of the three transmitting antenna devices 805 . 810 . 815 typically occurs sequentially one after another in the time slot method. It is optionally possible to activate all three transmit paths simultaneously, wherein according to one embodiment two of the three transmit paths are activated.

11 shows a block diagram 1100 a receiving device 110 according to an embodiment. The receiving device 110 is shown here by way of example on the basis of a continuous wave radar or an FMCW system. The Block diagram 1100 shows here how a modulated signal in the millimeter wave frequency range is transmitted or received via transmitting or receiving antenna devices and how the transmitted and received signals are multiplied and processed in the time domain.

The block diagram 1100 has five blocks, the receiving device 110 essentially a transceiver 1110 and a digital controller 1115 having. The transceiver 1110 has at least a first block 1120 which in turn has three transmitting antenna devices for transmitting a signal in the millimeter wave frequency range and at least four receiving antenna devices for receiving a signal in the millimeter wave frequency range. The signal is transmitted at a frequency of 60 GHz and also received at a frequency of 60 GHz. The transceiver 1110 finally shows another block 1125 on, which has four receiving channels, and a block 1130 having a phase locked loop. According to one embodiment, the digital control device is 1115 a microcontroller that controls the measurement processes and data communication with a location identifier and a location calculator.

The block diagram 1100 points in a next block 1135 a filter with a compensation range 1140 on, wherein the received signal over one of the four receiving channels of the block 1125 to the filter 1135 is forwarded, wherein by means of the filter 1135 the modulated onto a carrier modulated signal can be recovered.

In another block 1145 has the receiving device 110 a baseband, which in turn has four analog-to-digital converters 1150 , a network clock unit 1155 and a system configuration unit 1160 having. In the analog-to-digital converter 1150 For example, the analog signal is converted to a digital equivalent because, in analog signal transmissions, the original signal tends to rush.

The digital control device 1115 has a signal preprocessing unit 1165 as well as a sequence and measurement control unit 1170 on, wherein a location calculator with the signal preprocessing unit 1165 and the sequence and measurement control unit 1170 via a data interface 1175 , For example, an Ethernet interface is connected. The sequence and measurement control unit 1170 the receiving device 110 is still with a bidirectional transmitting and receiving unit 915 connected to a low power of, for example 2.45 GHz, which allows control of the parameters of the position identifier. In this case, the bidirectional transmitting and receiving unit transmits 915 by way of example, a status request signal 920 to the sequence and measurement control unit 1170 the receiving device 110 to request control of the parameters of a position identifier, the control of the parameters in the form of one of the sequence and measurement control unit 1170 to the transmitting and receiving unit 915 emitted control signal 925 is realized.

The receiving device 110 Finally, according to one embodiment, a block 1180 on, which has a local oscillator, wherein the local oscillator 1180 again a frequency ramp 1185 having. The frequency ramp 1185 receives one from the sequence and measurement control unit 1170 provided digital trigger signal, which is executed in dashed lines in the illustration.

As a modulation of the receiving device 110 is proposed a chirp or a so-called frequency-modulated continuous wave modulation. Alternatively, a direct sequence spread spectrum modulation, such as a pseudo-random noise modulation, or a stepped frequency OFDM modulation can be used, the precise synchronization of the receiving device 110 allow with the location identifier. In the case of chirp modulation, the arrangement of frequency ramps with different slopes produces the desired uniqueness range in distance and relative velocity (Doppler). In the case of chirp modulation, detection is performed using a Constant False Alarm Rate (CFAR) algorithm. The evaluation of the transit time of the signals takes place by evaluating the offset frequency of the down-converted received signal.

According to an embodiment, the receiving device 110 optionally the ability to, an angle determination of the received signal by the evaluation of the relative, for example by digital beamforming, on. The number of receive channels is at least two, but typically four to six channels. The direction determination here comprises at least the azimuth, but typically azimuth and elevation.

1. 1. Die Grobe Synchronisation (5ns < Uhrenabweichung < 50ns), die eine sequentielle Aktivierung der Empfangseinrichtungen 110 in einer vom Lokalisierungsrechner gewählten Reihenfolge ermöglicht, wobei sichergestellt ist, dass die Signale der verschiedenen Empfangseinrichtungen 110 sich nicht überlagern.
2. 2. Die Präzise Synchronisation (Uhrenabweichung < 100ps), bei der das vom Lageidentifizierer ausgesendete Signal nicht nur der anregenden Empfangseinrichtung, sondern bistatisch auch von allen anderen Empfangseinrichtungen im Sinne eines Time-Difference-of-Arrival (TdoA) Verfahrens ausgewertet werden kann. Zur Herstellung einer hochpräzisen Synchronisation wird vorgeschlagen von einer Master-Empfangseinrichtung ein breitbandiges Direct Sequence Spread Spectrum Signal in einem eigenen Pilotkanal auszusenden. Dabei wird die Phase des Trägers mit dem Takt so abgestimmt, dass die Dauer eines Taktes eine ganzzahlige Anzahl der 60 GHz-Trägerperioden umfasst und dass die Phasenlage des Taktes und des Trägers zueinander fest eingestellt ist.

In a further embodiment, the receiving device 110 the ability to synchronize with other receiving devices. There are two types of synchronization:

1. 1. The coarse synchronization (5ns <clock deviation <50ns), which is a sequential activation of the receiving devices 110 in an order selected by the location calculator, ensuring that the signals of the various receiving devices 110 do not overlap.
2. 2. The precise synchronization (clock deviation <100ps), in which the signal emitted by the position identifier not only the stimulating receiving device, but bistatically from all other receiving devices in the sense of a Time-Difference-of-Arrival (TdoA) method can be evaluated. In order to produce a high-precision synchronization, it is proposed to send out a broadband direct sequence spread spectrum signal in a separate pilot channel by a master receiving device. In this case, the phase of the carrier is tuned to the clock so that the duration of a clock comprises an integer number of 60 GHz carrier periods and that the phase position of the clock and the carrier to each other is fixed.

According to one embodiment, the receiving device measures 110 the two-way transit time of a millimeter wave frequency range signal from a position identifier and back. This comprises three measurements for the three different transmission paths of the position identifier and, if appropriate, of a sum signal if all transmission paths are controlled simultaneously. Furthermore, the phase differences between the measurements of the three different transmission paths are determined. Optionally, a Doppler frequency shift and, optionally, the direction from which the respective signal is transmitted can be determined. In the case of precise synchronization can still the relative bistatic transit time receiving device - position identifier - receiving device 2 be determined.

According to an embodiment, the receiving means comprises a transmitting and receiving unit 915 low power for communicating with a location identifier. Via this data interface, the position identifier can be activated or woken up from a standby mode. Such an embodiment of the approach presented here has the advantage that, for example, power settings can be made to minimize the set transmission power and thus the power consumption while ensuring the function. Furthermore, in the event that several position identifiers are active, they can be interrogated one after the other or their blink sequences can be synchronized.

The receiving device 110 is typically connected to a power supply that generates the necessary supply voltages from the standardized power supply, for example 230V. A battery operation is with a sufficiently large battery for testing purposes, for example, for experimental validation of an optimal position of the receiving device 110 optionally also possible.

12 shows a flowchart of an embodiment of a method 1200 for determining a position and / or spatial position of a tool according to an exemplary embodiment. Here, the method presented here 1200 according to an embodiment on the device for determining a position and / or spatial position of a tool 1 executed and / or controlled.

The procedure 1200 First, an optional step 1210 in which at least one first activation signal in the millimeter wave frequency range is transmitted by at least one receiving device to the at least one position identifier. In one step 1220 of the procedure 1200 In response to the transmitted activation signal, a first and second position identification signal in the millimeter-wave frequency range transmitted by a position identifier is received. Furthermore, in step 1220 a third location identification signal is received. Finally, in one step 1230 of the procedure 1200 in response to the emitted activation signal, calculates a position and / or spatial location of the tool using the first and / or second received location identification signal and / or a temporal relationship between the first and second location identification signals. Furthermore, in step 1230 the position and / or spatial position of the tool can be calculated using the first, second and third position identification signal and / or a temporal relationship between the first, second and / or third position identification signal and the activation signal.

13 shows a flowchart of an embodiment of a method 1300 for outputting at least one position identification signal in the millimeter-wave frequency range according to an exemplary embodiment. Here, the method presented here 1300 according to an embodiment on the device for outputting at least one position identification signal in the millimeter wave frequency range 2 executed and / or controlled.

The procedure 1300 points first to a step 1310 on, in which at least one activation signal in the millimeter wave frequency range is read. In a following step 1320 of the procedure 1300 In response to the at least one read-in activation signal, a first and second position identification signal in the millimeter-wave frequency range is emitted on each of a plurality of antenna devices, the antenna devices being arranged at a distance from one another. Furthermore, in step 1320 a third position identification signal is emitted by a third antenna device, in particular wherein the antenna devices form vertices of an isosceles triangle.

14 shows a flowchart of an embodiment of a method 1400 for determining the position of a tool according to an embodiment. In this case, the method has the steps of the method for determining a position and / or spatial position of a tool 12 and the steps of the method for outputting at least one position identification signal in the millimeter-wave frequency range 13 on.

First, the procedure points 1400 the optional step 1210 in which at least one first activation signal in the millimeter-wave frequency range is emitted by at least one receiving device to at least one position identifier. The procedure 1400 indicates the step below 1310 in which the at least one activation signal in the millimeter wave frequency range is read in by the position identifier. Thereupon, in the step 1320 of the procedure 1400 in response to the at least one read-in activation signal, a first and second position identification signal in the millimeter-wave frequency range is transmitted to the receiving device on one of a plurality of antenna devices of the position identifier.

Furthermore, in step 1320 a third location identification signal is transmitted from a third antenna device of the location identifier to the receiving facility. In the step 1220 of the procedure 1400 will be responsive to that in step 1210 emitted activation signal, the received from the position identifier first and second position identification signal in millimeter wave frequency range received by the receiving device. Furthermore, in step 1220 a third location identification signal is received by the receiving device. Finally, in the step 1230 of the procedure 1400 calculates the position and / or spatial position of the tool using the first, second and third position identification signal and / or a temporal relationship between the first, second and / or third position identification signal and the activation signal.

If an exemplary embodiment comprises a "and / or" link between a first feature and a second feature, then this is to be read so that the embodiment according to one embodiment, both the first feature and the second feature and according to another embodiment either only first feature or only the second feature.

Claims (15)

Method (1200) for determining a position and / or spatial position of a tool (105), the method (1200) comprising the following steps: Receiving (1220) a first (135) and second (140) position identification signal in the millimeter-wave frequency range emitted by a position identifier (115); and Calculating (1230) the position and / or spatial location of the tool (105) using the first (135) and / or second (140) position identification signal and / or a temporal relationship between the first (135) and second (140) position identification signals. Method (1200) according to Claim 1 , comprising a step of transmitting (1210) at least one millimeter-wave frequency activation signal (145) from at least one receiving device (110) to the at least one position identifier (115), the receiving (1220) and / or calculating (1230) step being responsive the transmitted activation signal (145) takes place. Method (1200) according to one of the preceding claims, wherein in the step of receiving (1220) and / or calculating (1230) the first (135) and / or second (140) position identification signal is evaluated using a time-division multiplexed structure. A method (1200) according to any one of the preceding claims, wherein in the step of receiving (1220), a third location identification signal (150) is received, wherein in the step of calculating (1230) the position and / or spatial location of the tool (105) is used the first (135), second (140) and third (150) position identification signal and / or a temporal relationship between the first (135), second (140) and / or third (150) position identification signal and / or the activation signal (145) calculated becomes. Method (1200) according to one of the preceding claims, wherein in the step of receiving (1220) the first (135) and / or second (140) received position identification signal is received in a frequency range between 57 and 64 GHz and / or the at least one transmitted one Activation signal (145) is emitted in a frequency range between 57 and 64 GHz. Method (1200) according to one of the preceding claims, wherein in the step of receiving (1220) the first (135) and / or second (140) Location identification signal for identifying the location identifier (115) is demodulated. Method (1200) according to one of the preceding claims, in which the step of receiving (1220) is performed by a stationary receiving device (110) and / or the first (135) and / or second (140) position identification signal from one on the tool (12). 105) position identifier (115) is received. A method (1300) for outputting at least one position identification signal (135) in the millimeter-wave frequency range, the method (1300) comprising the following steps: Reading in (1310) at least one activation signal (145) in the millimeter-wave frequency range; and Transmitting (1320) a first (135) and second (140) position identification signal in the millimeter-wave frequency range in response to the at least one read-in activation signal (145) on each one of a plurality of antenna devices (805, 815), the antenna devices (805, 815) being spaced apart are. Method (1300) according to Claim 8 in which, in the step of transmitting (1320), a third position identification signal (150) is transmitted by a third antenna device (810), in particular wherein the antenna devices (805, 810, 815) form corner points of an isosceles triangle. Method (1300) according to Claim 8 or 9 in which in the step of transmitting (1320) the first (135) and / or second (140) position identification signal for identifying the position identifier (115) is modulated on the basis of a predetermined identification modulation method. Method (1300) according to Claim 8 to 10 in which, in the step of transmitting (1320), the first (135), second (140) and / or third (150) position identification signal in the millimeter-wave frequency range is evaluated using a time-division multiplex structure, in particular wherein the first (135), second (140) and or third (150) position identification signal is transmitted in different time slots of the time division multiplex structure. A method (1400) for determining the position of a tool (105), the method (1400) comprising the steps of the method (1200) according to one of Claims 1 to 7 and the steps of the method (1300) according to one of Claims 8 to 11 having. Apparatus (100; 200) arranged to perform steps of one of the methods (1200) according to Claims 1 to 7 and / or one of the methods (1300) according to Claims 8 to 11 and / or the method (1400) according to Claim 12 execute and / or control in appropriate units. A computer program adapted to perform a method (1200; 1300; 1400) according to any one of the preceding Claims 1 to 12 execute and / or control. Machine-readable storage medium on which the computer program is based Claim 14 is stored.

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