DE102020208850A1 - Procedure for locating objects - Google Patents

Abstract

The invention relates to a method for locating objects that has the steps of activating a two-way measurement by means of a UWB connection between two or more UWB transceivers and sending and receiving data and is characterized in that the method creates the further steps a precise local relative reference system on the basis of the sent and received data and sending and/or receiving data comprising a displacement vector in order to update the position of the at least one object in the precise local relative reference system by means of the displacement vector after the position of at least one object has been changed .

Description

The present invention relates to a method for locating objects. The invention further relates to a UWB transceiver for carrying out the method.

Today, several devices are available for locating buried people, for example by RSSI (Received Signal Strength Indicator - indicator for the received signal strength) on low-frequency-based technologies (LF - Low-Frequency).

US7612717B2 discloses a location of an ultra-wideband (UWB) transmitter using at least three other UWB transceivers.

In the prior art, distance and direction information is passed on from buried people. The data supplied in this way must be interpreted and further processed by the searchers themselves for the search, with different results being able to be obtained due to the different processing and subjective influences. This can complicate the search for buried people. Furthermore, the localization is only possible through several UWB transceivers.

It would therefore be desirable to provide improved data processing and to combine modern technologies that simplify localization and also improve the coordination and speed of searching for buried people.

This is achieved by a method for locating objects with the features of claim 1 and a UWB transceiver according to claim 8. Preferred developments of the invention are the subject matter of the dependent claims.

The inventive method for locating objects has the steps of activating at least a two-way measurement by means of a UWB connection between two or more UWB transceivers, sending and receiving data, creating a precise local relative reference system based on the sent and received data, and sending and/or receiving data comprising a displacement vector in order to update the position of the at least one object in the precise local relative reference system by means of the displacement vector after the position of at least one object has been changed.

The method for locating objects preferably also has at least one of activating danger mode, activating search mode, changing danger level, changing radio technology or radio standard, determining position in the precise local relative reference system, increasing transmission power, overriding transmission limitation, activating augmented reality or collecting environmental information , on.

This has the advantage that the method can be adapted flexibly and particularly advantageously.

In a preferred embodiment, the displacement vector is sent using a radio technology different from UWB.

This has the advantage, among other things, that the displacement vector can also be transmitted through material through which the UWB signal cannot penetrate, or through which it can only with difficulty.

In another embodiment, the position determined by the displacement vector is alternatively or additionally transmitted in the precise local relative reference system and/or a precise absolute reference system.

This has the advantage that the changed position of the object does not have to be retransmitted into a reference system and possible errors in the entry can be avoided.

Furthermore, it is preferred that the precise local relative reference system is overlaid with the precise absolute reference system and/or data from thermal and/or infrared-based imaging.

This has the advantage that the localization of the object is improved and the object can be found more quickly.

In one embodiment, it is preferred that data, in particular environmental data and/or personal data, is collected and/or used.

This has the advantage that the localization and/or the search for the object can be improved and the object can be found more quickly.

Alternatively or additionally, it is preferred that the direction and strength of the signals comprising the transmitted data are adjusted based on the direction of the locally acting gravitational force.

This has the advantage that the strength and direction of the signal can be adapted to the conditions in an improved manner and energy can be saved.

A UWB transceiver according to the invention for carrying out the above-mentioned method and its embodiments for locating objects comprises a transmission and reception module, a sensor unit, a computing unit and an optical output unit. The transmission and reception module is designed to transmit and receive UWB signals, in particular UWB signals of a transit time measurement method, and signals of at least one other radio technology. The sensor unit is designed to measure a displacement vector of the UWB transceiver, the displacement vector characterizing a change in position of the object from at least a first position to at least a second position. The arithmetic unit is configured to process the UWB signals and the displacement vector into a precise local relative frame of reference, and the optical output unit is configured to output the precise local relative frame of reference.

In a further embodiment, the UWB transceiver also includes a camera system for capturing the environment and the optical output unit is designed to output an augmented reality, in particular a reality augmented by the object.

This has the advantage that the localization of the object is improved.

The UWB link uses a time-of-flight (ToF) measurement technique, such as at least two-way measurement, to measure directions and distances between UWB transceivers.

If there is a risk of being buried in an environment, people with a UWB transceiver according to the invention can switch it to a danger mode. Danger mode here means that the UWB transceivers according to the invention carry out a so-called two-way measurement essentially continuously and advantageously pulsed, which is based on time stamps and which is generated by each of the UWB transceivers according to the invention and received by other UWB transceivers according to the invention. With this ToF-based UWB technology, the distances between UWB transceivers in particular can be determined with an accuracy of a few centimetres. This makes it possible to generate a precise local relative reference system using the UWB transceivers. Alternatively or additionally, the UWB transceivers according to the invention can also determine the angle of arrival (AoA) of other UWB connections by means of an antenna network and/or a rotation. Due to this advantageous characteristic, it is possible to locate/localize the buried person even when only one searcher (transceiver) is present, in contrast to a network.

Danger mode can also be activated by the UWB transceiver itself or be permanently active. The intensity and frequency of the two-way measurement can depend on a danger level or on other external factors. For example, the inventive UWB transceiver may receive a signal from an external data source indicative of a past, current, near, or future event. For example, an earthquake or hurricane can be warned from a central location. Alternatively or additionally, it is also possible for environmental information that can indicate an event to be received by the UWB transceiver according to the invention, analyzed and interpreted accordingly. For example, the sound of an approaching avalanche or the sound of an explosion can activate danger mode or increase the danger level.

In danger mode, the signal strength can also be adjusted to the external circumstances. For example, if the level of danger is high or if the person carrying the UWB transceiver according to the invention is buried, the transmission power of the UWB transceiver can also be increased or released above the legally permitted level.

Further features of the present invention will become apparent from the following description and the appended claims in conjunction with the figures.

character list

• 1 shows schematically an arrangement of people with UWB transceivers;
• 2 shows schematically another arrangement of people with UWB transceivers;
• 3 shows a flow chart of the method according to the invention for locating objects
• 4 shows schematically a UWB transceiver according to the invention.

character description

For a better understanding of the principles of the present invention, the following exemplifications tion forms of the invention explained in more detail with reference to the figures. The same reference symbols are used in the figures for the same or equivalent elements and are not necessarily described again for each figure. It goes without saying that the invention is not limited to the illustrated embodiments and that the features described can also be combined or modified without going beyond the protective scope of the invention as defined in the appended claims.

In 1 a situation is shown in which several people P1-P5 each carry a UWB transceiver according to the invention (not shown). The UWB transceivers are advantageously in mutual contact with one another via a UWB connection, among other things. In 1 only the connections between P1 and P2 - P5 are shown for the sake of clarity, but the other UWB transceivers are also in mutual contact. The UWB connections in the group and their distance information enable a very precise position localization and a precise localization of the UWB transceivers or the persons P1 - P5 in the precise local relative reference system (see 1 ) enabled.

In 2 another situation is shown in which the person P1 has experienced a change in position from location L1 to location L2 as a result of an event. The change in position is registered by various sensors of the UWB transceiver according to the invention, in particular using position, gyro and/or acceleration sensors, and evaluated in order to obtain a displacement vector V1. The displacement vector V1 characterizes the change in position in particular through the temporal resolution of changing accelerations and acting forces and thus allows the trajectory of the change in position to be reconstructed. During the change of position it can now happen that the UWB connection from P1 to the other persons P2 - P5 breaks off. As a result, it is no longer possible to precisely locate the position of person P1 via the UWB connection. In particular when the person P1 is buried or the terrain is very impassable or impenetrable, the person P1 can no longer be localized optically and acoustically by the persons P2-P5. However, in the case of sudden damage events such as avalanches and flash floods in particular, fast and precise localization of the people affected by the damage event is crucial for their survival.

In addition to the only partially available position localization through the UWB connections, other radio technologies (e.g. long-wave radio technologies as used today) can now support with longer ranges or a lower absorption cross section, or it can even be fully supported in the event that the position localization through the UWB connections is not available the other radio technologies are avoided. However, the use of another radio technology often does not allow the same accuracy for position determination as the method presented here using UWB, so that the position of the person P1 is no longer possible precisely by direct triangulation or direct location using this other radio technology. Instead of triangulation or direct location, the UWB transceiver according to the invention can now transmit a signal comprising the displacement vector V1 using the other radio technology. Because even if the signal quality of the other radio technologies is not sufficient for reliable localization, it is usually still possible to send/transmit the displacement vector to the persons P2 - P5, in particular pure data transmission without localization is meant here. Low bandwidths, high transmission power as well as different frequency bands and different polarizations enable signal transmission of small amounts of data even under significantly more difficult conditions. Additionally or alternatively, the inventive UWB transceiver of P1 can also use the displacement vector V1 and the precise local relative reference system to calculate an exact localization in the precise local relative reference system and to transmit its own position using the signal. If the signal is received by one of the persons P2-P5, the person P1 can be localized very precisely on the precise local relative reference system, taking into account the displacement vector V1 or taking into account the calculated position. Thus, a very precise localization of the person P1 can also be carried out by just one other person with a UWB transceiver according to the invention, since no further triangulation or locating by a number of UWB transceivers is necessary. This can also allow potential helpers to independently search a larger area.

A method according to the invention for locating objects is in 3 shown. In step S1, a runtime measurement method or a two-way measurement between UWB transceivers is started. For this purpose, signals are sent and received in step S2 in order to exchange data. A precise local relative reference system is then generated or updated with the aid of the data in step S3. Steps S2 and S3 can now be repeated as long as the connection between the transit time measurement method and the two-way measurement between the UWB transceivers is present. Now at least one of the UWB transceivers or a Person or an object that carries this UWB transceiver with them, a change in position, in which the connection established in step S1 departs, data can be sent and received in step S4 including a displacement vector in order to during or after update the position of the at least one UWB transceiver in the precise local relative reference system by means of the displacement vector after the position change has been carried out.

Further advantageous steps of the method according to the invention are activate danger mode, activate search mode, change danger level, change radio technology or radio standard, determine position in the precise local relative reference system, increase transmission power, override transmission limitation, augmented reality (augmented reality: measurement of support points using 3D -camera) and collect environmental information.

The method according to the invention can generally be used to improve the localization of concealed objects and/or objects whose position is no longer precisely known due to a change in position. The particularly advantageous processing of the data within the UWB transceiver means that a uniform information base is compiled that can be recorded particularly easily by different recipients. Various technically and/or biologically active systems, such as robots, for example, can be used to localize objects using optical sensors without their own complex data processing and without creating their own precise and in particular local and relative reference system. Objects can in particular also be people, robots, vehicles and/or any combination thereof if they include a UWB transceiver according to the invention or carry such a UWB transceiver according to the invention.

Such a UWB transceiver according to the invention is in 4 shown. The UWB transceiver 1 includes at least one UWB transmitting and receiving unit 2, a computing unit 3, an optical output device 4 and a sensor unit 5. In addition, the UWB transceiver can also include one or more devices for other radio technologies (not shown). , with which in particular one or more alternative frequencies or frequency bands can be used.

The UWB transceiver according to the invention comprises an optical output device such as a screen, or is connected to such an output device. The precise map, the position of person P1, absolute or in relation to the inventive UWB transceiver, and/or a possible path to the position of person P1 can then be communicated to the user of the inventive UWB transceiver on the output device. In this way, the persons P2-P5 can rush to the aid of the person P1. Furthermore, the position and/or the person P1 can be displayed on the output device as part of an augmented reality (AR) if the output device or the UWB transceiver according to the invention is designed to provide an augmented reality. For this purpose, the UWB transceiver according to the invention or the optical output device also includes an optical sensor, such as a camera, in particular a 3D camera or stereoscopic camera, with which the surroundings can be optically recorded and in which the position of person P1 is superimposed or embedded can. Alternatively or additionally, other indications, in particular directional arrows, also with different colors and/or intensities, can also be integrated into the augmented reality. In addition to superimposing the positions of the precise local relative reference system with the precise absolute reference system (GPS + map material), thermal and/or infrared-based sensors can also be used. This means that the localization is also conceivable using thermal and/or infrared-based sensors. This enables the superimposition of virtual relative (localization using the radio technologies mentioned and thermal and/or infrared-based imaging) and absolute (GPS + map material) reference systems or maps based on them. This overlay can then be evaluated using intelligent algorithms, and the most probable position of person P1 can thus be calculated.

In one embodiment, the UWB transceiver according to the invention also includes a transmitting and receiving unit for other radio technologies or frequency ranges. Alternatively or additionally, the UWB transceiver according to the invention can also be coupled to another transmitting and receiving unit in a wired and/or wireless manner, in particular in order to be able to use other radio technologies or frequency ranges. This means, for example, that the possibly larger range of another radio technology, such as the field strength-based avalanche transceiver, can be used to give a rough indication of the direction if the UWB connection to the buried subject is still too weak because the distance to them is too great. It is also conceivable that the UWB transceiver according to the invention uses the various radio standards in order to carry out localization using field strengths or phase differences independently.

Alternatively or additionally, if, for example, a signal from person P1 has not yet been received by the other persons, the precise local relative reference system can be used for improved coordination of the search for a signal from person P1. For this purpose, the positions and movements of the persons P2-P5 can be tracked in the precise local relative reference system and communicated to one another. This can be realized, for example, through the UWB connection, which allows very precise localization. Alternatively or additionally, the position changes of some or all persons P2-P5 can be registered by various sensors or sensor units of the UWB transceivers according to the invention carried by the respective persons P2-P5, in particular using GPS, position, gyro and/or Acceleration sensors are evaluated in order to obtain an individual displacement vector. This can then be communicated to the other persons P2-P5, also by using a different radio technology. Alternatively or additionally, the individual displacement vector and the precise local relative reference system can also be used to calculate an exact localization in the precise local relative reference system and to communicate the individual position or the individual position changes to the other people. Using GPS and the map material embedded in the output device, the relative positions of the persons P1-P5 can be converted into an absolutely precise reference system, key word: map-based.

The UWB transceivers according to the invention of the persons P2-P5 can form a network which can track the positions of the persons P2-P5, store them and mark them in the precise local relative reference system. This can also ensure that when searching for person P1, the entire area is covered if possible and no gaps occur. In this case, an algorithm, in particular an artificial intelligence, can be used, which coordinates the movements of the persons P2-P5 with one another. In particular, if an augmented reality can be made available by the UWB transceiver according to the invention and/or the optical output device, the individual movement direction of the individual persons P2-P5 suggested by the algorithm can be communicated and coordinated in a particularly advantageous manner.

For this purpose, the algorithm or the artificial intelligence can in particular use available personal data of the respective persons P2 - P5 in order to achieve improved coordination of the persons in the search. This is achieved in particular by analyzing and using the individual possibilities and states of the people. For example, a person with a longer stride could search a larger area with the same number of steps than a person with a smaller stride. For example, depending on the terrain, a taller person might have more difficulty, such as dealing with dense vegetation, or less difficulty, such as negotiating height differences, than a smaller person. Heavy people could also sink deeper into the snow than lighter people, for example, which results in reduced speed and/or increased effort, which could reduce the radius of movement of the person concerned, in particular because a break might be necessary earlier. The coordination of the persons P2 - P5 can also be improved on the basis of measurable physical parameters, such as heartbeat or respiratory rate. It is also conceivable that the positions of the searching persons P2-P5 are coordinated by instructions from the mobile search devices in such a way that there is a better positional relationship/angle for localization (e.g. by means of trilateration), which improves the localization of person P1. In this way, individual pauses and movement parameters can be calculated for the people P2-P5, which improve the coordination of the people P2-P5 with one another during the search. Such measurable physical parameters can be detected either by the UWB transceiver according to the invention itself or by a device connected to it. Such connected devices can be implemented, for example, in the form of a smartwatch, a chest strap, a measuring device for measuring skin conductivity or similar devices, in particular devices worn on the body or connected to the body. By including the personal data, an improved prediction of the future course over time of the coordination of the persons P2-P5 is achieved.

If environmental data of the environment before and after the event is available, the artificial intelligence can also try to estimate the displacement vector V1 of person P1 using the environmental data. The estimation can restrict the primary range for the coordination of the persons P2 - P5, particularly in the precise local relative frame of reference. In particular, the UWB transceivers according to the invention can collect environmental data. As an alternative or in addition, environmental data, in particular environmental data before the event, can also be requested and received by the UWB transceiver according to the invention via a communication connection from a remote data source such as a server or a satellite.

The position and alignment of the UWB transceiver relative to the direction of the locally acting gravitational force can be determined using the sensors, in particular the position and/or acceleration sensors, but also using the optical sensors. A person who is buried will generally not want to send any signals in the direction of the acting gravitational force, since none of the people looking for them are expected in this direction. Conversely, a person who is looking for a buried person will generally not want to send any signals to find the buried person against the acting gravitational force, since no buried person is generally expected in this direction. The UWB transceiver can therefore adjust the direction and strength of the signals to be transmitted based on the evaluation of the sensors with regard to the locally acting gravitational force. This can be implemented, for example, by beamforming and/or a directional antenna, in particular a phased array antenna. In principle, the direction can also be limited in the opposite direction or in an angular segment if the local conditions, in particular the available data on the local conditions, make this appear advantageous.

The direction of the locally acting gravitational force can in particular also include an angular range in the directions perpendicular to this direction, in particular an angular range of 1°, 2°, 5°, 10°, 20°, 45°, 60°, 90°, 180° ° and the angular ranges in between. For example, if you have been buried on a plane perpendicular to the locally acting gravitational force, the signal radiation in the two perpendicular directions can be adjusted in such a way that no signals are emitted in an angular range of up to approximately 180° around the direction of the locally acting gravitational force are radiated. This can then lead to saving the energy source of the UWB transceiver and/or increasing the signal strength in the other directions. As an alternative or in addition, the angular range can also only be adapted for a direction perpendicular to and/or not symmetrically around the direction of the locally acting gravitational force.

Furthermore, if several people are buried, for example, the signals of a deeper buried person can be received by another, less deeply buried person and sent in the direction opposite to the locally acting gravitational force in order to draw the attention of potential searchers to the position of the two buried people close.

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent Literature Cited

• US7612717B2 [0003]

Claims (9)

Method for locating objects, comprising the steps of o activating a two-way measurement by means of a UWB connection between two or more UWB transceivers (S1); o sending and receiving data (S2); characterized in that the method comprises the further steps o Creation of a precise local relative reference system on the basis of the transmitted and received data (S3); ◯ Sending and/or receiving data comprising a displacement vector in order to update the position of at least one object in the precise local relative reference system by means of the displacement vector after a change in position of at least one object has been carried out (S4); having. Procedure for locating objects claim 1 , characterized in that the method additionally has at least one of activating danger mode, activating search mode, changing the danger level, changing radio technology or radio standard, determining position in the precise local relative reference system, increasing transmission power, overriding transmission limitation, activating augmented reality or collecting environmental information Method for locating objects according to one of Claims 1 or 2 , characterized in that the displacement vector (V1) is sent using a radio technology different from UWB. Method for locating objects according to one of the preceding claims, characterized in that the position determined by the displacement vector (V1) is transmitted in the precise local relative reference system and/or a precise absolute reference system. Method for locating objects according to one of the preceding claims, characterized in that the precise local relative reference system is overlaid with the precise absolute reference system and/or data from thermal and/or infrared-based imaging. Method for locating objects according to one of the preceding claims, characterized in that data, in particular environmental data and/or personal data, are collected and/or used. Method for locating objects according to one of the preceding claims, characterized in that the direction and strength of the signals comprising the transmitted data are adjusted based on the direction of the locally acting gravitational force. UWB transceiver (1) for performing the method for locating objects according to any of Claims 1 until 7 , characterized in that the UWB transceiver (1) a transmitting and receiving module (2) for transmitting and receiving UWB signals, in particular UWB signals of a transit time measurement method, and signals at least one other radio technology; a sensor unit (5) for measuring a displacement vector of the UWB transceiver, the displacement vector characterizing a change in position of the object from at least a first position to an at least second position; a computing unit (3) arranged to process the UWB signals and the displacement vector into a precise local relative frame of reference; and an optical output unit (4) capable of outputting the precise local relative reference system. UWB transceiver (1) after claim 8 , characterized in that the UWB transceiver (1) further comprises a camera system for capturing the surroundings; and that the optical output unit (4) can output an augmented reality, in particular a reality augmented by the object.

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