EP3049273A1

EP3049273A1 - Method, device, and system for determining a position of a vehicle

Info

Publication number: EP3049273A1
Application number: EP14750709.9A
Authority: EP
Inventors: Michael Bildstein; Bernd Eckert
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2013-09-25
Filing date: 2014-07-28
Publication date: 2016-08-03
Also published as: US9821674B2; DE102013219239A1; WO2015043797A1; US20160229304A1; JP2016537941A; CN105579276A; JP6382959B2

Abstract

The invention relates to a method, to a device, and to a system for determining a position of a vehicle. The method comprises the method steps: Measuring (S01) at least one first magnetic field strength of a magnetic field at one each first position (A-i) by means of a first magnetic field sensor (11) arranged on a vehicle (1); measuring (S02) at least one second magnetic field strength of the magnetic field at one each second position (B-i) by means of a second magnetic field sensor (12) arranged on the vehicle (1) at a distance from the first magnetic field sensor (11); determining (S03) position data of the vehicle (1) at least by comparing data, which are based on the measured first and second magnetic field strengths, to a predetermined magnetic field data of the magnetic field; and outputting (S04) a signal based on said position data.

Description

Description title

Method, device and system for determining a position of a vehicle

The present invention relates to a method, apparatus and system for determining a position of a vehicle. In particular, it relates to a method and a device for determining a position of a vehicle in an environment for inductively charging a battery of the vehicle, for example a charging station. Furthermore, it relates to a method, a device and a system for determining a position and for positioning a receiving coil arranged on a vehicle, preferably with respect to a predetermined loading position of

Receiver coil.

State of the art

Electrically powered vehicles, such as electric vehicles, typically store energy for operating an electric motor in an accumulator. Such

Accumulators can be charged, for example, by means of inductive charging. Often, such inductive charging systems are designed as underfloor systems, wherein an electrically driven vehicle with a receiving coil on a in a ground

embedded transmitting coil is positioned with appropriate electronics. By means of the transmitting coil, a current is induced in the receiving coil, which charges the accumulator. For the efficiency of such an inductive charging system, the correct

Aligning the receiver coil relative to the transmitter coil may be a significant limiting factor. The transmitting coil is usually designed such that at

Positioning of the receiving coil in a predetermined loading position with respect to the transmitting coil results in the greatest possible efficiency of the inductive charging.

WO 201 1/1 14208 A2 describes a method for positioning a

Electric vehicle and a corresponding electric vehicle. In this case, a camera takes an external image of the electric vehicle, which is displayed on a screen within the vehicle. Based on the displayed camera image, a driver of the vehicle can align the electric vehicle by eye. Disclosure of the invention

The present invention discloses a method with the features of

Patent claim 1, a device having the features of claim 9 and a system having the features of claim 10. The invention also includes a vehicle with the device according to the invention.

Advantages of the invention

The idea underlying the present invention is to continue to use the hardware necessary for the inductive transmission of energy

To position a receiving coil of a vehicle relative to a transmitting coil in a predetermined loading position. By means arranged on the vehicle first and second magnetic field sensors, a magnetic field which extends at least over the predetermined loading position, one or more times measured. The measured

Magnetic field strengths can be compared directly with a predetermined magnetic field information of the magnetic field, followed by a current position of the

Magnetic field sensors can be closed with respect to the magnetic field. Also, data based on the measured first and second magnetic field strengths may be compared with the predetermined magnetic field information.

For example, based on the measured first and second

Magnetic field strengths - and possibly on further measurements - magnetic field strength gradient can be calculated.

The predetermined magnetic field information may be a predetermined one

Magnetic field strength distribution, that is information about magnetic field lines of the

Magnetic field include, that is magnetic field strengths and magnetic field directions as a function of a surface or a space. The magnetic field strength distribution can be given relative to a fixed origin. At the origin may be, for example, a magnetic field generating device, such as a transmitting coil for inductive charging. However, the magnetic field information may also include information about a type of magnetic field generating device, such as a circular coil and which magnetic field strength gradient distribution has a field generated by such a coil. From the predetermined magnetic field strength distribution, or from additional information, it may be known where the transmission coil is with respect to the magnetic field strength distribution. Furthermore, it is known how the first and the second magnetic field sensor and optionally further magnetic field sensors are arranged relative to a receiving coil of the vehicle on which the magnetic field sensors are arranged. From the measured

Magnetic field strengths can in this way position data of the vehicle, in particular position data of the receiving coil of the vehicle, in particular relative to the

Transmitting coil to be determined. According to the invention, the transmitting coil of an inductive charging system is suitable for forming the magnetic field. At the transmitter side, advantageously, no, or only very few, additional electronic elements are necessary. The method according to the invention or the system according to the invention are thus particularly cost-effective and versatile. Position-tolerant coil systems are not required. The

In principle, the device according to the invention can function with any type of transmitting coil, that is, there is great interoperability.

Advantageous embodiments and developments emerge from the

Subclaims and from the description with reference to the figures.

According to a preferred development of the method according to the invention, the measurement of the first and second magnetic field strengths is carried out regularly or continuously. By continuously measuring the precision of the method according to the invention can be further improved. By regular measuring - instead

continuous - the required amount of computation can be reduced. The measuring rate between a measurement and a subsequent measurement can also be adapted dynamically. For example, the measurement can initially be carried out regularly at first intervals. For example, if the magnetic field sensors are near a position in which the receiving coil is located at the predetermined loading position, the measuring may be performed at second time intervals which are shorter than the first time intervals. Such a specification of the measurement by decreasing time intervals can also be repeated several times. If the receiving coil is within a predetermined maximum distance from the predetermined loading position, the measuring can finally be carried out continuously to allow a particularly accurate fine alignment. According to a further preferred development, the magnetic field is generated by forming a residual magnetization in a coil. For example, in the case of a previous inductive charging by the transmitting coil, a residual magnetization in the coil may have been generated which continues beyond the inductive charging process. A magnetic field information, for example a magnetic field strength distribution according to the residual magnetization may be known, in particular if it remains substantially the same after all inductive charging operations. However, the magnetic field strength distribution of the residual magnetization can also be measured automatically, for example after each inductive charging process.

According to a further preferred development, the magnetic field is generated by applying a voltage to a coil. That is, the magnetic field is generated by a voltage applied to a coil. For example, a transmission coil intended for inductive charging can be provided with a voltage before starting the inductive charging process

predetermined electrical current to be applied. In this case, the predetermined magnetic field strength distribution of the magnetic field may be known due to the known characteristics of the transmitting coil as well as the applied current.

Advantageously, such a current can be applied, which on the one hand a clearly measurable and sufficiently inhomogeneous magnetic field strength distribution of

Magnetic field generated and which at the same time consumes less electrical power than another electric current, which during the inductive

Charging is applied to the transmitting coil.

According to a further preferred development, the magnetic field is generated continuously or pulsating. Again, according to the required accuracy and the desired goals, a balance between increased accuracy of the measurement by more frequent or continuous generating the magnetic field and the desire for energy savings by less frequent generation of the magnetic field can be adjusted. Is a magnetic field generating device that can generate the magnetic field

For example, coupled with a rudimentary positioning system, the frequency of pulsating generating the magnetic field can also be dynamically adjusted. For example, the frequency of pulsating generation of the magnetic field can be increased when a coupled with the magnetic field generating device

Vehicle sensor, such as a light barrier, detects that the vehicle with the receiving coil roughly approaches a position in which the receiving coil is disposed at the predetermined loading position. According to a further preferred development, the method according to the invention further comprises the method step: wireless transmission of the predetermined

Magnetic field information, such as the magnetic field strength distribution, to a

Communication device of the vehicle. Thus, it is not necessary that the magnetic field of different charging points or charging stations for inductive charging of the vehicle always has the same magnetic field strength distribution. Rather, for example, when approaching the vehicle to a certain loading location, the respective individual magnetic field strength distribution of the magnetic field of the loading location as a predetermined

Magnetic field information is transmitted to the communication device of the vehicle. The transmission can be made, for example, to a request by the vehicle. The request by the vehicle can by a

Communication device of the vehicle are emitted, for example, as soon as a magnetic field sensor of the vehicle measures a magnetic field strength above a predetermined minimum value. The versatility of the method according to the invention is thereby further increased, since it can function for example in this way with any loading point.

There exists a predetermined number of different designs of inductive

Charging systems, which are used in charging stations and which respectively

have different magnetic field information, can to the

Communication device of the vehicle, for example, only a simple identification code to be transmitted. The communication device can then read based on the transmitted code from a preprogrammed memory of the communication device, the magnetic field information designated by the code and forward for use in the inventive method.

According to a further preferred development, a first magnetic field strength gradient is determined at a third position. It is also possible to determine a second magnetic field strength gradient at a fourth position. Advantageously, the first and second magnetic field strength gradients are determined substantially at the first and second positions, respectively, and substantially simultaneously with the measurement of the first and second magnetic field strengths. The first and the second magnetic field strength gradient can thus also be data which are based on the measured first and second magnetic field strengths. The first and the second magnetic field strength gradient can be determined, for example, in that in the environment of the third or fourth Position multiple magnetic field strengths are measured. From these measured magnetic field strengths and, for example, a known movement of the vehicle, the magnetic field intensity gradient can be determined in each case. Determining the

Position data of the vehicle may be further based on comparing the first and / or the second magnetic field strength gradient with the predetermined magnetic field information of the magnetic field.

Because magnetic field strength gradients are also compared with magnetic field strength gradients of the predetermined magnetic field information of the magnetic field, the method can be accelerated and / or carried out with increased precision. For example, if the vehicle is moving forward to a desired position at which magnetic field strengths are higher according to the predetermined magnetic field information than at a current position of the vehicle, it may be determined to be about positive

Magnetic field strength gradients are concluded that the vehicle should move advantageous without changing direction. If negative magnetic field strength gradients are determined in the same situation, that is, the magnetic field intensities become weaker in the current movement of the vehicle, it can be concluded that a change in direction of the vehicle is advantageous. In the area of the predetermined loading position, the magnetic field is often local

relatively homogeneous. If the measured magnetic field strength gradients become flatter or disappear during a movement of the vehicle, it can be concluded that the predetermined charging position has been reached or almost reached. If more than two magnetic field sensors, for example three, four or more magnetic field sensors, are formed on the vehicle, it is possible for each of the

Magnetic field sensors not only the magnetic field strength at a current position of the respective magnetic field sensor are determined, but continue to be a

Magnetic field strength gradient can be determined at the appropriate position. In this case, it may be sufficient if the magnetic field information includes information about which type of coil - for example a circular coil - the magnetic field is generated and which magnetic field strength gradient distribution has such a coil. The magnetic field strength gradient distribution can also purely relative values -

Contrary to absolute values - include. This information can also

preprogrammed and constant, so that no transmission of signals is necessary. The determination of the position data of the vehicle can thus also exclusively on one Determining magnetic field strength gradient, that is, changes in the magnetic flux density, the magnetic field done. In this case, information about magnetic field strengths of the magnetic field as part of the magnetic field information is not necessary, but can be used for plausibility.

According to a further preferred development, at least one further

Magnetic field sensor used to measure at least a third magnetic field strength of the magnetic field simultaneously with the measurement of the first magnetic field strength and simultaneously with the measurement of the second magnetic field strength. The at least one further magnetic field sensor is arranged at a distance from any other magnetic field sensor on the vehicle. The determination of the position data of the vehicle can thus continue to be based on a comparison of the at least one third magnetic field strength with the predetermined magnetic field information of the magnetic field.

Brief description of the drawings

The present invention will be explained in more detail with reference to the embodiments illustrated in the schematic figures of the drawings. Show it:

Fig. 1 is a schematic flow diagram for illustrating a

A method according to a first embodiment of the present invention;

Fig. 2 is a schematic representation of a vehicle with a device for

Determining a position of a vehicle according to a second embodiment of the present invention;

Fig. 3 is a schematic representation of first and second positions, on

which magnetic field strengths are measured to explain a method according to the invention; and

Fig. 4 is a schematic representation of a vehicle with a device for

Determining a position of a vehicle according to a third embodiment of the present invention.

In all figures, the same or functionally identical elements and devices - unless otherwise stated - provided with the same reference numerals. Description of the embodiments

FIG. 1 shows a schematic flow diagram for illustrating a

inventive method according to a first embodiment. For the

DESCRIPTION OF FIGURE 1 Hereinafter, reference numerals are also used, which refer to the following Figures 2 and 3.

In a first method step S01, at least one first magnetic field strength of a magnetic field is measured at a respective first position A-i by means of a first magnetic field sensor 1 1. The first magnetic field sensor 1 1 is arranged on a vehicle 1.

In a further method step S02, at least one second magnetic field strength of the magnetic field is applied to a respective second position B-i by means of a second

Magnetic field sensor 12 measured. The second magnetic field sensor 12 is arranged at a distance from the first magnetic field sensor 1 1 on the vehicle 1. Advantageously, the measuring S02, S03 at the first and the second magnetic field sensor 1 1, 12 takes place simultaneously. If the measurement is not simultaneous, conclusions can be drawn from one another based on a known arrangement of the magnetic field sensors 11, 12 and due to a known movement of the vehicle 1 and a known time difference between the measurement S01 and the measurement S02, where the second position Bi is related to the first position Ai is located.

If the measurement S02 is performed simultaneously with the measurement S01, by a known positional relationship of the first magnetic field sensor 1 1 with respect to the second

Magnetic field sensor 12 known, in which positional relationship is the first position A-i to the second position B-i. This procedure is accordingly possible for all first positions A-i and all second positions B-i. Because of the well-known

Movement of the vehicle 1 and known time intervals between the measurement S01 of the respective first positions A-i can also be related to a positional relationship of the first

Measuring positions Ai are closed to each other. The same procedure is possible for the second positions Bi. The movement of the vehicle 1 may be known, for example, in that information about the movement of the vehicle is determined and transmitted by a navigation device of the vehicle. In a method step S03, at least by comparing the measured first and second magnetic field strengths with a predetermined one

Magnetic field strength distribution of the magnetic field position data of the vehicle 1 determined. The determining S03 may further be based on navigation data of the vehicle, which may be provided by the navigation device of the vehicle. The

For example, navigation data may contain information about a rotation of

Wheel axles and a position of wheels 5 of the vehicle 1 include. Based on, for example, integrated rotation rate of the wheels 5 in combination with the respective yaw position of the wheels 5, a trajectory of the vehicle 1 can thus be reconstructed. Thus, a current position of the vehicle can be spatially related to the first positions A-i and the second positions A-i.

By comparing the measured first and second magnetic field strengths at the spatially related first and second positions A-i, B-i with the known magnetic field strengths of the predetermined magnetic field strength distribution of the magnetic field, a current position of the vehicle 1 with respect to the

predetermined magnetic field strength distribution can be determined. Furthermore, it is known where a receiving coil 3 formed on the vehicle 1 is arranged. Thus, the position data of the vehicle 1 determined in method step S03 can also

Contain information about where the receiving coil 3 of the vehicle 1 with respect to the predetermined magnetic field strength distribution of the magnetic field.

Furthermore, it is known where the predetermined charging position is with respect to the predetermined magnetic field strength distribution of the magnetic field. The predetermined charging position is approximately a position at which the receiving coil 3 of the vehicle 1 should be in order to enable an inductive energy transfer from a transmitting coil to the receiving coil with the greatest possible efficiency. Thus, the position data of the vehicle 1 may also contain information about where the receiving coil 3 of the vehicle 1 is currently in relation to the predetermined loading position.

In a method step S04, a signal is output based on the position data. The output signal may be, for example, a control signal. For example, if the vehicle 1 has a device for automatically controlling the vehicle 1, the output signal may be a control signal to this control device. Such a control device may be formed, for example, in the context of an automatic parking aid in the vehicle 1. The control signal can the Instruct the control device to move the vehicle 1 such that the receiving coil 3 comes to rest at the predetermined loading position.

The output signal can also be a control hint to a user. The control advice may instruct the user how to control the vehicle 1 to position the vehicle 1 so that the receiving coil 3 comes to rest in the predetermined loading position. The control instruction can be carried out acoustically, for example. For example, a first beep may be for instructing the vehicle to steer more to the left, while a second beep may be for instructing the vehicle to steer to the right. Alternatively, the acoustic control message could also be realized as a voice output. For example, a computer voice could give instructions such as "forward," "backward," "left," or "right." These

Directional statements could continue to be supplemented by quantifiers such as "about", "a bit" or by precise statements such as "a meter" or similar.

The control instructions can also be optically realized by, for example, 1 direction arrows are displayed or on a screen of the vehicle

schematic diagram compares the current position of the vehicle 1 with a desired position of the vehicle 1. The desired position of the vehicle 1 is a position of the vehicle 1, in which the receiving coil 3 comes to rest in the predetermined loading position.

Figure 2 shows a schematic representation of a vehicle with a

Device according to the invention for determining a position of the vehicle.

According to FIG. 2, a first magnetic field sensor 11 and a second magnetic field sensor 12 are formed on the vehicle 1. The first and the second magnetic field sensor 1 1, 12 are arranged along a transverse axis Q of the vehicle 1 at a distance d1 from each other. The transverse axis Q is perpendicular to a longitudinal axis L of the vehicle 1. Bei

Straight ahead in the forward direction V, the vehicle 1 moves along the

Longitudinal axis L. Between the first magnetic field sensor 1 1 and the second

Magnetic field sensor 12, the receiving coil 3 is arranged. The receiving coil 3 is in particular a receiving coil for inductively charging a battery of the vehicle 1. The receiving coil 3 may be arranged centered with respect to the longitudinal axis L and / or the transverse axis Q. An eccentric arrangement is also possible. Advantageously, the first and the second magnetic field sensor 1 1, 12, viewed from above or below, arranged closer to the receiving coil 3 than at each lateral outer edge of the vehicle first The magnetic field sensors 1 1, 12 are advantageously arranged on an outer side of the vehicle 1, which, when the receiving coil 3 is at the predetermined charging position, in the direction of a transmitting coil, which for inductively transmitting electrical energy to the receiving coil 3 in the predetermined loading position is designed and arranged. When implemented as underfloor systems inductive charging systems, the transmitting coil is located in a floor. In the predetermined charging position, the vehicle 1 and thus the receiving coil 3 is above the transmitting coil. Accordingly, the magnetic field sensors 1 1, 12th

advantageously arranged on the underside of the vehicle 1.

According to FIG. 2, the magnetic field sensors 11, 12 are furthermore coupled to a computing device 20 of the vehicle 1. The computing device 20 is designed to perform at least the determination S03 of the position data of the vehicle 1. The

Computing means 20 may also perform or effect outputting S04 of the signal or perform preparatory steps therefor. For example, it can be determined by means of the computing device 20 based on the current position of the receiving coil 3 relative to the predetermined loading position, which driving instructions or

Control instructions to a driver of the vehicle 1 - if followed and correct

Execution - fastest and / or simplest cause the receiving coil 3 comes to rest at the predetermined loading position. FIG. 3 shows a schematic representation of first and second positions at which magnetic field strengths are measured in order to explain a method according to the invention.

FIG. 3 schematically shows web tracks R1, R2 worn away by the tires 5 in order to illustrate a movement of the vehicle 1 during the method according to the invention. At a first time is from the first

Magnetic field sensor 1 1 measured a first magnetic field strength at the first position A-1. At the same time, a second magnetic field strength is measured in the second magnetic field sensor 12 at the second position B-1. Between the first position A-1 and the second position B-1 is according to the device according to the second embodiment of the

Distance d1. The first magnetic field sensor 1 1 continues to measure at a second time a further first magnetic field strength at the further first position A-2 and at a third time still another first magnetic field strength at the further first position A-3. The second magnetic field sensor 12 further measures at the second time point a further second magnetic field strength at the further second position B-2 and at the third time point still another first magnetic field strength at the further second position B-3.

There are thus three measured first magnetic field strengths and three measured second magnetic field strengths at a total of six different positions. The spatial positional relationships of these six positions A-i, B-i to one another can be known, for example, on the basis of navigation data of the vehicle 1. Thus, a spatial structure of six known magnetic field strengths, which with the

predetermined magnetic field strength distribution of the magnetic field can be compared. If essentially these six magnetic field strengths with essentially the same positional relationships to each other can be unambiguously determined in the magnetic field strength distribution of the magnetic field, the current position of the vehicle 1 with respect to FIG

Magnetic field strength distribution determined.

It is also possible to carry out more or fewer measurements at more or less different points in time. It can after a certain number of

Measurements, for example, six, as indicated in Figure 3, a sufficiently accurate position determination of the vehicle 1 with respect to the predetermined

Magnetic field strength distribution of the magnetic field have been successfully performed. However, it is also possible to determine S03 of position data of the vehicle 1 separately in each individual measurement S01, S02, wherein in each case a signal S04 can be output based on the position data.

FIG. 4 shows a schematic view of a device for determining a position of a vehicle according to a third embodiment of the present invention. The third embodiment of the device is essentially a development of the second embodiment. Compared to the second embodiment, the third embodiment further includes a third magnetic field sensor 13 and a fourth one

Magnetic field sensor 14, which are also coupled to the computing device 20. According to the second embodiment, the third and fourth magnetic field sensors 13, 14 are arranged along the longitudinal axis L of the vehicle 1. If the receiving coil 3 is not centered on the longitudinal axis L, also the third and fourth Magnetic field sensor 13, 14, for example, be arranged along a line which is parallel to the longitudinal axis L and which intersects the receiving coil 3. The third embodiment may allow a faster and more accurate determination of the position of the vehicle 1, in particular in the direction of the longitudinal axis L.

According to a fourth embodiment, only the third or only the fourth magnetic field sensor 13, 14 is arranged on the vehicle 1. As a result, costs can be avoided.

Although the present invention has been described above with reference to preferred embodiments, it is not limited thereto, but modifiable in a variety of ways. In particular, the invention can be varied or modified in many ways without deviating from the gist of the invention.

For example, the method according to the invention can also be used for automated positioning of mobile transmitting coils. In a laying of transmitting coils in a roadway for inductive energy transmission, the

Magnetic field sensors are also used for automatic tracking of the vehicle 1.

Claims

claims

A method for determining a position of a vehicle, comprising the steps of: measuring (S01) at least one first magnetic field strength of a magnetic field at a respective first position (Ai) by means of a first magnetic field sensor (1 1) arranged on a vehicle (1) ;

Measuring (S02) at least one second magnetic field strength of the magnetic field at in each case a second position (B-i) by means of a second magnetic field sensor (12) which is arranged at a distance from the first magnetic field sensor (1 1) on the vehicle (1);

Determining (S03) position data of the vehicle (1) at least by comparing data based on the measured first and second magnetic field strengths with predetermined magnetic field information of the magnetic field; and

Outputting (S04) a signal based on the position data.

2. The method of claim 1, wherein the measuring (S02, S03) of the first and second magnetic field strengths is performed regularly or continuously.

3. The method according to any one of the preceding claims 1 or 2, wherein the magnetic field is generated by forming a residual magnetization in a coil.

4. The method according to any one of the preceding claims 1 or 2, wherein the magnetic field is generated by applying a voltage to a coil.

5. The method according to any one of the preceding claims 1 to 4, wherein the magnetic field is generated continuously or pulsating.

6. Method according to one of the preceding claims 1 to 5, wherein a first magnetic field strength gradient at a third position (Ai, Bi) is determined and / or a second magnetic field strength gradient at a fourth position (Ai, Bi) is determined; and determining (S03) the position data of the vehicle is further based on comparing the first and / or the second magnetic field strength gradient with the predetermined magnetic field information of the magnetic field.

7. The method according to any one of the preceding claims 1 to 6, wherein at least one further magnetic field sensor (13, 14) which is arranged on the vehicle, each magnetic field sensor (1 1, 12, 13, 14) of each other magnetic field sensor (1 1 , 12, 13, 14) is used to measure at least a third magnetic field strength of the magnetic field simultaneously with the measurement (S02) of the first magnetic field strength and simultaneously with the measurement (S03) of the second magnetic field strength; wherein determining (S04) the position data of the vehicle is further based on comparing data based on the at least one third magnetic field strength with the predetermined magnetic field information of the magnetic field.

8. The method according to any one of the preceding claims 1 to 7, with the

Step:

Wireless transmission of the predetermined magnetic field information to a

Communication device of the vehicle (1).

9. A device for determining a position of a vehicle, comprising:

a first magnetic field sensor (11), which is arranged on a vehicle (1); a second magnetic field sensor (12) which is arranged on the vehicle (1) spaced from the first magnetic field sensor (1 1);

a computing device (20), which is arranged on the vehicle (1) and by means of which at least data which are based on the first and second magnetic field sensor (1 1, 12) measured magnetic field strengths of a magnetic field, are comparable to a predetermined magnetic field information of the magnetic field.

10. System for determining a position of a vehicle, comprising:

An apparatus according to claim 9, further comprising a first

Communication device comprises;

a second communication device, which for wireless transmission of the predetermined magnetic field information of the magnetic field to the first

Communication device is formed.