WO2019096724A1

WO2019096724A1 - System and method for determining a passage of a moving object through a region of interest in a monitored plane, and moving objects

Info

Publication number: WO2019096724A1
Application number: PCT/EP2018/080895
Authority: WO
Inventors: Rafael PSIUK; Tobias Draeger; Alfred Mueller; Daniel Cichon; Maximilian Singh; Mathis HUTHER; Jochen Schuster
Original assignee: Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.
Priority date: 2017-11-16
Filing date: 2018-11-12
Publication date: 2019-05-23
Also published as: DE102017126981A1

Abstract

A system for determining a passage of a moving object through a region of interest in a monitored plane is proposed. The system comprises a first excitation loop which is set up to generate a first magnetic excitation field. The first magnetic excitation field is set up to excite the moving object to form a first magnetic response field. The system also comprises a second excitation loop which is set up to generate a second magnetic excitation field. The second magnetic excitation field is set up to excite the moving object to form a second magnetic response field. The system also comprises a first sensor which is arranged in a first detection plane running parallel to the monitored plane and is set up to determine first measured values for the first magnetic response field. The system also comprises a second sensor which is arranged in a second detection plane running parallel to the monitored plane and is set up to determine second measured values for the second magnetic response field. The system also comprises an evaluation circuit which is set up to determine a first result, which indicates an at least partial passage of the moving object through the first detection plane, on the basis of the first measured values and to determine a second result, which indicates an at least partial passage of the moving object through the second detection plane, on the basis of the second measured values. The evaluation circuit is also set up to determine the complete passage of the moving object through the region of interest in the monitored plane on the basis of the first result and the second result.

Description

SYSTEM AND METHOD FOR DETERMINING A PASSAGE OF A MOBILE OBJECT THROUGH AN INTERESTING AREA OF A MONITORED LEVEL, AND MOVABLE OBJECTS

Technical area

The present disclosure is concerned with the localization of objects. In particular, embodiments relate to a system and method for determining a passage of a moving object through a region of interest over an observed plane. Further embodiments also relate to movable objects.

background

In many fields of application, it is necessary to be able to know or to determine the position of a mobile object. The determination of a position of a movable object may be required, for example, in the sports sector in order to know or determine the position of a game device, for example. For example, it may be necessary to determine if a ball or puck crossed a goal line.

According to regulations, a goal can only be scored in various sports if the game device has completely passed the goal line. For spherically symmetric sports equipment, such as footballs, the rotation or orientation of the sports equipment is not decisive for determining whether it has crossed a goal line. In non-ball-symmetric (i.e., ball-unbalanced) sports equipment, such as pucks, on the other hand, the achievement of a goal is dependent on both the position and the orientation and shape of the gaming machine.

Thus, there is a need to provide a way to accurately locate a non-spherical symmetric moving object.

Summary

Embodiments of a system for determining a passage of a moving object through a region of interest of a monitored plane make this possible. The system includes a first exciter loop configured to receive a first magnetic loop Generate excitation field. The first magnetic excitation field is set up to excite the movable object for the expression of a first magnetic response field. Furthermore, the system comprises a second excitation loop, which is set up to generate a second magnetic exciter field. The second magnetic excitation field is set up to excite the movable object for the expression of a second magnetic response field. The system further comprises a first sensor, which is arranged and arranged in a first detection plane, which runs parallel to the monitored plane, to determine first measured values for the first magnetic response field. In addition, the system comprises a second sensor, which is arranged and set up in a second detection plane, which runs parallel to the monitored plane, to determine second measured values for the second magnetic response field. The system further comprises an evaluation circuit, which is set up, based on the first measured values, a first result, which indicates an at least partial passage of the movable object through the first detection plane, and based on the second measured values, a second result, the at least one indicating partial passage of the movable object through the second detection plane. The evaluation circuit is further configured to determine the complete passage of the moving object through the region of interest of the monitored plane based on the first result and the second result.

Further embodiments further relate to a method for determining a passage of a moving object through a region of interest of a monitored plane. The method includes generating a first magnetic excitation field. The first magnetic excitation field is set up to excite the movable object for the expression of a first magnetic response field. Furthermore, the method comprises generating a second magnetic exciter field. The second magnetic exciter field is set to stimulate the movable object to emit a second magnetic response field. The method further comprises determining first measured values for the first magnetic response field by means of a first sensor, which is arranged in a first detection plane that runs parallel to the monitored plane. In addition, the method comprises determining second measured values for the second magnetic response field by means of a second sensor, which is arranged in a second detection plane which runs parallel to the monitored plane. Likewise, the method comprises determining a first result indicating an at least partial passage of the movable object through the first detection plane, based on the first measured values. The method comprises Furthermore, determining a second result, which indicates an at least partial passage of the movable object through the second detection plane, based on the second measured values. In addition, the method comprises determining the complete passage of the movable object through the region of interest of the monitored plane based on the first result and the second result.

Embodiments also relate to a movable object which comprises three mutually orthogonal coils with a first resonance frequency and a fourth coil with a second resonance frequency. The three mutually orthogonal coils are arranged to impart a first component of a magnetic response field in response to a magnetic exciter field. The fourth coil is configured to impart a second component of the magnetic response field in response to the magnetic excitation field.

Embodiments furthermore relate to a further movable object which comprises three mutually orthogonal first coils with the same first resonant frequency and three mutually orthogonal second coils with the same second resonant frequency. The first three coils are configured to impress a first component of a magnetic response field in response to a magnetic field. The three second coils are arranged to express a second component of the magnetic response field in response to the magnetic excitation field.

Brief Description

Some examples of devices and / or methods will be explained below with reference to the accompanying figures by way of example only. Show it:

Fig. 1 shows an embodiment of a system for determining a passage of a moving object through a region of interest of a monitored plane;

Fig. 2 shows an embodiment of a movable object from the field of sports;

Fig. 3 shows a further embodiment of a movable object from the field of sports; Fig. 4 shows an embodiment of a reflection characteristic of a coil;

5 shows a further embodiment of a system for determining a passage of a mobile object through a region of interest of a monitored plane from the area of the sport; and

6 shows a flowchart of an embodiment of a method for determining a passage of a moving object through a region of interest of a monitored plane.

description

Various examples will now be described in greater detail with reference to the accompanying figures, in which some examples are shown. In the figures, the strengths of lines, layers and / or regions may be exaggerated for clarity.

Accordingly, while other examples of various modifications and alternative forms are suitable, certain specific examples thereof are shown in the figures and will be described in detail below. However, this detailed description does not limit further examples to the specific forms described. Other examples may cover all modifications, equivalents, and alternatives that fall within the scope of the disclosure. Like reference numerals refer to like or similar elements throughout the description of the figures, which may be identical or modified in comparison with each other while providing the same or similar function.

It should be understood that when an element is referred to as being "connected" or "coupled" to another element, the elements may be connected or coupled directly, or via one or more intermediate elements. When two elements A and B are combined using a "or", it is to be understood that all possible combinations are disclosed, ie only A, B only, and A and B. An alternative formulation for the same combinations is " at least one of A and B ". The same applies to combinations of more than 2 elements. The terminology used to describe certain examples is not intended to be limiting of other examples. If a singular form, e.g. For example, "one, one" and "the one that is used" and the use of only a single element is not explicitly or implicitly defined as mandatory, other examples may also use plural elements to implement the same function. If a function is described below implemented using multiple elements, further examples may implement the same function using a single element or a single processing entity. It will be further understood that the terms "comprising,""comprising,""having," and / or "having" in use, include the presence of the specified features, integers, steps, operations, processes, elements, components, and / or a subject matter Specify a set of the same, but do not preclude the existence or omission of one or more other features, integers, steps, operations, processes, elements, components, and / or a group thereof.

Unless otherwise defined, all terms (including technical and scientific terms) are used herein in their ordinary meaning in the field to which examples belong.

FIG. 1 shows a system for determining a passage of a moving object 190 through a region of interest 181 of a monitored plane 180.

The moving object 190 may be any object that can move in space and express or generate a magnetic word field in response to a magnetic field. For example, the movable object 190 may be a coil or a coil system or include such. For example, the movable object 190 may be a sports device (e.g., ball, puck, ball, football) that includes a component (element, device) that can generate or generate a magnetic response field in response to a magnetic field. For example, the moving object may be a ball, a puck or a football comprising a spool or a spool system. In particular, the object may be both spherically symmetric and globally asymmetric (i.e., non-spherically symmetric).

The monitored plane 180 is an extended, substantially non-curved (ie non-curved) surface which is monitored. A subset of this is the one of interest Area 181, which is indicated by the boundary lines 182 and 183 in Fig. 1. The boundary lines 182 and 183 indicate two horizontal boundaries of the region of interest 181 within the monitored plane 180. It is understood that the region of interest 181 is also bounded in the vertical direction within the monitored plane 180. Due to the representation of the system 100 as a lateral section, this is not shown in Fig. 1. The region of interest 181 is an area of interest within the monitored plane 180. The region of interest 181 may basically have any planar shape (eg, rectangle, circle, or free-form). The area of interest 181 may be, for example, the area enclosed by a goal line, the goal post and the goal crossbar of a goal (hereinafter also referred to as goal plane). Alternatively, the region 181 of interest may also be, for example, the area that extends perpendicularly from a playing field. For example, the area at the position of an edge of a line mounted on the playing field may extend perpendicularly from the playing field (eg side line, goal line or other line on the field according to the regulations of the respective sport type).

System 100 includes a first exciter loop 110 (and optionally further first exciter loops) arranged in a first exciter plane and configured to generate a first magnetic exciter field 111. The exciter loop 110 consists of a conductive material, which is traversed by an electric current. The first magnetic excitation field 111 is set up to excite the movable object 190 for the expression of a first magnetic response field 191. The first magnetic exciter field 111 may be any magnetic field that can excite the movable object 190 to emit a magnetic response field. For example, the first magnetic excitation field 111 may be a magnetic alternating field. The first magnetic excitation field 111 may comprise one or more frequency components. That is, the first excitation loop 110 may be configured to generate the first magnetic excitation field 111 with field components at different frequencies. Also, a frequency of the magnetic exciter field may vary. The first exciter plane, in which the first excitation loop 110 is arranged, runs parallel to the monitored plane 180 and is spaced therefrom. Furthermore, the system 100 includes a second exciter loop 120 (and optionally further second exciter loops) disposed in a second exciter plane and configured to generate a second magnetic exciter field 121. The second excitation loop 120 also consists of a conductive material, which is traversed by an electric current. The second magnetic excitation field 121 is configured to excite the movable object 190 to generate a second magnetic response field 192. Like the first magnetic exciter field 111, the second magnetic excitation field 121 can also be any magnetic field that can excite the movable object 190 to emit a magnetic response field. Furthermore, the second exciter loop 120 can also be configured to generate the second magnetic excitation field 121 with field components at different frequencies. The second exciter plane, in which the second exciter loop 120 is arranged, runs parallel to the monitored plane 180 and is spaced therefrom. The first and second exciter planes are also spaced apart.

The first exciter loop 110 and the second exciter loop 120 can be traversed by the same exciter current or by different exciter currents. For this, the system 100 may be e.g. an exciter circuit (not shown) configured to apply the same exciter current to the first exciter loop 110 and the second exciter loop 120 or apply different excitation currents to the first exciter loop 110 and the second exciter loop 120 from each other. If the first exciter loop 110 and the second exciter loop 120 are traversed by the same exciter current, they may be connected in series, for example. Alternatively, the excitation currents for the first exciter loop 110 and the second exciter loop 120 may each have their own characteristic. The characteristic may, for example, be an individual (time-dependent) amplitude, phase position or frequency. Accordingly, the first and / or the second magnetic exciter field 111 or 121 can be modulated. The direction of the excitation currents through the individual excitation loops can be the same or else phase-shifted (for example by 180 °). Likewise, the first and / or the second magnetic field Er 111 or 121 can be impressed on the excitation currents in each case a sequence. The sequences can e.g. orthogonal to each other so that they are distinguishable from each other.

The system 100 further comprises at least one first sensor 130, which is arranged in a first detection plane 101, which runs parallel to the monitored plane 180. The The first sensor 130 is set up to determine first measured values for the first magnetic response field 191 of the movable object 190. The first measured values for the first magnetic response field 191 represent the state of the first magnetic response field 191 at the measuring position. For example, the first measured values may indicate the amplitude and / or the phase of the first magnetic response field 191 at the measuring position. To measure the first magnetic response field 191, the sensor 130 may include, for example, one or more receive antennas. A voltage induced in the receiving antenna is proportional to the local amplitude and / or phase of the first magnetic response field 191 at the measuring position. For example, the first sensor 130 may include a first antenna and a second antenna. The longitudinal axis of the first antenna extends in the first detection plane 101 and the first antenna extends perpendicularly through the first detection plane. The longitudinal axis of the second antenna likewise extends in the first detection plane 101, wherein the second antenna is perpendicular to the first antenna (ie in the first detection plane 101). Alternatively, for example, a Hall sensor or any other suitable magnetometer can be used to determine the first measured values for the first magnetic response field 191.

In addition, the system 100 comprises at least one second sensor 140, which is arranged in a second detection plane 102 which runs parallel to the monitored plane 180. The second sensor 140 is set up to determine second measured values for the second magnetic response field 192. The second measurement values for the second magnetic response field 192 represent the state of the second magnetic response field 192 at the measurement position. The second sensor 140 can be designed as described above for the first sensor 130. The second detection plane 102 is spaced from the first detection plane 101.

The system further includes an evaluation circuit 150 coupled to the sensors 130 and 140. Evaluation circuit 150 is set up, based on the first measured values of the first sensor 130, a first result indicating an at least partial passage of the moving object 190 through the first detection plane 101 to determine. Furthermore, the evaluation circuit 150 is set up, based on the second measured values of the second sensor 140 to determine a second result indicating an at least partial passage of the movable object 190 through the second detection plane 102. The at least partial passage of the movable object 190 through the first detection plane 101 can be determined, for example, from the phase (measured by the first measured values) of the first magnetic response field 191 in the first detection plane 101, for example based on the phase in the first antenna of the first Sensors 130 induced voltage due to the first magnetic response field 191. The phase undergoes a phase change, ie, the phase goes through zero, or the sign of the phase changes, for example, when the center of a coil generating the first magnetic response field 191 or such a coil system in the moving object 190 passes through the first detection plane 101. Irrespective of the position at which the moving object 190 passes through the first detection plane 101, the phase change always takes place exactly at the position of the first detection plane 101 (ie in the first detection plane 101). In the case of a phase change, therefore, it is possible to infer the penetration of the first detection plane 101 through a coil or a coil system in the movable object 190 and thus at least partially penetrate the first detection plane 101 through the movable object 190 (based on the knowledge of the positioning of the coil (n) within the moving object 190). Accordingly, the at least partial passage of the movable object 190 through the second detection plane 102 can also be determined for the second detection plane.

Thus, it is individually determined for each detection plane 101, 102 whether the moving object 190 has at least partially penetrated them. The determination of the passage of the movable object 190 through the individual detection planes 101, 102, which are spaced from the monitored plane 180, makes it possible to determine with high accuracy whether the moving object also covers the monitored plane 180 in the region of interest 181 completely crossed.

In other words, the evaluation circuit 150 is further configured to determine the complete passage of the movable object 190 through the interested area 181 of the monitored level 180 based on the first result and the second result.

This may also include the position and orientation of the moving object 190 (or the coil or coil system in the moving object 190) at each pass be taken into account by one of the detection levels 101, 102. For determining the position of the movable object 190 when passing through the first detection plane

101 (i.e., the two-dimensional position in the first detection plane 101), for example, the waveforms of the voltages induced in the antennas of the first sensor 130 can be considered. Thus, e.g. From the maximum amplitude or the distance to the zero crossing of the signal on the distance of the movable object 190 (or the coil or the coil system in the moving object 190) to the first sensor 130 are closed. The orientation of the moving object 190 (or the coil or coil system in the moving object 190) may be e.g. by means of a comparison of the first magnetic response field 191 (or a component thereof) with reference metrics (for example from a simulation). Accordingly, the position and orientation of the moving object 190 can be determined when passing through the second detection plane 101 be.

In an at least partial passage of the movable object 190 through the first detection plane 101, the first result may thus comprise a first position and a first orientation of the movable object 190 when passing through the first detection plane 101. Likewise, in the case of an at least partial passage of the movable object 190 through the second detection plane 102, the second result may comprise a second position and a second orientation of the movable object 190 when passing through the second detection plane 102.

From the determined positions and orientations of the moving object 190 as it passes through the detection planes 101, 102, the position and orientation of the moving object 190 relative to the area of interest 181 of the monitored plane 180 can now be deduced. The position or the distance of the detection planes 101,

102 to the monitored plane 180 is also known as the arrangement of the magnetic response generating field generating device in the moving object 190 (eg one or more coils or one or more coil systems) and the shape of the bewegli object 190. Accordingly, together with the first result and the second result by the evaluation circuit 150, the exact position and orientation of the movable object 190 are determined relative to the region of interest 181 of the monitored plane 180. This enables the evaluation circuit 150 to decide whether the moving object 190 has completed the area of interest 180 of the monitored plane 180. constantly crossed. In particular, it can also be determined for ballunsymmetric (ie non-spherically symmetric) movable object 190 whether it has completely traversed the area of interest 181 of the monitored plane 180. This also makes it possible for ballunsymmetrical sports equipment such as pucks to determine whether this has eg completely exceeded a physical goal line.

Although only the first detection plane 101 and the second detection plane 102 have been previously referred to, the system 100 may optionally include further detection planes as well as other excitation planes. This may increase an accuracy of the decision as to whether the moving object 190 has completely traversed the area of interest 181 of the monitored plane 180.

For example, the system 100 may further include a third exciter loop disposed in a third exciter plane and configured to generate a third exciter magnetic field. The third magnetic excitation field is arranged to excite the movable object 190 to express a third magnetic response field. Further, the system 100 may include at least one third sensor disposed in a third detection plane parallel to the monitored plane 180 and configured to determine third measurements for the third magnetic response field. Accordingly, the evaluation circuit 150 may be further configured to generate a third result indicating an at least partial passage of the movable object 190 through the third detection plane based on the third measurement values. Analogous to the first result and the second result, in the case of an at least partial passage of the movable object 190 through the third detection plane, the third result may include a third position and a third orientation of the movable object as it passes through the third detection plane.

Similarly, the evaluation circuit 150 may then be further configured to determine the complete passage of the moving object 190 through the interested area 181 of the monitored level 180 based on the first result, the second result and the third result.

As already indicated above, the moving object 190 may have a plurality of coil systems which comprise the magnetic response fields of the movable object 190 produce. In this context, some possible embodiments with respect to the coils are described in more detail below. It goes without saying, however, that the proposed localization technique is not limited to the subsequent, specifically described coil configurations.

For example, the moving object 190 may comprise at least two mutually orthogonal coils having different resonance frequencies. When the moving object 190 is a sports device (game device), for example, three arbitrarily shaped coils may be arranged in the sports device. Each of the three coils is distinguishable by a respective resonant vote on different frequencies. The excitation of the primary field (e.g., the first excitation field 111 and the second excitation field 121) now takes place in parallel on the three different resonant frequencies of the coils. That is, the exciter loops generate the magnetic exciter fields with field components at different frequencies.

Accordingly, each of the (at least two, e.g., three) distinguishable or differently tuned coils now physically imposes a different secondary field amplitude. Referring to the first magnetic response field 191, a first coil of the at least two mutually orthogonal coils then correspondingly shapes a first component of the first magnetic response field 191, while a second coil of the at least two mutually orthogonal coils forms a second component of the first magnetic response field 191 , If a third coil with a third resonant frequency is used, this characterizes a third component of the first magnetic response field 191. This also applies to the second magnetic response field 192 (and also other magnetic response fields).

To compute (add) these (at least two, eg three) secondary fields, the fields are scaled or calibrated so that each of the coils is virtually written a similar behavior. Thus, the evaluation circuit 150 may further be configured to scale a first measurement value for the first component of the first magnetic response field 191, to scale a first measurement value for the second component of the first magnetic response field of the 191, and optionally a first measurement value for the third (or another) component of the first magnetic response field 191. Thus, the (at least two, eg three) individual coil fields can be added as if identical coils were present in the movable object 190. Accordingly, the position determination, for example, according to the well-known from the GoalRef technology of the Fraunhofer Institute for Integrated Circuits approach to goal decision he follow. In the GoalRef magnetic field-based goal decision system, the center of a passive orthogonal coil system is detected as it passes through a virtual goal plane. In the spherically symmetric ball three identically constructed, mutually orthogonal introduced coils are installed. In these passive coils, a current is induced by the primary field (exciter field), which in turn expresses a secondary field (response field). The three coils are each resonantly tuned to the same frequency, with the aim that all coils behave electrically the same. It is thereby achieved that these current flowing through coils in total one, from the rotation of the ball (relatively) independent, seconds därfeld ausprägägen, which always shows geometrically at the location of the ball in the direction of the primary field. Thus, the secondary field is largely independent of the rotation of the ball. Antennas, which are mounted around the gate, detect the Sekundärfel the ball and thereby close to the passage of the ball through the virtually unbalanced goal plane. As a result of the scaling of the components of the magnetic response fields of the magnetic object 190, a substantially secondary field of the movable object 190 that is independent of rotation can also be generated virtually. From the summed (and scaled) fields of the (at least two, eg three) coils of the movable object 190 can thus be closed on the two-dimensional position on the passage through the respective Detekti onsebene.

With reference to the first detection plane 101, the evaluation circuit 150 may thus be further configured to scale a first position of the moving object 190 as it passes through the first detection plane 101 based on a combination of the scaled first measurement value for the first component of the first magnetic response field 191 and the scaling to determine the first measured value for the second component of the first magnetic response field 191. Correspondingly, a second position of the movable object 190 when passing through the second detection plane 102 and optionally also further positions of the movable object 190 during the respective passage through further detection zones can be determined. On the basis of the above position estimation, the orientation of the coil or of the movable object 190 can now also be determined during each passage through one of the detection levels. By separately considering the (at least two, eg three) coil fields, their orientation can be determined for each coil. Since the position of the coils or of the coil system is known, for example, with the aid of (simulated) secondary field strengths for different orientations of a coil or the moving object 190 when passing through a detection plane at a specific position, the actual orientation of a coil or coil can be determined. of the movable object 190. These reference measurement values can be stored, for example, in the form of a fingerprint table which can be accessed by the evaluation circuit 150.

Based on the first detection plane 101, the evaluation circuit 150 may thus further be set up, an orientation of the first coil based on the scaled first measurement for the first component of the first magnetic response field 191 and the first position of the movable object 190 when passing through the first detection plane 101 to determine. Furthermore, the evaluation circuit 150 may be configured to determine an orientation of the second coil based on the scaled first measurement value for the second component of the first magnetic response field 191 and the first position of the movable object 190 when passing through the first detection plane 101. Accordingly, the evaluation circuit 150 can also determine the orientation of further coils of the movable object 190 when passing through the first detection plane 101. The evaluation circuit 150 may then further be configured to determine an orientation of the movable object 190 when passing through the first detection plane 101 based on the orientation of the first coil and the orientation of the second coil. This also applies correspondingly to the second detection level 102 and optional further detection levels of the system 100.

It can now with the calculation of the above-described (at least two, for example three) calibrated receive signals on the passage of the movable object 190 (eg a sports or game device) through the virtual detection levels (which can be spanned by a pathogen wire, for example, ie a detection level can be identical to a pathogen level) to be closed. At the same time, the orientation can then be calculated when the moving object 190 traverses the plane. The construction of multiple detection levels (which can be understood as virtual goal levels when used for goal decision) allows a clear and accurate determination of whether an asymmetrical moving object 190, for example, has traversed the monitored plane representing a physical true plane. For example, it can thus be determined whether a game device has completely traversed the physically true goal plane with its order. As already indicated above, a detection plane can be constructed in each case from a current loop, for example, mounted around the gate, and antennas which are orthogonal to this plane. Each exciter loop receive antenna system on its own decides, in accordance with the principles set forth above, whether the center of the gaming device has crossed the respective virtual goal plane. During each level passage of the game device only the two-dimensional posi tion is estimated based on the calibrated sum received signals of (at least two, for example three) Spu len. Subsequently, the orientation of each of the (at least two, eg three) coils is estimated at a known position. Finally, a check is made as to whether the estimated position and the subsequently estimated orientation have achieved a regular goal or not.

Another possible embodiment of the movable object with respect to the coils is shown in FIG. Fig. 2 shows a movable object 200 in the form of a puck, i. a spherically symmetrical sports equipment. The representation of the movable object 200 in the form of a puck is for illustration only. The coil configuration shown in FIG. 2 is not limited to this shape of the movable object 200. Rather, the moving object 200 may generally have any shape.

In order to clarify the arrangement of the coils, the movable object is shown four times in FIG. For reasons of clarity, only one of the coils is shown in each of the representations of the object bewegli chen.

The movable object 200 comprises three mutually orthogonal coils 210, 220 and 230 having a first resonant frequency and a fourth coil 240 having a second resonant frequency.

The three mutually orthogonal coils 210, 220, and 230 are configured to receive a first component of a magnetic response field in response to a magnetic field stamp out. The fourth coil 240 is configured to impart a second component of the magnetic response field in response to the magnetic exciter field. Based on the first magnetic excitation field described above, the three mutually orthogonal coils thus form a first component of the first magnetic response field and the fourth coil embosses a second component of the first magnetic response field.

The fourth coil 240 and one of the three mutually orthogonal coils 210, 220 and 230 extend in the same or in parallel planes. This is shown in FIG. 2 by way of example for the coil 210, which is located in the same plane as the fourth coil 240. In the example of FIG. 2, the (geometric) centers of the first coil 210 and the fourth coil 240 are not in the center (ie, the geometric center) of the movable object 200. In alternative embodiments, the first coil 210 and the first coil 210 could be located fourth coil 240, however, also be arranged so that their centers are in the center of the movable object 200.

FIG. 2 thus shows an alternative to the above-described coils tuned to different frequencies. The embodiment shown in FIG. 2 uses a "classical" coil system consisting of three coils which are orthogonal to the same frequency and otherwise equally tuned. This embodiment can also be installed in a ball-symmetrical game device. Namely, with these coils, the classical detection of the passage of the unbalanced game object can be realized by a virtual plane (i.e., detection plane) according to the GoalRef technology. The fourth tuned to a different frequency coil 240 in the game object makes it possible to use their secondary field to close the orientation of the object 200. The four te coil 240 is installed in the plane of one of the other three coils 210, 220 or 230 (alternatively, the coil 240 may also be installed in a parallel plane). These two coils have only a partial overlap with each other to allow tuning of these two coils to different frequencies.

For a gaming device in the form of a puck, this coil arrangement is shown in FIG. In this case, only the fourth coil 240 is tuned to its own resonance frequency, while the other three coils 210, 220 and 230 oscillate at a common resonant frequency as in the classical GoalRef approach. The field characteristics of the three Coils 210, 220 and 230 (ie their components of the magnetic response field) who took the for the determination of rotationally independent passage through a detection plane and for the two-dimensional localization of the object in the detection plane, while the field of the remaining fourth coil 240 for Orientierungsbestim determination is taken.

When using the movable object 200 shown in FIG. 2 as a movable object 190, the evaluation circuit 150 can thus be set up further relative to the first detection plane 101, a first position of the movable object 190 when passing through the first detection plane 101 based on a first measured value for the first component of the first magnetic response field 191. Furthermore, the evaluation circuit 150 may be configured to determine an orientation of the movable object 190 when passing through the first detection plane 101 based on the first position of the movable object 190 and a first measured value for the second component of the first magnetic response field 191. This also applies correspondingly to the second detection plane 102 and optional further detection levels of the system 100.

Another possible embodiment of the movable object with respect to the coils is shown in FIG. Fig. 3 shows a movable object 300 again in the form of a puck, i. a ballunsymmetric sports equipment. The representation of the movable object 300 in the form of a puck is merely illustrative. The coil configuration shown in FIG. 3 is not limited to this shape of the movable object 300. Rather, the movable object 300 may generally have any shape.

The movable object 300 comprises three mutually orthogonal first coils 310 having the same first resonant frequency and three mutually orthogonal second coils 320 having the same second resonant frequency. Optionally, the moving object 300 may include other coil systems at other resonant frequencies. For example, the moveable object 300 may include three mutually orthogonal third coils 330 having the same third resonant frequency and three mutually orthogonal fourth coils 340 having the same four th resonant frequency.

The first three coils 310 are configured to impart a first component of a magnetic response field in response to a magnetic field. The three second Coils 320 are adapted to express a second component of the magnetic response field in response to the magnetic excitation field. Further coil systems are set up accordingly. Based on the first magnetic excitation field 111 described above, the three first coils 310 thus emboss a first component of the first magnetic response field 191 and the three second coils 320 emboss a second component of the first magnetic response field 191.

Thus, in the example of Fig. 3, several (at least two) three-dimensional coil systems are incorporated into one of e.g. Game device introduced. These coil systems each consist of three mutually orthogonal, electrically equal behaving individual coils. The three coils of each of these three-dimensional coil systems are tuned to the same resonant frequency. These different coil systems 310, 320, 330 and 340, which are tuned to different frequencies, are introduced into the movable object 300 at known positions. The passage through a detection plane can only be detected for each of these 3 D coil systems 310, 320, 330 and 340 according to the principles described above, provided that the excitation loop has a magnetic field at this frequency (ie a field component of the magnetic exciter field at the respective resonant frequency ). Likewise, the position of the individual coil systems 310, 320, 330 and 340 can be determined when passing through the respective detection plane. From this, with the knowledge of the positions of the coil systems 310, 320, 330 and 340 in / on the moving object 300, the orientation of the moving object 300 can be determined.

When using the movable object 300 shown in FIG. 3 as a moving object 190, the evaluation circuit 150 can thus be set further relative to the first detection plane 101, a position of the three first coils 310 based on a first measured value for the first component of the first magnetic field To determine response field 191 as well as to determine a position of the three second coils 320 based on a first measurement value for the second component of the first magnetic response field 191. Further, the evaluation circuit 150 may be configured to determine a first position and a first orientation of the movable object 300 when passing through the first detection plane 101 based on the position of the three first coils 310 and the position of the three second coils 320. As already described above, the evaluation circuit can be set up in this case, the first position and the first orientation of the movable object 300 when passing through the first detection plane 101 based on the arrangement. tion of the three first coils 310 and the three second coils 320 in the movable object 320. This also applies correspondingly to the second detection plane 102 and optional further detection levels of the system 100.

It has been described above that coils arranged in the moving object can be tuned to the same or different resonance frequencies. When tuning the coils to a particular resonant frequency, it may be due to e.g. However, production-related tolerances happen that the desired resonance frequency can not be set exactly.

However, in order to allow the best possible localization of the coils, they should be operated as possible at their resonance frequency. Therefore, according to some embodiments of the present technology, the frequency of the primary field (i.e., the magnetic excitation field) can be matched to the coil resonance.

For this purpose, first the respective coil resonance frequency is determined (for example by means of a frequency sweep / frequency sweep of the primary field). The response signal of the coils measured in the sensors (e.g., receive antennas or other magnetic field sensors) is then analyzed. At the resonant frequency of the coil, the response field of the resonant coil is strongest. This frequency is now chosen as one of the operating frequencies for the magnetic exciter field.

With reference to the first excitation loop 110 shown in FIG. 1, this can be set up, for example, to change a frequency of the first magnetic exciter field 111 in accordance with a frequency sweep. Accordingly, the evaluation circuit 150 may be further configured to determine a resonance frequency of a coil of the movable object 190 based on a first measurement value for the first magnetic response field 190. Furthermore, the evaluation circuit 150 may be configured to control the first excitation loop 110 to generate the first magnetic exciter field 111 with a field component at the resonant frequency of the coil of the movable object 190.

As described above, the movable object 190 may include coils at different resonant frequencies. Accordingly, the evaluation circuit 150 may further be tet switched, a second resonant frequency of a second coil of the movable object 190th based on another first reading for the first magnetic response field 191. Accordingly, evaluation circuit 150 may be further configured to control first excitation loop 110 to generate first magnetic excitation field 111 further with a field component at the resonant frequency of the second coil of movable object 190.

As noted above, the GoalRef technique can be used to decide on the passage of the moving object 190 through a detection plane. However, the GoalRef technique starts from a spherically symmetric body with three orthogonal, electrically identical coils that form a predominantly rotation-independent field (if tuned to the same frequency). If the three coils are tuned to one frequency, they can no longer be individually separated in the software in the receiver and therefore can not be calibrated to compensate for their different physical effects.

The body to be detected, i. the moving object 190 does not have to be spherically symmetric (e.g., puck). This has the effect that the quality of all (for example three) coils is unequal (when using coils with even number of turns). Accordingly, the sum secondary field of the (e.g., three) orthogonal coils would now no longer point in the direction of the primary field, with the result that no precise gate decision could occur regardless of the orientation of the moving object 190.

To compensate for this, for example, the number of turns of each of the (eg three) coils can be adjusted so that the quality of all three coil resonant circuits is electrically equal. For example, the product of number of turns and coil area of each individual coil can be the same. It is also possible, for example, to attenuate the quality by means of additional series resistances on a coil in such a way that all (eg three) coils behave electrically identically. The same electrical behavior can be tested on a network analyzer, for example, by checking the reflection factor of a coil. This reflects the course of the coil quality and should also show the same behavior in the same coils for the three coils. An exemplary course is shown in FIG. 4. Both phasing (ie the sign of the phase) and amplitude at the operating frequency is the same for all coils. Thus, with respect to the first magnetic exciter field 111, each coil of the movable object 190 may be configured to generate at the same position and orientation relative to the first magnetic excitation field 111 a component of the first magnetic response field 191 having a first amplitude and a first phase position Frequency of the first magnetic exciter field 111 is a first predetermined frequency (eg the resonant frequency of the respective coil).

It may also be helpful for the object object filtering to consider the difference of the magnetic response field of the coils for two (or more) different frequencies of the magnetic field. This is shown in detail in German Patent Application No. 10 2016 120 246.0, the contents of which are incorporated herein by reference. In order to be able to use this method, a further adaptation of the coil characteristic can take place. In this case, at two different frequencies, the coils would exhibit a certain behavior in terms of amplitude and phase position, so that the difference signal of the magnetic field responses at two defined different frequencies is the same for all coils.

Thus, with respect to the first magnetic excitation field 111, each coil of the movable object 190 may be configured to generate at the same position and orientation relative to the first magnetic excitation field 111 a component of the first magnetic response field 191 having a second amplitude and a second phase position Frequency of the first magnetic excitation field 111 is a second predetermined frequency

Transposed to the coil configuration shown in FIG. 2, each of the three orthogonal coils 210, 220 and 230 would be at the same position and orientation relative to the magnetic excitation field a component of the first component of the magnetic response field having a first amplitude and a first one Phase position erzeu gene when the frequency of the first magnetic excitation field is a first predetermined Fre quency (eg, the resonant frequency of the respective coil). Optionally, each of the three mutually orthogonal coils 210, 220 and 230 would be further configured to generate, at the same position and orientation relative to the magnetic excitation field, a constituent of the first component of the magnetic response field having a second amplitude and a second phase position of the first magnetic excitation field is a second predetermined frequency. Referring to the coil configuration shown in FIG. 3, each of the first three coils 310 would be configured to generate a component of the first component of the magnetic response field having a first amplitude and a first phase position at the same position and orientation relative to the magnetic field Frequency of the first magnetic exciter field is a first predetermined frequency (eg the resonance frequency of the respective coil). Optionally, each of the first three coils 310 would be configured to generate, at the same position and orientation relative to the magnetic exciter field, a component of the first component of the magnetic response field having a second amplitude and a second phase position if the frequency of the first magnetic excitation field a second predetermined frequency. Accordingly, the three second coils 320 and further coil systems would be set up.

Referring to the principles of proposed localization technology set forth above, FIG. 5 shows an exemplary design for gate decision.

On a playing surface (a floor) 570 a gate is arranged, which is indicated in Fig. 5 by a goal post 580. To score, a gaming device 590 (e.g., a puck) must pass completely through the goal line that extends between the gate posts of the goal.

To detect this, the proposed localization technology can be used. The supervised level corresponds to the plane spanned by the goal and goal posts of the goal and the goal line. The region of interest also corresponds to the goal plane, i. that of the goal and goal posts of the goal as well as the goal line around closed area.

The system shown in Fig. 5 employs three excitation loops 510, 520 and 530 disposed behind the goal line 580 and each configured to generate a respective magnetic exciter field, each of the three magnetic exciter fields being arranged, the gaming device 590 to express an associated magnetic response field responsive. Further, the system comprises at least three sensors 540, 550 and 560 (eg antennas), each of which is located in a respective detection plane 501, 502 and 503, respectively, which is parallel to the monitored plane (represented by gate post 580). The exciter planes defined by the three exciter loops 510, 520 and 530 are identical to the detection planes 501, 502 and 503. Correspondingly, the at least three sensors 540, 550 and 560 are each set up with measured values for the associated magnetic response field of the gaming device 590 determine.

An evaluation circuit (not shown) now determines, based on the respective measured values of the at least three sensors 540, 550 and 560, a respective result for each of the detection planes, which indicates an at least partial passage of the game device 590 through the respective detection plane. Thus, according to the situation illustrated in FIG. 5, the results for the first and second detection planes 501 and 502 would respectively indicate that the game device 590 has at least partially penetrated these planes. The results for the first and second detection planes 501 and 502 would each further indicate the respective position and orientation of the gaming device 590 as it passes through the first and second detection planes 501 and 502, respectively. The result for the third detection plane 503 would indicate that the gaming device 590 has not at least partially penetrated that plane.

Based on the first result and the second result, the evaluation circuit now determines whether or not there is complete passage of the gaming machine 590 through the goal plane (represented by the goalpost 580). Thus, in the situation illustrated in FIG. 5, the evaluation circuit would determine that there is no complete passage of non-spherically symmetric gaming machine 590 through the goal plane.

Thus, as shown in FIG. 5, embodiments also include a gate (eg, an ice hockey goal) having a system for determining a passage of a moving object through a region of interest of a monitored plane according to the proposed technique. The area of interest then corresponds to the goal plane defined by the goal frames and the goal line. Accordingly, an automatic and reliable goal decision (especially for ballunsymmterische play equipment) are made possible. It goes without saying that the described methods are not limited to an appli cation in ice hockey. It can be determined according to the principles set out above, the passage of any sports equipment by a plane. By way of example, reference is made here to the determination of passage of the game ball in football, handball, American football, beach soccer, water polo, streethockey, hockey, lacrosse or any other ball sport.

To summarize the above-described aspects for locating moving objects, FIG. 6 shows a flowchart of a method 600 for determining a passage of a moving object through a region of interest of a monitored plane.

Method 600 includes generating 602 a first magnetic excitation field. The first magnetic excitation field is set up to excite the movable object for the expression of a first magnetic response field. Furthermore, method 600 includes generating 604 a second magnetic excitation field. The second magnetic exciter field is set to stimulate the movable object to emit a second magnetic response field. Method 600 further comprises determining 606 first measurements for the first magnetic response field by means of a first sensor arranged in a first detection plane parallel to the monitored plane. In addition, method 600 comprises determining 608 second measured values for the second magnetic response field by means of a second sensor, which is arranged in a second detection plane that runs parallel to the monitored plane. Similarly, method 600 includes determining 610 a first result indicating at least partial passage of the movable object through the first detection plane based on the first measurements. Method 600 further includes determining 612 a second result indicating at least partial passage of the mobile object through the second detection plane based on the second measurements.

Further details and aspects of the method as well as of the movable object are described above in connection with further exemplary embodiments (eg, FIGS. 1 and 5). The method as well as the moving object may include one or more optional features according to the further embodiments. Thus, some embodiments of the present disclosure relate to matched coil systems that enable both high accuracy goal determination and orientation determination based on the principles of the GoalRef system, but with arbitrarily shaped gaming machines.

According to some embodiments, e.g. three coils are resonantly tuned to different frequencies, the individual coil contributions (for example in software) are calibrated and localized with calibrated signals in the usual way and the orientation is estimated. In this case, a set-up of a plurality of virtual goal lines (i.e., detection levels) connected in series is used. In some embodiments, the Resonanzcharak teristik of the coil resonant circuit is adapted to the coil geometry. Other embodiments include detecting the resonant frequency of the coils and adjusting the operating frequencies to the coil characteristics. Alternatively, a fourth coil paral lel to one of the already existing tuned to the same frequency three coils can be used. The shape of the fourth coil can be adapted to each other because of the coupling of the coil Spu. Thus, three identical coils can be used for position determination while the fourth coil is used for orientation estimation. In a further alternative approach, distributed three-dimensional coils are used in the game device for orientation determination by determining the position of the individual three-dimensional coils.

Embodiments of the present disclosure thus relate to, inter alia:

1) A system with several geometrically successively mounted excitation loops and receiving antennas (magnetic field measuring sensors).

2) A system with an additional fourth coil tuned to a different frequency for orientation estimation.

3) A concept of how to dimension the electrical properties of coils so that an optimized position and orientation estimation is possible.

4) A concept as can be deduced from the position and orientation estimation of a non-spherically symmetrical body on the goal decision.

5) A concept of how to equip a non-rotationally symmetrical body with specially adapted coils to make a goal decision. 6) A concept of how to compensate for estimation inaccuracies by the production-related shift of the resonance frequency.

7) A concept with integrated distributed three-dimensional coils in / on an object for localization and orientation estimation of an object.

The aspects and features described in conjunction with one or more of the previously detailed examples and figures may also be combined with one or more of the other examples to substitute the same feature of the other example or in addition to the feature in the other example introduce.

Throughout the description and drawings, only the principles of the disclosure are presented. In addition, all examples provided herein are expressly intended to be instructive only to assist the reader in understanding the principles of the disclosure and the concepts for advancing the art contributed by the inventor (s). All statements herein on principles, aspects and examples of disclosure and concrete examples thereof include their equivalents.

It should be understood that the disclosure of several acts, processes, operations, or functions disclosed in the specification or claims is not to be construed as being in a particular order unless explicitly or implicitly otherwise indicated, for example, by reference. B. for technical reasons. Therefore, by disclosing several steps or functions, these are not limited to a particular order, unless these steps or functions are not interchangeable for technical reasons. Further, in some examples, a single step, function, process, or operation may include and / or break into multiple sub-steps, functions, processes, or operations. Such sub-steps may be included and part of the disclosure of this single step, unless explicitly excluded.

Furthermore, the following claims are hereby incorporated into the detailed description, where each claim may stand alone as a separate example. While each claim may stand on its own as a separate example, it should be understood that although a dependent claim may refer to a particular combination with one or more other claims in the claims, other examples may also include a combination thereof. of the dependent claim with the subject matter of any other dependent or independent claim. Such combinations are explicitly suggested here, unless it is stated that a particular combination is not intended. Furthermore, features of a claim should be included for any other independent claim, even if this claim is not made directly dependent on the independent claim.

Claims

claims

A system (100) for determining a passage of a moving object (190) through a monitored area of interest (181) of a monitored plane (180), comprising: a first excitation loop (110) arranged to provide a first magnetic excitation field (111) wherein the first magnetic exciter field (111) is arranged to excite the movable object (190) to form a first magnetic response field (191); a second exciter loop (120) configured to generate a second magnetic exciter field (121), the second magnetic exciter field (121) being arranged to excite the movable object (190) to emit a second magnetic response field (191); a first sensor (130) located in a first detection plane (101) parallel to the monitored plane (180) and arranged to determine first measurements for the first magnetic response field (191); a second sensor (140) arranged in a second detection plane (102) parallel to the monitored plane (180) and arranged to determine second measurements for the second magnetic response field (192); and an evaluation circuit (150), which is set up, based on the first measured values, a first result, which indicates an at least partial passage of the movable object (190) through the first detection plane (101), and a second result based on the second measured values, which indicates an at least partial passage of the movable object (190) through the second detection plane (102), the evaluation circuit (150) being further arranged to allow the complete passage of the movable object (190) through the region of interest (181) monitored Ebe ne (180) based on the first result and the second result to determine.

2. The system of claim 1, wherein upon at least partial passage of the moveable object through the first detection plane, the first result is a first position and a first orientation of the moveable object as it passes through the first detection plane. 101).

The system of claim 1 or claim 2, wherein when the movable object (190) passes at least partially through the second detection plane (102), the second result is a second position and a second orientation of the moving object (190) as it passes through the second Detection level (102).

4. The system of claim 1, wherein the system further comprises an excitation circuit configured to: apply the same excitation current to the first excitation loop and the second excitation loop; or to apply different exciter currents to the first exciter loop (110) and the second exciter loop (120).

5. The system of claim 1, further comprising: a third excitation loop configured to generate a third magnetic excitation field, wherein the third magnetic excitation field is configured, the movable object to emit a third magnetic response field to stimulate; and a third sensor disposed in a third detection plane parallel to the monitored plane (180) and arranged to determine third measurements for the third magnetic response field, the evaluation circuit (150) being further configured based on the third measured values to produce a third result indicating an at least partial passage of the movable object (190) through the third detection plane.

6. System according to one of claims 1 to 5, wherein the movable object (190) comprises at least two mutually orthogonal coils having different resonance frequencies, wherein a first coil of at least two mutually orthogonal coils forms a first component of the first magnetic response field and a second Coil of the at least two mutually orthogonal coil forms a second component of the first magnetic response field, and wherein the evaluation circuit (150) is further set up: to scale a first measurement value for the first component of the first magnetic response field; to scale a first reading for the second component of the first magnetic response field; and a first position of the moving object (190) as it passes through the first detection plane (101) based on a combination of the scaled first measurement value for the first component of the first magnetic response field (191) and the scaled first measurement value for the second component of the first component first magnetic response field (191).

The system of claim 6, wherein the evaluation circuit (150) is further configured to: orient the first coil based on the scaled first reading for the first component of the first magnetic response field (191) and the first position of the movable object (190) Determine passage through the first detection plane (101); determine an orientation of the second coil based on the scaled first measurement for the second component of the first magnetic response field (191) and the first position of the mobile object (190) as it passes through the first detection plane (101); and determine an orientation of the movable object (190) as it passes through the first detection plane (101) based on the orientation of the first coil and the orientation of the second coil.

8. System according to one of claims 1 to 5, wherein the movable object (190) comprises three mutually orthogonal coils having a first resonant frequency and a fourth coil having a second resonant frequency, wherein the three mutually orthogonal coils len a first component of the first magnetic Response field (191) and the fourth coil forms a second component of the first magnetic response field (191), and wherein the evaluation circuit (150) is further set up: a first position of the movable object (190) as it passes through the first detector on the basis of a first measured value for the first component of the first magnetic response field (191); and an orientation of the movable object (190) when passing through the first detection plane (101) based on the first position of the movable object (190) and an to determine a first measured value for the second component of the first magnetic response field (191).

9. A system according to any one of claims 1 to 5, wherein the movable object (190) comprises three mutually orthogonal first coils having the same first resonant frequency and three orthogonal second coils having the same second resonant frequency, the first three coils being a first Component of the first magnetic response field (191) and the three second coils express a second component of the first magnetic response field (191), and wherein the evaluation circuit (150) is further configured: a position of the three first coils based on a determining the first measured value for the first component of the first magnetic response field (191); determine a position of the three second coils based on a first measurement value for the second component of the first magnetic response field (191); and determine a first position and a first orientation of the movable object (190) as it passes through the first detection plane (101) based on the position of the three first coils and the position of the three second coils.

10. The system of claim 9, wherein the evaluation circuit (150) is further configured the first position and the first orientation of the movable object (190) when passing through the first detection plane (101) based on the arrangement of the three first coils and the three To determine second coils in the moving object.

11. The system of claim 1, wherein the first excitation loop is configured to change a frequency of the first magnetic exciter field according to a frequency sweep, and wherein the evaluation circuit is further configured to: a resonant frequency of a coil of the coil mobile object (190) based on a first measurement value for the first magnetic response field (191) to determine; and controlling the first excitation loop (110) to generate the first magnetic excitation field (111) with a field component at the resonant frequency of the coil of the moving object (190).

12. The system of claim 11, wherein the evaluation circuit is further configured to: determine a second resonant frequency of a second coil of the moving object based on a further first measurement value for the first magnetic response field; and controlling the first exciter loop (110) to further generate the first magnetic excitation field (111) with a field component at the resonant frequency of the second coil of the moving object (190).

13. The system of claim 1, wherein the first exciter loop is configured to generate the first magnetic excitation field with field components at different frequencies.

14. The system of claim 1, wherein the first sensor comprises a first antenna and a second antenna, wherein a longitudinal axis of the first antenna extends in the first detection plane and the first antenna extends vertically through the first detection plane ), wherein a longitudinal axis of the second antenna extends in the first detection plane and the second antenna is perpendicular to the first antenna.

15. The system of claim 1, wherein each coil of the movable object (190) is arranged, in the same position and orientation relative to the first magnetic excitation field (111), a component of the first magnetic response field (191) having a first one Amplitude and a first phase position to produce when the Fre quency of the first magnetic exciter field (111) is a first predetermined frequency.

16. The system of claim 15, wherein the first predetermined frequency is the Resonanzfre frequency of the respective coil.

The system of claim 15 or claim 16, wherein each coil of the moving object (190) is arranged, at the same position and orientation relative to the first magnetic excitation field (111), a component of the first magnetic response field (191) having a second amplitude and a second phase position when the frequency of the first magnetic exciter field (111) is a second predetermined frequency.

18. A system according to any one of claims 1 to 17, wherein the movable object (190) is club-symmetrical.

19. A method of determining a passage of a moving object through a monitored plane of interest of a monitored plane, comprising: generating a first magnetic excitation field, wherein the first magnetic exciter field is configured to form a first magnetic field Stimulate response field;

Generating (604) a second magnetic excitation field, wherein the second magnetic excitation field is arranged to excite the movable object to the expression of a second magnetic see response field;

Determining (606) first measurements for the first magnetic response field by means of a first sensor located in a first detection plane parallel to the monitored plane;

Determining (608) second measurements for the second magnetic response field by means of a second sensor located in a second detection plane parallel to the monitored plane;

Determining (610) a first result indicative of at least partial passage of the mobile object through the first detection plane based on the first measurements; Determining (612) a second result indicative of at least partial passage of the mobile object through the second detection plane based on the second measurements; and

Determining the complete passage of the moving object through the region of interest of the monitored plane based on the first result and the second result.

20. A moving object (200) comprising: three mutually orthogonal coils (210, 220, 230) having a first resonant frequency; and a fourth coil (240) having a second resonant frequency, wherein the three mutually orthogonal coils (210, 220, 230) are arranged to impart a first component of a magnetic response field as a response to a magnetic excitation field, and wherein the fourth coil (240) is arranged in response to the magnetic excitation field to impress a second component of the magnetic response field.

21. A moving object according to claim 20, wherein the fourth coil (240) and one of the three mutually orthogonal coils (210, 220, 230) extend in the same or in parallel planes.

The moving object according to claim 20 or claim 21, wherein the movable object is sphere-unbalanced.

23. A moving object according to any one of claims 20 to 22, wherein the movable object is a sports device.

24. A moving object according to any one of claims 20 to 23, wherein each of the three mutually orthogonal coils (210, 220, 230) is arranged at the same position and orientation relative to the magnetic excitation field a component of the first component of the magnetic Response field to produce with a first amplitude and a first phase position when the frequency of the first magnetic exciter field is a first predetermined frequency.

25. A moving object according to claim 24, wherein the first predetermined frequency is the resonant frequency of the respective coil.

26. A moving object according to claim 24 or claim 25, wherein each of the three mutually orthogonal coils (210, 220, 230) is arranged to have a component of the first component of the magnetic response field at the same position and orientation relative to the magnetic exciter field to generate a second amplitude and a second phase position when the frequency of the first magnetic exciter field is a second predetermined vorbe frequency.

27. A moving object (300) comprising: three mutually orthogonal first coils (310) having the same first resonant frequency; and three mutually orthogonal second coils (320) having the same second resonant frequency, wherein the three first coils (3l0) are arranged to emit a first component of a magnetic response field in response to a magnetic exciter field, and wherein the three second coils (320) are arranged to receive a second component of the magnetic field in response to the magnetic excitation field Express answer field.

28. A moving object according to claim 27, wherein the movable object is kugelunsym metric.

29. A moving object according to claim 27 or claim 28, wherein the movable object is a sports device.

30. A moving object according to any one of claims 27 to 29, wherein each of the first three coils (310) is arranged, at the same position and orientation relative to the magnetic excitation field, a constituent of the first component of the magnetic response field having a first amplitude and a first phase position when the frequency of the first magnetic exciter field is a first predetermined frequency.

31. The moving object according to claim 30, wherein the first predetermined frequency is the resonance frequency of the respective coil.

32. The moving object according to claim 30 or claim 31, wherein each of the three first coils (310) is arranged, at the same position and orientation relative to the magnetic exciter field, a component of the first component of the magnetic response field having a second amplitude and a second phase position when the frequency of the first magnetic exciter field is a second predetermined frequency.