WO2023152271A1

WO2023152271A1 - Method for determining a signal origin

Info

Publication number: WO2023152271A1
Application number: PCT/EP2023/053270
Authority: WO
Inventors: Christian Welk; Constantin NOWAK; Alexander RUDOY; Rinaldo Persichini
Original assignee: Toposens Gmbh; Battotec Gmbh
Priority date: 2022-02-12
Filing date: 2023-02-10
Publication date: 2023-08-17
Also published as: LU501459B1

Abstract

The invention relates to a method for determining a signal origin (1), wherein the method comprises the following steps: receiving at least one signal (2) by means of a first receiving unit (3) having at least three first receivers (4), wherein a signal point (S1-S6) is determined on the basis of the one received signal (2); receiving at least one signal (2) by means of a second receiving unit (5) having at least three second receivers (6), wherein another signal point (P1-P6) is determined on the basis of the received signal (2), wherein it is determined whether the signal point (S1-S6) and the other signal point (P1-P6) are in sync with one another, and the signal origin (1) is determined on the basis of the signal point (S1-S6) and the other signal point (P1-P6).

Description

Method for determining a signal origin

The invention relates to a method for determining a signal origin. The invention also relates to a device for determining a signal origin and use of the method for one-dimensional or multi-dimensional position determination.

A large number of devices are known from the prior art, by means of which the position of an object in space can be determined. A device 9 shown in FIG. 1 is known, which has a transmitter and a receiver unit with three receivers. Neither the transmitter nor the receiver unit are shown in FIG. The transmitter emits transmission signals 12, in particular sound pulses, which propagate spherically. The sound pulses hit the object 13 and are reflected by the object 13 . It is assumed that the reflected sound waves propagate spherically from a point, which is called signal origin 1 in the following. The reflected signals 2, in particular sound waves, are received by the three receivers of the receiver unit.

A distance between the device 9 and the object 13 is determined via the transit time between a point in time at which the sound pulse is emitted and another point in time at which the echo, ie the reflected sound wave, is received. A solid angle of the object 13 is determined from a phase difference of the sound waves received by the individual receivers. As a result, based on the received signals 2, a signal origin 1 can be determined. In particular, the position of the signal origin 1 in space can be determined.

In most applications of the device 9, the object 13 is in an environment with one or more extraneous signal sources 14. Such an arrangement is shown in FIG. The external signal source 14 can be an external sound source. The external sound source can emit signals 2 which are received directly by the device 9 . Alternatively or additionally, reflections of the signals 2 emitted by the external sound source can be received by the device 9 . The receivers of the device 9 thus receive the sound waves reflected by the object 13 as well as the sound waves emitted by the external sound source 14 . The device now determines three signal points S1, S2, S3 on the basis of the received sound waves. As can be seen from FIG. 2, only the signal point S1 corresponds to the signal origin, ie the object point from which the reflected sound propagates spherically. The remaining two signal points S2 and S3 are false signals. The incorrect signals result from the fact that the receiver is not synchronized with the external sound source, so that determining the position of the signal origin 1 by means of a propagation time measurement leads to erroneous results. The direction of the received signal can be determined via the phase differences of the receivers of the receiving unit. The directions of the received signals are shown in FIG. 2 as straight lines on which the signal points S1-S3 are arranged.

An external signal source can be an ultrasound source. In this case, an external signal source can be another active sensor which emits transmission signals and is not coupled to the device. As already explained above, with such an arrangement no statement can be made about the distance of the object 13 from the device 9 since the external signal source does not emit a transmission signal synchronized with the device. In this respect, a transit time measurement leads to inaccurate results because the device 9 does not know whether the received signal 2 originates from the object 13 or from the external signal source 14.

In order to be able to precisely determine the position of the object, the false signals must therefore be filtered out. This is currently done by carrying out several measurements and detecting false signals on the basis of the measurement results. However, the known methods have the disadvantage that filtering out the false signals is computationally intensive and therefore takes a long time. In addition, the known methods have a low level of reliability and the latency increases due to the calculation of several measurements. In this respect, the device 9 cannot be used in applications, such as a moving robot and/or a motor vehicle, in which the position of the object must be determined quickly in order to be able to make a decision regarding the driving direction and/or driving speed based on the determined position . One object of the invention is therefore to provide a method in which the origin of the signal can be determined quickly and reliably.

This object is achieved by a method for determining a signal origin, the method comprising the following steps:

Receiving at least one signal by a first receiving unit, which has at least three first receivers, a signal point being determined on the basis of the one received signal,

Receiving at least one signal by a second receiving unit having at least three second receivers, wherein another signal point is determined on the basis of the received signal, it being determined whether the signal point and the other signal point are synchronous with one another and which depends on the signal origin the signal point and the other signal point is determined.

Another object of the invention is to provide a device by means of which a signal origin can be determined quickly.

The object is achieved by a device for determining a signal origin with a first receiving unit for receiving at least one signal, which has at least three first receivers, a second receiving unit for receiving at least one signal, which has at least three second receivers, and a computer device which determines a signal point on the basis of the signal received from the first receiving unit and another signal point on the basis of the signal received from the second receiving unit, the computing device determining whether the signal point and the other signal point are synchronous with one another and determining the signal origin as a function of the signal point and the other signal point determined.

According to the invention it was recognized that there is no need for time-consuming filtering out of the false signals by repeated measurements, which reduces the latency of the Device reduced. In particular, it has been recognized that a signal origin can be determined in a simple manner if two receiver units are used which, based on the received signals, determine signal points and other signal points which are classified according to whether they are synchronous with one another or not. In particular, signal point pairs of mutually synchronous signal points are determined. As explained in more detail below, the signal origin can be determined quickly and precisely on the basis of the classification or the signal point pairs, even if a large number of signal points are determined by the first and second receiver unit. In this respect, the method can also be used in applications, such as a moving robot and/or a motor vehicle, in which it is necessary to quickly determine the origin of the signal and thus the position of the origin of the signal in space.

A real object, in particular an object point, is understood as the signal origin, from which the signals received by the first and second receiver unit originate. The signal origin can be a physical object on which the transmitted signals reflect. The transmission signal can be reflected by the physical object for the first time. Alternatively, the physical object can also reflect a transmission signal that has already been reflected several times before. Alternatively, the signal origin can be a signal source from which a transmission signal is emitted, which is received by the first and second receiver unit, in particular directly. The signal source can be another transmitter that emits a broadcast signal. Alternatively or additionally, the signal source can be any source in the vicinity of the device.

A point in space determined by the first receiver unit on the basis of the received signal is understood to be a signal point. As described above, in most cases the signal point does not correspond to the signal origin. In other words, the signal point can be a fictitious point that results due to the asynchrony of the transmission signal sent out by the device and the received signal. The other signal point is determined by the second receiver unit based on the same or another received signal. Analogous to the signal point, the other signal point can be a fictitious point that does not correspond to the signal origin. The first and second receiver units are spaced apart from one another in at least one spatial direction, in particular a maximum of two spatial directions. This means that the first receivers of the first receiver unit and the second receivers of the second receiver unit can receive the signal at different times. Likewise, the individual first receivers receive the signal at different times and the individual second receivers also receive the signal at different times. The first receiver unit, in particular the first receivers, and the second receiver unit, in particular the second receivers, can be arranged in one plane. A more detailed arrangement of the first and second receivers is described in more detail below.

According to the invention, a signal point and another signal point are synchronous with one another if the received signal, which is used to determine the signal point and the other signal point, originates from the same signal origin. In addition, the transmission signal reflected on the object, ie the received signal that is used to determine the signal point and the other signal point, must come from the same transmitter of the device. In addition, the transmission of the transmission signal via the transmitter and the reception of the signal are synchronized with one another. In other words, the transmission time is known to the device, in particular to the first and second receiver units. The invention makes use of the fact that the signals propagate spherically from the signal origin. Thus, a signal point and a signal point synchronous thereto lie on the same wave front of the signal. When a wave propagates in a medium, a wave front is a spherical surface on which all points have the same transit time to the signal origin.

As explained in more detail below, it can be checked in various ways whether the signal point and the other signal point are synchronous with one another, even if the position of the signal origin is not known.

On the other hand, in the following two signal points that do not originate from the same signal origin are referred to as asynchronous. In this case, the signals received by the first and second receiver units are different reflections or the received signals come from one or more external sound sources different external noise sources. In addition, asynchronous signal points can originate from the same signal origin. In this case, the receiver units receive a received signal that is asynchronous to the transmission signal or the direct sound of an external sound source that is asynchronous to the transmission signal. In the case of asynchronous signal points, the device does not know when the received signal was sent.

As a result, by detecting the signal point and the other signal point that are synchronous with each other, the received signals originating from the same signal origin can be recognized.

The computing device can have at least one processor or be a processor. In addition, the computer device can be part of a printed circuit board.

In one embodiment, the computing device can decide whether or not to determine the signal origin depending on the determination result. In particular, the computing device cannot determine the signal origin if the signal point and the other signal point are asynchronous to one another. On the other hand, the computer device can determine the signal origin if the signal point and the other signal point are synchronous with one another. As a result, the computing effort can be reduced by the classification of the signal points into mutually synchronous or asynchronous signal points. In this way, only the signal points that are synchronous with one another can be used to determine the signal origin and the remaining signal points can be filtered out as incorrect signals.

The first receiver unit can determine several signal points. The second receiver unit can determine several other signal points. Accordingly, the first and second receiver units can receive multiple signals and determine the signal points and the other signal points based on the received signals. As a result, a large number of signal points and other signal points can be determined and used for the previously described determination of the signal origin. After determining the signal points and the other signal points, it can be determined which signal points and other signal points are synchronous with one another. This is done before the signal origin is determined, using the signal points and other signal points that are synchronous with each other to determine the signal origin. The first signal points determined by the first receiver unit are not classified among one another. Likewise, the second signal points determined by the second receiver unit are not classified among one another.

In one embodiment, in order to determine mutually synchronous signal points and other signal points, starting from a signal point, it can be determined whether another signal point is arranged in a predetermined area around the signal point. Likewise, starting from another signal point, it can be determined whether a signal point is arranged in a predetermined area around the other signal point. This can be done for all signal points and/or other signal points. This approach makes sense because it was recognized that signal points and other signal points that are synchronous with one another cannot be arbitrarily far apart from one another. The predetermined area may be a spherical shape centered on the signal point or the other signal point. As a result, the computing effort is reduced because, starting from a signal point, for example, it is no longer necessary to check every other signal point to determine whether it is synchronous with the signal point.

The computing device can determine that a signal point and another signal point are synchronous with one another if a first distance between the signal point and a line point and a second distance between the other signal point and the point meet a predetermined condition. The condition can consist in the first distance and the second distance having the same value or deviating from one another by a predetermined range. Focusing on the distance between the point and the signal point and/or the other signal point offers the advantage that it can be determined in an accurate manner whether the signal point and the other signal point are synchronous with one another. There are two synchronous signal points if they do not exceed a predetermined distance. In this case, the points can be almost on top of each other. However, an exact superimposition will often not be possible due to the noise of the first and second receivers. It plays in the assessment of Phase difference between the received signals does not matter, which makes the classification accurate. The predetermined range takes into account that the first and second receivers of the first receiving unit and the second receiving unit are noisy and therefore the distances will not always correspond exactly mathematically.

The amount of calculation can be further reduced when it is checked whether the signal point and the other signal point are spaced apart from each other by a predetermined distance along a circular arc line including the signal point and the other signal point. The circular arc line can be part of a sphere with a center point that lies on the connecting line, in particular on the middle of the connecting line, between the first and second receiving unit. The test can be carried out before or after the distance test described above.

If the signal point and the other signal point are arranged at a predetermined distance from one another, it can be further checked whether the signal point and the other signal point are synchronous with one another. If the distance between the signal point and the other signal point is greater than the specified distance, the test can be aborted. This check ensures that not all signal points and/or other signal points are used to determine the signal origin.

The point may be located on a connecting straight line between the first receiving unit and the second receiving unit. The connecting straight line can run between a midpoint of the first receiving unit and a midpoint of the second receiving unit. The center point of the first receiving unit can be in a center point of a triangle that is spanned by the first receivers. The center point of the second receiving unit can be in a center point of a triangle that is spanned by the second receivers. In the event that one or both receiving units has more than three receivers, the center point can be the center point of an area spanned by the receivers. Alternatively or additionally, the connecting straight line can run between a first receiver of the first receiving unit and a second receiver of the second receiving unit. The point can be a midpoint of the connecting line. In a special embodiment, a signal point straight line that runs through the signal point and the other signal point can be determined to check whether a signal point and another signal point are synchronous with one another. As already described above, the signal point and the other signal point can be arranged at a distance from one another in a predetermined area, so that not all signal points and/or other signal points have to be taken into account.

The computer device can determine that the signal point and the other signal point are synchronous with one another if a straight line perpendicular to the signal point runs through the midpoint of the connecting line between the first and second receiving unit or through a predetermined area around a midpoint of the connecting line between the first and second receiving unit runs. It can thus be determined in a simple manner whether the signal point and the other signal point are synchronous with one another. The method can be used as an alternative or in addition to the previously described method for classifying the signal points and the other signal points. The predetermined range takes into account that the first and second receivers of the first receiving unit and the second receiving unit are noisy, so that the perpendicular line does not pass exactly through the center point.

In a further embodiment for checking whether a signal point and another signal point are synchronous with one another, a first straight line can be determined which runs through at least one signal point and the first receiving unit. In this case, the first straight line can run through a center point of the first receiving unit or through a first receiver of the first receiving unit. The center point of the first receiving unit can be in a center point of a triangle that is spanned by the first receivers. In addition, a second straight line can be determined, which runs through at least one other signal point and the second receiving unit. In this case, the second straight line can run through a center point of the second receiving unit or through a second receiver of the second receiving unit. The center point of the second receiving unit can be in a center point of a triangle that is spanned by the second receivers. In the event that one or both receiving units has more than three receivers, the center point can be the center point of an area spanned by the receivers. The first and second straight lines can run in such a way that they intersect at one point. Alternatively, the first and second straight lines can run in such a way that they are skewed with respect to one another. In this case, another perpendicular line can be determined, which is perpendicular to the first and second lines and has the shortest distance between the first and second lines. The point can be a point of the plumb line, wherein the point can be a midpoint of the plumb line. The straight lines can be skewed to each other due to receiver noise.

In this method, the computing device can determine that the signal point and the other signal point are synchronous with one another if a first distance between the other point and the signal point and a second distance between the other point and the other signal point meet a predetermined condition. The predetermined condition may be that the first distance between the other point and the signal point and the second distance between the other point and the other signal point have the same value or differ by a predetermined range. The predetermined range takes into account that the first and second receivers of the first receiving unit and the second receiving unit are noisy and therefore the distances will not always correspond exactly mathematically.

It can thus be determined in a simple manner whether the signal point and the other signal point are synchronous with one another. In this method, the spherical propagation of the signal from the signal origin is used. Because of the spherical propagation, with signal points that are synchronous with one another and other signal points, their distances from the other point must be the same or almost the same. The method can be used as an alternative or in addition to the previously described method for classifying the signal points and the other signal points.

In a particular implementation, signal origin may be determined after determining which signal points and other signal points are in sync with one another. In particular, the signal origin can be determined taking into account the determination result. The signal origin can be determined after a signal point pair has been determined. Alternatively, all signal point pairs can be determined first and then the signal origin or the Signal origins are determined. It is thus possible for multiple signal origins to exist if multiple signal point pairs are determined.

In order to determine the origin of the signal, the computer device can determine the position of the signal point and of the other signal point that is synchronous with the signal point. The computer device can determine that the signal origin corresponds to the position of the signal point and/or the other signal point if the position of the signal point and the other signal point is the same or deviates from one another by a predetermined range. The position of the signal point and/or the other signal point in space is referred to as position.

In an alternative or additional procedure, a first different straight line can be determined, which runs through a signal point and the first receiving unit. The first other straight line can run through a center point or a first receiver of the receiving unit. In addition, a second, different straight line can be determined, which runs through a different signal point, which is synchronous with the signal point, and the second receiving unit. The second other straight line can run through a center point or a second receiver.

The computer device can determine that the signal origin corresponds to the point of intersection between the first and second straight lines. This is in the event that the first and second straight lines intersect. As a result, the signal origin corresponds to the point described above.

In the event that the first other straight line and the second other straight line are skewed to one another, the signal origin can correspond to the other point described above on the other perpendicular line.

In a particular embodiment, the first receiving unit and the second receiving unit can be activated at the same time. "Activated" means that the two receiving units can receive and evaluate signals from this point in time. Before this point in time, the first and second receiving units are in an inactive state in which no signals are received and evaluated. The point in time at which at which the first and second receiving units are activated may correspond to a point in time at which a transmission signal is emitted by a transmitter of the device. Activating the two receiving units at the same point in time makes it possible for signal points to be classified as being synchronous or asynchronous to one another and/or for recognizing whether the received signals originate from the same signal origin. In this respect, the signal origin can be determined in a simple manner by activating the two receiving units at the same time.

The device can have a transmitter for emitting a transmission signal. The device can be made in one piece. In this case, the two receiving units and the transmitter can be arranged in or on a housing of the device. Alternatively, the device can be designed in several parts. In this case, the two receiving units and the transmitter can be designed as separate components. The components can be electrically or electronically connected to the computing device.

In one embodiment of the device, a first receiver or a second receiver can also function as a transmitter. In this case the device does not have a separate transmitter, but the transmission function is performed by a first or second receiver. Such a device has a compact design.

The transmitter can be designed in such a way that the transmission signal is a wave, in particular a pressure wave, preferably a sound wave, or an electromagnetic wave. Accordingly, the received signal is a wave, in particular a pressure wave, preferably a sound wave, or an electromagnetic wave. The transmitter can be an ultrasonic source.

The transmitter can be arranged between the first and second receiving units. In this case, the transmitter can be arranged on the connecting line, in particular on the middle of the connecting line, between the first and second receiving unit. In addition, the transmitter can be located at the center of the device. This arrangement is advantageous when the device has a circular housing. The device can have more than two receiving units, in particular three receiving units. The individual receiving units can be configured identically to the first and/or second receiving unit described above. With a circular design of the device and the provision of more than two receiving units, the measurement accuracy is increased. In this way, the calculation is carried out several times with two receiving units in each case, and an average of the calculated signal points is formed. .The receiving units differ from each other in the calculation. As a result, by doing this, noise can be reduced. An arrangement with three receiving units that are offset from one another by 120° is advantageous because this improves the accuracy in all three spatial directions.

In an alternative embodiment, the transmitter can be located at a different location. However, the transmitter must be positioned in such a way that the signal originating from the signal origin can be received by both receiving units.

The first receiving unit, in particular the first receivers, and the second receiving unit, in particular the second receivers, can be arranged in the same plane. The transmitter can be arranged in the same plane as the first receivers and/or the second receivers.

A distance between the first receivers can be at most, in particular less than, half a wavelength of the received signal. Equally, a distance between the second receivers can be at most, in particular less than, half a wavelength of the received signal.

The first and second receivers can be arranged in such a way that at least two first receivers of the first receiving unit and/or at least two second receivers of the second receiving unit are arranged on a straight line. The transmitter can be located on the same line. At least one first receiver of the first receiving unit and/or at least one second receiver of the second receiving unit can be arranged at a distance from the straight line. Such a device has a compact design. According to one aspect of the invention, the method according to the invention is used in a one-dimensional or multi-dimensional, preferably three-dimensional, position determination, in particular by means of a device according to the invention. In particular, the method can be used in a robot and/or motor vehicle that is moving, in particular autonomously. In the case of the robot and/or motor vehicle, the determined signal origin can be used to control the driving direction and/or driving speed.

The subject of the invention is shown schematically in the figures, with elements that are the same or have the same effect are usually provided with the same reference symbols. It shows:

1 shows an arrangement known from the prior art, consisting of a device with a transmitter and a receiving unit and an object,

2 shows an arrangement known from the prior art, consisting of a device with a transmitter and a receiver unit, an object and an external sound source,

3 shows a device according to the invention according to a first embodiment, which determines signal point pairs according to a first variant,

4 shows the device according to the first embodiment, which determines signal point pairs according to a second variant,

5 shows the device according to the first embodiment, which determines signal point pairs according to a third variant,

6 shows the device according to the first embodiment, which determines signal point pairs according to a fourth variant,

7 shows the device according to the first embodiment, which determines a signal origin according to a first variant,

8 shows the device according to the first embodiment, which determines a signal origin according to a second variant,

9 shows a plan view of a device according to the invention according to the first embodiment,

10 shows a plan view of a device according to the invention according to a second embodiment and Fig. 1 1 is a plan view of a device according to the invention according to a third embodiment.

In the arrangement shown in FIG. 3, the object 13 shown in FIG. 2 and the external signal source 14 are not shown. FIG. 3 shows a large number of signal points S1-S6 and other signal points P1-P6 which are determined by the device 9 on the basis of the received signals 2 (not shown). This is explained in more detail below.

The device 9 differs from the device shown in FIGS. 1 and 2 in that it has two receiving units, namely a first receiving unit 3 and a second receiving unit 5 . The first receiving unit 3 serves to receive at least one signal 2 and has three first receivers 4 . The second receiving unit 5 is also used to receive at least one signal 2 and also has three second receivers 6 . The first and second receivers 4, 6 are not shown in FIG. The first and second receiving unit 3, 5 can also have more than three first and second receivers 4, 6.

The device 9 also has a computer 10 which determines a signal point S1-S6 on the basis of the signal 2 received by the first receiving unit 3 and another signal point P1-P6 on the basis of the signal 2 received by the second receiving unit 5. The computer device 10 is electrically or electronically connected to the first receiving unit 3 and the second receiving unit 5 . The computing device 10 is arranged inside a housing 15 of the device 9 . The first receiving unit 3, in particular the first receiver, and the second receiving unit 5, in particular the second receiver, are arranged on or in the housing 15. As explained in more detail below, the computer device 10 determines whether the signal point S1-S6 and the other signal points P1-P6 are synchronous with one another and determines a signal origin 1 depending on the signal point S1-S6 and the other signal point P1-P6.

Signal points S1-S6, which were determined on the basis of signals 2 received by the first receiving unit 3, are shown in a circle in FIG. the others Signal points P1-P6, which were determined on the basis of the signals 2 received by the second receiving unit 5, are rectangular.

The determination of signal point pairs according to a first procedure is described below. The starting point is the first signal point S1. In a predetermined area 7, which is shown as a circle in FIG. 3 and corresponds to a sphere in three-dimensional space, the computer device 10 checks whether other signal points are arranged in the predetermined area. In the present case, a first different signal point P1 and a second different signal point P2 are arranged in the predetermined area 7 .

In a next step, it is checked whether a first distance r1 between a center M and the first signal point S1 corresponds to a second distance r2 between the center M and the first other signal point P1 or differs from one another by a predetermined range. In addition, it is checked whether the first distance r1 corresponds to a third distance r3 between the center M and the second other signal point P2 or differs from one another by a predetermined range. The center point M lies on a connecting straight line 8, which is shown in dashed lines in Figure 3, between the first receiving unit 3 and the second receiving unit 5.

In the embodiment shown in FIG. 3, it is determined that the first signal point S1 and the first other signal point P1 are at the same or essentially the same distance from the center M. Therefore, the first signal point S1 and the first other signal point R1 are synchronous with each other. In contrast, the third distance r3 between the second other signal point P2 differs significantly from the first distance r1 between the midpoint M and the first signal point P1, so that the first signal point S1 and the second other signal point P2 are considered to be asynchronous to one another.

In a last step, it can be checked whether the distance between the first other signal point and the first signal point S1 along a circular arc line 16 corresponds to a predetermined distance. This is the case in FIG. 3, so that the computer device 10 determines that the first signal point S1 and the first other signal point P1 are related to one another are in sync. The circular arc line 16 is part of a sphere, not shown in detail, with the center point M, which is arranged on the connecting straight line 8 .

The above steps are repeated for all signal points S2-S6 and/or the other signal points P1-P6. It is determined that a fourth signal point S4 and a third other signal point P3 are synchronous with one another.

Figure 4 shows the device 9 according to the first embodiment, which determines pairs of signal points according to a second approach. Analogously to the procedure discussed in FIG. 3, a signal point S1-S6 can first be defined and, starting from this, the other signal points P1-P6, which are arranged in a predetermined area 7 around the signal point S1-S6, can be determined.

According to the second procedure, a straight signal point g is determined, which runs through the first signal point S1 and the first other signal point P1. A perpendicular line I is then determined and it is checked whether the perpendicular runs through the center point M or through a specified area around the center point M. As a result, it is checked whether a perpendicular I exists on the signal point line g, which runs through the center M or through a predetermined area around the center M. This is the case in FIG. 4, so that the first signal point S1 and the first other signal point P1 are synchronous with one another. The perpendicular line I is perpendicular to the signal point line g.

In addition, a further straight signal point g ¹ is shown in dashed lines in FIG. 4, which runs through a sixth signal point S6 and a sixth other signal point P6. As can be seen from FIG. 4, another perpendicular line I' does not run through the center point or through a predetermined area around the center point M. Accordingly, the sixth signal point S6 and the third other signal point P6 are asynchronous to one another.

The above steps are repeated for all signal points S2-S6 and/or the other signal points P1-P6.

Fig. 5 shows the device according to the first embodiment, which determines signal point pairs according to a third approach. This can be done analogously to what was discussed in FIG First, a signal point S1-S6 is defined and based on this, the other signal points R1-P6 are determined, which are arranged in a predetermined area 7 around the signal point S1-S6.

In the third procedure, a first straight line g1 is determined, which runs through the first receiving unit 3, in particular through a midpoint of the first receiving unit 3, and the first signal point S1. The center point corresponds to a center point of a triangle spanned by the three first receivers (not shown). In addition, a second straight line g2 is determined, which runs through the second receiving unit 5, in particular a center point of the second receiving unit, and the second signal point S2. The center point corresponds to a center point of a triangle spanned by the three second receivers (not shown).

As can be seen from Figure 5, the two straight lines intersect at a point P. In a next step, it is checked whether the first signal point S1 and the first other signal point P1 are the same distance from the other point P or whether the distance differences are in one specified range. In the embodiment shown in FIG. 5, the first signal point S1 and the first other signal point P1 are arranged on the curved line of the same circle k1 around the other point P, so that the condition is met. In this case, the computing device 10 determines that the first signal point S1 and the first other signal point P1 are synchronous with one another.

In addition, a third straight line g1′ and a fourth straight line g2′ are drawn in as dashed lines in FIG. 5 and intersect at a further point P′. The third straight line g1' goes through the first receiving unit 3 and a sixth signal point S6 and the fourth straight line goes through the second receiving unit 5 and a fourth other signal point P4. As can be seen from Figure 5, the third signal point S3 and the fourth other signal point S4 are not on the curved line of the same other circle k2, so that the distance between the sixth signal point S6 and the further point P' differs from the distance between the fourth other signal point P4 and the further point P' clearly differ from each other. The computer device 10 therefore determines that the third signal point S3 and the fourth other signal point P4 are asynchronous to one another and therefore do not form a signal point pair. The method described above also works if the straight lines are skewed to one another. In this case, a center point of another perpendicular line that is perpendicular to the first and second straight lines g1, g2 and has the shortest distance between the first and second straight lines g1, g2 is defined as point P. A device in which the method is carried out in the case of skewed straight lines is shown in FIG.

As can be seen from FIG. 6, the first and second straight lines g1, g2 run skew to one another. FIG. 6 shows the other perpendicular line 11, which runs perpendicularly to the first and second line g1, g2. The other vertical straight line 11 is in a position in which the first and second straight lines g1, g2 are at the shortest distance from one another.

The point P is located on the other perpendicular line 11 . In particular, the point P can be the midpoint of the other perpendicular line I2. It is checked whether the distance between the point P and the first signal point S1 corresponds to the distance between the point P and the first other signal point P1 or whether the difference is within a predetermined range. In the event that the condition is met, the first and the first other signal point S1, P1 are synchronous with one another. This is the case in the embodiment shown in FIG.

7 shows the device 9 according to the first embodiment, which determines a signal origin 1 according to a first procedure. As can be seen from FIG. 3, the fourth signal point S4 and the third other signal point P3 are arranged very close to one another. This means that the position of the fourth signal point S4 corresponds to the position of the third other signal point P3 or differs from one another by a permissible, predetermined distance. The computer device 10 determines that the signal origin 1 is also located in the area, for example in the middle between the fourth signal point S4 and the third other signal point P3. In Figure 6, the signal origin is 1 as Object point of an object 13 shown from which the transmission signal is reflected.

Alternatively, the signal origin 1 can also be a sound source.

Fig. 8 shows the device according to the first embodiment, which determines a signal origin according to a second procedure. This procedure is also based on the detected signal point pairs. Thus, in FIG. 7, the starting point is the first signal point S1 detected in FIG. 3 and the first signal point R1. A first different straight line g1a is drawn between the first receiving unit 3 and the first signal point S1 and a second different straight line g1a is drawn between the second receiving unit 5 and the first different signal point R1. The point of intersection of the two straight lines corresponds to the signal origin 1 , which in this case is also an object point of an object 13 . As a result, the signal origin corresponds to the point P determined in Figure 5.

For the sake of completeness, it is pointed out that the point P shown in FIG. 6 corresponds to the signal point origin. This is because the distance between the point P and the first signal point S1 is the same as the distance between the point P and the first other signal point P1, or the distance difference is within a predetermined range.

FIG. 9 shows a plan view of a device 9 according to the invention according to the first embodiment. The device 9 has a rectangular housing. Two of the three first receivers are arranged on a straight line g3. The third first receiver 4 is arranged at a distance from the straight line g3. The transmitter 11 and two of the three second receivers 6 are also arranged on the straight line g3. The third, second receiver is arranged at a distance from the straight line g3. All receivers are arranged in the same plane. In particular, all receivers are arranged on the same side of the device 9 housing.

The connecting line 8 between the first receiving unit 3 and the second receiving unit 5 is shown in FIG. 9 . The connecting line 8 runs between a midpoint of a triangle d1 spanned by the first receiver 4 and a midpoint of a triangle d2 spanned by the second receiver 6 . FIG. 10 shows a top view of a device 9 according to the invention according to a second embodiment. The device differs from the device shown in FIG. 9 in that it, in particular the housing 15, has a circular cross-section, while the housing 15 of the embodiment shown in FIG. 9 is rectangular. Another difference is that the device has three receiving units 3, 5, 17, each of the receiving units 3, 5, 17 having at least three receivers. In addition, the device 9 has a transmitter 11 which is arranged in the center of the device. The receivers of the three receiving units and the transmitter are arranged on the same level.

Fig. 1 1 shows a top view of a device according to the invention according to a third embodiment. The third embodiment differs from the embodiment shown in FIG. 9 in that the housing 15 has a square cross section. Another difference is that the first receiving unit 3 and the second receiving unit 4 are offset from one another. Thus, a straight line g3 running through two first receivers 4 does not run coaxially to a straight line g3 running through two second receivers 6, but rather the two straight lines are offset from one another. In addition, the transmitter 1 1 is not arranged on either of the two straight lines g3.

REFERENCE LIST

1 signal origin

2 received signal

3 first receiving unit

4 first recipients

5 second receiving unit

6 second recipients

7 predetermined area

8 connecting line

9 device

10 Computing Facility

1 1 transmitter

12 transmission signal

13 object

14 Foreign signal source

15 housing

16 circular arc line

17 third receiving unit g signal point line g' further signal point line g1 first line g1 a first other line g2 second line g2a second other line g3 line g1' third line g2' fourth line k1 circle k2 other circle

I plumb line

II other perpendicular line r1 first distance r2 second distance r3 third distance

P point

P' another point

M midpoint of the connecting line

S1 -S6 first to sixth signal point

P1 -P6 first to sixth other signal point

Claims

PATENT CLAIMS

1. A method for determining a signal origin (1), the method comprising the following steps:

Reception of at least one signal (2) by a first receiving unit (3) which has at least three first receivers (4), a signal point (S1 - S6) being determined on the basis of the one signal (2) received,

Receiving at least one signal (2) by a second receiving unit (5) having at least three second receivers (6), wherein on the basis of the received signal (2) another signal point (P1-P6) is determined, wherein is determined whether the signal point (S1-S6) and the other signal point (P1-P6) are synchronous with each other and the signal origin (1) is determined depending on the signal point (S1-S6) and the other signal point (P1-P6).

2. The method according to claim 1, characterized in that a. Depending on the determination result, the signal origin (1) is determined or not and/or that b. the signal origin (1) is not determined if the signal point (S1 -S6) and the other signal point (P1 -P6) are asynchronous to one another and/or that c. the signal origin (1) is determined when the signal point (S1 -S6) and the other signal point (P1 -P6) are synchronous with one another.

3. The method according to claim 1 or 2, characterized in that several signal points (S1 -S6) and several other signal points (P1-P6) are determined.

4. The method according to claim 3, characterized in that it is determined which signal points (S1-S6) and other signal points (P1-P6) are synchronous with one another, in particular before the signal origin (1) is determined.

5. The method according to claim 4, characterized in that a. starting from a signal point (S1 -S6), it is determined whether another signal point (P1 -P6) is located in a predetermined area (7) around the signal point (S1 -S6) and/or that b. starting from another signal point (P1-P6) it is determined whether a signal point (S1-S6) is arranged in a predetermined area (7) around the other signal point (P1-P6).

6. The method according to claim 4 or 5, characterized in that it is specified that a. a signal point (S1 -S6) and another signal point (P1 -P6) are synchronous with each other when a first distance (r1) between the signal point (S1 - S6) and one point and a second distance (r2) between the other signal point ( P1 -P6) and the point (A) meet a predetermined condition, the point being arranged on a straight connecting line (8) between the first receiving unit (3) and the second receiving unit (5) and/or that b. the signal point (S1-S6) and the other signal point (P1-P6) are spaced apart from each other by a predetermined distance along a circular arc line containing the signal point (S1-S6) and the other signal point (P1-P6).

7. The method according to claim 6, characterized in that the point is a center point (M) of the connecting straight line (8).

8. The method according to any one of claims 4 to 7, characterized in that a straight signal point (g) is determined, which runs through a signal point (S1-S6) and another signal point (P1-P6).

9. The method according to claim 8, characterized in that it is determined that the signal point (S1 -S6) and the other signal point (P1 -P6) are synchronous with one another when a perpendicular line (I) on the signal point line (g) through a midpoint (M) of a connecting straight line (8) between the first and second receiving units (3, 5) or through a predetermined area around a midpoint (M) of a connecting straight line (8) between the first and second receiving units (4, 5).

10. The method according to any one of claims 4 to 9, characterized in that a first straight line (gl) is determined by at least one signal point (S1-S6) and the first receiving unit (4), and a second straight line (g2) is determined, which runs through at least one other signal point (P1 -P6) and the second receiving unit (5).

1 1. The method according to claim 10, characterized in that the first and second straight line (g1, g2) run such that a. they intersect at a point (P) or that b. they are skewed to one another, with a point (P) lying on another perpendicular line (11) to the first straight line (g1) and the second straight line (g2).

12. The method according to claim 11, characterized in that it is determined that the signal point (S1-S6) and the other signal point (P1-P6) are synchronous with one another if a first distance between the point (P) and the signal point (S1 -S6) and a second distance between the other point (P) and the other signal point (P1 -P6) meet a predetermined condition.

13. The method according to any one of claims 1 to 12, characterized in that a. the signal origin (1) is determined after a signal point (S1 -S6) and another signal point (P1 -P6) have been determined, which are synchronous with each other and/or that b. the signal origin (1) is determined after it has been determined which signal points (S1 -S6) and other signal points (P1 -P6) are synchronous with one another and/or that c. the signal origin (1) is determined taking into account the determination result.

14. The method according to any one of claims 1 to 13, characterized in that the position of the signal point (S1 -S6) and the signal point (S1 -S6) synchronous other signal point (P1 -P6) is determined, the signal origin (1) corresponds to the position of the signal point (S1 -S6) and/or the other signal point (P1 -P6) if the position of the signal point (S1 -S6) and the position of the other signal point (P1 -P6) are the same or by a predetermined range differ from each other.

15. The method according to any one of claims 1 to 14, characterized in that a first different straight line (g1a) is determined, which runs through a signal point (S1-S6) and the first receiving unit (3), and a second different straight line ( g2a) is determined, which passes through another signal point (P1 -P6) which is synchronous with the signal point (S1 -S6) and the second receiving unit (5).

16. The method as claimed in claim 15, characterized in that the signal origin (1) is the point of intersection between the first and second other straight lines (g1a, g2a).

17. The method according to any one of claims 1 to 16, characterized in that a. the first receiving unit (3) and the second receiving unit (5) are activated at the same time and/or that b. a point in time at which the first and second receiving unit (3, 5) is activated corresponds to a point in time at which a transmission signal is emitted.

18. Device (9), in particular for carrying out a method according to one of claims 1 to 17, for determining a signal origin (1) with a first receiving unit (3) for receiving at least one signal (2), the at least three first receivers ( 4), a second receiving unit (5) for receiving at least one signal (2), which has at least three second receivers (6) and a computing device (10) which, on the basis of the signal received by the first receiving unit (3). (2) determines a signal point (S1 -S6) and on the basis of the signal (2) received from the second receiving unit (5) another signal point (P1 -P6), wherein the computing device (10) determines whether the signal point (S1 -S6) and the other signal point (P1 -P6) are synchronous with one another and determines the signal origin (1) depending on the signal point (S1-S6) and the other signal point (P1 -P6).

19. Device (9) according to claim 18, characterized in that the device (9) has a transmitter (11) for emitting a transmission signal (12).

20. Device (9) according to claim 19, characterized in that a. the transmitter (11) is designed in such a way that the transmission signal (12) is a wave, in particular a pressure wave, preferably a sound wave, or an electromagnetic wave and/or that b. a first receiver (4) of the first receiving unit (3) or a second receiver (6) of the second receiving unit (5) acts as a transmitter (11) and/or that c. the received signal (2) is a wave, in particular a pressure wave, preferably a sound wave, or an electromagnetic wave.

21 . Device (9) according to claim 19 or 20, characterized in that a. the transmitter (1 1) between the first and second receiving unit (3, 5) arranged and / or that b. the transmitter (11) is arranged at the center of the device (9).

22. Device (9) according to any one of claims 18 to 21, characterized in that a. the first receiving unit (3) and the second receiving unit (5) are arranged in the same plane and/or that b. the first receiver (4) and the second receiver (5) are arranged in the same plane and/or that c. the transmitter and the first receiving unit (3) and the second receiving unit (5) are arranged in the same plane.

23. Device (9) according to any one of claims 18 to 22, characterized in that a. a distance between the first receivers (4) is at most, in particular less than, half a wavelength of the received signal (2) and/or that b. a distance between the second receivers (5) is at most, in particular less than, half a wavelength of the received signal (2).

24. Device (9) according to one of claims 18 to 22, characterized in that at least two first receivers (4) of the first receiving unit (3) and/or at least two second receivers (6) of the second receiving unit (5) are on a straight line (g3) are arranged.

25. Device (9) according to claim 24, characterized in that a. the transmitter (1 1) is arranged on the straight line (g3) and/or that b. at least one first receiver (4) of the first receiving unit (3) and/or at least one second receiver (6) of the second receiving unit

(5) is arranged at a distance from the straight line (g3).

26. Use of a method according to any one of claims 1 to 17 in a one- or multi-dimensional, preferably three-dimensional, position determination, in particular by means of a device (9) according to any one of claims 18 to 25.