Positioning system for movable objects, method for positioning objects, and application of the positioning system

Abstract

The present invention relates to a localization system for locating and / or monitoring at least one movable object in interior spaces, comprising a plurality of fixed-position transponders, at least one reader / transmitter carried by the at least one movable object, and at least one central unit. Furthermore, the present invention relates to a method for localizing a movable object carrying a reader / transmitter, and to the use of the localization system for training in rescue, explosion, damage, gas alarm, smoke, sports, and / or fire scenarios.

Description

Technical Field

[0001] The present invention relates to a system for locating at least one movable object, comprising a plurality of fixed-position transponders, at least one reader / transmitter carried by the at least one movable object, and at least one central unit. The invention also includes a method for locating at least one movable object and the use of the locating system in training for rescue, explosion, damage, gas alarm, smoke, motion, and / or fire scenarios. According to one embodiment, the locating system also includes the detection and evaluation of performance parameters and vital signs of each movable object. Background Art

[0002] A wide variety of fire training scenarios and other training scenarios are currently used in a large number of fire, firefighting, operational and emergency training facilities. These scenarios constitute the actual core of the training facilities and show, for example, a single-family house, a high-rise building, an industrial facility, an airplane, a warehouse, a ship, a petrochemical facility or a mine on fire. The training scenarios can show fire and smoke scenarios, explosions, firefighting, rescue, repairs, arrests, disarmament, liberation or auditory and / or visual scenarios. For example, fire, deflagration, explosions, leaks, hazardous materials scenarios, smoldering, smoke walls, gas accidents, flooding scenarios, screams of victims (including subjects or puppets to be rescued), kidnappers to be disarmed or collapsed scenarios (for example, collapsed building parts) or flashes on damaged cables. However, they can also shape or show other situations or perspectives in which rescuers are deployed. The scenarios can also be a combination of the above aspects.

[0003] A disadvantage of known training facilities is that the location or position of the test subject, in particular in an interior space, cannot usually be determined or can be determined only in an insufficiently precise manner.

[0004] Known training facilities typically only display where a subject or instructor is located, not which subject or instructor is present. Therefore, it's often impossible to distinguish between multiple subjects, or between a subject and any instructor. However, this distinction is necessary because in smoke-filled scenarios, such as those firefighters often face for training purposes, third parties have limited visibility into the space from the outside, making it difficult or only sub-intuitive to determine or monitor a subject's exact location, training performance, or vital functions within the scenario.

[0005] In previously known training facilities, subjects are positioned, for example, using pressure plates embedded in or located on the floor. These pressure plates can be mechanically operated, such as by the subject touching or stepping on them, and transmit signals to a central unit representing the subject's spatial situation and position. By manipulating the pressure plates, the subject's current position can then be visualized at the central evaluation unit. A disadvantage of known training facilities with mechanical pressure plates is that they often have a short lifespan or are susceptible to contamination. This is due, in part, to the extreme conditions encountered in fire or smoke scenarios, where heavy equipment is used, and where water or foam may be used for extinguishing fires, as well as mechanical wear and heat. Furthermore, repairing or replacing mechanical pressure plates increases the workload for operators of such training facilities. Their reliability is also not particularly high, as contamination, water, or heat can impair their function during training. Consequently, the sudden detachment of a single pressure plate could compromise the continuity of the training session and, in particular, the safety of the subject. Furthermore, since each monitored spatial unit requires a wired connection to the evaluation / display point, conventional training facilities incur significant cabling requirements, for example, from the pressure plates and light barriers or proximity sensors. This also applies to bus systems, since their lines must be looped back at least to all detected sensors.

[0006] Likewise, positioning of subjects in conventional training facilities of this type is very costly if it is to be done precisely, since accurate positioning can only be achieved using a large number of such mechanical pressure plates, light barriers or proximity sensors, and there is always the risk that one of these devices will not be triggered or will be skipped or bypassed.

[0007] If the pressure plates must be activated and triggered deliberately, realistic training scenarios are not possible, even if the actual training scenario offers an alternative, more sensible route, such as one that doesn't follow the pressure plates. Another disadvantage of these training systems is the inability to determine which subject is at which location. Mechanical pressure plates can only determine whether a subject is at a certain location, not which subject. It's also generally impossible to use these systems for anything beyond simple positioning, particularly for capturing, evaluating, modifying, and / or measuring training tasks and vital functions.

[0008] Purpose of the Invention

[0009] The object of the present invention is therefore to provide a positioning system for interior spaces (also referred to hereinafter as "system" or "system for positioning") which ensures good positioning accuracy and reliability even in interior spaces, is robust, wear-resistant and easy to install, is inexpensive and can be operated even under adverse conditions, such as in the presence of smoke, fire or water, in darkness or when visibility is strongly restricted.

[0010] Furthermore, the system according to the invention should be able to simultaneously locate multiple movable objects and determine which movable object is at which position (unambiguous identification). Furthermore, the system according to the invention should be flexible and expandable in order to take on additional monitoring and evaluation functions and to communicate with a central unit for this purpose. Summary of the Invention

[0011] According to the invention, this object is achieved by the subject matter of the independent claims. Preferred embodiments are the subject matter of the dependent claims or are described below.

[0012] A positioning system for at least one movable object in an interior space, comprising at least:

[0013] At least two transponders, preferably at least four transponders, are arranged in a fixed position in the interior space, preferably a plurality of transponders (for example, more than 20) are distributed in a fixed position in the interior space;

[0014] at least one reader / transmitter, wherein the reader / transmitter is designed to be arranged on and carried by a movable object, preferably a plurality of movable objects each having a reader / transmitter;

[0015] at least one central unit, wherein the central unit is preferably part of a control and regulation space, in which the instructor monitors and, if necessary, controls the training;

[0016] wherein the reader / transmitter is designed to wirelessly read first information including an identification of the respective transponder from the respective transponder when the reader / transmitter approaches the respective transponder to a certain distance, and to transmit the respective first information including the identification of the respective transponder or an evaluation result of the first information to the central unit, and

[0017] The central unit is designed to receive information from the corresponding readers / transmitters in order to display the position of the movable object in a graphical representation of the interior space.

[0018] By means of the positioning system according to the invention, a movable object can be positioned in an interior space and, by means of the central unit, can be displayed in a positionally accurate manner in a representation of the interior space.

[0019] In this system, a transponder is fixedly mounted at a known location in an interior space, while a reader / transmitter is located on and carried by a movable object. The transponder communicates with the reader / transmitter via a wireless communication link, such as radio waves. The reader / transmitter reads the ID of a transponder within a certain distance and transmits the information, or an evaluation of this information, to a central unit via another wireless communication link.

[0020] If necessary, this distance can act as a threshold and be dynamically decreased when too many transponder IDs are received; or increased when too few transponder IDs are received.

[0021] The identification (ID) is a unique identification. The nature of the identification is arbitrary as long as it is unambiguous (used only once for the transponder used) and can be, for example, a serial number or just a position. Detailed Description of the Invention

[0023] The interior space is, for example, a house (including a high-rise building), a hall (including a warehouse or production hall), a vehicle (such as a ship, submarine, train or airplane), a storage tank, an industrial / production facility or a petrochemical facility or a mine including a tunnel (or only a part thereof).

[0024] An interior space in which transponders are located is displayed as a training device. To the extent that an interior space includes transponders arranged in a fixed position, the interior space is part of the training device. The interior space can be a real interior space or a simulated interior space for training purposes, such as a multi-level respiratory protection maze (if applicable) or a training room with movable walls or passageways. The training device should be able to display scenarios or aspects thereof that would occur, for example, when rescuers or other emergency personnel are deployed.

[0025] Depending on the specific position of the movable object, in particular relative to the central unit, certain scenarios can be triggered manually or automatically in the interior space, such as smoke, screams, or fire, explosions, or leaks. The scenario can then trigger a certain training action, such as rescue, fire extinguishing, or the activation or use of protective equipment (such as protective clothing or breathing apparatus).

[0026] The training device can be used, for example, for training emergency personnel, firefighters, paramedics, police, military, special intervention forces or border guards. Thus, it is, for example, a training device for fire, firefighting, smoke, damage, operation and emergency situations.

[0027] For example, DE 10 2014 11 8 928 A1 describes a training device. For example, a fire in an interior space producing dense smoke can be simulated in the training device. One or more obstacles or training equipment can be placed in the training device. These obstacles and training equipment can be, for example, tables, chairs, cabinets, etc. Preferably, the training device typically consists of multiple rooms interconnected, for example, by doors. Furthermore, as part of the interior space, stacked rooms can be connected to each other by stairs or ladders. Transponders are located at precisely defined locations in the training device.

[0028] According to another embodiment, the training device is a so-called respiratory protection maze, a respiratory protection training facility (e.g. according to DIN 14093) or an SCBA training hall. Such facilities usually require the precise positioning of movable objects in a spatial unit (e.g. 1 m×1 m) and in multiple planes superimposed on each other.

[0029] Typical training scenarios are, for example, using respiratory protection, inspecting and orienting around obscured and blocked objects, searching for smoking and obscured objects, body load bearing (e.g., walking quickly and carrying cargo in confined spaces), inspecting and climbing obstacles (e.g., ladders), entering containers and narrow shafts, noise, positioning equipment and rescue items, performing technical / manual tasks in the absence of light, self-protection, handling contaminated objects, and wearing protective clothing.

[0030] In one embodiment, the transponder is a so-called RFID transponder or RFID tag (RFID=Radio Frequency Identification), in particular a passive RFID transponder.

[0031] For active transponders, the energy is usually provided by an internal battery or equivalent energy source. Once turned on, the active transponder can also continuously transmit its ID.

[0032] The preferred passive transponder is powered by the signal or electromagnetic field of the reader / transmitter and only transmits its ID via the reader / transmitter when triggered. When using a passive transponder, it is triggered by the reader / transmitter using the electromagnetic field emitted by the reader / transmitter. To this end, the electromagnetic field preferably has an adjustable range so that the RFID transponder can be triggered accordingly. During communication, the energy absorbed by the antenna then serves as a power source for the transponder's microchip. The triggered microchip in the transponder receives and decodes the instructions sent by the reader / transmitter. Thus, the transponder transmits its "unique ID," also known as identification or ID. Other and additional information requested by the reader may also be transmitted.

[0033] Depending on the type, RFID transponders operate, for example, in the following ranges: longwave at 125 kHz, 134 kHz, 250 kHz, 375 kHz, 500 kHz, 625 kHz, 750 kHz, 875 kHz, shortwave (HF) at 13.56 MHz, UHF at 865-869 MHz or 950 MHz, or SHF at 2.45 GHz and 5.8 GHz.

[0034] Preferably, the transponders are mounted on the floor, particularly in interior spaces displaying respiratory protection training equipment or breathing mazes. This arrangement is advantageous if the interior space is multi-story, as the transponders then function as both floor and ceiling transponders. The reader / transmitter receives a generally adjustable threshold value for the distance from the transponder ID. By increasing the transponder density in the interior space, positioning accuracy can be improved. Thus, for example, 2-10 transponders, preferably 3-8 transponders, are used over a surface area of ​​approximately 16 square meters in the interior space.

[0035] According to another embodiment, the interior space is divided into a plurality of blocks, for example grid squares and / or rectangles, and particularly preferably, the size of the blocks is, for example, 0.8 to 2 square meters, wherein 1 to 5 transponders, in particular 2 to 5 transponders, are arranged in each block.

[0036] If the surface is rectangular or square, the transponders can be placed approximately in the middle and in each corner. Adjacent tiles can then share the transponders in the corners.

[0037] Particularly preferably, the transponder is embedded in the floor or in a wall near the floor.

[0038] The reader / transmitter is located on and carried by the movable object to be located.

[0039] The reader / transmitter reads the transponder's ID via a first wireless communication connection (eg via radio waves). For passive transponders, the reader / transmitter emits electromagnetic waves to trigger the transponder, which then sends its ID.

[0040] The reader / transmitter is communicatively connected to the central unit via a second wireless communication connection. Possible wireless communication connections for communication between the reader / transmitter and the central unit also include Bluetooth, WiFi, a mobile phone network such as GSM, UMTS, LTE, 4G and / or 5G, or DECT or ZigBee. Preferably, the reader / transmitter communicates with the central unit via the WiFi connection.

[0041] According to a preferred embodiment, the reader / transmitter includes at least one other sensor. Suitable examples include position sensors, magnetic field sensors, acceleration sensors, sensors for vital functions (such as heart rate, respiration, and / or blood pressure), or sensors for environmental parameters (such as air pressure, oxygen content, temperature, or hazardous gases). The reader / transmitter may also include multiple other sensors. A reader / transmitter with a position sensor and / or a magnetic field sensor and / or an acceleration sensor is conceivable.

[0042] Other sensors can also collect parameters of training equipment carried by the movable object, such as breathing equipment or dummies to be found or rescued.

[0043] An example of a position sensor, particularly known in smartphones, is a gyroscope, which detects changes in the orientation of the reader / transmitter in space (e.g., rotational movement). Since the reader / transmitter is securely attached to the movable object, its posture can also be determined, e.g., whether the person is lying prone or supine, doing push-ups, or standing upright.

[0044] In another embodiment, the reader / transmitter may include a magnetic field sensor. For example, this magnetic field sensor can be used to determine the direction of the sky. In another embodiment, the reader / transmitter also includes an acceleration sensor. This can be used to determine the possible speed of a movable object, or at least its direction of travel.

[0045] The transponder can also read out the signal strength, which is an approximate measure of the distance between the transponder and the reader / transmitter. The time between the transmission of the signal and the arrival of the return signal can also be measured. In another approach, the reader's ordinary radio signal is supplemented with a periodically repeating locating signal. This signal is so weak that the transponder cannot detect it. Therefore, the transponder's response to the actual radio signal remains unchanged and the read data is transmitted as usual. Despite this, the RFID transponder still reflects back part of the locating signal. Accumulating the time-repeating signal provides a method that allows this weak response in the reader to be reliably distinguished from random noise. If the pattern of the locating signal can be read in the RFID transponder's response, the signal's transmission time and thus the distance can be calculated.

[0046] The range here depends on two factors. Since the passive RFID transponder must be powered by the radio signal, the possible distance is accordingly limited. Commercial passive RFID transponders can be detected at a maximum distance of approximately twelve meters.

[0047] If the transmission / reading direction is determined, it can also be used to determine the most likely location of the reader in the transponder's response space. The reader / transmitter's read sensitivity (thus reducing the first read distance of the ID) and / or the reader / transmitter's transmission intensity to the transponder (thus reducing the first trigger distance) can also be reduced as needed (even dynamically, i.e., using software, for example). While a signal is still being received, the distance to the transponder can be inferred, for example, using a calibration curve: the transmission power that is just barely receivable at a certain distance.

[0048] Depending on the specific application, the radio signal range of an RFID transponder can be reduced to approximately one meter or even just 50 centimeters, for example by shielding the RFID transponder, suppressing it with nearby metal, deliberately reducing the transmit power of the reader or transponder, or any interfering signals. This also depends on the frequency used. Thus, so-called UHF transponders, together with the corresponding readers, have a relatively long range.

[0049] In another embodiment, at least one transponder is positioned at the inside of the training equipment of inner space, and must be for example " opened " or triggered by movable object.For example, transponder can be placed in cupboard, and this cupboard is positioned at inner space as training equipment.In this construction, can expect that movable object opens the door of cupboard.Under the following circumstances, will implement the inspection whether movable object has opened cupboard door: when movable object opens cupboard door or mechanically or electromechanically removes the radio technology barrier between transponder and reader in other similar manners, the transponder in cupboard is accessible on radio technology or has energy loading and radio signal can be sent back to read / transmitter by reader / transmitter.Motion such as switching also can utilize system according to the present invention to detect.For example, transponder also can be accessible / readable by radio technology by switch switching or similar mode triggering.

[0050] The transponder can also be housed in the dummy. Then, since the reader / transmitter receives the transponder ID along the moving path of the movable object, the identification of the transponder can be used to determine that the dummy is moving with the movable object.

[0051] The reader / transmitter communicates with multiple transponders almost simultaneously and reads their identifications from them, which are then sent to a central unit. The information about which identifications were read almost simultaneously is crucial for determining the position of movable objects.

[0052] In another embodiment, the reader / transmitter has its own device-specific identification (third information). In this embodiment, it is possible that information sent from the reader / transmitter to the central unit enables the central unit to determine which reader / transmitter sent the information. Preferably, the reader / transmitter also has an identification. The central unit can then identify the location of the movable object and its identification based on a pre-assigned assignment. In addition, in this embodiment, it is also possible for multiple movable objects to be in the interior space simultaneously or at different times and to be located and identified.

[0053] According to one embodiment, the reader / transmitter is portable as a handheld device and can be worn on the body, for example in a breast pocket, on a belt or helmet, on a respirator, etc. The reader / transmitter has at least a front side and a back side and, according to the invention, is located on a movable object.

[0054] According to one embodiment, an ID is read or a transponder is triggered to receive a transponder ID "antegrad," meaning forward in the normal direction of movement or flow, while "retrograd" means backward; against the normal direction of movement or flow, without triggering and / or reading. In this embodiment, only the transponder IDs located in front of the movable object are read. This results in the identification of the movable object's orientation and its direction of movement (at least when moving forward).

[0055] It is also possible that the reader / transmitter only reads or triggers individual transponders in reverse, and thus can only read the transponder IDs that are located behind the movable object.

[0056] According to another preferred embodiment, the reader / transmitter reads the transponder ID in both the forward and reverse directions and forwards it to the central unit, along with the assignment of forward and reverse readings. This allows not only the location of movable objects but also their orientation in space. In this embodiment, for example, it is possible to determine whether a firefighter is lying flat, crawling, or creeping.

[0057] Preferably, this is also accomplished by including the acceleration, position and magnetic field sensors described above.

[0058] According to one embodiment, the central unit performs a spatial evaluation of the received information. Alternatively, the positioning information can be located in the reader / transmitter itself, which then transmits its ID along with the positioning coordinates of the reader / transmitter's position. According to this embodiment, the geometric coordinates of the interior space and the transponder can be stored on the reader / transmitter. In this embodiment, the transponder's identification is transmitted to the reader / transmitter, which determines its position and then transmits it to the central unit.

[0059] In a preferred embodiment, a central unit (particularly a computer) processes the information transmitted by the reader / transmitter. The basic geometry of the room or training device is stored in the central unit. Furthermore, the coordinates and serial numbers of the transponders located in a fixed position within the room or interior are stored. In one embodiment, the central unit is able to visualize (preferably in 3D) the data received from the reader / transmitter using a computer program or software.

[0060] In another embodiment, the geometric coordinates of the interior space and the transponders are stored on the reader / transmitter and the central unit is primarily used to visualize the movable object, preferably in a 3D representation.

[0061] In one embodiment, the system can be used to perform a so-called plausibility check to check the position determination of a movable object. For this purpose, a check is performed to determine whether the movable object can move from one position at time t1 to a second position at time t2 based on the maximum possible speed for that distance. This is done by determining whether the specific distance covered by the respective movable object within a certain time is plausible. If this is not plausible, the determined second position is rejected and re-determined. The plausibility check is performed by the central unit or the reader / transmitter, preferably by the central unit.

[0062] The reader / transmitter is placed on a movable object. This movable object can be, for example, a rescue dog or a remote-controlled robot, such as the one used by police in bomb disposal. Humans (such as firefighters) can also represent movable objects.

[0063] The function of the positioning system according to the present invention will be described more precisely below using a passive transponder as an example.

[0064] A reader / transmitter located on the movable object emits, for example, radio waves, which respond to or communicate with a transponder (e.g., a passive RFID transponder) affixed to the interior space or training device when the movable object passes through or enters the interior space or training device. The microchip activated in the transponder or RFID transponder decodes the instructions sent by the reader / transmitter. The transponder then transmits its ID to the reader / transmitter.

[0065] The reader / transmitter, which is communicatively connected to the central unit, transmits the information received from the transponder (e.g., ID), as well as the transponder's coordinates and / or process-related parameters, to the central unit. Based on the information transmitted to it, the central unit can determine which transponder the information originated from. Furthermore, the central unit can preferably determine which reader / transmitter the information originated from. This allows the position of multiple movable objects in an interior space to be determined simultaneously relative to this position and to record other parameters, each of which has at least one dedicated reader / transmitter.

[0066] The central unit can thus assign the information transmitted by the reader / transmitter to the stationary transponders.

[0067] In another embodiment, the reader / transmitter also includes a sensor for a global navigation satellite system (GNSS). This also includes NAVSTAR GPS, GLONASS, Galileo, and BeiDou. Using GNSS sensors, movable objects can even be located from outside an interior space. This allows for positioning of movable objects not only within an interior space but also across a geographical area. This makes it possible to plan routes involving, for example, multiple interior spaces that are not directly interconnected.

[0068] In another embodiment, the system according to the present invention can also be designed to execute or monitor a competition among multiple different movable objects in one or more interior spaces. For example, it is possible to collect, monitor, and record the performance of one or more movable objects, such as the completion of spatially and / or temporally related goals or tasks. To this end, the reader / transmitter preferably receives additional information about the respective performance, such as the tasks performed by specific transponders. For example, this could be information about possible "extinguisher detection" in a fire scene, or about training dummies (simulated humans) such as the operation of switches, the arrival or rescue, or resuscitation of training dummies. To this end, in this embodiment, the reader / transmitter preferably includes the aforementioned sensors, which collect data such as heart rate, blood pressure, oxygen saturation, respiratory rate, etc. of a surviving movable object from, for example, a firefighter, and transmit performance data collected from other external training equipment and assign it to the movable object, or assign its position and related information to the movable object. In this way, using the positioning system according to the present invention, it is possible to determine and quantify, for example, the tasks, training results, or skills of firefighters. For example, the positioning system according to the invention can be used to determine which movable object can, for example, pass through a training facility faster, or solve possible tasks in a training facility faster or slower, or whether a provided task has been solved completely or fully.

[0069] In another embodiment, other positioning systems, such as satellite-based positioning systems, can be integrated with the system according to the present invention. For example, a positioning and assessment system can be implemented in a complex facility having both indoor and outdoor areas or multiple interior spaces. This can be used, for example, to collect the location and / or performance of subjects / participants, which can be used in training, competition, and / or testing scenarios for emergency response personnel, security personnel, special personnel, and / or rescue personnel, such as simulations of emergency situations, extreme situations, disasters, and / or damage scenarios in indoor spaces and outdoor terrain.

[0070] Furthermore, the present invention comprises a method for locating and / or evaluating at least one movable object in at least one interior space.

[0071] In a first embodiment, the method according to the invention for locating and / or evaluating at least one movable object in at least one interior space comprises at least the following steps:

[0072] - introducing and moving at least one movable object, preferably a plurality of movable objects, each carrying at least one reader / transmitter in an interior space, the interior space comprising at least two fixedly arranged transponders, preferably at least four fixedly arranged transponders, preferably a plurality of transponders;

[0073] - if the reader / transmitter approaches the corresponding transponder, the identification of the transponder is read by the reader / transmitter as first information,

[0074] - sending at least first information to a central unit via a wireless communication connection; and

[0075] - Graphically representing the movable objects in the interior space by the central unit according to the received first information.

[0076] If a passive transponder is installed:

[0077] triggering of at least one transponder by means of a wireless communication connection by at least one reader / transmitter, wherein the triggering comprises the transmission of a transponder identification, wherein the reader / transmitter is arranged on the movable object;

[0078] - the transponder responds to the reader / transmitter and transmits first information including the identification of the transponder, and

[0079] - transmitting first information including the identification of the triggered transponder or an evaluation of the first information to a central unit.

[0080] The method according to the invention for locating and / or evaluating at least one movable object in at least one interior space, wherein passive transponders are used, is described in more detail below.

[0081] In a first embodiment, at least two transponders are arranged in a fixed position in the interior space, preferably at least four transponders are arranged. The exact position of the transponder is known, preferably an RFID transponder. As another step, at least one movable object is introduced into the interior space. The reader / transmitter is arranged on the movable object. When the movable object enters the interior space, the transponder arranged in a fixed position in the interior space can be triggered by means of the radio waves of the reader / transmitter. Only the transponders within the range of the radio waves emitted by the reader / transmitter are triggered (or contacted). The transponders triggered in this way transmit the first information of the corresponding transponder back to the reader / transmitter. The first information includes at least the identification of the transponder that was triggered. The first information received by the reader / transmitter is transmitted to the central unit in other steps.

[0082] In one embodiment, the basic geometry of the interior space and the precise positions of the fixed-position transponders are stored in a central unit, which processes the received first information and graphically displays it using a computer program or software. In another embodiment, the information about the positions of the fixed-position transponders is stored on the reader / transmitter. In this embodiment, the position of the movable object can be determined on the reader / transmitter and transmitted directly to the central unit.

[0083] In a second preferred embodiment of the method according to the present invention, the reader / transmitter receives transponder IDs only in two, preferably opposite, directions, particularly preferably in the forward and reverse directions. The reader / transmitter thus queries only transponders located in front of or behind the movable object. This further improves the positioning accuracy of the method according to the present invention. It can also be used to determine the spatial direction in which a movable object is pointing.

[0084] According to another embodiment, the reader / transmitter includes a position sensor. For example, it can precisely determine whether the movable object is standing or, for example, kneeling or crawling forward. For example, in a multi-story interior space, such as a multi-story maze, it can also be determined whether the movable object is standing upright, lying down, or, for example, crawling. For example, a movable object (e.g., a firefighter) could lie flat on their stomach while traversing a narrow passage within a maze. In another embodiment, at least one firefighter could run a complete route comprising multiple different interior spaces that are not necessarily connected to one another, wherein positioning between the interior spaces is achieved using satellite positioning.

[0085] The positioning and evaluation system and method according to the present invention have great advantages compared to previously known positioning systems, for example when used in training devices. In addition, since it is wear-resistant and requires almost no installation, it greatly reduces the economic burden on training facility operators.

[0086] Furthermore, the positioning accuracy of the system according to the present invention is higher than that of conventional positioning systems, and furthermore, movable objects can be clearly identified and accurately positioned.

[0087] According to one embodiment, the movable object explores the interior during a first "pass" (teaching mode) and thereby reads the transponder IDs that can be received at each possible position of the movable object in the interior. Then, during a second or subsequent pass, the locations where these transponder ID combinations were previously stored are determined based on the IDs received by the reader / transmitter. This is particularly interesting in reconfigurable interiors or interiors with removable / movable elements, such as in respiratory protection facilities or under mazes. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] The invention is described in more detail below with reference to a number of exemplary embodiments and with reference to the accompanying drawings, from which further inventive features are derived, but to which the invention is not limited. In the accompanying drawings:

[0089] Figure 1 and Figure 2 : A top view of a snapshot of the positioning method according to the present invention;

[0090] Figure 3 : A cross-sectional view of a positioning insert with an interior space of a transponder embedded in the floor;

[0091] Figure 4 A flow chart illustrating the logic of the evaluation software used to determine position is shown. DETAILED DESCRIPTION

[0092] Figure 1 A schematic diagram of an interior space is shown. The interior space is divided into square sections, each containing five transponders. Within the interior space is a movable, humanoid object equipped with a reader / transmitter. The reader / transmitter emits radio waves, which trigger certain passive RFID transponders within range of the emitted radio waves (a).

[0093] Transponders outside the radio wave range of the reader / transmitter are marked with (b). Transponders within range (a) transmit their identification to the reader / transmitter. This allows the position of movable objects in interior spaces to be determined.

[0094] Figure 2 Shown with Figure 1 The same interior space with people in different positions in the interior space. It can be seen that the other transponder (a) is triggered to send its ID, while the transponder (b) does not transmit any ID to the reader / transmitter.

[0095] Figure 3 : shows a cross section through a tile along a diagonal line, wherein the transponder (c) is embedded in the center of the tile and the transponder (d) is embedded in the corner of the tile.

[0096] Figure 4 A flow chart illustrating the logic of the evaluation software used to determine the position is shown. Figure 1 Once taking history into account (left), and once using a position sensor (center).

Claims

1. A positioning system for at least one movable object in an interior space, comprising: a plurality of transponders spaced apart from one another and arranged in a fixed position in the interior space, at least one reader / transmitter, wherein said reader / transmitter is designed to be arranged on and carried by said movable object, - at least one central unit; wherein the reader / transmitter is designed to wirelessly read the first information including the transponder identification of the respective transponder received from the respective transponder when approaching the respective transponder to a certain distance, and transmit the respective first information including the transponder identification of the respective transponder or the evaluation result of the first information to the central unit, and The central unit is designed to receive and evaluate information from the individual readers / transmitters and the received first information in order to display the position of the movable object in a graphical representation of the interior space; wherein the transponder is arranged in a fixed manner; and wherein the receiving unit of the reader / transmitter reads transponder identifications only in the forward direction and the receiving unit of the reader / transmitter reads transponder identifications only in the reverse direction and associates each received transponder identification as information with further information indicating whether it was received in the reverse or forward direction; and / or The reader / transmitter transmits or receives in a directionally directed manner so as to trigger the transponder in the respective forward and / or reverse direction to start emitting a transponder identification and receiving a transponder identification, and to provide the received transponder identification with the further information for the forward and / or reverse direction and to transmit this information to the central unit as the further information associated with the corresponding transponder identification.

2. The positioning system according to claim 1, wherein: The interior space is divided into a plurality of sections, each section having a size of 0.8 to 2 square meters having at least two transponders that can be sensed by the reader / transmitter.

3. The positioning system according to claim 2, wherein: These blocks have substantially the same surface.

4. The positioning system according to claim 1, wherein: The interior space is part of a training facility, and the interior space is used to train rescue, explosion, gas alarm, smoke, damage, deployment, movement or fire scenarios.

5. The positioning system according to claim 1, wherein: The interior space is selected from the group consisting of a respiratory protection training route, a maze, a house, a high-rise building, a hall, a vehicle, a mine, a tunnel, and a production facility, or the interior space is a part of the above spaces.

6. A positioning system according to claim 1, wherein: The transponder is a passive transponder, wherein the reader / transmitter triggers the transponder to transmit the transponder identification and the passive transponder does not communicate directly with the central unit but only via the reader / transmitter.

7. The positioning system according to claim 6, wherein: The transponder is an RFID transponder.

8. The positioning system according to claim 1, wherein: The central unit comprises a display, or comprises a display and an evaluation unit in the form of a computer.

9. The positioning system according to claim 8, wherein: The central unit is arranged in a fixed position.

10. The positioning system according to claim 1, wherein: The reader / transmitter - when the number of read transponder identifications falls below a minimum number, increasing the reading sensitivity in order to read additional transponders at a greater distance from the reader / transmitter, and / or When the number of read transponder identifiers exceeds a maximum number, the reading sensitivity is reduced so that only transponder identifiers at a shorter distance from the reader / transmitter are read.

11. The positioning system according to claim 10, wherein: The maximum number of transponder identifiers that can be read is 4 or more transponder identifiers.

12. The positioning system according to claim 1, wherein: In the “teach mode”, the movable object scans the interior space and reads, for all possible positions of the movable object, the transponder identification associated with the position.

13. The positioning system according to claim 1, wherein: The movable object is a trainer or a robot carrying the reader / transmitter.

14. The positioning system according to claim 2, wherein: The reader / transmitter has its own device-specific identification, so that the information sent by the reader / transmitter to the central unit enables the central unit to determine which reader / transmitter sent the information, so that the central unit can identify the position of the movable object relative to the multiple blocks and the identification of the movable object based on the previous arrangement, and display the position of the movable object relative to each block in a graphical representation of the internal space.

15. The positioning system according to claim 1, wherein: The reader / transmitter has at least one other sensor selected from the group consisting of a satellite navigation sensor, a position sensor, a magnetic field sensor, an acceleration sensor, a heartbeat sensor, a breathing sensor, a blood pressure sensor, an air pressure sensor, an oxygen content sensor, a temperature sensor, a harmful gas sensor, a motion or vibration sensor.

16. The positioning system according to claim 15, wherein: The reader / transmitter has one or two or three sensors selected from the group consisting of a satellite navigation sensor, a position sensor, a magnetic field sensor, and an acceleration sensor.

17. The positioning system according to claim 1, wherein: The geometry of the interior space as well as the positions of the transponders and their transponder identifications are stored in the central unit.

18. The positioning system according to claim 1, wherein: The reader / transmitter also records performance parameters and / or vital parameters and transmits them to the central unit in association with the identification of the movable object and / or the position of the movable object.

19. The positioning system according to claim 18, wherein: One of the other sensors of the reader / transmitter also records performance parameters and / or vital parameters and associates them with the identification of the movable object and / or the position of the movable object, which are transmitted by the reader / transmitter to the central unit.

20. The positioning system according to claim 1, wherein: The central unit is designed to evaluate the received further information in order to display the forward and / or reverse orientation of the movable object in a graphical representation of the interior space.

21. The positioning system according to claim 15, wherein: The central unit evaluates information from further sensors according to claim 15 and distributes the evaluated information of the position and / or identity of the movable object.

22. The positioning system according to claim 1, wherein: A plurality of expressions of the interior space generated by the transformation of the interior space are stored in the central unit; and the central unit selects or corrects an expression to be displayed from the stored expressions of the interior space due to the path traveled by the movable object.

23. A method for locating and graphically representing at least one movable object in an interior space, said method using a positioning system according to any one of claims 1 to 22, comprising at least the following steps: - introducing and moving at least one movable object, each carrying at least one reader / transmitter, into the interior space; - when the reader / transmitter approaches a corresponding transponder, the transponder identification of the transponder is read by the reader / transmitter as first information, - transmitting at least the first information or the processed first information to a central unit by means of a wireless communication connection; as well as - Graphically representing the movable object in the interior space based on the first information received or the first information processed by the central unit.

24. The method according to claim 23, wherein The method includes application in emergency or sports scenarios.

25. The method according to claim 24, wherein The emergency situations include simulated rescue, explosion, damage, gas alarm, smoke, or fire scenarios.

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