Method and system for determining a relative position p

Abstract

The method (10) according to the invention for determining the relative position P of a first object (100, 100a, 100b) with respect to at least one reference object (200, 200a, 200b) comprises: - generating at least three directional magnetic fields with distinguishable modulation frequencies by means of a magnetic field generating device (202) associated with the reference object (200, 200a, 200b), wherein the magnetic field generating device (202) comprises at least three transmitter coils with a defined arrangement with respect to one another, - detecting the magnetic field strength and the modulation frequencies of the magnetic fields by means of a magnetic field detection device (112, 112a) of the first object (100, 100a, 100b), - determining the relative position P of the first object (100, 100a, 100b) with respect to the at least one reference object (200, 200a, 200b) from the detected magnetic field strengths which can be associated with the directional magnetic fields by means of the detected modulation frequencies by means of an evaluation device (302). Furthermore, a system is proposed which comprises a first object, at least one reference object (200, 200a, 200b) and an evaluation device (302), wherein the system is designed to carry out the method (10) according to the invention.

Description

Technical Field

[0001] This invention relates to a method for determining the relative position P of a first object relative to at least one reference object. Furthermore, this invention relates to a system comprising a first object, at least one reference object, and an analysis device, wherein the system is designed to implement the method according to the invention. Background Technology

[0002] Precise localization of objects, especially autonomous systems such as drones or robots, is challenging. Important criteria include high accuracy in determining location, typically in x, y, and z coordinates, as well as in determining the object's orientation. Furthermore, the cost, size, and power consumption of system components play a significant role in the realization of such systems. For example, a lawnmower robot requires an accuracy of less than 5 cm within an area of ​​20 m radius to allow for the future elimination of boundary lines used for location determination (see DE 102017214314 A1).

[0003] Inexpensive satellite-based navigation systems can achieve positioning accuracy from a few meters to less than 50 cm, depending on the environment in which they are used (ideally with a reference signal down to less than 2 cm). However, this application is limited to outdoor areas. Radar, video, or lidar-based positioning systems (which allow location determination by analyzing information detected from the environment) require either expensive sensor systems and / or high computational power.

[0004] A relatively simple alternative to this positioning system is a system that, when using a magnetic field, determines the relative position of an object with respect to a magnetic field transmitter, i.e., its orientation and / or orientation. Such a system is known, for example, from US 4,737,794 A1. Summary of the Invention

[0005] In a first aspect of the invention, a method is provided for determining the relative position P of a first object relative to at least one reference object. The method includes:

[0006] - At least three directional magnetic fields B1, B2, B3 with distinguishable modulation frequencies f1, f2, f3 are generated by means of a magnetic field generating device associated with a reference object, wherein the magnetic field generating device includes at least three transmitter coils Tx1, Tx2, Tx3, which are arranged in a defined manner relative to each other.

[0007] -Using the magnetic field detection equipment of the first object, the magnetic field strengths |Bx(P)|, |By(P)|, |Bz(P)| and modulation frequencies f1, f2, f3 of magnetic fields B1, B2, and B3 are detected.

[0008] -The relative position P of the first object with respect to at least one reference object is determined by means of an analysis device from the magnetic field strengths |Bx(P)|, |By(P)|, and |Bz(P) associated with the detected modulation frequencies f1, f2, and f3 and the directional magnetic fields B1, B2, and B3.

[0009] Here, the detected magnetic field strength is expressed in detail as the magnetic field component |Bx obtained for each magnetic field B1, B2, B3. 1，2，3 (P)|、|By 1，2，3 (P)|、|Bz 1，2，3 (P)|.

[0010] The relative position P of the first object with respect to at least one reference object involves its relative orientation (e.g., described by the three coordinates x, y, and z relative to three particularly orthogonal coordinate axes X, Y, and Z) and / or its relative orientation (e.g., by three rotation angles, particularly about the three axes X, Y, and Z). (Explanation of θ and ρ).

[0011] Here, the relative positions of magnetic fields B1, B2, and B3, generated and transmitted by a magnetic field generating device, are derived from the detection of these fields. Here, the magnetic fields are specifically understood as alternating electromagnetic fields, where the proportion of alternating electric fields is not discussed in this document. The magnetic field generating device is used to generate at least three directional magnetic fields B1, B2, and B3, all of which operate at arbitrary points in space. For this purpose, the magnetic field generating device includes all components necessary for generating and transmitting magnetic fields, such as, for example, control equipment, signal generators, power supply devices, etc.

[0012] The magnetic fields can overlap in direction and magnetic field strength, especially in parallel generation, thereby generating a three-dimensional magnetic field consisting of at least three magnetic fields B1, B2, and B3, at least within the environment of the magnetic field generating device. Alternatively, the magnetic fields can be generated continuously, so that only one magnetic field B1, B2, or B3 is always active at any point in space at any given time. Therefore, it is possible to achieve a greater effective range of achievable locations using higher transmission power for each individually emitted magnetic field, while simultaneously keeping the limiting values ​​of the transmission power very low.

[0013] The magnetic fields B1, B2, and B3 are generated using at least three transmitter coils Tx1, Tx2, and Tx3, which are arranged in a defined manner relative to each other. For example, an RF coil can be conceived as the transmitter coil. Specifically, the three transmitter coils Tx1, Tx2, and Tx3 are orthogonally oriented, so that the magnetic fields B1, B2, and B3 generated by the transmitter coils Tx1, Tx2, and Tx3 are also orthogonally oriented (i.e., possessing the characteristic of orthogonal arrangement, such as symmetry or shape). Alternatively, different angles can be selected among the transmitter coils Tx1, Tx2, and Tx3. Due to the fixed relationship between the magnetic fields B1, B2, and B3 and each other, the magnetic fields B1, B2, and B3 can be understood as oriented, meaning that, in principle, there is no random variation process of the magnetic fields B1, B2, and B3 (except for the influence of interference fields, see below). The magnetic fields B1, B2, and B3 can be represented by magnetic field vectors having corresponding components along the x, y, and z directions, i.e., |B|. 1x，y， z|、|B2 x，y，z |、|B3 x，y，z | to describe. In this method, for the fields of the Tx1-, Tx2-, and Tx3- transmitter coils, the magnetic field vectors are analyzed separately at a given point in space.

[0014] In one embodiment of the method for determining relative positions, during the generation of magnetic fields B1, B2, and B3, the transmission level is controlled, and particularly adjusted, based on the magnetic field strengths |Bx(P)|, |By(P)|, and |Bz(P)| detected by a magnetic field detection device at a point in space for each magnetic field B1, B2, and B3. In this way, the transmission power of magnetic fields B1, B2, and B3 can be adjusted using situation-dependent detection of the magnetic field strength. For this purpose, the first object can, for example, include a communication device for establishing a wireless communication connection with the communication device of the reference object, wherein control can be achieved through the communication connection. Furthermore, a rough distance measurement can be performed by analyzing the received level of the communication connection. Additionally, the transmission power can be adjusted based on information detected situation-dependently by means of other sensors. Information regarding the environment, particularly the distance, between the first object and the reference object can be detected using radar-based and / or camera-based sensors, and the transmission power can be adjusted situation-dependently based on this information. Therefore, it is possible, for example, to operate the transmission level as low as possible, for example, only 10 dB above the noise of the magnetic field detection device, and in this way minimize energy and interference potential.

[0015] The magnetic field generating device is designed to generate magnetic fields B1, B2, B3 with distinguishable modulation frequencies f1, f2, f3, particularly by means of transmitter coils Tx1, Tx2, Tx3 to transmit these magnetic fields. Here, the modulation frequency refers to the frequency of the particularly low-frequency signal modulated onto magnetic fields B1, B2, B3, respectively. Modulation specifically results in variations in the strength (magnetic field intensity) of the corresponding magnetic field, particularly between "on" and "off". Here, the modulation frequencies f1, f2, f3 are different. If magnetic field B1 is transmitted, for example, within a one-second time period, then this magnetic field can be the carrier of the modulation signal f1, which is emitted during the transmission of magnetic field B1. Here, sufficient distinguishability of the modulation frequencies f1, f2, f3 is determined by the resolution of the receiver (here, a magnetic field detection device). In embodiments of the method, the modulation frequencies f1, f2, f3 of the magnetic fields are greater than 30 kHz and / or less than 150 kHz. In particular, this restricted modulation frequency allows for avoidance of the effects of the Earth's magnetic field and / or interfering signals (such as those from the radio spectrum).

[0016] The magnetic field generating device is associated with a reference object, meaning the magnetic field generating device has a fixed locational relationship with the reference object. Therefore, it is possible to convert the relative position P obtained relative to the magnetic field generating device into at least a relative position relative to the reference object. In one embodiment, the magnetic field generating device is constructed as part of the reference object and is therefore fixedly connected to it. Specifically, the reference object can also be implemented via the magnetic field generating device.

[0017] A magnetic field detection device is used to detect magnetic fields B1, B2, and B3 operating at a point in space. The magnetic field detection device is associated with, or particularly integrated into, or represents a first object. The magnetic field detection device is used to detect at least three directional magnetic fields B1, B2, and B3 at the location of the device. Here, the magnetic field detection device is designed to (e.g., using a vector magnetometer) detect the effective magnetic field strengths |Bx(P)|, |By(P)|, |Bz(P)|, or the effective magnetic field strengths |Bx(P)|, |By(P)|, |Bz(P)| and associated magnetic field directions, as well as the modulation frequencies f1, f2, and f3 of the magnetic fields B1, B2, and B3. With the detected modulation frequencies f1, f2, or f3, the detected magnetic field strengths can be definitively associated with the magnetic fields B1, B2, or B3 obtained by the magnetic field generating device. Therefore, the magnetic field strengths |Bx(P)|, |By(P)|, and |Bz(P)| acting at a certain point in space for each magnetic field B1, B2, and B3 can be distinguished from each other and thus analyzed separately (or expressed as |B...). 1x，y，z |、|B2 x，y，z |、|B3 x，y，z|). Based on the nine measurements that can be detected in this way, the relative position within the obtained magnetic fields B1, B2, B3, i.e., relative to the magnetic field generating device and therefore relative to the reference object, can be determined (through an overdetermined set of equations). The prior art cited at the beginning is referenced for the precise derivation of the position from the detected magnetic field strength.

[0018] The magnetic field detection device includes all the components required for detecting the effective magnetic field strengths |Bx(P)|, |By(P)|, |Bz(P)| and modulation frequencies f1, f2, f3 in a signal technology manner, such as control equipment, receiving circuitry, power supply devices, etc. In one embodiment of the method for determining relative position, the magnetic field detection device includes at least one magnetic field sensor, particularly three, from a list of magnetic field sensors, wherein the list includes at least a quantum sensor, a TMR sensor, a GMR sensor, a receiving coil (e.g., a pickup coil), a fluxgate sensor, and a Hall sensor. Such a magnetic field sensor is suitable for detecting the effective magnetic field strength, and, if necessary, also the effective magnetic field strength and the associated magnetic field direction, as well as the modulation frequency of the magnetic field. Here, the detection of magnetic field strength also conceptually includes the detection of magnetic flux density, i.e., the signal amplitude of the magnetic field sensor.

[0019] In one embodiment of the method for determining relative positions, the magnetic field detection device includes at least one magnetic field sensor, which is implemented as a color center-based magnetic field sensor, particularly as a quantum sensor based on color centers (nitrogen vacancies) in diamond. In particular, color center-based magnetic field sensors—as they are known in principle from the prior art (e.g., from DE 102014219550 A1)—enable to perform three-dimensional, orientation-dependent measurements of magnetic field strengths |Bx(P)|, |By(P)|, and |Bz(P)| using only one magnetic field sensor. Here, the sensitivity of such a sensor is significantly higher than that of conventional magnetic field sensors, such as Hall sensors, TMR sensors, fluxgate sensors, and pickup coils (e.g., less than 1 Tesla in a high measurement region). The resolution of the color-center-based magnetic field sensor allows for a larger working or functional area in principle, enabling the determination of relative positions. Furthermore, it advantageously reduces the structural space requirements for housing the magnetic field sensor (requiring up to several cubic centimeters of space; for example, compared to a receiver coil which can simply have a diameter of about ten centimeters). Moreover, the color-center-based magnetic field sensor is also, in principle, suitable for vector magnetometers, i.e., for simultaneously determining the direction of the detected magnetic field. In one embodiment, the method operates at a modulation frequency in the range of 10 Hz to 50 Hz to advantageously utilize the high sensor sensitivity of the color-center-based magnetic field sensor. Here, for example, the modulation frequencies f1, f2, and f3 can differ by 3 Hz.

[0020] In one embodiment of the method, the magnetic field detection device includes three magnetic field sensors of the described type, which have alternately defined, particularly orthogonal, arrangements and thus alternately defined sensitivities relative to each other, particularly orthogonal to each other. The corresponding magnetic field sensors detect the effective magnetic field strengths |Bx(P)| or |By(P)| or |Bz(P)| of magnetic fields B1, B2, B3 and their modulation frequencies f1, f2, f3.

[0021] In one embodiment of the method for determining relative position, the magnetic field detection device includes at least one magnetic field sensor, which is implemented as a receiver coil, particularly an RF coil. The method can be implemented in a particularly simple manner using a magnetic field detection device comprising at least three receiver coils, particularly RF coils. Here, the three receiver coils alternately have an arrangement defined relative to each other, particularly an arrangement orthogonal to each other. Each of the three receiver coils (denoted by Rx, Ry, Rz) detects the effective magnetic field strength of magnetic fields B1, B2, B3 and the modulation frequencies f1, f2, f3 of that magnetic field.

[0022] In one embodiment of the method, particularly for application in home interiors, at least one coil of an induction cooker and / or at least one coil of an induction charging station serve as at least one transmitter coil Tx1, Tx2, Tx3 of a magnetic field generating device. Here, in the first case, the coil located below the cooking surface of the induction cooker operates to generate and emit a corresponding magnetic field. It is particularly conceivable that the operation of the coils (e.g., with regard to magnetic field strength or modulation frequency) can be switched on and / or disconnected and / or configured using a control device for operating the coils. It is particularly conceivable that the control device, especially the control device for the cooker or induction charging station, communicates with a reference object via a communication interface. In particular, this embodiment is suitable for use in robots within home interiors, such as robotic vacuum cleaners. In this way, existing components can be used, thus enabling the method to operate with fewer separately required transmitter coils.

[0023] In one embodiment of the method for determining relative position, at least one transmitter coil Tx1, Tx2, Tx3 of a magnetic field generating device is used to inductively charge the energy storage of the first object, at least temporarily. This allows for additional functionality based on at least one transmitter coil of the system. In one embodiment, a reference object can be implemented as a docking station for the first object, wherein once the first object is in the docking station, it is inductively charged via the transmitter coil of the reference object.

[0024] When using an analysis device, the relative position P of a first object relative to at least one reference object is determined from the detected magnetic field strengths |Bx(P)|, |By(P)|, and |Bz(P)\ associated with the detected modulation frequencies f1, f2, f3 and the directional magnetic fields B1, B2, B3. The analysis device is specifically designed to perform the corresponding method steps for determining the relative position. These corresponding method steps can be implemented at least partially in software form, particularly in a computer-implemented form, or in a hybrid form consisting of software and hardware. For example, the analysis device can be implemented as a circuit and particularly includes a bandpass filter and / or amplifier. Specifically, the analysis device includes a processor device for performing the corresponding method steps. It is conceivable that the analysis device can be implemented in association with or separately from the first object and the reference object, for example, in the cloud, a separate computer, etc. Here, the analysis device can have control electronics, which in particular also include devices for communicating with other components, such as magnetic field detection devices, magnetic field generating devices, etc. Furthermore, the processor device can at least use a storage device in which the algorithm is stored at least partially as a machine-readable computer program. The computer program contains instructions that, when executed by the processor device of the analysis device, drive the processor device to determine the relative position P of the first object with respect to at least one reference object from the detected magnetic field strengths |Bx(P)|, |By(P)|, and |Bz(P)|.

[0025] In one embodiment of the method for determining relative position, in a further method step, modulation frequencies f1, f2, and f3 are transmitted from a magnetic field generating device to a magnetic field detection device and / or analysis device, wherein the transmitted modulation frequencies f1, f2, and f3 are used to improve the signal-to-noise ratio when determining the relative position P. For example, the transmitted modulation frequencies can be used to detect modulation frequencies more accurately, particularly to determine the modulation frequencies from the time-varying process of the detected magnetic field strengths |Bx(P)|, |By(P)|, and |Bz(P)|. In particular, knowledge of the phase relationship between the magnetic field generating device (i.e., transmitter coils Tx1, Tx2, and Tx3) and the magnetic field detection device can be used to improve accuracy when performing the method, especially when determining the relative position. In one embodiment of the method for determining relative position, the modulation frequencies f1, f2, and f3 are transmitted via a radio connection. For example, LoRa, WLAN, and Bluetooth radio connections are suitable for radio connections. In one embodiment, the modulation frequency can be in the range of 30 kHz, and the transmission of modulation frequencies f1, f2, f3, and especially the synchronization with modulation frequencies f1, f2, f3, is achieved through a radio connection, particularly as a carrier signal, having a 30 MHz signal. Alternatively or additionally, synchronization pulses and / or multiples of frequencies f1, f2, f3 can be transmitted via the radio connection.

[0026] In one embodiment of the method for determining relative position, the transmitted modulation frequency is used as a reference signal for the lock-in amplifier of the magnetic field detection device and / or analysis device. In this way, even with a large distance between the magnetic field generating device and the magnetic field detection device (resulting in a poor signal-to-noise ratio), the corresponding detected magnetic fields B1, B2, B3 can be identified or associated with the modulation frequency of the magnetic field in a particularly simple manner by means of a preset frequency. This is achieved by filtering out and thus detecting the corresponding modulation frequency during the time-varying process of the detected magnetic field strengths |Bx(P)|, |By(P)|, |Bz(P)| by a synchronized lock-in amplifier.

[0027] In one embodiment of the method for determining relative position, the relative position P of a first object is determined, particularly selectively, relative to a plurality of reference objects, each of which includes an associated magnetic field generating device. Thus, it is particularly possible to switch between directional magnetic fields B1, B2, B3, which are generated by different magnetic field generating devices having distinguishable frequencies. The relative position can be determined relative to different reference objects. All embodiments implemented relative to the magnetic field generating device of at least one reference object are applicable to the magnetic field generating device of the reference objects. It is particularly conceivable to determine the relative position P in parallel or continuously, or as an average relative to multiple references. It is conceivable to determine the relative position relative to two, three, or more reference objects. For example, in the setting of a drone for delivering packages, it is possible to specify, particularly selectively, the relative position relative to the ground (e.g., relative to the landing position) and relative to the package, particularly the upper side of the package.

[0028] Therefore, in particular, it is also possible to determine the relative positions of the multiple reference objects from the relative positions of the first object with respect to the multiple reference objects (determine P1 between reference object 1 and the first object, determine P2 between reference object 2 and the first object, and thus determine P3 (=P1+P2) between reference object 1 and reference object 2).

[0029] In an alternative, particularly similar, embodiment of the method for determining relative positions, the relative position P of a reference object is determined, particularly optionally, relative to a plurality of first objects, wherein each reference object includes an associated magnetic field generating device, and each first object includes an associated magnetic field detecting device. In this embodiment, the relative positions P of the plurality of first objects are determined, particularly selectively, relative to at least one reference object. This embodiment is considered similar because it involves only the exchange of magnetic field generating and magnetic field detecting devices.

[0030] In one embodiment of the method for determining relative positions, each modulation frequency f1, f2, f3 of the magnetic fields B1, B2, B3 encodes system information, and / or all modulation frequencies f1, f2, f3 collectively encode the system information. It is particularly conceivable that additional information about reference objects and / or other system-related characteristics (e.g., location, identification number, etc.) can be provided to the first object and / or the analysis device via the modulation frequencies. In this way, at least one additional piece of information, in addition to the relative position, can be transmitted to and thus provided to the first object and / or the analysis device. For example, the correlation or distinguishability of the relative position (which is determined relative to different reference objects) can be achieved through encoding (e.g., by encoding with an ID associated with each reference object).

[0031] In one embodiment of the method for determining relative position, the influence of an interfering field is detected, and the detected magnetic field strengths |Bx(P)|, |By(P)|, and |Bz(P)| are corrected by means of an analysis device based on the influence of the interfering field. Alternatively, the influence of the interfering field is compensated by controlling and / or adjusting the electromagnetic superposition field emitted by at least one compensation coil when detecting the magnetic field strengths |Bx(P)|, |By(P)|, and |Bz(P)|. In this way, the relative position can be determined more accurately. Alternatively or additionally, the sensitivity requirements of the magnetic field detection device can be advantageously reduced. In particular, this advantageously compensates for interfering magnetic fields located at the location of the first object. Specifically, a compensation circuit can be used to detect and compensate for such interfering fields. Here, in addition to at least one compensation coil, the compensation circuit can also include a receiving coil, an amplifier, etc. One or more receiving coils and / or one or more compensation coils are placed as close as possible to the magnetic field detection device. Furthermore, it is conceivable to minimize, particularly to prevent and / or compensate for, and / or measure and subsequently compensate for during analysis, the effects that act at least during the time periods of detecting magnetic fields B1, B2, B3. Here, the control and / or analytical equipment performing this method can be designed to compensate for the effects. This method can be implemented at least partially in software or in a hybrid of software and hardware. In particular, it is conceivable to determine the effects using reference measurements performed substantially in parallel with the detection of magnetic field strengths |Bx(P)|, |By(P)|, |Bz(P)|. In particular, it is conceivable to actively compensate for the effects during the detection of magnetic field strengths |Bx(P)|, |By(P)|, |Bz(P)|, based on the determined effects, for example by controlling and / or adjusting and / or modifying the electromagnetic superposition field generated when at least one compensation coil is used. Alternatively or additionally, it can be envisioned that the effect be avoided and / or compensated for by determining the time point where the effect is relatively small, in particular negligible, when using data (the effect of which on the interference field is detected), wherein the detection of the magnetic field strengths |Bx(P)|, |By(P)|, and |Bz(P)| is performed at that time point.

[0032] In one embodiment of the method for determining relative position, additional position data, particularly additional position data from additional internal and / or external sensor devices, is considered when determining the relative position P to improve accuracy and / or determine the absolute position. "Considered" here is also understood in particular as fusion or correlation. The additional position data can represent relative or absolute position data, for example. Relative position data can be, for example, position data from an accelerometer, a speed sensor, odometer data, etc. Absolute position data can be, for example, GPS or GNSS data. Radar, lidar, or video sensors can also be used to determine the position. In one embodiment of the method, the additional position data is detected as absolute position data, wherein the relative position P is determined relative to this absolute position data. Therefore, when using absolute position data, the absolute position can be derived from the determined relative position. Furthermore, with this sensor fusion, it is particularly possible to perform a reasonableness check and / or correction of the relative position, thereby making the obtained relative position more stable. It is also conceivable to dynamically identify distortions in the detected magnetic field, which affect the error in the determined relative position, through sensor fusion with other sensor data. In particular, this fusion of location data can detect magnetic field distortions (e.g., caused by interfering fields) in magnetic fields B1, B2, and B3, and this knowledge can be used to derive location-related correction data and store it, for example, in a magnetic field map, which is subsequently taken into account when recalculating or further determining the relative position. Furthermore, this error can be used, for example, through machine learning algorithms to improve positioning accuracy. Thus, the occurrence of magnetic objects and associated interfering fields (magnetic field distortions) can be identified during the continuous operation of the method, and the method used to determine the relative position can be dynamically corrected. Specifically, the correction data can be continuously updated, thereby enabling the rapid identification of temporary magnetic field distortions and the calculation of corresponding correction data, which can be used to subsequently determine the relative position over time.

[0033] In one embodiment of the method for determining relative position, determining the relative position P′ of at least one reference object relative to at least one other reference object includes:

[0034] - At least three directional magnetic fields B1′, B2′, B3′ with distinguishable modulation frequencies f1′, f2′, f3′ are generated by means of a separate magnetic field generating device associated with another reference object, wherein the separate magnetic field generating device includes at least three transmitter coils Tx1′, Tx2′, Tx3′, which are arranged in a defined manner relative to each other.

[0035] - Using a magnetic field detection device based on a reference object, detect the magnetic field strengths |Bx′(P′)|, |By′(P′)|, and |Bz′(P′)| of magnetic fields B1′, B2′, and B3′, and the modulation frequencies f1′, f2′, and f3′.

[0036] -The relative position P′ of the reference object with respect to at least one other reference object is determined by using analytical equipment from the magnetic field strengths |Bx′(P′)|, |By′(P′)|, and |Bz′(P′)| that are associated with the detected modulation frequencies f1′, f2′, and f3′ and the directional magnetic fields B1′, B2′, and B3′.

[0037] In particular, it is conceivable that multiple reference objects operate sequentially, each "intermediate" reference object having at least one magnetic field generating device and a magnetic field detecting device, thereby enabling the reference object to detect the magnetic field to determine its own relative position and to generate a magnetic field to determine the relative position of a subsequent first object and / or reference object. Specifically, an entire chain of interleaved reference objects (reference object 1 - reference object 2 - reference object 3 - first object) is conceivable. In this way, each "intermediate" reference object serves specifically as the first object, determining its relative position P relative to the preceding reference object. It should be noted that the magnetic field detecting device and the magnetic field generating device can also be implemented as a single component, serving as both a magnetic field detecting device and a magnetic field generating device (e.g., as a coil system operating in receiving and transmitting modes).

[0038] In this way, staggered relative positions can be advantageously obtained. An example application for this is, for instance, robots navigating in a swarm of robots, where each robot is positioned relative to the others, i.e., the robots are positioned relative to each other. If the relative positions of the robots are also exchanged, then common path planning (swarm intelligence) is possible. For example, this path planning can be specifically used to extend the effective range, etc. Furthermore, this method can also be transferred to the control of a robot arm, etc., where, for example, the relative position of each individual movable part of the robot arm relative to each other movable part of the robot arm can be obtained. All the features implemented herein are equally applicable to at least one additional reference object, for example, in another method step, where modulation frequencies f1′, f2′, f3′ are transmitted from another magnetic field generating device associated with the other reference object to a magnetic field detection device and / or to an analysis device of the reference object, wherein the transmitted modulation frequencies f1′, f2′, f3′ are also used to improve the signal-to-noise ratio when obtaining the relative position P′.

[0039] In one embodiment of the method for determining the relative position P, the magnetic field strengths |Bx of magnetic fields B1, B2, and B3 are detected by means of at least one additional magnetic field detection device i of the first object (the additional magnetic field detection device has a defined arrangement relative to the magnetic field detection device of the first object). i (P)|、|By i (P)|、|Bz i (P)| and modulation frequencies f1, f2, f3, where the magnetic field strength |Bx is obtained using analytical equipment. i The relationship between (P)| and |Bx(P)| relative to each other, and / or |By i The relationship between (P)| and |By(P)| relative to each other, and / or |Bz i The relationship between (P) and Bz(P)| relative to each other. "Limited arrangement" should be understood in particular as the defined distance and orientation of the magnetic field detection devices i relative to each other. Specifically, this relationship is derived as the magnetic field strength |Bx|. i The relationship between (P)| and |Bx(P)| relative to each other, and / or |By i The relationship between (P)| and |By(P)| relative to each other, and / or |Bz i The relationship between |P)| and |Bz(P)| relative to each other. Here, "relationship" should be understood as any mathematical relationship in principle, where the magnetic field strengths can be compared with each other, especially in a component manner, or can be set relative to each other. In particular, differences, quotients, ratios, etc., can be envisioned. In one embodiment of the method for determining the relative position P, the relationship, especially in the form of the magnetic field gradient, is obtained as the difference |Bx|. i (P)|-|Bx(P)|、|By i (P)|-|By(P)|or|Bz i (P)|-|Bz(P)|. This method allows us to explain a particularly simple relationship, where the magnetic field gradient is obtained as the difference between pairs of formations. Alternatively, or additionally, the relative position P can also be obtained as the quotient |Bx|. i (P)| / |Bx(P)|、|By i (P)| / |By(P)|or|Bz i (P)| / |Bz(P)|. Furthermore, using this relation can also improve the accuracy of determining the relative position P.

[0040] In one embodiment of the method for determining the relative position P (where the relation is determined as a difference), the relative position P, which may be ambiguous (especially ambiguous), is explicitly identified based on the sign of the relation. In an alternative embodiment of the method (where the relation is determined as a quotient), the relative position P, which may be ambiguous (especially ambiguous), is explicitly identified based on a comparison of the relation with the value 1. Here, the relative position may first be ambiguous due to the symmetrical variation of the magnetic fields B1, B2, B3 generated by the magnetic field generating device. The magnetic field generated by the transmitter coil has magnetic field regions perpendicular to the winding plane, where the magnetic field strength becomes minimal (possibly 0T). On both sides of the axis of mirror symmetry (which corresponds to the normal to the winding plane of the transmitter coil) and mirror symmetrically with respect to the winding plane of the transmitter coil, there exist regions with the same magnetic field strength, so that the (ideal, undisturbed) magnetic field in principle comprises four regions with the same magnetic field strength (they are located in the four quadrants, with the transmitter coil located at the center). According to the invention, appropriate measures can be described when using this relationship so that the relative position can still be assigned to a quadrant despite such ambiguity. In particular, the transition between each pair of adjacent quadrants can be detected when using the method according to the invention. For this purpose, the relationship of the detected magnetic field strength is analyzed continuously and thus the magnetic field gradient is determined continuously. In the implementation of the method of taking the relationship as a difference, the sign of the (difference) relationship is reversed once the transition between two quadrants occurs. In the implementation of the method of determining the relationship as a quotient, the quotient changes from a value greater than 1 to a value less than 1 once the transition between two quadrants occurs. Therefore, the transition of the first object between different quadrants can be determined. Therefore, it is also possible to make a clear assignment of the relative position P of the first object, which may be particularly ambiguous (particularly ambiguous), to one of the four quadrants, especially assuming that the initial position can be assigned to one of the four quadrants at the start of the movement of the first object (e.g., because the base station is located there). If, for example, it can be conceived that the first object as a robot is moving, then the relationship can be obtained continuously. If the sign of the relation is subsequently changed (either from a value greater than 1 to a value less than 1 (or vice versa)), then the transition between two adjacent quadrants can be derived.

[0041] In one embodiment of the method for determining the relative position P, a rotation-sensitive sensor device is used to detect changes in the direction of motion of the first object, particularly a 180° reversal of the direction of motion. When the direction of motion of the first object changes, particularly a change greater than 90°, a sign reversal or relational reversal is considered, particularly performed (by forming a reciprocal to change the value from less than 1 to greater than 1 (or vice versa)). In this way, it is also possible to rule out (unnoticed or accidental) changes in the relation caused by changes in the direction of motion, particularly a 180° change, which may occur through quadrant transitions. "Considered" can be understood in particular as a computational correction or compensation for such value changes in the analysis. "Rotation-sensitive sensor device" can be understood in particular as a sensor device that is sensitive to the spatial rotation and / or direction changes of the first object (e.g., by means of an accelerometer, camera, etc.). For this purpose, all of the following sensors are applicable in principle, by which information about the direction of motion of the first object can be derived. For example:

[0042] - Magnetic field sensitive sensors, such as compasses, magnetic field sensors, fluxgate magnetometers, and Hall effect sensors;

[0043] - Capacitive sensor;

[0044] - Position-sensitive and / or orientation-sensitive sensors, such as GPS, position sensors, odometer sensors and steering angle sensors for steering wheels or steering wheels;

[0045] - Velocity-sensitive and / or acceleration-sensitive sensors, such as gyroscopes, inertial sensors, and accelerometers;

[0046] - Distance-sensitive sensors, such as laser rangefinders, ultrasonic sensors, and radar...

[0047] - Pressure-sensitive sensor,

[0048] -Optical sensor,

[0049] - Voltage-sensitive and / or current-sensitive sensors,

[0050] Or a combination thereof.

[0051] It should be noted that, in principle, orientation (and therefore the direction of motion of the first object) can also be determined using existing magnetic field detection equipment by analyzing the DC component of the measured signal of the detected magnetic field. The advantage of this is that it eliminates the need for an additional rotational speed sensor or compass.

[0052] Alternatively or additionally, it can be envisioned that the phase positions of magnetic fields B1, B2, and B3 be measured by means of sensors in order to obtain a clear identification of the relative position P of the first object with respect to the reference object, which may be particularly ambiguous (especially ambiguous).

[0053] Furthermore, interference fields, such as those generated by metallic objects like vehicles or hidden objects, can be detected particularly effectively in this way. In one embodiment of the method for determining the relative position P, deviations from the target relationship expected based on the defined arrangement of the magnetic field detection devices and at least one additional magnetic field detection device i are analyzed, especially identified, to detect magnetic field distortion. In other words, since the relative distances and angles of the magnetic field sensors to each other are known, the values ​​of the magnetic fields detected by each magnetic field detection device can be compared with the values ​​expected based on the arrangement. This can be analyzed particularly effectively during the movement of the first object, and such unexpected interference fields, i.e., magnetic field distortion, can be detected and identified. In particular, deviations can be detected in such a particularly simple manner, and the interference field can be inferred from this.

[0054] In one embodiment of the method for determining the relative position P, the detected magnetic field distortions or interference fields are stored, especially updated, and / or fused into a magnetic field map, particularly a two-dimensional or three-dimensional magnetic field map. "Fusing" here can be understood in particular as utilizing data from other sensors to "cover," "average," "insert," "extrapolate," "correlate," etc. Therefore, when performing the method for determining the relative position, the detected magnetic field inhomogeneities and / or interference fields can be taken into account.

[0055] In one embodiment of the method for determining the relative position P, two additional magnetic field detection devices i are used. Specifically, the three magnetic field detection devices i are arranged in a triangular configuration relative to each other. In this way, the relationship, particularly the magnetic field gradient, can be determined in a simple manner along two independent directions, especially along two orthogonal directions.

[0056] In one embodiment of the method for determining the relative position P, the presence of at least one magnetic field BSQ from an external radiation source, particularly a magnetic field generating device unrelated to a reference object, is detected in a subsequent method step. This allows detection of whether other magnetic fields exist besides the magnetic fields B1, B2, B3 generated for performing the method for determining the relative position, such as interference fields from other magnetic field sources or the magnetic field of another reference object. In particular, this detection can be repeated, especially regularly, for example, quasi-continuously or continuously. According to the invention, this information can be used to adjust or improve the method for determining the relative position P.

[0057] In one embodiment of the method for determining the relative position P, the presence of at least one magnetic field BSQ is detected by means of a magnetic field detection device for a first object and / or by means of a magnetic field generating device associated with a reference object and / or by means of at least one additional receiver. In particular, it is conceivable that, by means of a magnetic field detection device, the presence of at least one magnetic field BSQ is detected in the sense of the expected magnetic fields B1, B2, B3 and their associated modulation frequencies f1, f2, f3, based on a "received spectrum" changed according to the magnetic field BSQ. Furthermore, it is conceivable that the presence of at least one magnetic field BSQ is detected by means of a magnetic field generating device operating in a receiving mode. This receiving mode can be implemented, for example, by briefly connecting one or more transmitter coils to the receiving electronics during a transmission pause of the magnetic field generating device. The additional receiver can be implemented as a magnetic field sensor of virtually any design, such as a Hall sensor.

[0058] In one embodiment of the method for determining the relative position P, the modulation frequencies f1, f2, and f3 are selected, and in particular modified, based on the presence of at least one magnetic field BSQ. In an alternative or additional embodiment of the method for determining the relative position P, the pause times in the modulation t1, t2, and t3 of magnetic fields B1, B2, and B3 are selected, and in particular modified, based on the presence of at least one magnetic field BSQ. In yet another alternative or additional embodiment of the method for determining the relative position P, the pause times in the generation T1, T2, and T3 of magnetic fields B1, B2, and B3 are selected, and in particular modified, based on the presence of at least one magnetic field BSQ. Specifically, the modulation frequencies f1, f2, and f3 and / or the pause times in the modulation t1, t2, and t3 and / or the pause times in the generation T1, T2, and T3 can be modified or selected to ensure that generation is also adapted to an external radiation source. Alternatively or additionally, the presence of at least one magnetic field BSQ can also be output to the user of the method for determining the relative position P.

[0059] In one embodiment of the method for determining the relative position P, the detection of the presence of at least one magnetic field BSQ of an external radiation source includes determining at least once the modulation frequency fSQ of the at least one magnetic field BSQ. Here, the modulation frequencies f1, f2, and f3 of magnetic fields B1, B2, and B3 can be advantageously chosen to be different from the modulation frequency fSQ. In this way, the frequency range of the magnetic field BSQ can be explicitly excluded, thereby making the used modulation frequencies f1, f2, and f3 distinguishable, i.e., sufficiently far apart from fSQ, especially in the frequency band. Here, the spacing in the frequency band can be selected, particularly based on the quality when detecting magnetic fields B1, B2, and B3, so that these distances can be smaller with high quality (and therefore with fairly accurate determination of the relative position P).

[0060] In one embodiment of the method for determining the relative position P, the detection includes determining the pause time in the modulation tSQ of at least one magnetic field BSQ and / or the pause time in the generation TSQ. Here, the pause times in the modulation t1, t2, t3 of magnetic fields B1, B2, B3, or the pause times in the generation T1, T2, T3, can be advantageously selected such that magnetic fields B1, B2, B3 are modulated during the pause time in the modulation tSQ of at least one magnetic field BSQ, or magnetic fields B1, B2, B3 are generated during the pause time in the generation TSQ of the at least one magnetic field. In this way, the pause times in the external magnetic field BSQ (during its modulation and / or its generation, i.e., transmission) can be specifically and explicitly used when generating magnetic fields B1, B2, B3, either by generating modulation with modulation frequencies f1, f2, f3 during these pause times, or by generating magnetic fields B1, B2, B3 themselves during these pause times. Furthermore, the time interval between generated magnetic fields or between modulated magnetic fields can be selected such that magnetic fields B1, B2, and B3 are detected as infrequently and without overlap as possible.

[0061] In one embodiment of the method for determining the relative position P, the magnetic field BSQ of an external radiation source, particularly a magnetic field generating device unrelated to the reference object, is used to increase the effective range of the method for determining the relative position P of the first object. It is conceivable that an additional "satellite reference object" could be installed within the maximum effective range of the first reference object (i.e., within the distance where magnetic fields B1, B2, and B3 can still be detected), transmitting at a different frequency, for example, during a transmission pause. However, in principle, when using and monitoring different frequency sequences, such as f2, f1, and f3, the "satellite reference object" could also transmit at the same frequencies f1, f2, and f3.

[0062] In one embodiment of the method for determining the relative position P, the magnetic field BSQ of an external radiation source, particularly a magnetic field generating device unrelated to a reference object, originates from a method operating in parallel according to any one of the preceding claims. In this way, it is possible to implement multiple methods for determining the relative position P running in parallel with each other, equivalent to multiple systems implementing the method. For example, multiple automatic lawnmowers can be operated in parallel when applying the method according to the invention, as is possible in the vicinity. Here, the pause time of the robot system (including the reference object and a first object integrated in the robot) is determined, wherein other robot systems then incorporate their own transmission activities into the previously determined pause time. In particular, other robot systems then transmit at different frequencies and / or during the pause times of other robot systems. Furthermore, the aforementioned robot swarm can also be implemented using this embodiment of the method.

[0063] In one embodiment of the method for determining the relative position P, the first object is implemented as a handheld electrical device, particularly a laser rangefinder, a handheld tool, a game controller, etc., and the control function, particularly the function of the handheld electrical device, is determined based on the relative position P. Here, the reference object can be fixedly positioned in space. Here, the method is implemented to determine, particularly in three dimensions, the position of the electrical device in space. For example, the electrical device can be implemented as a laser rangefinder, wherein, based on the relative position of the laser rangefinder, other measurement functions, particularly indirect distance measurement, can be achieved, as disclosed, for example, in DE 102016211742.4 A1 or DE 102018201692.5 A1. Similarly, implementations of methods for tracking the relative position (here, relative orientation and orientation) of a positioning device in space can be used to detect spatial changes of the positioning object, for example, hidden in a wall, in three dimensions, based on its position. Data including positioning information and relative position can then be used for compilation in a digital model and for further planning (see “Building Information Modeling”).

[0064] Unlike inertial sensors commonly used in the prior art, the method according to the invention can also be advantageously used to determine the relative position of vibrating machines (e.g., impact drills). Here, in the drill, for example according to a user preset, such as "performing horizontal drilling," the user can be informed of the manner and timing of achieving the target orientation based on the determined relative position of the drill. Furthermore, the accuracy of position determination relative to inertial sensors can be significantly improved. Similarly, it is conceivable that electrical devices in entertainment electronics, such as AR glasses and game controllers, could have their relative positions determined using the method according to the invention.

[0065] In one embodiment of the method for determining the relative position P, the first object is implemented as a particularly autonomous robot, particularly a robotic vehicle, such as a logistics robot, a vacuum cleaner, or a lawnmower, and the functions, particularly the functions of the robotic vehicle, are controlled according to the relative position P. "Particularly autonomous robot" should be understood in particular as a mobile device that is at least partially automated, performing work, such as surface handling, at least partially automatically. Furthermore, it should be understood as a device that moves at least automatically and / or autonomously moves forward within a predetermined area, particularly in a work area or on a processed surface. Typical applications of such robotic vehicles include various activities, such as sweeping, vacuuming, cleaning, mowing, collecting, sorting, irrigating, fertilizing, surveying, etc. Here, the reference object can be positioned, for example, as a docking station (base station) for a robot, such as as a docking station for an autonomous lawnmower in a garden. With this method implemented, docking manipulation (e.g., docking with the docking station) can be performed with particularly high precision. Furthermore, it is advantageous to determine relative positions over large areas with high accuracy without the boundary lines used in the prior art (see DE102014226077.9 A1), particularly in a way that eliminates costly and inaccurate sensors, such as odometer sensors (which are susceptible to slippage of actuators). For robots working in the interior areas of a home, it is conceivable to use at least one transmitter coil Tx1, Tx2, Tx3 of an induction cooker coil and / or an inductive charging station (e.g., a docking station) as a magnetic field generating device.

[0066] In one implementation of the method for determining the relative position P, the first object is implemented as a flying object, particularly a drone, and the control function, particularly the function of the flying object, especially the drone, is determined based on the relative position P.

[0067] In one embodiment of the method for determining a relative position P, the constraints on the work area, particularly the work area of ​​a robot, are determined using a first object by guiding the first object along at least one boundary of the work area and recording and / or analyzing the continuously determined relative positions P. Specifically, a reference object is already placed at the point of use, whereby the work area is subsequently located using the first object (which is, for example, constructed as a handheld lever) by guiding the lever along the boundary of the work area. The trajectory recorded here can be digitized and subsequently considered for performing other methods, such as robot navigation methods. In this way, the method according to the invention can be used to train a robot in terms of an activity area, for example, to train an autonomous lawnmower in terms of an area in a garden that needs mowing. Here, based on the high accuracy in determining the relative position, the method allows for a particularly fine resolution of the boundaries of the work area, a resolution that is, for example, impossible to achieve with boundary lines (see the prior art above) or only achievable with great effort.

[0068] In one embodiment of the method for determining the relative position P, the distance, particularly the spacing or length, of the path between a first point and a second point is determined when using a first object. This is done by guiding the first object, particularly along the path, from the first point to the second point, and recording and / or analyzing the continuously determined relative positions P. Furthermore, analysis of the trajectory traversed by the first object (e.g., between two points) allows the determination of the spacing between these points along the trajectory. Similarly, the first object can be implemented in the form of a handheld stick.

[0069] In one embodiment of the method for determining the relative position P, at least a first object is attached to the robotic arm, and in particular, a reference object is also attached to the robotic arm. Motion and / or functions, especially those of the robotic arm, are controlled using the continuously determined relative positions P. For example, a fully integrated robotic arm can be implemented such that, without additional costly sensors (such as inertial sensors, goniometers, spacing meters, etc.), the precise position of each movable component of the robotic arm can be analyzed and thus controlled at any time. For instance, the reference object can be attached to the fuel tank opening of a vehicle, enabling an autonomous refueling robot to automatically orient its refueling nozzle, which is equipped with the first object, and thus automatically refuel the vehicle.

[0070] In one embodiment of the method for determining the relative position P, a reference object is attached to a monitoring system, particularly a smoke detector or fire alarm, and the relative position P is detected by a person equipped with the first object. For example, the reference object can be integrated into a smoke detector. In this way, it is advantageous to detect the movement profile of the person relative to the smoke detector, which can be used, for example, to coordinate and protect deployed firefighters during firefighting operations. It is conceivable that each person is physically attached to the first object and the relative position of the first object is determined. Furthermore, it is conceivable that additional information (e.g., information about the size of the space, the location of the smoke detector in the space, hazardous materials in the space, the name of the space, etc.) is encoded using frequencies f1, f2, f3, and thereby transmitted to the first object, enabling further processing or output of the information.

[0071] Furthermore, a system is proposed comprising a first object, at least one reference object, and an analytical device, wherein the system, particularly the analytical device, is designed to perform the method according to the invention. Hereinafter, all the above-described embodiments relating to the method and the components used in the method, particularly magnetic field detection devices, magnetic field generating devices, analytical devices, etc., are also considered to be disclosed for this system.

[0072] Similarly, first objects and / or reference objects are proposed for use in the system according to the invention or in the method according to the invention. The first object is particularly proposed as a handheld electrical device, especially a laser rangefinder, a handheld tool machine, a game controller, etc.; as a particularly autonomous robot, especially a robotic vehicle, such as a vacuum cleaner or lawnmower; as a flying object, especially a drone; or as a handheld stick and / or part of a robotic arm. The reference object is particularly proposed as a docking station or a smoke detector. Attached Figure Description

[0073] The invention is described in detail below with reference to the embodiments shown in the accompanying drawings. The drawings, description, and claims contain numerous combined features. Those skilled in the art will also suitably consider these features individually and generalize them into other meaningful combinations. In the drawings, the same reference numerals denote the same elements.

[0074] in:

[0075] Figure 1 An embodiment of the system according to the invention, including a first object and a reference object, is shown;

[0076] Figure 2 A second embodiment of the system according to the invention, including a first object and a reference object, is shown;

[0077] Figure 3 A method diagram illustrating an exemplary embodiment of a method according to the present invention for determining relative positions is shown;

[0078] Figure 4 An exemplary magnetic field is shown, such as one generated, for example, by a magnetic field generating device of a reference object;

[0079] Figure 5 a-5f illustrates different scenarios in which the method according to the invention can be applied;

[0080] Figure 6 The time-dependent variation of the magnetic field signal (a) relative to an exemplary system (b) is shown. Detailed Implementation

[0081] The method according to the invention relates to determining the relative position P of a first object 100 relative to at least one reference object 200. Figure 1 and Figure 2 Two exemplary systems 300a and 300b are shown, each including a first object 100a, 100b, at least one reference object 200a, 200b, and an analysis device 302. The analysis device 302 is designed to perform the method 10 according to the invention, see [link to documentation]. Figure 3 .

[0082] Figure 1 The systems 300, 300a shown are illustrated in perspective view of the first objects 100, 100a, which are implemented as handheld electrical devices, here implemented as laser rangefinders. The laser rangefinder has a housing, a display 104, and an operating element 106 for turning the laser rangefinder on and off and for initiating or configuring the measurement process. During the measurement process, the laser rangefinder emits laser radiation 110. Such laser rangefinders are known in the prior art. The position of the first objects 100, 100a in three-dimensional space (shown here by double-headed arrows indicating the free movement of the laser rangefinder) according to the method 10 of the invention is determined as a relative position P relative to at least one reference object 200, 200a. The reference objects 200, 200a are fixedly placed at this position, for example, on the floor of the space to be measured. The reference objects 200, 200a include a magnetic field generating device 202 for generating at least three directional magnetic fields B1, B2, B3 having distinguishable modulation frequencies f1, f2, f3 (see...). Figure 3 Method step 16 and Figure 4(Ref. 210). The magnetic field generating device 202 includes three transmitter coils Tx1, Tx2, and Tx3, labeled 204a, 204b, and 204c, which are orthogonally oriented relative to each other. The first objects 100, 100a have a magnetic field detection device 112 for detecting the magnetic field strengths |Bx(P)|, |By(P)|, and |Bz(P)| of the three magnetic fields B1, B2, and B3, and their modulation frequencies f1, f2, and f3. The magnetic field detection device 112 includes three magnetic field sensors 114a, 114b, and 114c, configured herein as Hall sensors, which have sensitivities that are orthogonally oriented relative to each other. Furthermore, systems 300, 300a (here, the first objects 100, 100a) have an analysis device 302 that performs a method step for determining the relative position P of the first objects 100, 100a relative to the reference objects 200, 200a (see [link to analysis device]). Figure 3 (Method step 24). Control the functions of the laser rangefinder, such as the execution of distance measurements and / or attachment, based on the obtained relative position P.

[0083] Figure 2 The systems 300, 300b shown are illustrated in perspective view of the first objects 100, 100b, which are implemented as robots (here, autonomous lawnmowers or autonomous vacuum cleaners). The autonomous lawnmower has a housing 102. Such autonomous lawnmowers are known in the prior art. The position of the first objects 100, 100a in three-dimensional space (also shown here by bidirectional arrows indicating the free mobility of the autonomous lawnmower) is determined according to method 10 of the invention as a relative position P relative to at least one reference object 200, 200b. The reference objects 200, 200b are implemented here as docking stations (base stations) for the autonomous lawnmower and are fixedly placed on the floor of the work area to be processed. The reference objects 200, 200b include a magnetic field generating device 202 for generating at least three directional magnetic fields B1, B2, B3 having distinguishable modulation frequencies f1, f2, f3 (see...). Figure 3 Method step 16 and Figure 4 (Ref. 210). A magnetic field with distinguishable modulation frequencies f1, f2, and f3 is generated. The magnetic field generating device 202 includes three transmitter coils Tx1, Tx2, and Tx3 (ref. 204a, 204b, and 204c), which are orthogonally oriented relative to each other. The first objects 100 and 100b have three magnetic field detection devices 112a, 112b, and 112c. Each of the three magnetic field detection devices 112a, 112b, and 112c is designed to detect the magnetic field strength |Bx| of the three magnetic fields B1, B2, and B3. i (P)|、|By i(P)|、|Bz i (P)| and modulation frequencies f1, f2, f3, and for this purpose, each includes three receiver coils, implemented as RF coils (not shown in detail here). The three magnetic field detection devices 112a, 112b, 112c, and especially the receiver coils contained therein, have mutually defined arrangements. Here, the three receiver coils are respectively arranged in pairs parallel to each other, wherein the three pairs are respectively orthogonally oriented relative to each other. If the robot is located near the docking station, then the robot is charged by means of at least one transmitter coil (e.g., 204b) of the magnetic field generating device 202, in such a way that energy is inductively transferred from the transmitter coil to at least one receiver coil, thereby inductively charging the robot's energy storage. Furthermore, the first objects 100, 100b also have a wireless communication device 116 for communication between the first objects 100 and 100b and the analysis device 302. In systems 300 and 300b, the analysis device 302 is implemented in a separate unit, for example in the cloud, which performs at least the method steps for determining the relative position P of the first objects 100 and 100b relative to the reference objects 200 and 200b (see [link to system 300]). Figure 3 (Method step 24). The analysis device 302 is also designed for wireless communication with the first objects 100, 100b and the reference objects 200, 200b (see radio symbol on the box). Furthermore, the first objects 100, 100b have an odometer sensor 120a as an additional internal sensor device 120, which detects the movement of the wheels 118 and thereby obtains additional position data for improved accuracy (see...). Figure 3 (Method step 24a). The odometer sensor 120a also functions as a rotation-sensitive sensor device 122, which can detect changes in the direction of motion of the first objects 100, 100b, particularly a 180° reversal of the direction of motion. The reference objects 200, 200b also have additional position sensors configured as GPS sensors, which are not shown in detail here. The robot's functions, such as robot navigation or processing of the work area to be processed, are controlled based on the obtained relative position P.

[0084] Figure 3 An embodiment of method 10 according to the present invention is shown. Method 10 is used to determine first objects 100, 100a, 100b (e.g. Figure 1 The laser rangefinder shown Figure 2 The relative position P of the robot (shown) with respect to at least one reference object 200, 200a, 200b.

[0085] In optional first method step 12, the presence of at least one magnetic field BSQ of an external radiation source, particularly a magnetic field generating device 202 not associated with reference objects 200, 200a, 200b, is first detected. This presence is detected using the magnetic field detection device 202 of the first objects 100, 100a, 100b and / or using the magnetic field generating device 202 associated with reference objects 200, 200a, 200b. Detection here includes determining the modulation frequency fSQ of the magnetic field BSQ and detecting the pause time in the generation TSQ of the magnetic field BSQ. The modulation frequencies f1, f2, f3 of magnetic fields B1, B2, B3 and the pause times in generation T1, T2, T3 are adjusted based on the determined modulation frequency fSQ and the pause times in the generation TSQ of the magnetic field BSQ. Here, the pause times in the generation T1, T2, T3 of magnetic fields B1, B2, B3 are selected such that the generation of magnetic fields B1, B2, B3 occurs during the pause times in the generation TSQ of the magnetic field BSQ. Furthermore, frequencies f1, f2, and f3 are selected such that they are different from the modulation frequency fSQ.

[0086] In addition, in the optional first method step 12, the effect of the interference field on the first objects 100, 100a, 100b is detected (this effect can be used later in method step 16 to compensate for the interference field).

[0087] In an alternative method step 14, modulation frequencies f1, f2, f3 (selected or modified as necessary in method step 12) are transmitted via a wireless communication connection (implemented here as a radio connection) from the magnetic field generating device 202 of the reference objects 200, 200a, 200b to the magnetic field detection device 112 of the first objects 100, 100a, 100b and used as reference signals for the lock-in amplifier (not shown in detail here) of the magnetic field detection device 112. This allows for a significant improvement in the signal-to-noise ratio when determining the magnetic field strengths |Bx(P)|, |By(P)|, |Bz(P)| and thus the relative position P in method step 20.

[0088] In method step 16, three directional magnetic fields B1, B2, and B3 with distinguishable modulation frequencies f1, f2, and f3 (if modified in advance) are generated and transmitted using the magnetic field generating device 202 of reference objects 200, 200a, and 200b (see [link to method 16]). Figure 4 (See attached figure 210).

[0089] In optional method step 18, the effect of the advance of the interference field, as determined in optional method step 12, is used to compensate for this effect by controlling and / or adjusting the electromagnetic superposition field emitted by means of at least one (not shown in detail) compensation coil. Specifically, the emission of the superposition field is maintained during the detection of magnetic field strengths |Bx(P)|, |By(P)|, and |Bz(P)| in method step 20.

[0090] In method step 20, the magnetic field strengths |Bx(P)|, |By(P)|, |Bz(P)| and modulation frequencies f1, f2, f3 of the magnetic fields B1, B2, B3 are detected at the following points in space using magnetic field detection devices 112, 112a of the first objects 100, 100a, 100b, at the following points at the time points.

[0091] In optional method step 22, the magnetic field strength |Bx of magnetic fields B1, B2, and B3 can be detected by means of at least one additional magnetic field detection device i 112, 112b, or 112c of the first objects 100 and 100b. 2,3 (P)|、|By 2,3 (P)|、|Bz 2,3 (P)| and modulation frequencies f1, f2, f3, which can be used later in the optional sub-method step 24b for analysis.

[0092] In method step 24, the analysis device 302 of systems 300, 300a, and 300b determines the relative position P of the first objects 100, 100a, and 100b with respect to at least one reference object 200, 200a, and 200b from the detected magnetic field strengths |Bx(P)|, |By(P)|, and |Bz(P) that are associated with the detected modulation frequencies f1, f2, and f3 and the directional magnetic fields B1, B2, and B3. This can be achieved through mathematical calculation on one hand, and by comparing the detected magnetic field strengths |Bx(P)|, |By(P)|, and |Bz(P)| with the magnetic field map on the other. In this embodiment, a combination of two variant schemes is used to improve accuracy. For the entire (possible) motion range of the first objects 100, 100a, and 100b, the expected magnetic field strengths |Bx(P)|, |By(P)|, and |Bz(P)| are stored in the magnetic field map. This magnetic field map can, for example, be initially created and continuously updated (see sub-method step 24c) to account for the effects of temporary disturbance fields. The determination of relative positions in method step 24 also includes transferring the required measurement data to analysis device 302.

[0093] In optional sub-method step 24a, additional position data is considered when determining the relative position P to improve accuracy. This additional position data is detected, for example, by an internal sensor device 120 in the form of an odometer sensor 120a (see [link]). Figure 2 The method involves using this additional location data to compare the relative position obtained according to the method of the invention. Here, for example, a method for identifying outliers, as known from DE102017213577.8A1, can be applied. Furthermore, in... Figure 2 In one embodiment, the reference objects 200 and 200b, which are docking stations, have GPS sensors, which enable the relative positions of the first objects 100 and 100b to be converted into absolute positions.

[0094] In optional sub-method step 24b, the relationship between the magnetic field strength and the magnetic field gradient, in the form of a magnetic field gradient, is obtained as a component-wise difference |Bx using analysis device 302. i (P)|-|Bx(P)|、|By i (P)|-|By(P) or |Bz i (P)|-|Bz(P)|, where i = 2, 3 represent the values ​​of the other magnetic field detection devices 112, 112b, 112c. Here, the values ​​provided by the parallel-oriented receiver coils are subtracted respectively. Here, the relative position P with respect to the magnetic field quadrant is clearly identified according to the sign of the relation. At the same time, the change in the motion direction of the first objects 100, 100b, especially the 180° reversal of the motion direction, is detected by means of a rotation-sensitive sensor device 122 in the form of an odometer sensor 120a, wherein, in the case of a reversal of the motion direction, the sign reversal of the relation is ignored (or the sign is multiplied by "-1").

[0095] In optional sub-method step 24c, when the first objects 100, 100b are moving, the deviation of this relationship from the expected target relationship based on the defined arrangement of magnetic field detection devices 112, 112a and two additional magnetic field detection devices 112, 112b, 112c (i = 2, 3) is analyzed in order to detect magnetic field distortion. These deviations can infer the influence of the corresponding magnetic field distortion or interference field. If detected, these magnetic field distortions are stored in the magnetic field diagram by updating the magnetic field diagram or merging the existing values ​​with the new values.

[0096] In optional sub-method step 24d, the analysis device 302 ultimately decodes the system information jointly encoded in each modulation frequency f1, f2, f3 and / or the entire modulation frequency f1, f2, f3 of the magnetic fields B1, B2, B3.

[0097] In method step 26, the final output of the analysis device 302 is provided with at least the obtained relative position P, optionally the calculated absolute position, and optionally the decoded system information for further use or processing.

[0098] Figure 4 An exemplary magnetic field 210 is shown, generated in a plane by two orthogonally arranged transmitter coils 204a and 204c of a magnetic field generating device 202 for reference objects 200, 200a, and 200b. The magnetic field is divided into four quadrants Q1, Q2, Q3, and Q4, in which, for example, at four exemplary points 206, there exists a symmetrically identical magnetic field strength, neglecting magnetic field distortion. To enable the explicit association of the relative position P with one quadrant, the first objects 100, 100b (here) Figure 2 The robot (in the form of an autonomous lawnmower) includes three magnetic field detection devices 112a, 112b, and 112c, arranged in a configuration that defines each other. Here, the connecting line between the two rearmost magnetic field detection devices 112b and 112c is perpendicular to the connecting line between the two rearmost magnetic field detection devices 112a and 112c, wherein the final connecting line is parallel or collinear with the robot's direction of travel (indicated by the arrow). For simplicity, it is assumed that the absolute value of the magnetic field is considered to be an example for magnetic field B1 (e.g., generated here by transmitter coil 204a), where all other fields are obscured. From this magnetic field B1, all three magnetic field detection devices 112a, 112b, and 112c measure the x, y, and z components (denoted by |Bx|). i B1 (P)|、|By i B1 (P)|、|Bz i B1 (P)| represents, and i = 1, 2, 3), these components respectively form the absolute values ​​of the magnetic fields acting at the corresponding locations of the magnetic field detection devices 112a, 112b, 112c. If the robot now moves along the direction of quadrant boundary 208, the detected magnetic field strength |Bx(P)| (of magnetic field B1) first decreases at the first magnetic field detection device 112a, and then decreases at the two other magnetic field detection devices 112b, 112c. Applicable is |Bx2 B1 (P)|-|Bx B1 (P)|>0,|Bx3 B1 (P)|-|Bx B1(P)|>0, where indices 2 and 3 represent two magnetic field detection devices 112b and 112c (indices for i=1 are ignored). If the robot now moves across quadrant boundary 208, the detected magnetic field strength first increases at the first magnetic field detection device 112a, while the magnetic field strength detected by the two other magnetic field detection devices 112b and 112c still decreases. From a specific point onwards, |Bx2| applies. B1 (P)|-|Bx(P)|<0,|Bx3 B1 (P)|-|Bx(P)|<0, thus from the relation |Bx2 B1 (P)|-|Bx(P)| or |Bx3 B1 The sign reversal of (P)|-|Bx(P)| allows for the deduction of transitions to other quadrants. If the initial positions of the first objects 100 and 100b are known, then despite the ambiguity of the magnetic field 210, a clear assignment of the relative position P can always be achieved. Furthermore, rotation-sensitive sensors are used to detect changes in the robot's motion direction, particularly a 180° reversal. If the robot reverses its motion direction, then the sign reversal of the relation is considered as follows: the relation |Bx2| is... B1 (P)|-|Bx(P)| or |Bx3 B1 (P)|-|Bx(P)| multiplied by "-1".

[0099] When using three magnetic field detection devices 112a, 112b, and 112c, magnetic field distortion can also be detected. Using the known orientation and, in particular, the known distances of the magnetic field detection devices 112a, 112b, and 112c, this relationship can be analyzed and compared with the expected target relationship based on the defined arrangement of the magnetic field detection devices 112a, 112b, and 112c. If the measured value deviates from the expected value, then magnetic field distortion can be inferred. As described above, this detected magnetic field distortion can be stored in a magnetic field diagram (see...). Figure 3 (Optional sub-method step 24c).

[0100] Figure 5 a through 5f illustrate different scenarios in which the method 10 according to the invention can be applied. Figure 5 In a, similar to Figure 1 or Figure 2 Find the relative position P of the first object 100 relative to the reference object 200. The first object 100 is freely movable, while the reference object 200 is fixed. Figure 5 In b, similar to Figure 5a. Only the relative relationship (of position P) is reversed. Here, the relative position P of reference object 200 relative to first object 100 is determined. Here, first object 100 is fixed, while reference object 200 is freely movable. Alternatively, it is also possible to keep first object 100 freely movable, while reference object 200 is fixed. Figure 5 In c, the relative position P of the first object 100, particularly selectively, relative to a plurality of reference objects 200, is determined. Here, each reference object 200 has an associated magnetic field generating device 202. Conversely, in Figure 5 In d, the relative positions P of multiple first objects 100, particularly selectively, relative to at least one reference object 200, are determined. Figure 5 The concept of e is proposed for determining the relative order of positions. Similar to... Figure 5 a. Determine the relative position of the first object 100 with respect to the reference object 200. Furthermore, determine the relative position P′ of the reference object 200 with respect to at least one other reference object 200. Intersecting cases are also conceivable, such as in… Figure 5 As shown in f. Here, the relative positions P of two first objects 100 relative to two other first objects 100 are determined, wherein all first objects 100 are also reference objects 200. Furthermore, the relative positions P′ of at least two first objects relative to other reference objects 200c are determined. In this way, a group of robots can, for example, navigate autonomously, in a manner where each robot can generate and receive a magnetic field. Thus, the relative positioning of the robots relative to each other can be achieved. This positioning can be used as the basis for common path planning.

[0101] Here, based on the previously obtained magnetic field BSQ (which is given here by the remaining robot magnetic fields), the modulation frequencies f1, f2, and f3 of magnetic fields B1, B2, and B3 are adjusted, and the pause times in T1, T2, and T3 are generated (see [reference]). Figure 3 (Optional method step 12). Specifically, the modulation frequencies f1, f2, and f3 of each reference object 200 are selected such that they are sufficiently different from the modulation frequency fSQ of the remaining reference objects 200 (here, the remaining robot). Furthermore, the pause times in the generation T1, T2, and T3 of magnetic fields B1, B2, and B3 are selected such that magnetic fields B1, B2, and B3 are generated during the corresponding pause times in the generation TSQ of the magnetic fields of the remaining reference objects 200 (TSQ = the sum of all other pause times of the remaining magnetic fields). Therefore, on the one hand, the effective range of the method for determining the relative position P of the first object 100 can be increased, and on the other hand, parallel operation of multiple methods according to the invention can be achieved.

[0102] for Figure 6 Case b (and) Figure 5 Compared to f), in Figure 6 Figure a shows how the frequencies f1 to f15 and pause times in the generation of the magnetic field, as well as TDS (= docking station) and TR1 to TR4, are adapted to each other so that the frequencies do not appear twice, and each reference object 200 transmits during the remaining pause time of the reference object 200.

Claims

1. A method (10) for determining the relative position P of a first object (100, 100a, 100b) relative to at least one reference object (200, 200a, 200b), the method comprising: At least three directional magnetic fields B1, B2, B3 with distinguishable modulation frequencies f1, f2, f3 are generated by means of a magnetic field generating device (202) associated with the reference objects (200, 200a, 200b), wherein the magnetic field generating device (202) includes at least three transmitter coils Tx1, Tx2, Tx3, which are arranged in a defined manner relative to each other. Using the magnetic field detection devices (112, 112a) of the first objects (100, 100a, 100b), the magnetic field strengths |Bx(P)|, |By(P)|, |Bz(P)| and modulation frequencies f1, f2, f3 of the magnetic fields B1, B2, B3 are detected. Using analysis equipment (302), the relative position P of the first object (100, 100a, 100b) with respect to the at least one reference object (200, 200a, 200b) is determined from the magnetic field strengths |Bx(P)|, |By(P)|, and |Bz(P) that are detected and associated with the directional magnetic fields B1, B2, B3 via the detected modulation frequencies f1, f2, f3. The determination of the relative position P' of the at least one reference object (200, 200a, 200b) with respect to at least one other reference object (200, 200a, 200b) includes: At least three directional magnetic fields Bx', By', and Bz' with distinguishable modulation frequencies f1', f2', and f3' are generated by means of an additional magnetic field generating device (202) associated with other reference objects (200, 200a, 200b), wherein the additional magnetic field generating device (202) includes at least three transmitter coils Tx1', Tx2', and Tx3', which are arranged in a defined manner relative to each other. Using the magnetic field detection devices (112, 112a) of the reference objects (200, 200a, 200b), the magnetic field strengths |Bx´(P´)|, |By´(P´)|, and |Bz´(P´)| of the magnetic fields Bx´, By´, and Bz´, and the modulation frequencies f1´, f2´, and f3´ are detected. The relative position P' of the reference objects (200, 200a, 200b) with respect to the at least one other reference object (200, 200a, 200b) is determined by means of the analysis device (302) from the magnetic field strengths |Bx'(P')|, |By'(P')|, and |Bz'(P')| that are detected and associated with the directional magnetic fields Bx', By', and Bz'.

2. The method (10) according to claim 1, wherein, In another method step, the modulation frequencies f1, f2, f3 are transmitted from the magnetic field generating device (202) to the magnetic field detecting device (112, 112a) and / or the analysis device (302), wherein the transmitted modulation frequencies f1, f2, f3 are used to improve the signal-to-noise ratio when determining the relative position P.

3. The method (10) according to claim 2, wherein, The transmitted modulation frequency is used as a reference signal for the lock-in amplifier of the magnetic field detection device (112, 112a) and / or the analysis device (302).

4. The method (10) according to any one of claims 1 to 3, wherein, The modulation frequencies f1, f2, and f3 are transmitted via a radio connection.

5. The method (10) according to any one of claims 1 to 3, wherein, Determine the relative position P of the first object (100, 100a, 100b) with respect to a plurality of reference objects (200, 200a, 200b), wherein each reference object (200, 200a, 200b) includes an associated magnetic field generating device (202).

6. The method (10) according to claim 5, wherein, Determine the relative position P of the first object (100, 100a, 100b) selectively relative to a plurality of reference objects (200, 200a, 200b).

7. The method (10) according to any one of claims 1 to 3, wherein, Find the relative position P of multiple first objects (100, 100a, 100b) with respect to at least one reference object (200, 200a, 200b).

8. The method (10) according to claim 7, wherein, Find the relative positions P of multiple first objects (100, 100a, 100b) selectively relative to at least one reference object (200, 200a, 200b).

9. The method (10) according to any one of claims 1 to 3, wherein, The magnetic field detection device (112, 112a) includes at least one magnetic field sensor (114a, 114b, 114c) from a list of magnetic field sensors, wherein the list includes at least a quantum sensor, a Hall sensor, a color center-based magnetic field sensor, and a receiver coil.

10. The method (10) according to claim 9, wherein, The receiver coil is an RF coil.

11. The method (10) according to any one of claims 1 to 3, wherein, The energy storage device of the first object (100, 100a, 100b) is inductively charged by means of at least one transmitter coil Tx1, Tx2, Tx3 (204a, 204b, 204c) of the magnetic field generating device (202).

12. The method (10) according to any one of claims 1 to 3, wherein, Each modulation frequency f1, f2, f3 of the magnetic fields B1, B2, B3 encodes the system information, and / or all modulation frequencies f1, f2, f3 jointly encode the system information.

13. The method (10) according to any one of claims 1 to 3, wherein, The influence of the interference field is detected, and the detected magnetic field strengths |Bx(P)|, |By(P)|, and |Bz(P)| are corrected by means of the analysis device (302) based on the influence of the interference field, and / or wherein the influence of the interference field is compensated by controlling and / or adjusting the electromagnetic superposition field emitted by means of at least one compensation coil when detecting the magnetic field strengths |Bx(P)|, |By(P)|, and |Bz(P)|.

14. The method (10) according to any one of claims 1 to 3, wherein, Additional position data are considered when determining the relative position P to improve accuracy and / or determine the absolute position.

15. The method (10) according to claim 14, wherein, Additional position data from other internal and / or external sensor devices (120, 120a) are considered when determining the relative position P to improve accuracy and / or determine the absolute position.

16. A system comprising a first object (100, 100a, 100b), at least one reference object (200, 200a, 200b), and an analysis device (302), characterized in that, The system is designed to perform the method (10) according to any one of claims 1 to 15.

17. The system according to claim 16, wherein, The analytical device (302) is designed to perform the method (10) according to any one of claims 1 to 15.

18. A first object (100, 100a, 100b) and / or a reference object (200, 200a, 200b) used in the system according to claim 16 or 17, wherein, The first object (100, 100a, 100b) is implemented as a handheld electrical device or a robot or a flying object or a handheld stick and / or part of a robotic arm, and wherein the reference object (200, 200a, 200b) is implemented as a docking station or a smoke alarm.

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