Positioning system and method for determining relative position information

Abstract

The invention relates to a positioning system for determining relative position information about a relative position of the positioning system with respect to an object to be positioned below an inspection surface, the positioning system having a positioning sensor, an orientation sensor and an evaluation device, the positioning sensor being provided for providing a first signal, the orientation sensor being provided for providing a second signal, and the evaluation device being provided for evaluating the first signal. The first signal varies as a function of the distance between the positioning system and the object, and wherein the orientation sensor is provided for providing a second signal which varies as a function of the direction of movement of the positioning system relative to the surroundings of the positioning system, an evaluation device is provided for determining relative position information about a relative position of the positioning system with respect to the object taking into account the first signal and the second signal. The invention further relates to a method for determining relative position information about the relative position of the positioning system with respect to an object to be positioned below an inspection surface.

Description

Technical Field

[0001] This invention relates to the field of positioning devices, and more particularly to a positioning system for determining relative position information and a method for determining relative position information. Background Technology

[0002] Positioning devices are known in the prior art for locating objects invisible within walls, ceilings, and / or floors, and are capable of displaying the object (object display area) over a more or less large area around its center (object center). Within the object display area, additional display can be achieved, for example, by using a sensor array or by different sensor orientations and / or sensor excitation, indicating the orientation of the object center. Another known possibility is to use a precise distance sensor, in addition to the positioning sensors used to locate the object, to determine the distance traveled, thereby determining the orientation of the object center. Known devices for achieving this orientation display consistently suffer from the disadvantages of being complex, prone to failure, and / or costly to manufacture.

[0003] Therefore, WO2015 / 197790A2 describes a positioning system having a positioning device and a position sensor, the positioning device being configured to detect positioning data with respect to a positioning object hidden beneath an inspection surface, and the position sensor being configured to detect position data of the positioning device relative to the inspection surface. As described herein, the positioning system has at least one evaluation device configured to determine orientation-resolved and / or position-resolved positioning information from the positioning data without repositioning the positioning device relative to the inspection surface in a first operating mode of the positioning system, and to determine at least three-dimensional positioning information from the positioning data and position data by assigning the positioning data to position data in a second operating mode. Summary of the Invention

[0004] This invention discloses a method for determining the positioning system relative to the inspection surface ( A positioning system for determining the relative position information of an object to be located below the surface being inspected, and a method for determining the corresponding relative position information.

[0005] According to the first aspect, a positioning system is proposed for determining relative position information about the positioning system relative to an object to be positioned (the positioning object) located below an inspection surface, such as a wall surface, wherein the positioning system may in particular be a handheld positioning device.

[0006] In the context of this invention, a positioning system is a device capable of locating objects that are not normally visible within walls, ceilings, and / or floors. These objects may be, for example, gas lines, water lines, or electrical lines, or supporting structures. In the context of this invention, a positioning device is a positioning system suitable for direct use by a human user (hereinafter also simply referred to as the user), in that the positioning system includes suitable input and output elements, and preferably includes a housing. In the context of a positioning device, the entire positioning device is a positioning system in the sense of this invention, but a positioning device excluding (i.e., not including) the input and output elements and any possible housing is also a positioning system. The positioning system according to the invention is preferably a portable and / or handheld positioning device. The positioning system according to the invention, or a portion thereof, typically moves above an inspection surface to determine relative position information, with one or more positioning objects concealed below the inspection surface.

[0007] The positioning system includes positioning sensors, orientation sensors, and evaluation devices. The positioning sensors and orientation sensors are collectively referred to as positioning devices. They can be mounted in a housing structurally separate from the rest of the positioning system. Preferably, the positioning sensors and orientation sensors, i.e., the positioning devices, are positioned within a common housing of the positioning system, which can move above the inspection surface either together with the rest of the positioning system or as a structurally separate unit. The evaluation devices typically include one or more processors and one or more memory modules.

[0008] A handheld positioning device should be understood in particular as a configuration in which at least the positioning device or its components can be held by hand, especially with one hand, without the aid of a transport vehicle. Preferably, the entire positioning device can be held by hand, especially with one hand, without the aid of a transport vehicle. Typically, a handheld positioning device is configured such that it can be moved freely by the user of the positioning device during the measurement process, especially by free movement in two directions, while held above the inspection surface, such as a wall surface. The weight of the handheld positioning device is, for example, less than 5 kg, preferably less than 3 kg, particularly preferably less than 1 kg, and very particularly preferably less than 500 g. Preferably, the handheld positioning device has a housing with a handle and / or handle area through which the positioning device can be guided, even when moved, above the inspection surface.

[0009] In the context of this invention, relative position information is information such as distance and / or angle descriptions that enables at least partial description of the relative position of at least a portion of the positioning system (e.g., the positioning device and / or the entire positioning system) relative to the object to be located. For example, this relative position information may be, or include, necessary estimated or approximate distances to the object to be located and / or necessary estimated directions to the object to be located, respectively, relative to at least a portion of the positioning system. As part of and / or supplemented to the relative position information, other information can also be determined by the positioning system, such as the necessary estimated direction (relative orientation) of at least a portion of the positioning system relative to the object to be located.

[0010] For example, this distance can be defined by the distance between a predefined reference point of the positioning system, such as a positioning device or the entire positioning system, and a predefined point of the object, such as the center of the object. Relative orientation involves the orientation of a predefined reference axis of the positioning system relative to a predefined reference axis of the object to be positioned. The direction of the object to be positioned relative to the positioning system is the direction in which the object is positioned relative to the positioning system, wherein this direction is defined by the direction of the axis connecting a point in the positioning system and a point in the object. Therefore, this direction can be specifically described in the form of a vector, which points from a point in the positioning system to a point in the object to be positioned.

[0011] Within the scope of this invention, descriptions of a positioning system, such as those concerning the movement, position, and / or orientation of the positioning system, including terms, definitions, descriptions, and statements, should be understood to refer only to a portion of the positioning system, such as the positioning device of the positioning system. This is particularly important because a positioning system can consist of multiple spatially and / or structurally separated units. For example, the relative orientation of the positioning system describes the orientation of the object to be positioned relative to at least a portion of the positioning system. Furthermore, relative position is obtained from the distance and relative orientation of the positioning system or a portion thereof to the object to be positioned.

[0012] Preferably, the relative position information includes at least information about the orientation of the object to be located relative to the positioning system. The relative position information does not necessarily have to be precise; for example, it can be an estimate of distance and / or angle values. Therefore, measurement errors can be tolerated for the relative position information, and / or approximations can be made to the measurements to obtain the relative position information. In particular, the relative position information can be an estimated (i.e., corresponding to the actual value only within the error range) orientation and / or distance of the object relative to the positioning system or a portion thereof. However, after obtaining more information about the orientation and / or distance of the object, such as after passing the object, the relative position information can also correspond to the precise (identified) position and / or precise (identified) orientation of the object.

[0013] The positioning sensor is configured to provide a first electrical signal (also simply referred to as the first signal), which varies with the distance between the positioning system and the object. Here, the distance between the positioning system and the object is relative to any predefined reference point of the positioning system, such as a point on the positioning device of the positioning system, and with respect to any predefined point of the object, such as its center (object center). The positioning sensor is ideally suited for detecting a positioning object located below an inspection surface, for example, by assessing changes in the electric field and / or magnetic field, or by assessing changes in the propagation time of radiation emitted into the material to be inspected. Preferably, the positioning sensor may include, for example, an inductive sensor, a current sensor (especially a sensor for detecting lines conducting mains voltage), and / or a capacitive sensor. The positioning sensor may also be or include a sensor configured to detect the positioning object by means of electromagnetic radiation, especially, for example, a microwave sensor, a radio radar sensor, a terahertz sensor, an ultra-high frequency sensor, an X-ray sensor, an infrared sensor, and / or a nuclear magnetic resonance sensor (NMR sensor). Furthermore, the positioning sensor may also be or include an acoustic sensor, such as an ultrasonic sensor, a shock echo sensor, and / or a neutron detector. Alternatively, it is conceivable to combine multiple, especially different types of sensors, in a common positioning sensor. Multiple positioning sensors can also be used in a single positioning system.

[0014] The orientation sensor is configured to provide a second electrical signal (also simply referred to as the second signal) that changes with the direction of motion of the positioning system relative to its surrounding environment; that is, it changes when the orientation of the positioning system relative to its surrounding environment changes while the positioning system is simultaneously moving relative to its surrounding environment. It is not desirable for the orientation sensor to detect changes in the orientation of the positioning system relative to its surrounding environment when the positioning system is stationary. In particular, it is not desirable for changes in the orientation of the positioning system relative to its surrounding environment to cause changes in the second signal when the positioning system is stationary. However, this is preferred. Within the scope of this invention, the surrounding environment of the positioning system should be understood to include the surrounding environment of the positioning system whose position and orientation relative to the inspection surface are constant over time.

[0015] The orientation of a positioning system relative to its surroundings is defined herein as the orientation of at least a portion of a predefined reference axis of the positioning system, such as the axis of the positioning device of the positioning system, relative to a predefined axis that is constant in time relative to the surroundings. Changes in the direction of movement of the positioning system cause changes in its orientation relative to the surroundings. Since the object to be detected is preferably constant in time with respect to its orientation, changes in the orientation of the positioning system relative to the surroundings are generally equivalent to changes in its relative orientation with respect to the object to be located. Preferably, the orientation of the positioning system relative to the surroundings is known at least at one point in time so that the second signal can be calibrated. However, such calibration is not necessary with respect to the surroundings, because the relative position information does not need to refer to the surroundings, as it may itself only relate to the relationship between the positioning system and the object. In particular, it is conceivable that the positioning system determines one or more reference values ​​for the orientation and / or position of the positioning system at a point in time, such as when it is placed on the inspection surface. For example, an angle value determined at the point of placement is determined as a reference angle for the orientation and / or a point on the inspection surface is determined as a reference point for the position. The positioning system can then use the one or more reference values ​​at a later point in time to compare the current orientation and / or current position.

[0016] Orientation sensors can be, for example, path sensors configured to determine the distance traveled by the positioning system, and / or motion direction sensors configured to determine the direction of motion of the positioning system relative to its surrounding environment, and / or include path sensors and / or motion direction sensors. Here, the motion direction sensor, as part of orientation sensors, can be configured solely to measure the direction of motion of the positioning system. For example, the orientation sensor can be configured as an optical path sensor and / or a mechanical path sensor that detects motion and / or rotation accompanying changes in the orientation of the positioning system relative to its surrounding environment during operation. Preferably, the positioning system is configured such that the orientation sensor includes path sensors and / or motion direction sensors, particularly an inertial measurement unit (IMU).

[0017] The orientation sensor may also be, or include, a position sensor for detecting position data of the positioning system relative to the inspection surface. Changes in the direction of movement of the positioning system result in a corresponding change in the position of the positioning system, from which the change in direction of movement can be derived. Therefore, the direction of movement can be inferred from the signal of the position sensor that changes with the direction of movement. The position sensor may, in particular, be a sensor configured to convert field changes, propagation time changes, and / or phase position into electrical signals to determine the current position of the positioning system on the inspection surface. Here, the current position may be detected relative to a previous position or absolutely, especially relative to at least one fixed reference point on the inspection surface, and is output or transmitted as position data. Preferably, the position sensor may also determine the orientation of the position sensor, and thus the orientation of the positioning system. The position data involves coordinates in at least two directions that determine the position of the position sensor on the inspection surface. Furthermore, the position data may also determine the orientation of the position sensor relative to the inspection surface.

[0018] The evaluation device is configured to determine relative position information about the positioning system's position relative to an object, for example, by calculating a first signal and a second signal, wherein these signals are typically transmitted to the evaluation device via wired connections from positioning sensors and orientation sensors. Here, "determining relative position information while considering the first and second signals" should be understood as further processing of these signals such that relative position information is generated using information obtained from the two signals, wherein simply associating the signals or the information obtained from them with each other does not constitute the determination. In the case of multiple positioning sensors, each of the multiple positioning sensors can provide its own first signal, which is transmitted to the evaluation device and considered by the evaluation device when determining the relative position information. It is also conceivable that the evaluation device is configured to determine relative position information about the positioning system's position relative to multiple objects, while considering the first and second signals. Therefore, the positioning system can be used to locate multiple objects located below an inspection surface and determine their relative position information. For example, when the amplitude of the first signal first decreases and then increases during linear movement of the positioning system, the evaluation device can infer the presence of at least two objects to be located.

[0019] Compared to existing technologies, complex sensors are not required to determine position. For example, relative position information can be determined using distance sensors, which have significantly lower requirements compared to sensors used in existing technologies, particularly those with larger measurement errors, or by motion direction sensors that only measure the direction of motion. For instance, orientation sensors can be implemented using a wheel or ball combined with a device for determining its motion, a strain gauge for measuring deformation, such as the deformation of a flexible support slider, a device for correlating with ground images (optical tracking), and / or a device for measuring velocity, such as by means of Doppler radar or laser interferometry. Furthermore, it is conceivable that the orientation sensor is or includes a device for performing simultaneous localization and mapping (SLAM) and / or an inertial measurement unit (IMU).

[0020] Particularly advantageous is that the evaluation device is configured to determine changes in the first signal, preferably changes in the amplitude of the first signal. In this case, the evaluation device does not need to rely on the absolute value of the first signal to determine relative position information. Here, this change can be, in particular, a time change. Therefore, when examining the time change (change over time) of the first signal, this change can be given, for example, in the form of gradients and / or slopes, for example, with respect to time. By examining the time change of the first signal as the positioning system moves, it can be determined whether the positioning system is approaching or moving away from the object, where, typically, the direction of movement of the positioning system cannot be determined solely by the first signal. However, by combining the second signal (which at least determines an estimate of the direction of movement of the positioning system), at least an estimate of the direction of the object relative to the positioning system can be determined, i.e., in which direction of movement the approach or movement away from the object occurs. In a particularly readily implementable embodiment of the invention, when it is determined that the object is approaching the object, the evaluation device simply infers that the object is located in the direction of movement estimated based on the second signal. When it is determined that the object is moving away from the object, it is simply inferred that the object is located in the opposite direction to the estimated direction of movement. This bidirectional position description (object located in the direction of movement / opposite to the direction of movement) is relative position information.

[0021] Preferably, the evaluation device can be configured to determine the time variation of the second signal, preferably the time variation of the amplitude of the second signal. The evaluation device can be particularly configured to determine relative position information about the relative position of the positioning system with respect to the object, taking into account the first and second signals, by determining the time variations of both the first and second signals and calculating them together. This is particularly advantageous because users of the positioning system according to the invention, especially in the case of handheld positioning devices, typically do not guide the handheld positioning device perfectly along a horizontal line on the inspection surface, but rather unconsciously guide it, for example, along curved and / or wavy paths. These path variations result in continuous changes in the direction of movement, and thus continuous changes in the orientation of the positioning system relative to the surrounding environment, which typically causes changes in both the first and second signals. The evaluation device can then infer the approximate orientation of the object relative to the positioning system at a determined point in time from the changes in the two signals. Compared to using the current absolute value of the direction of motion used for the positioning system, such examination and calculation of the time changes of the two signals allows for a more accurate determination of the relative position of the object. This is because by taking into account the time change of the second signal (caused by the user's unconscious deviation from linear motion), it is possible to distinguish between two situations in which the object is exactly in the direction of the current direction of motion or in the lateral direction of the current direction of motion.

[0022] Advantageously, the positioning system includes an output unit configured to transmit, preferably optically, determined relative position information relative to an object, i.e., to the user of the positioning system, such as the direction in which the object (especially its center) is located. This relative position information is advantageous to the user for quickly locating the object's center. Within the scope of this invention, the elements of the output unit used directly to transmit relative position information to the user of the positioning system, such as the light-emitting device of the output unit, are referred to as display elements.

[0023] For example, relative position information can be transmitted to the user optically using light-emitting devices such as light-emitting diodes (LEDs), illuminated arrows (i.e., light-emitting display devices in the form of arrows or similar shapes), and / or screens. For instance, two LEDs and / or illuminated arrows can be used to display the approximate direction of the estimated object, such as corresponding to left and right possibilities. Four LEDs and / or illuminated arrows can additionally display other directional possibilities (e.g., up and down). Using more LEDs and / or illuminated arrows and / or simultaneously activating multiple LEDs and / or illuminated arrows can further refine the displayed direction. Here, illuminated arrows can be implemented in different ways, such as using LEDs and / or photoconductors and / or displayed on a screen. Furthermore, not only can directional instructions be shown to the user optically, but distance instructions can also be shown. For example, this can be achieved by the intensity of the illuminated arrows being related to the distance from the positioning system to the object and / or by activating additional LEDs when the object is near. In the case of illuminated arrows, it is also conceivable that multiple or all illuminated arrows will be switched on and illuminated once the distance from the positioning system to the object is at least below a certain value about one axis (i.e., left-right, up-down). A particularly simple variation of transmitting relative position information to a user optically can be achieved by using three light-emitting devices, such as LEDs, to indicate the approximate position of the object relative to the positioning system: the first light-emitting device is activated when the object is below or within a defined range of the positioning system. The second light-emitting device is activated when the object is to the left of the positioning system. Finally, the third light-emitting device is activated when the object is to the right of the positioning system. Using more light-emitting devices allows for more precise position indication and / or indication of more directions.

[0024] Generally, the display of relative position information by the output unit can also be related to various conditions, such as the sensor values ​​and / or the presence of the display elements of the output unit. Therefore, it is conceivable that the display elements for showing the object's orientation are activated only when the object is fully detected. Furthermore, if all display elements correspond only to the display of the position to the left or right of the positioning system, while the object is essentially above or below the positioning system, and therefore using display elements for the left / right side might mislead the user of the positioning system, then all display elements can also be deactivated.

[0025] Alternatively or additionally, acoustic signals, such as tone marks, and / or tactile signals, such as vibrations, may be conceived. Accordingly, the output unit may in particular include LEDs, a screen, a speaker, and / or a vibration generator. Especially, when the user moves the positioning system, the output unit can inform the user whether he / she has moved the positioning system toward the object. The positioning system can also directly instruct the user to move the positioning system toward the object, onto the object, and / or above the object. This allows the positioning system to detect objects more accurately.

[0026] According to a second aspect of the invention, a method is provided for determining relative position information about the relative position of the positioning system with respect to an object to be positioned located below an inspection surface using a positioning system, preferably the positioning system described herein. The method includes providing a first signal via a positioning sensor of the positioning system, wherein the first signal varies with the distance between the positioning system and the object; providing a second signal via an orientation sensor of the positioning system, wherein the second signal varies with the direction of movement of the positioning system relative to its surrounding environment; and determining the relative position information by an evaluation device of the positioning system, taking into account the first and second signals. Here, the determination may be or includes calculating the signals by performing pre-signal processing and / or signal conditioning on one or both of the two signals.

[0027] Preferably, to determine relative position information using a positioning system, the positioning system includes positioning sensors and orientation sensors; that is, at least part or the entire positioning system of the positioning device is automatically moved above the inspection surface or moved above the inspection surface by the user, thereby changing the first and second signals. Preferably, the method further includes transmitting the determined relative position information to the user of the positioning system through the output unit of the positioning system, wherein the transmission is preferably performed optically, for example by means of light-emitting devices such as LEDs, luminous arrows, and / or screens. Thus, for example, it can be envisioned that the user moves the positioning system or its positioning device above a wall surface serving as the inspection surface to detect hidden objects, such as electrical wires or pipes. The evaluation device determines an estimate for the object's orientation based on the first and second signals and displays this estimate to the user, for example, by means of an luminous arrow. This orientation corresponds to the direction in which the amplitude of the first signal increases. However, the evaluation device can also be configured such that the distance and orientation of the object are determined by the two signals, and the object is displayed to the user on the screen of the positioning system.

[0028] Furthermore, the method may include obtaining one or more offset values ​​of the first and / or second signals, and determining the relative position information may include removing the offsets of the first and / or second signals while taking into account the obtained one or more offset values. For example, this determination of offset values ​​is advantageous when the orientation sensor is or includes an inertial measurement unit (IMU): the orientation of the IMU can be estimated using appropriate software (sensor fusion library), where the value used for the IMU's position exhibits a large drift. This is because the IMU typically uses acceleration values ​​in all three spatial directions to determine the value used for the position, thus requiring two integrations. If offset errors, i.e., unwanted offset values, exist in the acceleration values, it results in severely distorted position values. Offset errors are also problematic for determining the direction of motion, which is typically done by integrating the acceleration values ​​once. Therefore, obtaining and removing offset values ​​is particularly important for small accelerations and velocities.

[0029] Advantageously, the second signal contains the acceleration value for the positioning system, and one or more offset values ​​are calculated against the second signal during the stationary state of the positioning system. This stationary state proves to be the most suitable operating phase for this purpose. In the case of an IMU, this stationary state can be determined by means of the acceleration value and / or rotation rate detected by the IMU. In particular, the calculated rotation rate of the plane perpendicular to the inspection surface in which the positioning system is moving is especially convincing for determining whether the positioning system is stationary or in motion.

[0030] Furthermore, determining relative position information may include taking into account changes in a first signal and / or a second signal, wherein, preferably, the change in the first signal includes either a change in the amplitude of the first signal and / or the change in the second signal includes either a change in the amplitude of the second signal.

[0031] Advantages of the present invention

[0032] This invention describes a positioning system, particularly a handheld positioning device, for locating an object located below an inspection surface, such as a wall surface. In this system, an evaluation device determines the corresponding relative position information by considering the electrical signals from a positioning sensor and an orientation sensor. The basic concept is that using the information obtained from the two sensors in this way improves the positioning results for the user and allows the display of relative position information, such as the distance from the positioning system to the object and / or the relative orientation of the positioning system relative to the object and / or the orientation of the object relative to the positioning system. This at least partially compensates for any deficiencies that may exist in one or both of the sensors.

[0033] Therefore, this approach enables an advantageous method for locating objects located below the inspection surface, as it requires only a reduction in the requirements of the sensors used, particularly the orientation sensors. To achieve this invention, only orientation sensors are needed for roughly determining the direction of movement of the positioning system, without the need for precise position determination and the consequently expensive sensing devices.

[0034] The positioning system according to the invention can transmit a rough estimate of the distance and / or direction of an object to be located to the user of the positioning system, for example, by using light-emitting devices, such as LEDs and / or luminous arrows, which indicate the direction of the hidden object. This is usually sufficient for the user to quickly locate the center of the object. Attached Figure Description

[0035] The embodiments of the present invention will now be described in further detail with reference to the accompanying drawings and specific implementation details.

[0036] The attached diagram shows:

[0037] Figure 1 A schematic diagram of the positioning system of the present invention is provided.

[0038] Figure 2 A schematic flowchart illustrating an exemplary method for determining relative position information according to the present invention;

[0039] Figure 3A , 3B A schematic diagram illustrating the working principle of the exemplary positioning system and the exemplary method of the present invention. Detailed Implementation

[0040] In the following description of embodiments of the invention, the same or similar elements are denoted by the same reference numerals, and repeated descriptions of these elements are omitted in individual cases. The accompanying drawings are only schematic illustrations of the subject matter of the invention.

[0041] Figure 1 A schematic diagram of an exemplary positioning system 100 according to the present invention is shown. This relates to a handheld positioning device 100' having a screen 130' as part of an output unit 130, wherein the positioning system 100 is located in an surrounding environment 101. Furthermore, the positioning system 100 includes a positioning sensor 110, an orientation sensor 120, and an evaluation device 140, wherein the sensors 110 and 120 are connected to the evaluation device 140 via cables 115 and 125 for electrical signal transmission. The evaluation device 140 is in turn connected to the output unit 130 via a cable 145 for electrical signal transmission. The positioning system 100 includes a housing 108 that at least partially surrounds the components 110, 115, 120, 125, 130, 140, and 145, and the screen 130' is housed within the housing.

[0042] To locate the object 160 located below the inspection surface 150, the positioning system 100 is guided above the inspection surface 150 by a human user 190. The positioning system 100 can determine relative position information about its relative position to the object 160. A positioning sensor 110 and an orientation sensor 120 are combined with an evaluation device 140 for this purpose. The positioning sensor 110 provides a first signal that varies with a distance 180 between the positioning system 100 and the object 160. Here, distance 180 refers to the distance between a reference point 102 of the positioning system 100 and the center 162 of the object. The orientation sensor 120 is configured to provide a second signal that varies with a change in the direction 105 of movement of the positioning system 100 relative to its surrounding environment 101. For example, it can be envisioned that the orientation sensor 120 detects orientation 185, for instance, by determining an approximate value of the angle 185' between the reference axis 104 of the positioning system 100 and the axis 106, which is constant in time relative to the surrounding environment 101. Therefore, the angle 185' is independent of the position of the object 160.

[0043] As the positioning system 100 moves above the inspection surface 150, the angle 185' enables the description of the direction of movement 105 of the positioning system 100, provided that the positioning system 100 moves such that its orientation in its direction of movement 105 remains substantially unchanged. Along with the change in distance 180, the angle 185' allows for description of whether movement along the direction of movement 105 results in proximity to or distance from the object 160, i.e., in which direction the object 160 is at least approximately located. Therefore, the information acquired during the movement of the positioning system 100—that is, the position of the object 160 approximately in or opposite to the direction of movement 105—constitutes relative position information, which is determined by the evaluation device 140 using the first and second signals. However, it is also conceivable, for example, that the orientation sensor 120 could be implemented as a distance sensor, whose signal could at least provide approximate information about the distance traveled on the inspection surface 150, from which the change in orientation 185 and the direction of movement 105 of the positioning system 100 could be inferred. Similarly, it can be determined here whether the object 160 is approximately located in the direction of motion 105 or in the opposite direction of motion 105.

[0044] The relative position information thus obtained can now be displayed, for example by means of the screen 130' of the output unit 130, in the form of an illuminated arrow 135 pointing left or right relative to the positioning system 100, and thus transmitted optically to the user 190 of the positioning system 100 (indicated schematically by arrow 170).

[0045] Figure 2 A schematic flowchart illustrating an exemplary method according to the present invention is shown, which is used with the aid of a positioning system 100 (e.g., as shown in the figure). Figure 1 (As shown) Determine relative position information regarding the relative position of the positioning system 100 with respect to an object 160 located below the inspection surface 150. The method includes providing a first signal 210 via a positioning sensor 110 of the positioning system 100, wherein the first signal varies with a distance 180 between the positioning sensor 110 and the object 160; and providing a second signal 220 via an orientation sensor 120 of the positioning system 100, wherein the second signal varies with a direction of motion 105 of the positioning system 100 relative to its surrounding environment 101. Optionally, one or more offset values ​​of the first and / or second signals 212 and 222 are also determined to avoid errors during signal processing. The determination of the offset values ​​can advantageously be performed during a stationary state (still state) of the positioning system 100.

[0046] After obtaining the offset values ​​212 and 222, the relative position information 230 can be determined while continuously detecting the first and second signals. This includes removing the offsets 232 and 234 of the first and / or second signals while considering one or more of the obtained offset values. Subsequently, the actual determination of the relative position information is performed while considering the first and second signals. For example, this can be done by calculating 236 of the two signals, in particular by the evaluation device 140 determining the time changes of the first and second signals and calculating them together to obtain the relative position information. Preferably, the time changes of the amplitude of the first signal and / or the time changes of the amplitude of the second signal are considered here.

[0047] Finally, in step 270, the determined relative position information is transmitted to the user 190 of the positioning system 100 via the output unit 130 of the positioning system 100, wherein the transmission 270 is preferably performed optically, i.e., by means of an luminous arrow 135 and / or a screen 130'.

[0048] at last, Figure 3A and Figure 3B This is shown for further explanation. Figure 1 The graph shows the functional modes of the exemplary positioning system 100 and the exemplary method according to the present invention.

[0049] Figure 3A As shown in the first third section Figure 1 The situation has already been shown. The positioning system 100, i.e., the handheld positioning device 100', moves toward the object to be positioned 160 located below the inspection surface 150. Here, in Figure 3A In the middle, the direction of movement 105 is indicated by an arrow.

[0050] Below the diagram, in Figure 3A The following graph 310a is shown: the amplitude (y-axis 330) of the first signal from the positioning sensor 110 is plotted with respect to time (x-axis 320). It can be seen that the resulting curve 340a trendes upwards, meaning the amplitude of the first signal increases over time. At least a rough indication of the direction of motion 105 can be determined using the second signal from the orientation sensor 120.

[0051] Based on this information, that is, considering the first and second signals from the two sensors 110 and 120 (schematically indicated by arrow 350), the evaluation device 140 can thus determine relative position information regarding the relative position of the positioning system 100 with respect to the object 160: the upward trend of curve 340a suggests that it is approaching the object 160 in the direction of motion 105. The approximate direction of motion 105, i.e., the direction of motion relative to the object 160, is determined based on the signal from the orientation sensor 120. Figure 3A From the illustration (from left to right), it can be further inferred that object 160 must also be located to the right of handheld positioning device 100'. The output unit 130 of handheld positioning device 100' can now, for example, display an illuminated arrow 135, which is shown, for example, via the screen 130' of output unit 130, pointing in the approximate predicted direction of object 160, and the relative position information determined by evaluation device 140 is thus transmitted to user 190 of handheld positioning device 100'.

[0052] However, Figure 3B The situation is shown when the signal amplitude of positioning sensor 110 decreases over time. The corresponding curve 340B is shown in graph 310B. The relative position information of 230 is determined by considering both the first and second signals. Figure 3A The situation proceeds similarly: the evaluation device 140 can infer from the decrease in the amplitude of the first signal that, in this case, the handheld positioning device 100' is moving away from the object 160 as it moves along the direction of motion 105. Based on the knowledge of the direction of motion 105, it can be further inferred that the object 160 is moving away from the object 160. Figure 3B The illustration is located on the left side of the handheld positioning device 100'. This relative position information can be retransmitted to the user 190 via the output unit 130 through the luminous arrow 135, in which case the luminous arrow is aligned with... Figure 3A The illuminated arrow 135 points in the opposite direction.

[0053] This invention is not limited to the embodiments described herein and the aspects emphasized therein. Rather, various modifications can be made by those skilled in the art within the scope defined by the claims, and all such modifications fall within the protection scope of this invention.

Claims

1. A positioning system (100), particularly a handheld positioning device (100'), said positioning system for determining relative position information with respect to the relative position of the positioning system (100) with respect to an object (160) located below an inspection surface (150), wherein, The positioning system (100) includes a positioning sensor (110), an orientation sensor (120), and an evaluation device (140). The positioning sensor (110) is configured to provide a first signal that varies with the distance (180) between the positioning system (100) and the object (160). The orientation sensor (120) is configured to provide a second signal that varies with the direction of motion (105) of the positioning system (100) relative to its surrounding environment (101). The evaluation device (140) is configured to determine relative position information about the relative position of the positioning system (100) relative to the object (160) in consideration of the first and second signals.

2. The positioning system (100) according to claim 1, wherein, The evaluation device (140) is configured to determine the change in the first signal and / or the change in the second signal, preferably the change in the amplitude of the first signal and / or the change in the amplitude of the second signal.

3. The positioning system (100) according to any one of the preceding claims, wherein, The orientation sensor (120) includes a distance sensor and / or a motion direction sensor, particularly an IMU.

4. The positioning system (100) according to any one of the preceding claims, wherein, The positioning system (100) includes an output unit (130) configured to transmit (170, 270) the determined relative position information relative to the object (160), preferably optically, to a user (190) of the positioning system (100).

5. The positioning system (100) according to claim 4, wherein, The output unit (130) includes an LED, a screen (130'), a speaker, and / or a vibration generator.

6. A method for determining relative position information with respect to the relative position of the positioning system (100) with respect to an object (160) located below an inspection surface (150) using a positioning system (100), the positioning system preferably being a positioning system according to any one of claims 1 to 5, the method comprising the steps of: a. A first signal is provided (210) by the positioning sensor (110) of the positioning system (100), wherein the first signal changes with the distance (180) between the positioning sensor (110) and the object (160); b. A second signal is provided (220) by the orientation sensor (120) of the positioning system (100), wherein the second signal changes with the direction (105) of the movement of the positioning system (100) relative to its surrounding environment (101); and c. The relative position information is determined (230) by the evaluation device (140) of the positioning system (100) taking into account the first signal and the second signal.

7. The method according to claim 6, wherein, The method includes transmitting (170, 270) the determined relative position information to a user (190) of the positioning system (100) via an output unit (130) of the positioning system (100), wherein the transmission (170, 270) is preferably performed optically.

8. The method according to claim 6 or 7, wherein, The method includes obtaining (212, 222) one or more offset values ​​of the first signal and / or the second signal, and the determination (230) of the relative position information includes removing (232, 234) the offset of the first signal and / or the second signal in consideration of the obtained one or more offset values.

9. The method according to claim 8, wherein, The second signal contains an acceleration value for the positioning system (100), and the calculation (222) of one or more offset values ​​of the second signal is performed during the motion-stopped state of the positioning system (100).

10. The method according to any one of claims 6 to 9, wherein, The determination (230) of the relative position information includes taking into account the changes in the first signal and / or the changes in the second signal, wherein, preferably, the changes in the first signal include either the changes in the amplitude of the first signal and / or the changes in the second signal include either the changes in the amplitude of the second signal.

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