Mobile device, motion device and procedure

Abstract

The present invention relates to a mobile device, a motion device and a method for determining a relative position, orientation and / or speed of a mobile device.

Description

[0001] The present invention relates to a mobile device, a motion device and a method for determining a relative position, orientation and / or speed of a mobile device.

[0002] DE 102016216221 A1 describes a two-dimensional code arrangement comprising basic symbols, wherein the basic symbols are arranged on a surface and form a two-dimensional periodic grid on the surface, with several identical parcels, each parcel having a plurality of basic symbols, and each parcel having at least a first and a second parcel area. Another two-dimensional code arrangement is described in DE 102021205874 A1.

[0003] Positioning objects in space is a common task in automation technology, for example in handling and / or transport processes. This is often achieved using axis systems in one or more dimensions, such as gantry systems or robots. These systems include drives that move a runner to a predefined target position. This requires the runner's current position to be determined. To ascertain this position, these systems need an absolute and / or relative spatial scale. This scale is either a structural component of the axes or the robot, or an inherent function of a component. Other technological approaches use position codes on surfaces to position objects.

[0004] DE 102016216221 A1 already describes a work arrangement with a planar work area and a work module and with a two-dimensional code arrangement arranged in the work area, wherein the work module includes an optical sensor unit for capturing a section of the code arrangement as an image and is designed to decode the X-coordinate value and the Y-coordinate value.

[0005] Against this background, the present invention aims to further improve and make more flexible the position determination of a mobile device, such as those used in automation technology. Furthermore, a corresponding motion device and a corresponding method for determining the relative position, orientation, and / or speed of a mobile device are to be specified.

[0006] According to aspects of the present invention, a mobile device, a motion device and a method are provided as defined in the claims.

[0007] Preferred embodiments of the invention are defined in the dependent claims. It is understood that the claimed method may have similar and / or identical preferred embodiments as the claimed mobile device and the claimed motion device, in particular as defined in the dependent claims and as disclosed herein.

[0008] The invention is based on the idea of ​​enabling a mobile device to navigate flexibly and easily or move autonomously on the movement surface of a motion system, thereby reducing or completely eliminating downtime due to the need to recharge an energy storage device such as a rechargeable battery. This is achieved through contactless energy transfer from one or more energy transfer units on and / or within the movement surface to an energy receiving unit of the mobile device, in particular inductive energy transfer (preferably inductive resonant energy transfer). The contactless energy transfer can be stationary at one or more energy transfer units or dynamic (during the movement of the mobile device) through a plurality of energy transfer units, thereby potentially...It is possible to completely forgo an energy storage device in the mobile device, or to use a small, lighter and therefore cost-effective energy storage device such as a small battery or a supercapacitor.

[0009] In preferred configurations, the mobile device is able to locate a power transfer unit (PCU) based on the markers as needed. For example, the mobile device can be initially programmed to store the markers indicating the location of PCUs and / or the path to a PCU. This can be achieved, for instance, by positioning the mobile device at locations with PCUs so that it stores the markers there, or by allowing the device to "traverse" the work area to find the PCUs and store the markers at those locations. Alternatively, an operator or user can also store the markers indicating the location of PCUs.

[0010] The mobile device can be designed, for example, as a driverless transport vehicle, forklift, car, bus, truck, conveyor trolley in a conveyor system, robot, workpiece carrier or transport unit for packages or suitcases.

[0011] The markings can be designed, for example, in the form of text, images, icons, QR codes, barcodes, binary codes, numbers, letters, and / or RFID tags. Markings such as those described as code arrangements in the aforementioned publications DE 102016216221 A1 and DE 102021205874 A1 can also be used. These can be one- or two-dimensional. The methods described therein for reading the markings, storing information in the markings, and using them can also be employed here. Therefore, the descriptions in DE 102016216221 A1 and DE 102021205874 A1 are hereby incorporated into the present application.

[0012] The movement area can be designed, for example, as one or more panels, mats, floor surfaces, or films. The movement device can be, for example, a mat or panel laid on the floor, into which the energy transfer units are integrated, such as flat coil units, and on whose surface, serving as the movement area, the markings are printed. Alternatively, the floor itself can serve as the movement device, with the energy transfer units arranged in or on it and the markings applied to or on its surface.

[0013] It is understood that the features mentioned above and those to be explained below can be used not only in the combinations specified, but also in other combinations or on their own, without leaving the scope of the present invention.

[0014] Exemplary embodiments of the invention are shown in the following drawings and are explained in more detail in the following description. They show: Fig. 1 a schematic representation of an embodiment of a mobile device according to the invention on a motion device according to the invention; Fig. 2 a top view of a section of a motion device according to the invention; and Fig. 3 an embodiment of a marking used in the motion device according to the invention.

[0015] Fig. Figure 1 shows a schematic representation of an embodiment of a mobile device 1 according to the invention on a motion device 2 according to the invention. The mobile device 1 comprises a drive unit 10 for moving the mobile device on a movement surface 20 of the motion device 2 which is provided with markings. Furthermore, the mobile device 1 comprises an energy acquisition unit 11 for receiving energy transmitted contactlessly from an energy transmission unit 21 of the motion device 2 to supply the mobile device 1. A sensor unit 12 serves to detect markings on and / or in the movement surface 20 when the mobile device 1 is located on or moving on the movement surface 20. An evaluation unit 13 serves to determine a relative position, orientation, and / or speed between the mobile device 1 and the movement surface 20 based on at least one detected marking.

[0016] The motion device 2 comprises a movement surface 20 on which a mobile device 1 can move, at least one energy transfer unit 21 for contactless transfer of energy to the mobile device 1, and a plurality of markings 22 (see Fig. 2) on and / or in the movement area 20 for detection by the mobile device 1 and determination of a relative location, position, orientation and / or speed between the mobile device 1 and the movement area 29 based on at least one detected marker 22.

[0017] In one application scenario, the mobile device 1 is a workpiece carrier that transports workpieces 3 on tracks (as a motion device) or on the ground (e.g., a factory floor as a motion device), for example, between different processing stations. In other application scenarios, the mobile device 1 can be configured as an automated guided vehicle (AGV), forklift, car, bus, truck, conveyor cart in a conveyor system, robot, workpiece carrier, or transport unit for packages or suitcases. For example, the mobile device is configured as an autonomously driving device that navigates to a destination based on detected markings. The movement surface 20 can be configured as one or more plates, mats, a floor surface, or films.

[0018] Fig. Figure 2 shows a top view of a section of a motion device 2 according to the invention, in particular a section of the motion surface 20. Fig. 2 a large number of markings 22 are recognizable, which are applied to the movement area 20.

[0019] Fig. Figure 3 shows an example of a single marker 22, designed as a two-dimensional encoding, where points in a grid represent a first binary value (e.g., 1) and missing points represent another binary value (e.g., 0). Alternatively, other elements can be used instead of such a grid of points and spaces, for example, larger and smaller dots, numbers, letters, etc.

[0020] The sensor unit 12 can be configured for optical and / or electrical detection of the markings, in particular for capturing images of the markings, and the evaluation unit 13 can be configured for evaluating the optically and / or electrically detected markings, in particular by means of image processing. The sensor unit 12 can, for example, be a camera or an RFID sensor (e.g., an RFID antenna). The sensor unit 12 can be configured for detecting markings in the form of text, images, icons, QR codes, barcodes, binary codes, numbers, letters, and / or RFID tags.

[0021] Each of the markings 22 can contain position information regarding the position of the respective marking on and / or within the movement area, or such position information can be derived from the respective marking, wherein the evaluation unit 13 is designed to read or derive the position information from a detected marking. The evaluation unit 13 can, for example, be a processor or another computing unit.

[0022] Furthermore, the mobile device 1 can optionally have a control unit 14 for controlling the mobile device over the movement area 20 based on the relative position, orientation, and / or speed determined by the evaluation unit 13. The control unit can, for example, be a processor or controller that controls the drive unit 10, e.g., an electric motor.

[0023] The mobile device 1 can further comprise a storage unit 15 (e.g. a memory chip) and / or an output unit 16 (e.g. a transmitter unit for sending via Bluetooth, Wi-Fi, radio, etc.) for storing and / or outputting the relative location, position, orientation of an energy transfer unit based on a detected mark at a position of the movement surface 20 where the energy absorption unit 11 absorbs energy above an energy threshold and / or detects a magnetic field strength above a magnetic field strength threshold.

[0024] The mobile device may further comprise a control unit, which is identical to the aforementioned control unit 14 or is a separate control unit, for generating an activation signal, in particular an activation signal to be transmitted by the energy input unit 11 via an energy transmission path (to an energy transmission unit 21) in order to activate an energy transmission unit 21 for energy transfer. This control unit is preferably configured to activate the nearest energy transmission unit 21, in particular the energy transmission unit 21 closest in the direction of movement.

[0025] The evaluation unit 13 can be configured to determine the nearest energy transmission unit 21, in particular the nearest energy transmission unit 21 in the direction of movement, based on a recorded marking and known markings at positions where energy transmission units 21 are located.

[0026] The control unit is designed, for example, to transmit information concerning the desired energy transfer, in particular concerning the desired power, in the activation signal and / or together with the activation signal.

[0027] The evaluation unit can be configured to create a map of the movement area 20 from recorded markers at positions within the movement area where the energy absorption unit 11 absorbs energy above a threshold and / or detects a magnetic field strength above a threshold. This map will indicate the positions of energy transfer units 21. This map can then be used for subsequent navigation processes and can also be stored, for example, on a central unit such as a server or a control center for multiple mobile devices, allowing other mobile devices to use the map as well.

[0028] The mobile device 1 may further comprise a control unit that is identical to the control unit 14 mentioned above or is a separate control unit for controlling the mobile device 1 over the movement area 20, wherein the control unit is configured to move the mobile device 1 to a power transmission unit 21 based on the stored and / or output information concerning the relative location, position and / or orientation of power transmission units 21.

[0029] The mobile device may also include an energy storage unit 17, in particular a battery or a supercapacitor, for storing the energy absorbed by the energy input unit 11. The control unit may be configured to move the mobile device 1 to an energy transfer unit 21 when the energy stored in the energy storage unit 17 falls below a minimum threshold.

[0030] The energy absorption unit 11 can have one or more energy coils arranged on and / or in the underside of the mobile device 1 opposite the moving surface when in use. The one or more energy coils can be configured as windings of wire, busbars, or conductors, in particular as conductive traces in one or more layers on and / or in a circuit board. Furthermore, the energy absorption unit 11 is preferably configured for inductive, in particular resonant inductive, energy transfer. It preferably includes a compensation unit for reactive power compensation. The energy absorption unit also preferably includes shielding means for electromagnetic shielding and / or flux guide means for magnetic flux guidance.

[0031] The markings 22 can be applied to and / or within the movement area 20, for example by printing, burning, etching, embossing, punching, drawing, affixing, and / or milling, or by another suitable method. The markings 22 can be in the form of text, images, icons, QR codes, barcodes, binary codes, numbers, letters, and / or RFID tags. Preferably, each marking 22 contains position information regarding its position on and / or within the movement area 20, or such position information can be derived from the respective marking, for example, by calculation.

[0032] The energy transfer units 21 each have one or more energy coils arranged on, in, and / or below the moving surface 20. The one or more energy coils are preferably designed as windings of wire, busbars, or conductors, in particular as conductive traces in one or more layers on and / or in a circuit board. For example, the energy transfer units 21 are each designed as a thin plate, mat, or film, preferably with a thickness of no more than 1 cm or no more than 5 mm, or in a range of 1 to 5 mm. Furthermore, the energy transfer units 21 are preferably designed for resonant inductive energy transfer and each preferably have a compensation unit for reactive power compensation. The energy transfer units also each have shielding means for electromagnetic shielding and / or flux guiding means for magnetic flux guidance.

[0033] The markings 22 are preferably placed so closely together on and / or in the movement surface 20 that the relative position, orientation and / or speed can be determined with an accuracy in the range of less than 10 cm, in particular less than 1 cm or in the range of 1 to 5 mm.

[0034] Preferably, the markings on a movement surface should all be different from each other.

[0035] Several energy transfer units 21 can be provided, which are arranged partly apart from each other and / or partly adjacent to each other, on and / or in the movement area, in order to be able to place several mobile devices on different energy transfer units and simultaneously supply them with energy when stationary or during the movement of a mobile device.

[0036] The motion device may further comprise a control unit 23 for activating the energy transmission unit(s) 21 and / or adjusting the power to be transmitted by an energy transmission unit 21, in particular based on an activation signal transmitted by an energy input unit 11 of a mobile device 11 via an energy transmission link.

[0037] Preferably, the control unit 23 is designed to distribute the available nominal power of the motion device 2 for energy transmission to the energy transmission units 21 without exceeding the nominal power overall.

[0038] The markings 22 may also contain additional information regarding the positions and / or performance data of energy transmission units 21 on and / or in the movement area.

[0039] A method for determining the relative location, position, orientation and / or speed of a mobile device comprises the following steps: - Moving the mobile device on a movement area marked with markings; - Contactless reception of energy transmitted from a power transmission unit to power the mobile device; - Detection of markings on and / or within the movement area when the mobile device is located or moving within the movement area; and - Determination of a relative location, position, orientation and / or speed between the mobile device and the movement area based on at least one detected marker.

[0040] The determination of the relative location, position, orientation and / or speed can optionally be implemented by a computer program.

[0041] In principle, the energy transmission path between an energy transmission unit 21 and the energy reception unit 11 can be used to transmit any type of information, preferably for bidirectional communication. For this purpose, information can be modulated, for example, onto an alternating field generated by the respective coil for energy transmission, or separate coils can be used for this purpose. Such information could, for example, be position information that continuously or at time intervals indicates the current position of the respective mobile device. A central unit then always knows where the mobile devices are located and can, if necessary, identify malfunctions and ensure the continued operation of other mobile devices, which can then navigate around a mobile device that has, for example, stopped, or be controlled accordingly.

[0042] This also allows for data collection, for example, to determine the frequent locations of mobile devices. Energy transfer units can then be attached to these locations to wirelessly transfer energy when the device is present. These energy transfer units can also be flexibly positioned to select the optimal location depending on the needs and movement patterns of the mobile devices.

[0043] The moving surface can consist of panels made of various materials, such as wood, plastic, metal (e.g., aluminum), or the like. When using metal, the energy transfer units are preferably arranged on or in the surface so that no metal is present between them and the mobile device. For example, metallic windings of the energy transfer units can be glued to or embedded in the surface. Markings for these positions can then be applied, for example, on a film glued over the surface.

[0044] The present invention makes it possible to further improve and make more flexible the positioning of a mobile device.

[0045] Further embodiments of the present invention are listed below: 1. Mobile device with: - a drive unit for moving the mobile device on a movement surface marked with symbols; - an energy absorption unit for receiving energy wirelessly transferred from an energy transmission unit to power the mobile device; - a sensor unit for detecting markings on and / or in the movement area when the mobile device is located or moving on the movement area; and - an evaluation unit for determining a relative location, position, orientation and / or speed between the mobile device and the movement area based on at least one detected marker. 2. Mobile device according to embodiment 1, wherein the sensor unit is designed for optical and / or electrical detection of the markings, in particular to capture images of markings, and wherein the evaluation unit is designed for evaluating the optically and / or electrically detected markings, in particular by means of image processing. 3. Mobile device according to one of the preceding embodiments, wherein the sensor unit is designed to detect markings in the form of texts, images, icons, QR codes, barcodes, binary codes, numbers, letters and / or RFID tags. 4. Mobile device according to one of the foregoing embodiments, wherein each marking contains position information regarding the position of the respective marking on and / or in the movement area, or such position information can be derived from the respective marking, and wherein the evaluation unit is designed to read or derive the position information from a recorded marker. 5. Mobile device according to one of the preceding embodiments, further comprising a control unit for controlling the mobile device over the movement area based on the relative position, orientation and / or speed determined by the evaluation unit. 6. Mobile device according to one of the preceding embodiments, further comprising a storage unit and / or an output unit for storing and / or outputting the relative location, position, orientation of an energy transfer unit based on a detected mark at a position of the moving surface where the energy receiving unit receives energy above an energy threshold and / or detects a magnetic field strength above a magnetic field strength threshold. 7. Mobile device according to one of the preceding embodiments, further comprising a control unit for generating an activation signal, in particular an activation signal to be transmitted by the energy receiving unit via an energy transmission line, in order to activate an energy transmission unit for energy transmission. 8. Mobile device according to embodiment 7, wherein the control unit is configured to activate the nearest energy transmission unit, in particular the energy transmission unit nearest in the direction of movement. 9. Mobile device according to embodiment 8, wherein the evaluation unit is designed to determine the nearest energy transmission unit, in particular the nearest energy transmission unit in the direction of movement, based on a detected marking and known markings at positions where energy transmission units are located. 10. Mobile device according to one of embodiments 7 to 9, wherein the control unit is configured to transmit in the activation signal and / or together with the activation signal information concerning the desired energy transfer, in particular concerning the desired power. 11. Mobile device according to one of embodiments 6 to 10, wherein the evaluation unit is configured to create a map of the movement area from detected markings at positions of the movement area where the energy absorption unit absorbs energy above an energy threshold and / or detects a magnetic field strength above a magnetic field strength threshold, in which the positions of energy transfer units are marked. 12. Mobile device according to one of embodiments 6 to 11, further comprising a control unit for controlling the mobile device over the movement area, wherein the control unit is configured to move the mobile device to a power transmission unit on the basis of the stored and / or output information concerning the relative location, position and / or orientation of power transmission units. 13. Mobile device according to one of the preceding embodiments, further comprising an energy storage unit, in particular a battery or a supercapacitor, for storing the energy absorbed by the energy receiving unit. 14. Mobile device according to embodiments 12 and 13, wherein the control unit is configured to move the mobile device to an energy transfer unit when the energy stored in the energy storage unit falls below a minimum threshold. 15. Mobile device according to one of the preceding embodiments, wherein the energy absorption unit comprises one or more energy coils arranged on and / or in the underside of the mobile device opposite the moving surface when in use. 16. Mobile device according to embodiment 15, wherein the one or more energy coils are designed as windings of wire, busbars or power lines, in particular as conductor tracks in one or more layers on and / or in a circuit board. 17. Mobile device according to one of the preceding embodiments, wherein the mobile device is designed as a driverless transport vehicle, forklift, car, bus, truck, conveyor in a conveyor system, robot, workpiece carrier or transport unit for packages or suitcases, in particular as an autonomously driving device that navigates to a destination on the basis of the detected markings. 18. Mobile device according to one of the preceding embodiments, wherein the energy absorption unit is designed for inductive, in particular resonant inductive energy transfer, and in particular has a compensation unit for reactive power compensation. 19. Mobile device according to one of the preceding embodiments, wherein the energy absorption unit comprises shielding means for electromagnetic shielding and / or flux guiding means for magnetic flux guiding. 20. Movement equipment with: - a movement area on which a mobile device according to one of the preceding claims can move; - at least one energy transfer unit for contactless energy transfer to the mobile device; and - a multitude of markers on and / or in the movement area for detection by the mobile device and determination of a relative location, position, orientation and / or speed between the mobile device and the movement area based on at least one detected marker. 21. Motion device according to embodiment 20, wherein the markings are applied to and / or in the motion surface by printing, burning, scoring, embossing, punching, drawing, gluing and / or milling. 22. Motion device according to one of embodiments 20 to 21, wherein the markings are designed in the form of texts, images, icons, QR codes, barcodes, binary codes, numbers, letters and / or RFID tags. 23. Motion device according to one of embodiments 20 to 22, wherein the markings each contain position information relating to the position of the respective marking on and / or in the motion surface or such position information can be derived from the respective marking. 24. Motion device according to one of embodiments 20 to 23, wherein the energy transfer unit has one or more energy coils arranged on and / or in and / or below the motion surface. 25. Motion device according to embodiment 24, wherein the one or more energy coils are designed as windings of wire, busbars or power lines, in particular as conductor tracks in one or more layers on and / or in a circuit board. 26. Motion device according to one of embodiments 20 to 25, wherein the energy transfer unit is designed as a thin plate, mat or film, in particular with a thickness of at most 1 cm or at most 5 mm or in a range of 1 to 5 mm. 27. Motion device according to one of embodiments 20 to 26, wherein the energy transfer unit is designed for resonant inductive energy transfer, in particular comprising a compensation unit for reactive power compensation. 28. Motion device according to one of embodiments 20 to 27, wherein the energy transmission unit has shielding means for electromagnetic shielding and / or flux guiding means for magnetic flux guiding. 29. Movement device according to one of embodiments 20 to 28, wherein the movement surface is designed in the form of one or more plates, mats, floor surface, and films. 30. Motion device according to one of embodiments 20 to 29, wherein the markings are placed so closely together on and / or in the motion surface that the relative position, orientation and / or speed can be determined with an accuracy in the range of less than 10 cm, in particular less than 1 cm or in the range of 1 to 5 mm. 31. Motion device according to one of embodiments 20 to 30, wherein the markings on a motion surface are all different from each other. 32. Motion device according to one of embodiments 20 to 31, wherein several energy transfer units, which are partially spaced apart from each other and / or partially adjacent to each other, are arranged on and / or in the motion area in order to be able to place several mobile devices on different energy transfer units and simultaneously supply them with energy when stationary or during the movement of a mobile device. 33. Motion device according to one of embodiments 20 to 32, further comprising a control unit for activating the energy transfer unit and / or adjusting the power to be transferred of an energy transfer unit, in particular based on an activation signal transmitted by an energy receiving unit of a mobile device via an energy transfer link. 34. Motion device according to embodiment 33, wherein the control unit is configured to divide the available rated power of the motion device for energy transmission among the energy transmission units without exceeding the rated power overall. 35. Motion device according to one of embodiments 20 to 34, wherein the markings contain additional information concerning the positions and / or performance data of energy transfer units on and / or in the motion area. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 102016216221 A1 [0002, 0004, 0011] DE 102021205874 A1 [0002, 0011]

Claims

[1] Mobile device with: - a drive unit for moving the mobile device on a movement surface marked with symbols; - an energy absorption unit for receiving energy wirelessly transferred from an energy transmission unit to power the mobile device; - a sensor unit for detecting markings on and / or in the movement area when the mobile device is located or moving on the movement area; and - an evaluation unit for determining a relative location, position, orientation and / or speed between the mobile device and the movement area based on at least one detected marker. [2] Mobile device according to claim 1, wherein the sensor unit is designed for optical and / or electrical detection of the markings, in particular for detection of markings in the form of texts, images, icons, QR codes, barcodes, binary codes, numbers, letters and / or RFID tags, and wherein the evaluation unit is designed for evaluating the optically and / or electrically detected markings, in particular by means of image processing. [3] Mobile device according to any of the preceding claims, wherein each marking contains position information regarding the position of the respective marking on and / or in the movement area, or such position information can be derived from the respective marking, and wherein the evaluation unit is designed to read or derive the position information from a recorded marker. [4] Mobile device according to one of the preceding claims, further comprising a storage unit and / or an output unit for storing and / or outputting the relative location, position, orientation of an energy transfer unit based on a detected mark at a position of the movement surface where the energy receiving unit receives energy above an energy threshold and / or detects a magnetic field strength above a magnetic field strength threshold. [5] Mobile device according to one of the preceding claims, further comprising a control unit for generating an activation signal, in particular an activation signal to be transmitted by the energy input unit via an energy transmission link, in order to activate an energy transmission unit for energy transmission, in particular to activate the energy transmission unit nearest in the direction of movement and / or to transmit in the activation signal and / or together with the activation signal information relating to the desired energy transmission, in particular relating to the desired power. [6] Mobile device according to claim 5, wherein the evaluation unit is designed to determine the nearest energy transmission unit in the direction of movement based on a detected marking and known markings at positions where energy transmission units are located. [7] Mobile device according to one of claims 4 to 6, wherein the evaluation unit is configured to create a map of the movement area from detected markings at positions of the movement area where the energy absorption unit absorbs energy above an energy threshold and / or detects a magnetic field strength above a magnetic field strength threshold, in which the positions of energy transfer units are marked. [8] Mobile device according to any one of claims 4 to 7, further comprising a control unit for controlling the mobile device over the movement area, for controlling the mobile device over the movement area based on the relative position, orientation and / or speed determined by the evaluation unit. The control unit is configured to move the mobile device to an energy transfer unit based on the stored and / or output information concerning the relative position, orientation and / or speed of the mobile device determined by the evaluation unit and / or concerning the relative position, orientation and / or orientation of energy transfer units, in particular to move the mobile device to an energy transfer unit when the energy stored in an energy storage unit falls below a minimum threshold. [9] Mobile device according to any of the preceding claims, wherein the energy collection unit - comprising one or more energy coils arranged on and / or in the underside of the mobile device opposite the moving surface when in use, wherein the one or more energy coils are preferably designed as windings of wire, busbars or power lines, in particular as conductor tracks in one or more layers on and / or in a circuit board, and / or - is designed for inductive, in particular resonant inductive, energy transfer, in particular has a compensation unit for reactive power compensation, and / or - Features shielding elements for electromagnetic shielding and / or flux guiding elements for magnetic flux guidance. [10] Motion device with: - a movement area on which a mobile device according to one of the preceding claims can move; - at least one energy transfer unit for contactless energy transfer to the mobile device; and - a multitude of markings on and / or in the movement area for detection by the mobile device and determination of a relative location, position, orientation and / or speed between the mobile device and the movement area based on at least one detected marking. [11] Motion device according to claim 10, wherein the markings - are applied to and / or in the moving surface by printing, burning, scoring, embossing, punching, drawing, gluing and / or milling, and / or - in the form of texts, images, icons, QR codes, barcodes, binary codes, numbers, letters and / or RFID tags, and / or - each contains position information regarding the position of the respective marking on and / or in the movement area, or such position information can be derived from the respective marking, and / or - are placed so closely together on and / or in the moving surface that the relative position, orientation and / or speed can be determined with an accuracy of less than 10 cm, in particular less than 1 cm or in the range of 1 to 5 mm, and / or - that all movement areas are different from each other, and / or - Additional information includes details regarding the positions and / or performance data of energy transmission units on and / or within the movement area. [12] Motion device according to claim 10 or 11, wherein the energy transfer unit - comprising one or more energy coils arranged on and / or in and / or below the moving surface, wherein the one or more energy coils are preferably designed as windings of wire, busbars or power lines, in particular as conductor tracks in one or more layers on and / or in a circuit board, and / or - is designed as a thin sheet, mat or film, in particular with a thickness of no more than 1 cm or no more than 5 mm or in a range of 1 to 5 mm, and / or - is designed for resonant inductive energy transfer, in particular has a compensation unit for reactive power compensation, and / or - Features shielding elements for electromagnetic shielding and / or flux guiding elements for magnetic flux guidance. [13] Motion device according to one of claims 10 to 12, wherein several energy transfer units, which are partially spaced apart from each other and / or partially adjacent to each other, are arranged on and / or in the motion area in order to be able to place several mobile devices on different energy transfer units and simultaneously supply them with energy when stationary or during the movement of a mobile device, and / or wherein the motion area is designed in the form of one or more plates, mats, floor surface, and films. [14] Motion device according to one of claims 10 to 13, further comprising a control unit for activating the energy transfer unit and / or adjusting the power to be transferred of an energy transfer unit, in particular based on an activation signal transmitted by an energy intake unit of a mobile device via an energy transfer link, wherein the control unit is preferably configured to divide the available nominal power of the motion device for energy transfer among the energy transfer units without exceeding the nominal power overall. [15] Methods for determining the relative position, orientation and / or speed of a mobile device using: - Moving the mobile device on a movement area marked with markings; - Contactless reception of energy transmitted from a power transmission unit to power the mobile device; - Detection of markings on and / or within the movement area when the mobile device is located or moving within the movement area; and - Determination of a relative location, position, orientation and / or speed between the mobile device and the movement area based on at least one detected marker.

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