System and method for positioning a movable electrical socket - Patents.com

Abstract

The system 100 for positioning a movable electrical socket 133 comprises a rail system including at least one planar support element, a fixed rail extending in a first direction on a first side of each support element, and at least one second rail extending in a second direction perpendicular to the first direction and connected to the first rail, the at least one second rail being driven by a motor and movable in the first direction relative to the first rail, and a power transfer transmitter 120 connected to each of the second rails, each of said transmitters 120 being driven by a motor and movable in the second direction along said second rail 106, the transmitter 120 including a magnetic retainer 122, On each side 112 of each support element 110 opposite the first side 114, there is at least one energy receiving receiver 130 including an electrical socket 133 and wirelessly connected to the transmitter 120 by resonant inductive coupling for receiving electrical energy to power an electrical appliance connected to said electrical socket 133, said receiver 130 magnetically engaging with the magnetic retainer 122 of the transmitter 120 through a magnetic retainer 132 and being movable in a fixed position relative to said movable transmitter 120, a power transfer control unit 140 for supplying power to the transmitter 120, and a motion control unit 150 for operating at least one second rail and associated motor 107;121 of the transmitter 120.The system further includes a camera system 160 including a camera 162 monitoring the user's movements within a space defined by the second side (112) of the at least one planar support element, and a central computer 170 configured to receive signals from the camera 162 and determine at least a spatial position of the user based on images provided by the camera system 160, the central computer 170 configured to generate motion control signals for the motors 107;121 of the second rail and the transmitter 120 based on the at least spatial position of the user, to transmit the motion control signals to the motion control unit 150 mentioned above to move the transmitter 120 to a target position according to the spatial position of the user, and further to transmit power control signals to the power transfer control unit 140. The central computer 170 is programmed to drive the second rail 106 and the motors 107; 121 of the transmitter 120 to move the transmitter 120 along the support element (support element) such that the receiver 130, which is magnetically attached to the transmitter 120, always stays within a predetermined distance from the user.

Description

[Technical field]

[0001] The present invention relates to a system and method for positioning a movable electrical socket, in particular to a system and method for providing a continuous power supply to a portable electrical device operated by a user that follows the user's movements by a mobile power transmitter unit located behind a wall covering and a mobile power receiver unit located on the front side of the wall covering, to an electrical socket to which the portable electronic device is connected by a wire. [Background technology]

[0002] With current technology, the supply of primary energy, typically electricity, to domestic energy consumers such as appliances requires that a metallic contact be established between a mains connection point and the appliance. The most common way of doing this is to connect the appliance to the mains via an electrical cable. At the connection point, a connector at the end of the wire, typically a plug, needs to be connected to a connector at the built-in mains connection point, typically a socket, which provides a metallic contact. In Europe the widely used standards CEE7 / 3 sockets and CEE7 / 4 plugs are used, while in the USA Type A sockets and Type B plugs are used to connect appliances to the mains.

[0003] To charge portable electrical devices, mainly mobile phones and body worn devices, low power wireless chargers have been developed that allow (slow) charging of connected devices in the power range of 5-10 W. For example, the "Qi" standard chargers and phones provide such wireless chargers. Although those chargers can be placed on a supporting surface (e.g., a worktop) and can be semi-concealed, they are not mobile and therefore do not allow for continuous (on the move) operation of typical portable domestic appliances.

[0004] For short-range wireless transmission of electricity, two types of inductive coupling may be used: simple (standard) inductive coupling or resonant inductive coupling.

[0005] Generally, at relatively close ranges, standard inductive coupling is less efficient and feasible because magnetic flux scatters away from the coil that acts as the energy source, and only a small portion of the energy emitted by the transmitter is coupled to the receiver coil.

[0006] Resonant inductive coupling operates more efficiently than standard inductive coupling, even at distances of several meters (here the transmission efficiency is about 95%), and is efficient at relatively long distances. Thus, by using a resonant inductive connection, energy losses can be significantly reduced and electrical energy can be transferred between the individual coils with acceptable efficiency.

[0007] High performance resonant energy transfer devices are currently used primarily to charge batteries in electric vehicles (e.g. passenger and truck vehicles, forklifts, work machines, etc.) as an easy to handle alternative to metal contact charging. However, the drawbacks of this mode of energy transfer are that the vehicle cannot move during charging, the charger and vehicle must be precisely positioned relative to each other, and the vehicle cannot operate during charging. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] US Patent Application Publication No. 2010 / 219183 Summary of the Invention

[0009] Thus, while an electrical device can be energized during operation and move in the normal manner during energy consumption, there is a need for an energy supply system in which the energy intake is not stationary, thus allowing much greater mobility in the use of the device.

[0010] US Patent Application Publication No. 2010 / 219183 describes a widely used power supply system. The system includes an inductive transmitter built behind a wall and an inductive receiver on the front side of the wall facing the living space. The receiver on the front side of the wall has a conventional (standard) socket that can be connected to a standard plug used in a given country. The receiver can be freely moved along the wall during use and can be detached from the wall when not in use. The transmitter behind the wall has a suitable positioning mechanism. The positioning mechanism includes a motor-driven carriage with a positioning tool that can move along a rail system. Identifying the carriages and properly positioning them relative to the receiver can be achieved in various ways, such as mechanically by infrared proximity sensors. The carriages on the back of the wall can be moved to the appropriate position in a motor-driven manner, by moving an off-wall receiver or by using a control panel. A camera monitoring the space behind the wall may also be used to determine the position of the carriage carrying the transmitter (i.e., to track the carriage). The drawback of this solution is that at best a camera is used to track the movement of the carriage; tracking the user's position with the camera and using the tracking information for control is not addressed.

[0011] The object of the present invention is to obviate the above mentioned problems.

[0012] The object is achieved by a system according to claim 1 and a method according to claim 6. Preferred embodiments of the inventive system and method are defined in the dependent claims.

[0013] The invention will now be explained in more detail with reference to the drawings. [Brief description of the drawings]

[0014] [Figure 1] FIG. 1 is a functional block diagram of a system according to the present invention. [Diagram 2] 1 illustrates diagrammatically the elements of the system according to the invention on the front side of a support element. [Diagram 3] 1 illustrates diagrammatically the elements of the system according to the invention on the rear side of a support element. [Figure 4] 1 illustrates the main circuit elements and their connections within a transmitter and receiver used in a system according to the present invention. [Diagram 5] 2 is a flow chart illustrating the main steps of operating the system according to the invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] 1-3, according to the invention, the system 100 comprises at least one planar support element 110 on whose first side 112, i.e. on its rear side hidden from the user, are arranged the mechanical elements necessary for the power supply, in particular a transmitter 120 for wireless power transmission, a rail system 104 for moving the transmitter 120, a power transfer control unit 140 for controlling the power supply and a motion control unit 150 for controlling the movement of the transmitter unit 120. On a second side 114 of the support element 110 opposite to the first side 112, i.e. on the side facing the room used by the user, a receiver 130 having an electric socket 133 can be arranged movably along the surface of the support element 110. A particular support element 110 is typically provided with one transmitter 120, although a support element 110 having a larger surface may have more than one transmitter 120, in which case each transmitter 120 has a predetermined and non-overlapping coverage area.

[0016] The rail system 104 includes a fixed first rail 105 extending in a first direction, typically running vertically, and a second rail 106 arranged in a second direction perpendicular to the first direction, typically horizontally, connected to the first rail 105. The second rail 106 is provided with a motor 107, which allows the second rail 106 to move in the first direction relative to the first rail 105.

[0017] Each second rail 106 is connected to a resonant transmitter 120. Each of the transmitters 120 is provided with a motor 121 that enables the transmitter 120 to move in a second direction along the second rail 106 relative to the respective second rail 106. The transmitters 120 further include a magnetic retainer 122 that can be magnetically attached to a respective magnetic retainer 132 of a receiver 130 located on the other side of the support element 110. In use, the transmitters 120 and receivers 130 present on opposite sides of the support element 110 are in close proximity to each other and in positions fixed relative to each other by the respective magnetic retainers 122 and 132, i.e. the receiver 130 moves with the transmitter 120 when the latter moves.

[0018] The power supply of the transmitter unit 120 is provided by a power transfer control unit 140 connected to the power distribution network, which also monitors the operation of the transmitter 120. On the one hand, when the transmitter 120 is active, i.e. when the receiver 130 is wirelessly connected, and also continuously supplies power to its own operating circuits of the transmitter 120, the power transfer control unit 140 provides high power electricity to the transmitter 120. The power transfer control unit 140 supplies the electrical energy to the transmitter 120 via an electrical line, preferably a flexible swing line with suitable mechanical protection and plastic cable guides.

[0019] The movement of the transmitter 120 is controlled by the motion control unit 150 by activating the motor 121 of the transmitter 120 and the motor 107 of the rail 106, respectively. The motors 107, 121 are preferably bidirectional stepper motors, which move the transmitter 120 or the movable rail 106 to a target position by means of a rack-belt drive. The target position of the transmitter 120 is defined as the position to which the receiver 130 with the electric socket 133 will move based on the movement of a user operating an electric appliance powered through the electric socket 133. Both the X coordinate (second direction) and the vertical Y coordinate (first direction) control the motors 107 and 121, respectively, so that the transmitter 120 can move to any position substantially behind the entire surface of the support element 110. However, for technical reasons, it is advisable to leave a safety zone of a certain width (for example 20 centimeters) at the edge of the support element 110, where the transmitter 120 cannot enter. The motion control unit 150 is preferably connected to the motors 107, 121 by swing lines, which transmit both electrical energy and control signals.

[0020] The rail system 104 preferably consists of a wear-resistant, high mechanical strength metal alloy and is mechanically attached to the support element 110, which can be a fully solidified wall surface or a specially designed support structure, bracket, but also a vertical or horizontal piece of furniture such as a table top, worktop, etc. Due to its flat design, the rail system 104 preferably protrudes by a few centimeters from the rear flat surface 114 of the support element 110.

[0021] In a preferred embodiment of the system 100 according to the invention, the transmitter 120 is in its idle state at a certain pre-set comfortable height according to the field of application. This idle position can for example be 30 cm above floor level in the case of a freestanding installation, and the target positions that can be occupied during use are limited to values ​​in the height range of for example 30 to 160 cm. In the case of a kitchen installation, the idle position can for example be at a height of 80 cm measured from floor level, and in the height range of 80 to 140 cm during use, explicitly taking into account the height limiting effect of the kitchen counter.

[0022] The motion control unit 150, which controls the movement of the transmitter 120, is preferably pre-programmed with the corresponding in-plane coordinates of areas that the transmitter 120 needs to avoid during its movement, so that the receiver 130 is connected to it to follow its movement.

[0023] The transmitter 120 is wired connected to the power distribution network at the installation site (e.g. house, office, etc.) via a power transfer control unit 140 and receives the electrical energy required for its own operation and through this connection for the operation of the connected electrical device 180 via the receiver 130.

[0024] The main circuit elements of the resonant inductively coupled pair of transmitter 120 and receiver 130 used in the system of the invention and their connection are illustrated in Fig. 4. The transmitter 120 comprises a power supply unit 222 supplied from a power distribution network, which is connected to a resonator circuit 225 via a power amplifier 223 and an impedance matching circuit 224. The transmitter 120 also comprises its own control circuit 226, which controls the operation of the power supply 222 and the power amplifier 223 and communicates with the receiver 130 via out-of-band signaling (for example at 2.4 GHz). The transmitter 120 is preferably connected to the mains by a single-phase connection via a circuit breaker.

[0025] The receiver 130 wirelessly receives the energy provided by the resonator circuit 232 by resonant inductive coupling. The energy is then transmitted as electrical energy to the electric appliance 180 connected by the user via a control circuit 233 and a DC-DC converter circuit 234, which control the power delivered by the transmitter 130 to the electric appliance 180. The operation of the aforementioned circuit units is controlled by a dedicated control unit 235, which is also in charge of the bidirectional communication with the transmitter 120. The control units 226 and 235 communicate wirelessly with each other, so that the operation of the transmitter circuits is controlled depending on the load.

[0026] The transmitter 120 preferably has a plastic case, which is advantageous for not hindering the emission of electromagnetic radiation. 120 preferably has a mechanical protection of IP65, IP66 or IP67, i.e. it is completely protected against dust and protected against water jets or immersion for a limited time.

[0027] To minimize the depth required to mount the rail system 104 and mobile transmitter 120 when installed behind a support element 110, such as a wall structure or wall cladding, and to leave sufficient space behind the rail system 104 for the installation of other building services equipment, the transmitter 120 is preferably designed to be flat.

[0028] The receiver 130, located on the front side 112 of the support element 110, comprises the receiver side circuitry mentioned above, a socket 133 for the metallic connection of an electrical appliance 180, and a magnetic fastening unit 132. The socket 133 is preferably a socket of standard design, so that any conventional domestic electrical appliance can be connected to it.

[0029] The optimal operating frequency of the system 100 of the present invention (i.e. the resonant frequency used) depends mainly on the power scale of the electrical appliance 180 to be connected. For devices with a few watts of power, the optimal operating frequency is approximately in the range of 1 to 5 megahertz, for higher powers such as 200 to 1000 watts, the power supply can operate efficiently only in the range of a few hundred kilohertz. The operation of the system 100 with optimal parameters is brought about by a PID controller implemented by the control circuit 233 of the receiver 130. To ensure accurate power transfer, the amplitude of the current in the primary coil in the receiver 120 can be varied by a PID controller with a resolution of a few milliamps.

[0030] The system of the invention further comprises a camera system 160, which comprises at least two cameras 162 for tracking the movement of a user using an electrical appliance 180 within a space defined by the support element 110, such as a house or an office room. Based on the images of the cameras 162, a central computer 170 connected thereto can determine the user's movement parameters, in particular the user's current spatial position, optionally also the user's current spatial speed, and also determine the spatial position of the excited electrical appliance 180 relative to the support element 110 containing the active receiver 130 during use, for example its height from the floor and its distance from the support element, and based on this information commands the motion control unit 150 to generate a motion control signal for moving the receiver 120 on the rear side 114 of the support element 110 so that it is always in close proximity to the user, thereby always maintaining the receiver 130 on the front side (user side) 112 of the support element in close proximity to the user.

[0031] The system 100 of the present invention preferably uses a color camera 162, which in a particularly preferred embodiment of the system 100 is mounted on the rear side 114 of the support element 110 in a concealed manner by having an optical sensor in the space defined by the front side 112 of the support element 110, such as a living room or a monitor office space. For this purpose, an opening 116 of suitable size needs to be formed on the support element 110, preferably as concealed as possible. For example, if the support element 110 is formed as a wall structure composed of cladding panels, the interior space in front of the wall structure can be sensed through a narrow bore formed in the space between each panel, for example 6 to 8 millimeters wide. The operation of the inventive system 100 can be effected for a particular room by the use of two appropriately positioned cameras 162, in one preferred embodiment of the system 100, where two or more of the support elements 110 defining the room used by the user include at least two cameras 162, preferably located on the left and right edges of the given support element 110, preferably at 1-1.5 meters in height when two cameras are used. When more than two cameras are used per support element, the cameras 162 are evenly distributed. According to a particularly preferred embodiment of the inventive system 100, one or more of the support elements 110 can include two additional cameras on the lower and upper edges of the support element 110. By means of the cameras 162 used in pairs (right and left and below and above), the position of the user and objects (e.g. furniture, portable electrical appliances in use, etc.) in the room can be determined in three dimensions. When two or more support elements 110 include cameras 162, the camera system 160 has the ability to perform blind spot detection throughout the interior of the room, thus tracking the movement of the portable appliance 180 as accurately as possible, and optimally move the receiver 130 accordingly. Object identification, spatial positioning, and motion tracking by two or more cameras are well known to those skilled in the art, and their technical details will not be discussed herein.

[0032] In a preferred embodiment of the system according to the invention, the central computer 170 determines the user's posture and head orientation, as well as the spatial positions of the user and objects, based on the images provided by the camera system 104, so that the system has accurate information about the user's spatial orientation and can interpret movements, hand gestures, etc., which can even be used to control the operation of the system.

[0033] In a preferred embodiment of the inventive system 100, if each support element 110 has its own camera 162, the signal from the camera 162 is first processed by a (hidden) local processing unit located on the rear side 114 of the support element 110, which is connected to an internal wired communication network, for example by communication using the TCP / IP protocol. The locally processed image data of the camera 162 is analyzed by a central computer 170, which is also connected to the aforementioned communication network and which preferably determines at least the spatial position of the user relative to the support element 110. In a preferred embodiment of the inventive system 100, the central computer 170 generates a kinematic model of the human beings staying in the room based on the images acquired from the camera 162, determines the spatial position and orientation of the user, recognizes their control gestures, movements and, optionally, portable electrical appliances 180, which can also determine the spatial position and even the type of the appliance. This latter feature is important because the power delivered to the transmitter 120 can be controlled (eg, limited) by the power delivery control unit 140 based on a power control signal from the central computer 170 .

[0034] The operation of the system 100 according to the invention is as follows: When a user wants to connect a portable electrical appliance 180 to a power distribution network, a dedicated wireless power supply unit, i.e. receiver 130, needs to be placed at a designated point on the inner surface of the wall serving as the support element 110. With the transmitter 120 at the aforesaid designated point in the idle position, the mounted receiver 130 is magnetically attached to the transmitter 120 through the wall. Successful fixation and communication with the concealed transmitter 120 on the rear side of the wall is preferably indicated by illumination of a control light, such as green, for the receiver unit 130. The plug of the portable electrical appliance 180 can then be connected to a standard socket of the receiver 130 mounted on the wall. After the electrical appliance 180 is turned on, the transmitter 120 on the rear side of the wall continuously supplies the required amount of electrical energy to the receiver 130 inside the wall in a wireless manner, and the receiver 130 transmits the electrical energy to the portable electrical appliance 180 through metal contacts, i.e. through wires.

[0035] During use of the portable electrical appliance 180, the concealed camera 162 of the camera system 160 continuously monitors the user's spatial location, movements, optionally the movements of the electrical appliance 180 and / or the user's movements and hand gestures, and a central computer 170 arranged on the rear side of the wall continuously moves the active transmitter 120 by means of the rail system 104 so that the receiver 130 magnetically attached to it is always located in the vicinity of the user, i.e. within a predetermined distance from the user.

[0036] When the user finishes using the electrical appliance 180, he unplugs the receiver 130 from the socket 133 and removes it from the wall. The transmitter 120 detects the removal of the receiver 130 by interrupting the communication between the control units 126 and 135 and then returns to its starting position (i.e. its idle position) by correspondingly operating the motors 107, 121 at the command of the central computer 170, where the receiver 130 resumes waiting for a connection. In a preferred embodiment of the inventive system, an LED light source concealed on the rear side of the support element 110 and shining dimly through the support element indicates the parking location of the transmitter 120, so that the user can easily place the receiver 130 on the front side of the support element 110. Additionally, if a user touches the receiver 130 at any point on the front of the support element 110, the central computer 170 moves the active transmitter 120 to the appropriate location based on camera images using the rail system 104, so that the user does not necessarily have to place the receiver 130 in the idle position indicated by the LED light source.

[0037] The method according to the invention performs the positioning of an electrical socket in the above system, the main steps of which are explained below with reference to FIG.

[0038] In a first step 500, one of the transmitters 120 in an idle position on the rear side 112 of the support element 110 detects the magnetic fixation of a receiver 130 on the opposite front side 114 of the support element 110 near the transmitter 120, typically in a position substantially identical to the target position of the transmitter 120.

[0039] In a next step 510, power is supplied to the transmitter 120 via the power transfer control unit 140, and then in step 520, two or more cameras 162 of the camera system 160 are used to capture an image of a user staying near the support element 110.

[0040] In step 522, the images from the camera 162 are continuously processed by the central computer 170, and in step 524, the spatial position of the user relative to the support element 110 is continuously monitored using information extracted from the images.

[0041] Following the user's movements, in step 530, a target position of the transmitter 120 is continuously calculated based on the user's current spatial position such that the distance between the user and the transmitter 120 does not exceed a predefined value (e.g., 1.5 meters). Based on the target position of the transmitter 120, in step 540, a motion control signal is sent from the motion control unit 150 to the motor 107 of the movable second rail 106 and to the motor 121 of the transmitter 120, causing the motor to move the transmitter 120 to the target position. Because the transmitter 130 on the other side of the support element 110 is magnetically attached to the transmitter 120, it tracks its movements, thereby moving the receiver 130, the electrical socket forming part of it along the support element. In this way, the electrical appliance 180 connected to the receiver 130 by a wire allows the user to move freely in the room, with the restriction that the electrical appliance 180 cannot move away from the support element 110 by a distance greater than the length of the wire.

[0042] One advantageous feature of the system according to the present invention is that electrical appliances can be connected to a wall-mounted receiver which can be placed in a closet so that the decorative appearance of the wall surface of the room is not adversely affected by electrical sockets.

[0043] A further advantageous feature of the system according to the invention is that it allows the user to move freely within the room even when using a portable electrical device, so that he is not restricted in his movement by the length of the mains cable, which has a typical length of 1-2 metres.

[0044] A further advantage of the system according to the invention is that it does not require the purchase of a new electrical handheld device, since the handheld device's own cable can be easily connected to a receiver with a standard mains socket.

Claims

1. A system (100) for positioning a movable electrical socket (133), comprising: At least one planar support element (110); a rail system (104) including, on a first side (114) of each support element (110), a fixed rail (105) extending in a first direction and at least one second rail (106) extending in a second direction perpendicular to said first direction and connected to said first rail (105), said at least one second rail (106) being driven by a motor and movable in said first direction relative to said first rail (105); a power transfer transmitter (120) connected to each of the second rails (106), each of the transmitters (120) being driven by a motor and movable in the second direction along the second rails (106), the transmitters (120) including a magnetic retainer (122); on each side (112) of each support element (110) opposite the first side (114) thereof, at least one energy receiving receiver (130) including an electrical socket (133) and wirelessly connected to the transmitter (120) by resonant inductive coupling for receiving electrical energy to power an electrical appliance connected to the electrical socket (133), the receiver (130) magnetically engaging with the magnetic retainer (122) of the transmitter (120) through a magnetic retainer (132) and movable in a fixed position relative to the movable transmitter (120); a power transfer control unit (140) for supplying power to the transmitter (120); a motion control unit (150) for operating the motors (107; 121) of the at least one second rail (106) and the associated transmitter (120), The system comprises: a camera system (160) including a camera (162) for monitoring a user's movements within a space defined by the second side (112) of the at least one planar support element (110); a central computer (170) configured to receive signals from the camera (162) and determine at least a spatial position of the user based on images provided by the camera system (160), the central computer (170) configured to generate motion control signals for the motors (107; 121) of the second rail (106) and the transmitter (120) based on at least the spatial position of the user, to transmit the motion control signals to the motion control unit (150) in order to move the transmitter (120) to a target position according to the spatial position of the user, and to transmit power control signals to the power transfer control unit (140), the central computer (170) is programmed to drive the second rail (106) and the motors (107; 121) of the transmitter (120) to move the transmitter (120) along the support element (110) such that the receiver (130), magnetically attached to the transmitter (120), always stays within a predetermined distance from the user, A system characterized by:

2. The system of claim 1 , wherein the support elements (110) are wall panels arranged in a vertical plane.

3. 2. The system of claim 1, wherein the support elements are furniture panels arranged in a horizontal plane.

4. The system according to any one of claims 1 to 3, wherein the central computer (170) is additionally configured to use one or more of the following parameters to calculate the target position of the transmitter (120): the spatial velocity of the user, the duration of the user's movement, the spatial position of the electrical appliance connected to the receiver, the type of the electrical appliance.

5. The system according to any one of claims 1 to 4, wherein the central computer (170) is further configured to use one or more of the following parameters to calculate the target position of the transmitter (120): user's posture, in particular head orientation, the user's movements, the user's hand gestures.

6. A method for positioning a movable electrical socket in a system according to any one of claims 1 to 5, comprising the steps of: Detecting (500) a magnetic fixation of a receiver (130) on an opposite side of a support element (110) near the transmitter (120) by the transmitter unit (120) in an idle position; Powering (510) the transmitter (120) via a power transfer control unit (140); capturing (520) images of a user resident in proximity to said support element (110) by two or more cameras (162) of a camera system (160); continuously processing (522) the images from the camera (162) by a central computer (170) and continuously tracking (524) the spatial position of the user relative to the support element (110) using information extracted from the captured images; tracking (530) the movement of the user and continuously calculating a target position of the transmitter (120) along the support element (110) based on at least the current spatial position of the user such that the distance between the user and the transmitter (120) does not exceed a predetermined value; transmitting (540) a motion control signal (540) from the motion control unit (150) to drive the motor (107) of the movable second rail (106) and the motor (121) of the transmitter (120) to move the transmitter (120) to the target position based on the target position of the transmitter (120); The method according to claim 1, further comprising:

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