Position Tracking System and Method for Tracking the Relative Position of a Connection Module

Abstract

A position tracking system (112) is disclosed for tracking the relative position between at least two connection modules (114). The position tracking system (112) includes at least one target (118) associated with a first module of the at least two connection modules (114), where the at least one target (118) can be disposed on and / or within the first module of the at least two connection modules (114), and the at least two connection modules (114) are mechanically interacting entities and / or components configured to enable the transfer of an object from one module to the other. The position tracking system (112) also includes at least one position sensor (120) associated with a second module of the at least two connection modules (114), where the position sensor (120) is configured to generate at least one sensor signal according to the relative position between the at least one position sensor (120) and the at least one target (118), and the at least one position sensor (120) can be disposed on and / or within the second module of the at least two connection modules (114). The position tracking system (112) further includes at least one processing unit (122) configured to track the relative position between the connection modules (114) from the at least one sensor signal within at least one plane (124), and at least one additional sensor (140) configured to generate an additional sensor signal according to at least one additional parameter, where the additional sensor (140) is selected from the group consisting of a temperature sensor (142) and / or a humidity sensor, and the processing unit (122) is further configured to consider the at least one additional sensor signal when determining the relative position between the connection modules (114).A monitoring system (110) for monitoring at least two connection modules (114), a method for tracking a relative position between at least two connection modules (114) by using at least one position tracking system (112), and a method for monitoring at least two connection modules (114) by using at least one monitoring system (110) are further disclosed.

Description

Technical Field

[0001] The present invention relates to a position tracking system for tracking the relative position between at least two connection modules and a monitoring system for monitoring at least two connection modules. Further, the present invention relates to a method for tracking the relative position between at least two connection modules using the position tracking system, and a method for monitoring at least two connection modules by using the monitoring system. As an example, the systems and methods of the present invention can be used to control and / or detect changes in the relative position between different units of an inspection line, particularly in a modular inspection room in the field of modular diagnostic examination rooms. The systems and methods can also be used in other applications that require control and / or detection of changes in relative position in a production line, such as a manufacturing or assembly line, i.e., at a manufacturing site.

Background Art

[0002] In the field of modular diagnostic examination rooms, generally, it is necessary to position a plurality of modules and / or units to form an examination line, and the positions must typically be maintained within a narrow tolerance range so as not to endanger the safety and functionality of the handling and transportation processes between these modules and / or units. Specifically, in a modular diagnostic examination room, narrow positioning tolerances generally must be maintained when handling and transporting laboratory equipment such as sample containers, for example, sample tubes filled with biological fluids to be analyzed, and / or cassettes filled with reagents, specimen slides, tissue materials, waste, etc.

[0003] Specifically, there are several concepts for maintaining the relative position between modules and / or units under various environmental conditions and influences such as changes in temperature and / or humidity, and mechanical influences such as vibrations. Generally, the material, shape, and position of the connecting elements, particularly the reversible connecting elements such as screws and / or clamps, are carefully selected according to their responses to these environmental conditions and influences. However, changes in the relative position between modules and / or units due to, for example, material fatigue and / or deformation often remain unknown and / or undetected on a larger scale, i.e., until errors occur in subsequent experiments and / or quality checks.

[0004] For example, there are various concepts for predicting changes in the relative position between modules and / or units using, for example, artificial intelligence, teaching, automated teaching, or tolerance chain optimization.

[0005] Thereby, the term "teaching" refers to the positional alignment of the relative position between modules and / or units. In that sense, European Patent Application Publication No. 3153866 discloses a method for determining the handover position of a gripping device and a laboratory automation system capable of implementing such a method. A positioning device is used to determine the handover position based on the magnetic force of a handover electromagnetic actuator that is part of the laboratory sample distribution system of the laboratory automation system. Further in that sense, European Patent Application Publication No. 3260868 discloses a method for setting the handover position of a gripping device in a laboratory automation system, in which the position of the positioning device held by the gripping device is detected using a position sensor to determine the handover position. European Patent Application Publication No. 3260868 further discloses a laboratory automation system configured to implement such a method.

[0006] The alignment of the relative positions between modules and / or units can be very important, especially in scenarios where a plurality of adjacent modules and / or units must be aligned, such that the deviations of these adjacent modules and / or units can accumulate as a result. Accordingly, these adjacent modules and / or units can construct a so-called tolerance chain that must be optimized.

[0007] However, despite the advantages achieved by these concepts, some technical problems remain. Specifically, unrecognized changes in the relative positioning of modules and / or units due to environmental conditions and influences can still occur. For example, the effects of overlooked or unconsidered environmental conditions can affect the positioning. Furthermore, unintentionally induced position changes, i.e., position changes by an inspector or a cleaner, may go unnoticed until an error occurs and, in some cases, may lead to damage that could otherwise have been avoided, i.e., by early detection. Problems to be Solved by the Invention

[0008] Therefore, it is desirable to provide a system and method that at least partially addresses the above-described technical problems. Specifically, a position tracking system, a monitoring system, a method for tracking the relative position between at least two connected modules, and a method for monitoring at least two connected modules should be proposed that enable preventing problems resulting from unrecognized changes in the relative positioning of modules. Summary of the Invention

[0009] This problem is addressed by a position tracking system for tracking the relative position between at least two connected, in particular mechanically interacting, modules having the features of the independent claims, a monitoring system for monitoring at least two connected modules, a method for tracking the relative position between at least two connected modules, and a method for monitoring at least two connected modules. Advantageous embodiments, which may be implemented alone or in any combination, are set out in the dependent claims and throughout the specification.

[0010] When used hereinafter, the terms "have", "comprise", or "include", or any grammatical variations thereof, are used in a non-exclusive manner. Thus, these terms can refer to both situations where no further features exist in the entity described in this context in addition to the features introduced by these terms, and situations where one or more further features exist. As an example, the expressions "A has B", "A comprises B", and "A includes B" can refer to both situations where no elements other than B exist in A (i.e., the situation where A consists only of B), and situations where one or more further elements such as element C, elements C and D, or further elements exist in entity A in addition to B.

[0011] Furthermore, it should be noted that the term "at least one" or "one or more" or similar expressions indicating that a feature or element may be present one or more times is typically used only once when introducing each respective feature or element. Hereinafter, in most cases, when referring to each respective feature or element, the expressions "at least one" or "one or more" are not repeated, despite the fact that each respective feature or element may be present one or more times.

[0012] Furthermore, when used hereinafter, the terms "preferably", "more preferably", "in particular", "even more particularly", "specifically", "more specifically", or similar terms are used with any feature without limiting the possibility of alternatives. Thus, the features introduced by these terms are any features and are not intended to limit the technical scope of the claims in any way. As will be appreciated by those skilled in the art, the present invention may be practiced using alternative features. Similarly, features introduced by "in an embodiment of the present invention" or similar expressions are any features without any limitation regarding alternative embodiments of the present invention, without any limitation regarding the technical scope of the present invention, and without any limitation regarding the possibility of combining such introduced features with any other or non-arbitrary features of the present invention.

[0013] In the present invention, a position tracking system for tracking the relative position between at least two connection modules is disclosed. The position tracking system includes - at least one target associated with a first module of at least two connection modules, and - at least one position sensor associated with a second module of at least two connection modules, the position sensor being configured to generate at least one sensor signal according to the relative position between the at least one position sensor and the at least one target, and at least one position sensor, and - at least one processing unit, such as a processor, configured to track the relative position between the connection modules from the at least one sensor signal in at least one plane.

[0014] As used herein, the term "connection module" is a broad term and should be given its ordinary and customary meaning to those of ordinary skill in the art and should not be limited to a special or specialized meaning. Specifically, but not limited to, this term may refer to an entity and / or component that is physically joined and / or engaged with another entity and / or component. In particular, at least two connection modules may be physically connected modules such as modules via, for example, at least one connection element. Specifically, at least two connection modules may be or may include at least two entities and / or components that mechanically interact with each other. In particular, two connection modules may, specifically via a connection, enable the transport of an object such as laboratory equipment from one module to the other. For example, two connection modules may be configured to transport an object via at least one interface between the two connection modules, such as at least one gap and / or slit between the two connection modules. In particular, at least two connection modules may be part of at least one laboratory line, especially within at least one modular diagnostic laboratory. Specifically, at least two connection modules may both be modules of a modular diagnostic laboratory. As an example, at least two connection modules may be configured to immediately interact when connected, such as an immediate interaction generally referred to as "plug and play" without the need for specialized equipment. Thus, as an example, the interface between at least two connection modules may also be referred to as a plug and play interface. In particular, a position tracking system may be described with reference to at least two connection modules, but the position tracking system may be a separate entity that does not include two connection modules.

[0015] The position tracking system includes at least one target and at least one position sensor. As an example, the target and the position sensor may form a collision pair or an action couple such that the position and / or movement of the target can be tracked by a pair or couple of position sensors.

[0016] As used herein, the term "target" is a broad term and should be given its ordinary customary meaning to those of ordinary skill in the art and should not be limited to a special or specialized meaning. Specifically, without limitation, this term can refer to any trackable element, such as an entity or marker configured to have its position tracked and / or detected, for example, by a position sensor. As an example, the target may be an optically trackable element, such as a visible entity or marker, for example, a visible characteristic object, a color mark and / or a painted cross line. Additionally or alternatively, the target may be an entity having electric and magnetic fields, such as an electronically trackable element, such as an inductive or capacitive element. In particular, the target may be an element selected from the group consisting of an optically detectable element, i.e., a visible entity or visible marker, a magnetoresistive detection element, an inductive element, and a capacitive element.

[0017] As an example, with respect to a position sensor, the movement of the target may be limited to only two degrees of freedom. Specifically, the change in the position of the target relative to the position of the position sensor may be limited to two degrees of freedom.

[0018] In particular, the movement of the target can be tracked and / or detected by using at least one position sensor. As used herein, the term "position sensor" is a broad term and should be given its ordinary and customary meaning to those skilled in the art and should not be limited to a special or specialized meaning. This term can specifically refer to, but is not limited to, any device configured to detect at least one position of the target. As an example, the position sensor may be a camera for detecting the position of a target, i.e., an optically detectable target, by image recognition, or may include a camera. Additionally or alternatively, the position sensor may be at least one sensor configured to detect the position of the target by using electric field and / or magnetic field detection principles, such as by using inductive and / or capacitive principles, or may include it. Specifically, the position sensor may be capable of generating at least one sensor signal, such as an electrical signal, which is a qualitative indicator of the position of the target, i.e., the relative position between the position sensor and the target. As an example, the position sensor may specifically be selected from the group consisting of an inductive sensor, a capacitive sensor, an optical sensor, and a magnetoresistive sensor, and the magnetoresistive sensor may specifically be selected from the group consisting of an anisotropic magnetoresistive sensor, a giant magnetoresistive sensor, a colossal magnetoresistive sensor, and a tunneling magnetoresistive sensor.

[0019] In particular, as used herein, the term "sensor signal" is a broad term and should be given its ordinary and customary meaning to those skilled in the art and should not be limited to a special or specialized meaning. This term can specifically refer to, but is not limited to, for example, a measured value over time provided in the form of an electrical signal over time. In particular, the sensor signal generated by the position sensor according to the relative position between the position sensor and the target may be or may include information regarding the relative position over time between the position sensor and the target, and thus may further include information regarding the relative movement between the position sensor and the target.

[0020] In particular, the position sensor may be configured to transmit a sensor signal to the processing unit by means of at least one wireless connection, such as via Bluetooth, near-field communication, etc., or by means of a wired connection, such as via at least one cable. Other forms of transmitting the sensor signal from the position sensor to the processing unit may be possible.

[0021] As used herein, the term "relative position" is a broad term and should be given its ordinary customary meaning to those skilled in the art and should not be limited to a special or specialized meaning. Specifically, but not limited to, this term may refer to the spatial position of any object or element relative to a reference object or element. In particular, the term "relative position between the position sensor and the target" may refer to the spatial position of the target relative to the position sensor, such as the distance between the target and the position sensor. For example, the relative position between the position sensor and the target may be measured in a coordinate system, i.e., a Cartesian coordinate system, specifically the Cartesian coordinate system of the position sensor. The term "relative position between connection modules" may refer to the spatial position of one of two connection modules relative to the other of the connection modules. Specifically, the relative position between connection modules may also be measured in a coordinate system, i.e., a Cartesian coordinate system, specifically the Cartesian coordinate system of the position sensor.

[0022] The relative position between the connection modules is tracked by at least one processing unit of the position tracking system. As used herein, the terms "processing unit" or "processor" are broad terms and should be given their ordinary and general meaning to those skilled in the art and should not be limited to a special or particular meaning. Specifically, without limitation, this term can refer to any logic circuit configured to perform the basic operations of a computer or computer system, and furthermore / or generally, can refer to a device configured to perform regulatory or logical operations. By way of example, the processing unit and / or processor can include at least one arithmetic logic unit (ALU), at least one floating point unit (FPU) such as a numeric co-processor or a numeric coprocessor, a plurality of registers, specifically registers configured to supply operands to the ALU and store the operation results, and memory such as L1 and L2 cache memories. In particular, the processing unit and / or processor can be a multi-core processor. Specifically, the processing unit and / or processor can be a central processing unit (CPU) or can include a CPU. By way of example, the processing unit and / or processor can be configured to perform at least one tracking operation, such as calculating the relative position between the connection modules from at least one sensor signal, by means of software programming or the like.

[0023] Specifically, the processing unit and / or the processor may be configured to determine the relative position between connection modules over time in at least one plane, i.e., to track the movement of connection modules in at least one plane. As used herein, the term "plane" is a broad term and should be given its ordinary and customary meaning to those skilled in the art and should not be limited to a special or specialized meaning. Specifically, but not limited to, this term may refer to a two-dimensional space. Thus, specifically, the processing unit may be configured to track the relative position between connection modules in at least two spatial dimensions. As an example, the change in the relative position between connection modules that can be tracked by the processing unit by using only one sensor signal may be limited to one plane, i.e., two dimensions. In particular, the plane in which the movement of the connection module can be tracked from the sensor signal may depend on the relative arrangement of the target and the position sensor, i.e., the positions where both the target and the position sensor are arranged. As an example, the plane may be, or may include, a plane of symmetry between the target and the position sensor, such as a plane of symmetry where the position of the target is symmetric with respect to the position of the position sensor. Additionally or alternatively, the normal vector of the plane may point to the direction of the shortest distance between the target and the position sensor as originally arranged, i.e., the installation position, specifically, a non-changing relative position such as a state where the relative position has not changed.

[0024] At least one target can be arranged on and / or within at least the first of the at least two connection modules. In particular, the target can be arranged on the first connection module, specifically on a surface facing at least one surface of the second of the at least two connection modules, such as on a surface of the first connection module. Additionally or alternatively, the target can be arranged within the first of the at least two connection modules, for example, in a region close to the surface of the first connection module that faces at least one surface of the second of the at least two connection modules, specifically under the surface of the first connection module.

[0025] At least one position sensor can be arranged on and / or within at least the second of the at least two connection modules. In particular, the position to be transmitted can be arranged on the second connection module, specifically on a surface facing at least one surface of the first of the at least two connection modules, such as on a surface of the second connection module. Additionally or alternatively, the position sensor can be arranged within the second of the at least two connection modules, for example, under the surface of the second connection module, specifically arranged so as to face at least one surface of the first connection module on which the target can be arranged on and / or within.

[0026] At least one sensor signal may specifically be a gradient magnetic field sensor signal or may include a gradient magnetic field sensor signal. In particular, a processing unit and / or a processor of the position tracking system may be configured to convert a sensor signal, i.e., a sensor signal generated by at least one position sensor according to the relative position between the position sensor and the target, into a gradient magnetic field sensor signal, for example, by calculating at least one gradient of the at least one sensor signal. The term "gradient magnetic field sensor signal" as used herein is a broad term and should be given its ordinary customary meaning to those skilled in the art and should not be limited to a special meaning or a particular meaning. This term may specifically, but not limited to, refer to a vector field determined from a sensor signal function such as a sensor signal generated by a position sensor by determining the gradient of the sensor signal function.

[0027] As an example, a sensor signal S generated by a position sensor may describe the position of a target in two spatial dimensions x and y over time t. Thus, as an example, the sensor signal describing the relative position of the target with respect to the position sensor S target may be a function f that depends on x and y, i.e., S target = f(x, y, t). The gradient magnetic field sensor signal S target_grad may be determined by a processing unit using the following equation. [Equation]

[0028] The position tracking system may specifically include at least two targets and at least two position sensors. Specifically, the position tracking sensors may each include at least two pairs and / or couples each formed, for example, by one target and one position sensor.

[0029] In particular, the first position sensor and the first target can be arranged on different connection modules. As an example, the first position sensor may be configured to generate a first sensor signal, specifically according to the relative position between the first sensor and the first target. The first sensor signal may in particular include information regarding the relative position over time, i.e., the movement, between the first target and the first position sensor in the first plane. Thus, the first pair and / or couple formed by the first target and the first position sensor can be configured to provide, specifically, above the relative movement between the first target and the first position sensor in the first plane, for example, in the first and second spatial dimensions.

[0030] The second position sensor and the second target can also be arranged on different connection modules. In particular, the second position sensor may be configured to generate a second sensor signal, specifically according to the relative position between the second sensor and the second target. The second sensor signal may in particular include information regarding the relative position over time, i.e., the movement, between the second target and the second position sensor in the second plane. The second pair and / or couple formed by the second target and the second position sensor can be configured to provide information regarding the relative movement between the second target and the second position sensor in the second plane, for example, in the first and third spatial dimensions.

[0031] The first plane may be different from the second plane. In particular, the first sensor signal may include information regarding movement within the first plane, and the first plane may be different from the second plane. In particular, the second sensor signal may include information regarding movement within the second plane and thus different from the first plane. Specifically, the minimum angle α between the first plane and the second plane may be different from 0°, i.e., α≠0°. As an example, the first plane and the second plane may be arranged to be substantially orthogonal. In particular, the first position sensor and the second position sensor, and additionally the first target and the second target may be arranged and / or positioned such that the first plane and the second plane are arranged to be substantially orthogonal. Thus, as an example, the first plane and the second plane may be arranged orthogonally, such as being perpendicular to each other. In particular, the angle α between the first plane and the second plane may be specifically a right angle within a tolerance of ±5°, more specifically within a tolerance of ±3°. Thus, as an example, 85°≦α≦95°, preferably 87°≦α≦93°, more preferably 89°≦α≦91°, and most preferably α = 90°.

[0032] The processing unit may be able to track the relative position between connection modules within the first plane from the first sensor signal. Thus, as an example, the processing unit may be configured to generate a position function P1 that describes the relative position between connection modules within the first plane over time. As an example, the position function P1 may be a function f that depends on the first spatial dimension x, the second spatial dimension y, and time t. Thus, as an example, P1 = f(x, y, t).

[0033] From the first sensor signal, the processing unit may be able to track the relative position between connection modules in the second plane. Thus, as an example, the processing unit may be configured to generate a position function P2 that describes the relative position between connection modules in the second plane over time. As an example, the position function P2 may be a function f that depends on the first spatial dimension x, the third spatial dimension z, and time t. Thus, as an example, P2 = f(x, z, t).

[0034] In particular, the processing unit may be configured to determine a change in position, such as a translational motion, between two connection modules from the first sensor signal and the second sensor signal. The translational change in position, i.e., the translational motion, may specifically be determined by comparing the relative position between two modules over time, i.e., by comparing the current relative position with the previous relative position. Specifically, as an example, the processing unit may be configured to generate a position function P that describes the relative position between connection modules in both the first plane and the second plane over time. As an example, when the first position sensor and the second position sensor, and the first target and the second target are arranged such that the first plane and the second plane are arranged perpendicular to each other, the position function P may describe the relative position between connection modules in all three spatial dimensions over time. Specifically, the position function P may be a function f that depends on the first spatial dimension x, the second spatial dimension y, the third spatial dimension z, and time t. As an example, P = f(x, y, z, t), and specifically, P = P1 + P2.

[0035] Both the first sensor signal and the second sensor signal may be gradient magnetic field sensor signals. Thus, as an example, both the first sensor signal, i.e., the signal generated by the first position sensor, and the second sensor signal, i.e., the signal generated by the second position sensor, may specifically be converted into gradient magnetic field sensor signals by the processing unit, for example, by calculating the gradients of both the first sensor signal and the second sensor signal.

[0036] Furthermore, the processing unit may be configured to determine changes in both the translation and rotation of the position between two connection modules from at least two gradient magnetic field sensor signals, specifically, translational and rotational movements such as inclination and / or torsion. In particular, the processing unit may be configured to generate a rotational position function R that describes the relative position between the connection modules in both the first and second planes over time while further describing the possible inclination and / or rotation between the connection modules. Thus, compared to the position function P, the rotational position function R may further provide information regarding the inclined and / or rotated relative position between the connection modules. As an example, when the sensor signals of at least two position sensors are provided to the processing unit in different coordinate systems, i.e., at least one polar coordinate system and / or different Euclidean coordinate systems, the processing unit may further perform at least one transformation, i.e., by using generally known transformation techniques, for example, by using at least one transformation matrix, so that the sensor signals can be described in the same coordinate system. Specifically, the rotational position function R may be a function f that depends on the first spatial dimension x, the second spatial dimension y, the third spatial dimension z, the rotation r, and the time t. As an example, R = f(x, y, z, r, t).

[0037] The position tracking system may comprise at least one additional sensor configured to generate additional sensor signals according to at least one additional parameter, i.e., at least one additional sensor configured to measure at least one additional parameter. As an example, the at least one additional sensor may be at least one sensor selected from the group consisting of a temperature sensor and a humidity sensor.

[0038] As an example, a humidity sensor, i.e., a moisture sensor, may be configured to generate at least one humidity sensor signal according to the humidity such as the air humidity in the vicinity of at least two connection modules. In particular, the humidity sensor may be arranged within a radius of 10 m of the connection module, for example, in the same room as at least two connection modules. As an example, the humidity sensor signal H generated by the humidity sensor may describe the humidity over time t. Thus, as an example, the humidity sensor signal H may be a function f dependent on time t, i.e., H = f H (t).

[0039] In particular, the temperature sensor may be configured to generate at least one temperature sensor signal according to the temperature in the vicinity of at least two connection modules. In particular, the temperature sensor may be arranged within a radius of 10 m of the connection module, for example, in the same room as at least two connection modules. As an example, the temperature sensor signal T generated by the temperature sensor may describe the temperature over time t. Thus, as an example, the temperature sensor signal T may be a function f dependent on time t, i.e., T = f T (t).

[0040] As an example, a further sensor may be integrated into at least one position sensor, for example, at least one of the first position sensor and the second position sensor. Thus, at least one sensor signal S generated by at least one position sensor, specifically, the first sensor signal S1 and / or the second sensor signal S2, may further include information regarding further parameters in the vicinity of the connection module, i.e., temperature and / or humidity. As an example, S1 = f(x, y, t, T) and / or S2 = f(x, z, t, T).

[0041] Specifically, the processing unit may be configured to consider at least one additional sensor signal when determining the relative position between the connection modules. In particular, the processing unit describes the relative position between the connection modules in both the first and second planes over time, describes the possible inclination and / or rotation between the connection modules, and generates an additional function U that further considers one or more of the parameters measured by additional sensors in the vicinity of at least two connection modules, namely temperature. Specifically, compared to the rotational position function R, the additional function U may further provide information regarding additional parameters in the vicinity of the connection modules, namely one or both of temperature and humidity. Specifically, the additional function U may be a function f that depends on the first spatial dimension x, the second spatial dimension y, the third spatial dimension z, the rotation r over time t, and further depends on additional parameters such as temperature T. As an example, U = f(x, y, z, r, t, T). Additionally or alternatively, U = f(x, y, z, r, t, H) or U = f(x, y, z, r, t, T, H).

[0042] In a further aspect of the invention, a monitoring system for monitoring at least two connection modules is disclosed. The monitoring system comprises at least one position tracking system. For the definition and embodiments of the position tracking system, reference is made to the definitions and embodiments outlined in the context of the position tracking system further described above or below. Further, the monitoring system comprises at least one evaluation unit configured to generate, specifically calculate, at least one item of movement information related to a change in the relative position between the two connection modules.

[0043] In particular, the evaluation unit may be configured to generate a movement information item by using the relative position between at least two connection modules as being tracked by a position tracking system. As an example, the evaluation unit may calculate a movement information item from the relative position between the connection modules. The term "movement information item" as used herein is a broad term and should be given its ordinary customary meaning to a person skilled in the art and should not be limited to a special or specialized meaning. This term may specifically, but not limited to, refer to any information item that quantifies at least one trait and / or characteristic of the change in the relative position between at least two connection modules, for example, one or more numerical values. As an example, the movement information item may be, or may include, at least one numerical value related to the movement between at least two connection modules. In particular, the movement information item may be, or may include, information selected from the group consisting of a distance between an optimal position and an actual position, such as a maximum deviation from a predetermined position optimum value, or an acceleration such as a maximum acceleration of a vibrational movement.

[0044] As used herein, the term "vibratory motion" is a broad term that gives its ordinary and customary meaning to those skilled in the art and is not limited to a special or specialized meaning. Specifically, without limitation, this term can refer to low-frequency vibrations, including, in particular, vibrations caused by impacts, specifically impacts on at least one module and / or unit. The sensors may be operated in a low-frequency sampling mode and / or a high-frequency sampling mode to detect their respective frequency ranges. The vibratory motion can be recorded over time. The vibratory motion may, by way of example, be considered as a change in position as a function of time. Such a function of time may be transformed from the time domain to the frequency domain by using a Fourier transform, specifically a fast Fourier transform. In particular, in such a Fourier transform, specifically a fast Fourier transform, high-amplitude peaks may be selected in the time domain for processing in the frequency domain. From this, it is possible to detect at least one frequency and / or at least one external vibration that causes the vibratory motion of at least one module and / or unit.

[0045] Furthermore, the evaluation unit may be configured to generate at least one recommended information item from the movement information items by evaluating the movement information in consideration of predetermined reference data such as predetermined threshold data, i.e., data collected previously. Specifically, the evaluation unit may generate the recommended information item by, for example, comparing the movement information items with at least one predetermined threshold data, i.e., by checking whether the threshold and / or limit is exceeded, and evaluating the movement information items using the previously determined data. As used herein, the term "recommended information item" is a broad term and should be given its ordinary customary meaning to those skilled in the art and should not be limited to a special or specialized meaning. This term may specifically, but not limited to, refer to any information item including instructions and / or advice regarding settings, specifically environmental settings, behavior or practices, for example, one or more numerical values. As an example, the recommended information item may include information regarding advantageous settings of the connection module, such as an advantageous positioning of at least one of the connection modules. Additionally or alternatively, the recommended information item may include information regarding advantageous environmental settings of the connection module, such as an advantageous temperature range, i.e., a temperature range for minimizing environmentally induced position changes. The recommended information may include advantageous suggestions applicable to at least two connection modules, or even to the entire modular diagnostic examination room, such as recommendations for ventilating, air-conditioning, or heating the area where two modules are arranged.

[0046] As an example, the recommended information item may be generated from the movement information item, in particular by an evaluation unit automatically exploring the correlation between a predetermined reference data, i.e., data collected previously, and the movement information item. In particular, the evaluation unit may be configured to automatically detect and evaluate the correlation in the data, for example, for identifying a pattern between at least one setting of the connection module, i.e., the environmental conditions received by the connection module and the change in the relative position between at least two connection modules. As an example, the evaluation unit may be configured to automatically identify the correlation between the movement information item and a service case such as the implemented repair and / or maintenance interval.

[0047] In particular, the recommended information item may be selected from the group consisting of an ideal temperature range such as the ideal temperature range of the room where the connection module is located, a maintenance interval such as the time range within which maintenance should be carried out, a life prediction such as the prediction of the time remaining before damage or failure of at least one of the connection modules under current environmental conditions, i.e., current temperature and / or humidity conditions, and an allowable error prediction such as the prediction of the tolerance chain under current environmental conditions.

[0048] In a further aspect of the present invention, a method for tracking the relative position between at least two connection modules by using at least one position tracking system is disclosed. As an example, in this specification, the method for tracking the relative position between at least two connection modules by using at least one position tracking system may also be referred to as the "tracking method". The method includes the following method steps that may be carried out in a given order. However, it should be noted that different orders are also possible. Furthermore, one or more of the method steps may be carried out once or repeatedly. Moreover, two or more method steps may be carried out simultaneously or overlapping in time. The method may include further method steps not described. For example, for the definition and embodiments of the position tracking system, refer to the definitions and embodiments outlined above or described in more detail below.

[0049] A method for tracking the relative position between at least two connection modules using at least one position tracking system, i.e., the tracking method includes: a) providing at least one position tracking system; b) generating at least one sensor signal according to the relative position between at least one position sensor and at least one target by using at least one position sensor; c) tracking at least one relative position between the connection modules in at least two spatial dimensions by using at least one sensor signal by using a processing unit (122). The method includes the steps above.

[0050] Furthermore, step c) may include determining a change in the relative position between the connection modules by converting the sensor signal into a gradient sensor signal, specifically by calculating at least one gradient of at least one sensor signal.

[0051] In yet another aspect of the present invention, a method for monitoring at least two connection modules by using at least one monitoring system is disclosed. In particular, herein, a method for monitoring at least two connection modules by using at least one monitoring system may be referred to as a "monitoring method". The method includes the following method steps that may be performed in a given order. However, it should be noted that different orders are also possible. Furthermore, one or more of the method steps may be performed once or repeatedly. Additionally, two or more method steps may be performed simultaneously or overlapping in time. The method may include additional method steps not described. For example, for the definitions and embodiments of the monitoring system and / or the position tracking system, refer to the definitions and embodiments outlined in the context of the monitoring device.

[0052] A method for monitoring at least two connection modules using at least one monitoring system, that is, the monitoring method comprises: i) providing at least one monitoring system; ii) tracking the relative position between at least two connection modules by implementing a method for tracking the relative position between at least two connection modules according to any one of the preceding method claims; iii) generating at least one movement information item from the relative position tracked in step ii), in particular by using an evaluation unit; and including.

[0053] Furthermore, the monitoring method may further include: v) generating at least one recommendation information item from the movement information item and predetermined reference data, that is, previously collected data, in particular by using an evaluation unit.

[0054] In this specification, when a program is executed by a position tracking system, a tracking computer program including instructions for causing the position tracking system to perform at least one of steps b) and c) of the tracking method is further disclosed and proposed. In particular, when the tracking program is executed on a position tracking system, that is, on a processing unit of the position tracking system, for example, on a processor of a computer or a computer network, the tracking program may include computer-executable instructions for implementing the tracking method according to the present invention in one or more of the embodiments included in this specification. Specifically, the tracking computer program may be stored in a computer-readable data carrier and / or a computer-readable storage medium. Therefore, in this specification, when a position tracking computer program is executed by a position tracking system, a position tracking computer-readable storage medium including instructions for causing the position tracking system to perform at least one of steps b) and c) of the tracking method is further disclosed and proposed.

[0055] As used herein, the terms "computer-readable data carrier" and "computer-readable storage medium" may specifically refer to non-transitory data storage means such as a hardware storage medium storing computer-executable instructions. The computer-readable data carrier or storage medium may specifically be a storage medium such as a random access memory (RAM) and / or a read-only memory (ROM), or may include such a storage medium.

[0056] Specifically, one, two or more, or even all of the above tracking method steps a) to c) may be implemented using a computer or a computer network, preferably using a computer program.

[0057] In this specification, when a program is executed by a monitoring system, a monitoring computer program is further disclosed and proposed that includes instructions for causing the monitoring system to perform at least one of steps ii), iii) and optionally iv) of the monitoring method. In particular, the monitoring program may include computer-executable instructions for executing the monitoring method according to the present invention in one or more of the embodiments attached to this specification when the program is executed on the monitoring system. Specifically, the monitoring computer program may be stored in a computer-readable data carrier and / or a computer-readable storage medium. Accordingly, in this specification, when the monitoring computer program is executed by the monitoring system, a monitoring computer-readable storage medium including instructions for causing the monitoring system to perform at least one of steps ii), iii) and optionally iv) of the monitoring method is further disclosed and proposed.

[0058] Specifically, one, a plurality, or even all of the above-described monitoring method steps i) to iv) may be implemented by using a computer or a computer network, preferably using a computer program.

[0059] In this specification, a computer program product is further disclosed and proposed. The computer program product has program code means for implementing one or more of the tracking method and the monitoring method according to the present invention in one or more of the embodiments included herein when the program is executed on a computer or a computer network. Specifically, the program code means may be stored in a computer-readable data carrier and / or a computer-readable storage medium.

[0060] Further disclosed and proposed herein is a data carrier storing a data structure, which can execute one or more of the tracking method and the monitoring method according to one or more of the embodiments disclosed herein after being loaded into a computer or a computer network, for example, into a working memory or a main memory of the computer or the computer network.

[0061] Further disclosed and proposed herein is a computer program product in which program code means are stored on a machine-readable carrier for implementing one or more of the tracking method and the monitoring method according to one or more of the embodiments disclosed herein when the program is executed on a computer or a computer network. As used herein, a computer program product refers to a program as a tradable product. The product can generally exist in any format such as a paper format, or can exist on a computer-readable data carrier and / or a computer-readable storage medium. Specifically, the computer program product may be distributed on a data network.

[0062] Finally, further disclosed and proposed herein is a modulated data signal including instructions readable by a computer system or a computer network for implementing one or more of the tracking method and the monitoring method according to one or more of the embodiments disclosed herein.

[0063] Regarding the computer-implemented aspects of the present invention, one or more or all of the method steps of the tracking method and the monitoring method according to one or more of the embodiments disclosed herein may be implemented by using a computer or a computer network. Thus, generally, any method step, including the provision and / or manipulation of data, may be implemented by using a computer or a computer network. Generally, these method steps may include any method step, except for method steps that typically require manual work, such as specific aspects of providing a sample and / or performing an actual measurement.

[0064] Specifically, herein, - A computer or computer network including at least one processor, wherein the processor is adapted to implement a method according to one of the embodiments described herein, - A computer-loadable data structure adapted to implement a method according to one of the embodiments described herein while the data structure is being implemented on a computer, - A computer program configured to implement a method according to one of the embodiments described herein when implemented on a computer, - A computer program comprising program means for implementing a method according to one of the embodiments described herein while the computer program is being implemented on a computer or a computer network, - A computer program comprising program means according to the preceding embodiments, wherein the program means are stored on a computer-readable storage medium, - A storage medium storing a data structure, the data structure being configured to implement a method according to one of the embodiments described herein after being loaded into the main memory and / or working memory of a computer or a computer network, and - having program code means storable or stored on a memory medium, and when the program code means is executed on a computer or a computer network, a computer program product is further disclosed in which a method according to one of the embodiments described herein is implemented.

[0065] The system and method according to the present invention provide a number of advantages compared to known methods and apparatuses of the same general type. Specifically, the position tracking system can enable robust tracking of the relative position between at least two connection modules. In particular, the proposed system and method may be less likely to cause errors or malfunctions than systems and methods known in the art. Further, the maintenance costs and operating expenses of the position tracking system and the monitoring system can be very low.

[0066] Specifically, the proposed system and method can reduce errors that require services such as maintenance and repair by enabling error prevention operations of the connection module, i.e., the modular diagnostic examination room. In particular, the present system and method may enable predictive maintenance of the connection module and / or even the entire modular diagnostic examination room, i.e., it is possible to identify even a slight change in the relative position, and thus services and / or maintenance may be requested before an error occurs.

[0067] That is, further, the proposed systems and methods can enable detection of an ideal laboratory temperature range and enable more sustainable and environmentally friendly operation of modular diagnostic laboratories. In particular, the proposed systems and methods can enable reduction of the amount of repair and maintenance required to operate modular diagnostic laboratories. Further, as an example, more sustainable decisions can be possible regarding acquisition and operation of additional equipment such as a cooling system or radiator, or regarding planning of maintenance or service times. Specifically, the present systems and methods can enable determination of a movement topology across a modular diagnostic laboratory, i.e., for each connection module and / or each interface between at least two connection modules. Thereby, the proposed systems and methods can enable identification of hot spots and thus prediction of required service or maintenance visits and / or proactive and forward - looking planning of time resources for service or maintenance visits. Additionally, by enabling detection of changes in relative position, i.e., position drift, the present systems and methods can enable initiation of preventive and / or predictive maintenance visits.

[0068] In summary, without excluding the possibility of further embodiments, the following embodiments can be envisioned.

[0069] Embodiment 1: A position tracking system for tracking the relative position between at least two connected, specifically mechanically interfaced, modules, - at least one target associated with a first module of at least two connected modules, - at least one position sensor associated with a second module of at least two connected modules, the position sensor being configured to generate at least one sensor signal according to the relative position between the at least one position sensor and the at least one target, at least one position sensor, A position tracking system comprising at least one processing unit, such as a processor, configured to track the relative position between connection modules from at least one sensor signal in at least one plane.

[0070] Embodiment 2: The position tracking system according to Embodiment 1, wherein at least one target is disposed on or within at least the first of the at least two connection modules.

[0071] Embodiment 3: The position tracking system according to Embodiment 1 or 2, wherein at least one position sensor is disposed on or within at least the second of the at least two connection modules.

[0072] Embodiment 4: The position tracking system according to any one of Embodiments 1 to 3, wherein at least one sensor signal is a gradient magnetic field sensor signal, and specifically, the processing unit is configured to convert the sensor signal into a gradient magnetic field sensor signal by calculating at least one gradient of the at least one sensor signal.

[0073] Embodiment 5: The position tracking system according to any one of Embodiments 1 to 4, comprising at least two targets and at least two position sensors.

[0074] Embodiment 6: A position tracking system according to Embodiment 5, wherein a first position sensor and a first target are disposed on different connection modules, the first position sensor is configured to generate a first sensor signal, the first sensor signal includes information about the relative position over time, i.e., the movement, between the first target and the first position sensor in a first plane, a second position sensor and a second target are disposed on different connection modules, the second position sensor is configured to generate a second sensor signal, the second sensor signal includes information about the relative position over time, i.e., the movement, between the second target and the second position sensor in a second plane, and the first plane is different from the second plane.

[0075] Embodiment 7: A position tracking system according to Embodiment 6, wherein the first position sensor and the second position sensor are arranged such that the first plane and the second plane are substantially orthogonal.

[0076] Embodiment 8: A position tracking system according to Embodiment 6 or 7, wherein a processing unit is configured to determine translational changes in position, such as translational movement between two connection modules, from the first sensor signal and the second sensor signal.

[0077] Embodiment 9: A position tracking system according to any one of Embodiments 6 to 8, wherein both the first sensor signal and the second sensor signal are gradient magnetic field sensor signals, and a processing unit is configured to determine both translational and rotational changes in position between two connection modules, specifically translational and rotational movements such as inclination and / or torsion, from at least two gradient magnetic field sensor signals.

[0078] Embodiment 10: A position tracking system according to any one of Embodiments 1 to 9, further comprising at least one additional sensor configured to generate an additional sensor signal according to at least one additional parameter, i.e., configured to measure at least one additional parameter, and the additional sensor is selected from the group consisting of a temperature sensor and / or a humidity sensor.

[0079] Embodiment 11: The position tracking system according to Embodiment 10, wherein the humidity sensor is configured to generate at least one humidity sensor signal according to the humidity in the vicinity of at least two connection modules, specifically the indoor humidity.

[0080] Embodiment 12: The position tracking system according to Embodiment 10 or 11, wherein the temperature sensor is configured to generate at least one temperature sensor signal according to the temperature in the vicinity of at least two connection modules, specifically the room temperature.

[0081] Embodiment 13: The position tracking system according to Embodiment 11 or 12, wherein the processing unit is further configured to consider at least one additional sensor signal, namely a sensor signal depending on temperature and / or humidity, when determining the relative position between the connection modules.

[0082] Embodiment 14: The position tracking system according to any one of Embodiments 1 to 13, wherein at least one position sensor is selected from the group consisting of an inductive sensor, a capacitive sensor, an optical sensor, and a magnetoresistive sensor, and the magnetoresistive sensor is specifically selected from the group consisting of an anisotropic magnetoresistive sensor, a giant magnetoresistive sensor, a colossal magnetoresistive sensor, and a tunneling magnetoresistive sensor.

[0083] Embodiment 15: A monitoring system for monitoring at least two connection modules, - the position tracking system according to any one of Embodiments 1 to 14, and - at least one evaluation unit configured to generate, specifically calculate, at least one item of movement information regarding a change in the relative position between the two connection modules comprising the monitoring system.

[0084] Embodiment 16: The monitoring system according to Embodiment 15, wherein the movement information item is information selected from the group consisting of a distance between an optimal position and an actual position, such as a maximum deviation from a predetermined position optimal value, and an acceleration, such as a maximum acceleration of an oscillatory motion.

[0085] Embodiment 17: The monitoring system according to Embodiment 15 or 16, wherein the evaluation unit is further configured to generate at least one recommended information item from the movement information items by evaluating the movement information in consideration of predetermined reference data, such as predetermined threshold data, i.e., data collected previously.

[0086] Embodiment 18: The monitoring system according to Embodiment 17, wherein the recommended information item is generated from the movement information items by automatically searching for a correlation between predetermined reference data, i.e., data collected previously, and the movement information items.

[0087] Embodiment 19: The recommended information item is selected from the group consisting of an ideal temperature range, such as an ideal temperature range of the room where the connection module is disposed, a maintenance interval, such as a time range during which maintenance should be performed, a life prediction, such as a prediction of the time remaining before at least one of the connection modules is damaged or fails under current environmental conditions, i.e., current temperature and / or humidity conditions, and an allowable error prediction, such as a prediction of a tolerance chain under current environmental conditions, according to the monitoring system of Embodiment 17 or 18.

[0088] Embodiment 20: A method for tracking the relative position between at least two connection modules by using at least one position tracking system according to any one of the preceding embodiments referring to a position tracking system, a) providing at least one position tracking system; b) generating at least one sensor signal according to the relative position between at least one position sensor and at least one target by using at least one position sensor; c) using a processing unit to track at least one relative position between connection modules in at least two spatial dimensions by using at least one sensor signal A method comprising.

[0089] Embodiment 21: The method according to embodiment 20, wherein step c) includes determining a change in the relative position between the connection modules by converting the sensor signal into a gradient sensor signal, specifically by calculating at least one gradient of at least one sensor signal.

[0090] Embodiment 22: A method for monitoring at least two connection modules by using at least one monitoring system according to any one of the preceding embodiments referring to a monitoring system, comprising: i) providing at least one monitoring system; ii) tracking the relative position between at least two connection modules by implementing a method for tracking the relative position between at least two connection modules according to any one of the preceding method embodiments; iii) generating at least one movement information item from the relative position tracked in step ii), in particular by using an evaluation unit A method comprising.

[0091] Embodiment 23: The method according to embodiment 22, further comprising: v) generating at least one recommendation information item from the movement information item and predetermined reference data, i.e., previously collected data, in particular by using an evaluation unit.

[0092] Embodiment 24: A position tracking computer program, when executed by the position tracking system according to any one of the preceding embodiments referring to the position tracking system, causes the position tracking system to perform at least one of steps b) and c) of the tracking method according to any one of the preceding embodiments referring to a method for tracking the relative position between at least two connection modules by using at least one position tracking system.

[0093] Embodiment 25: A position tracking computer-readable storage medium, when the position tracking computer program is executed by the position tracking system according to any one of the preceding embodiments referring to the position tracking system, causes the position tracking system to perform at least one of steps b) and c) of the tracking method according to any one of the preceding embodiments referring to a method for tracking the relative position between at least two connection modules by using at least one position tracking system.

[0094] Embodiment 26: A monitoring computer program, when executed by the monitoring system according to any one of the preceding embodiments referring to the monitoring system, causes the monitoring system to perform at least one of steps ii), iii), and optionally iv) of the monitoring method according to any one of the preceding embodiments referring to a method for monitoring at least two connection modules by using at least one monitoring system.

[0095] Embodiment 27: A monitoring computer-readable storage medium, wherein when a monitoring computer program is executed by the monitoring system according to any one of the preceding embodiments referring to the monitoring system, the monitoring system is caused to perform at least one of steps ii) and iii) and optionally iv) of the monitoring method according to any one of the preceding embodiments for monitoring at least two connection modules by using at least one monitoring system, the monitoring computer-readable storage medium comprising an instruction for causing the monitoring system to perform the step.

Brief Description of the Drawings

[0096] Further optional features and embodiments are preferably disclosed in more detail in the subsequent description of the embodiments in conjunction with the dependent claims. Among them, each optional feature may be realized in an independent manner and in any executable combination, as can be understood by those skilled in the art. The scope of the present invention is not limited by the preferred embodiments. The embodiments are schematically shown in the drawings. Here, the same reference numerals in these drawings refer to the same or functionally equivalent elements.

[0097]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Modes for Carrying Out the Invention

[0098] In FIG. 1, an embodiment of the monitoring system 110 is shown in top view, i.e., from above. The monitoring system 110 includes a position tracking system 112 for tracking the relative position between at least two connection modules 114, and at least one evaluation unit 116 configured to generate at least one movement information item regarding the change in the relative position between the two connection modules 114. The position tracking system 112 includes at least one target 118 associated with a first one of the at least two connection modules 114. As an example, the target 118 may be disposed within the first one of the at least two connection modules 114. Further, the position tracking system 112 includes at least one position sensor 120 associated with a second one of the at least two connection modules 114, and the position sensor 120 is configured to generate at least one sensor signal according to the relative position between the at least one position sensor 120 and the at least one target 118. As an example, the position sensor 120 may be disposed both above and within the second one of the at least two connection modules 114, and the position tracking system 112 further includes at least one processing unit 122 configured to track the relative position between the connection modules 114 from the at least one sensor signal within at least one plane 124. In FIG. 1, for illustrative purposes, the vectors x and y of the Cartesian coordinate system 126 are shown extending into the plane 124. However, other coordinate systems such as a polar coordinate system for describing the plane 124 may be used.

[0099] Figures 2 and 3 show different embodiments of the position tracking system 112. The position tracking system 112 may specifically include at least two targets 118 and at least two position sensors 120. In particular, the first position sensor 128 and the first target 130 may be arranged on different connection modules 114. The first position sensor 128 may specifically be configured to generate a first sensor signal according to the relative position between the first target 130 and the first position sensor 128. Thus, in particular, the first sensor signal may include information regarding the relative position between the first target 130 and the first position sensor 128 over time, that is, movement such as relative movement within the first plane 132 for example. In FIG. 2, the vectors x and y of the Cartesian coordinate system 126 are shown as extending over the first plane 132. Further, the second position sensor 134 and the second target 136 may be arranged on different connection modules 114. The second position sensor 134 may specifically be configured to generate a second sensor signal according to the relative position between the second target 136 and the second position sensor 134. Thus, in particular, the second sensor signal may include information regarding the relative position between the second target 136 and the second position sensor 134 over time, that is, movement such as relative movement within the second plane 138 for example. Specifically, the first plane 132 and the second plane 138 may be arranged so as to be substantially orthogonal, that is, by the corresponding positioning of the first position sensor 128 and the second position sensor 134.

[0100] In particular, the processing unit 122 may be configured to determine translational changes in position, such as translational movement between the two connection modules 114, from the first sensor signal, that is, the signal generated by the first position sensor 128 and the second sensor signal, that is, the signal generated by the second position sensor 134. For this purpose, the position sensors 120, specifically the first position sensor 128 and the second position sensor 134, may be configured to transmit the sensor signals to the processing unit 122.

[0101] The position tracking system 112 may comprise at least one further sensor 140 configured to generate a further sensor signal according to at least one further parameter. As an example, the further sensor 140 may specifically be, or may comprise, a temperature sensor 142, which may be configured to generate at least one temperature sensor signal according to the temperature in the vicinity of at least two connection modules 114. In particular, the processing unit 122 may be further configured to take into account at least one further sensor signal, i.e., the temperature sensor signal generated by the temperature sensor 142, when determining the relative position between the connection modules 114. Additionally or alternatively, the further sensor 140 may be integrated into the position sensor 120, i.e., at least one of the first position sensor 128 and the second position sensor 134. Thus, as an example, the sensor signal generated by at least one position sensor 120 may further comprise information regarding at least one further parameter, i.e., temperature.

[0102] FIG. 4 shows a flowchart of a tracking method, specifically a method of tracking the relative position between at least two connection modules 114 by using at least one position tracking system 112. The tracking method comprises the following steps. a) Providing at least one position tracking system 112 (indicated by reference numeral 144). b) Generating at least one sensor signal according to the relative position between at least one position sensor 120 and at least one target 118 by using at least one position sensor 120 (indicated by reference numeral 146). c) Tracking at least one relative position between the connection modules 114 in at least two spatial dimensions by using at least one sensor signal by using the processing unit 122 (indicated by reference numeral 148).

[0103] Figures 5 and 6 show different flowcharts of a monitoring method, i.e., a method for monitoring at least two connection modules 114 by using at least one monitoring system 110. The monitoring method includes the following steps. i) Providing at least one monitoring system 110 (indicated by reference numeral 150). ii) Tracking the relative position between the at least two connection modules 114 by implementing a method for tracking the relative position between the at least two connection modules 114 (indicated by reference numeral 152). iii) Generating at least one movement information item from the relative position tracked in step ii), in particular by using an evaluation unit 116 (indicated by reference numeral 154).

[0104] Furthermore, the monitoring method may include the following steps. iv) Generating at least one recommendation information item from the movement information item and predetermined reference data, i.e., previously collected data, in particular by using an evaluation unit 116 (indicated by reference numeral 156).

[0105] According to Figure 7, the first connection module 158 may be positioned and / or arranged relative to the second connection module 160, and specifically may be tilted. It may be assumed that a first reference coordinate system 162 is inertially fixed to the first connection module 158 in order to exemplarily generate a rotational position function R = f(x, y, z, r, t). Furthermore, it may be assumed that a second reference coordinate system 164 is inertially fixed to the second connection module 160.

[0106] Any tracking of the relative position between the first connection module 158 and the second connection module 160 may be performed with respect to the first reference coordinate system 162. Thereby, possible values measured, in particular by at least two position sensors, may be aggregated into a vector, specifically the following vector.

Number

[0107] wherein, vector t D , specifically, the entries of the vector may be given in the coordinates of the second reference coordinate system 164 as further indicated herein using index D. Entry x D may refer to the first spatial dimension x D , entry y D may refer to the second spatial dimension y D , entry z D may refer to the third spatial dimension. Further, entry ψ D may refer to the value of rotation about the x-axis, entry θ D may refer to the value of rotation about the y-axis, entry φ D may refer to the value of rotation about the z-axis, whereby rotation r is defined.

[0108] The pose of the second reference coordinate system 164 with respect to the first reference coordinate system 162, specifically the pose of the second connection module 160, is described by a homogeneous transformation A D in the symmetry group SE(3) parameterized by vector t D ,

Number

Number

Number

[0109] wherein, r D is the radius vector from the origin of the first reference coordinate system 162 to the second reference coordinate system 164 in the coordinates of the first reference coordinate system 162, R DSpecifically, it is a rotational position function also represented as R = f(x, y, z, r), which converts the coordinates with respect to the first reference coordinate system 162 into the coordinates with respect to the second reference coordinate system 164. The spatial dimensions x, y, z without the index D refer to the respective entries in the coordinates of the first reference frame 162.

[0110] The repetition of this process results in an additional parameter t indicating time. In this case, R = f(x, y, z, r, t).

Explanation of Symbols

[0111] 110 Monitoring system 112 Position tracking system 114 Connection module 116 Evaluation unit 118 Target 120 Position sensor 122 Processing unit 124 Plane 126 Cartesian coordinate system 128 First position sensor 130 First target 132 First plane 134 Second position sensor 136 Second target 138 Second plane 140 Further sensor 142 Temperature sensor 144 Step a) 146 Step b) 148 Step c) 150 Step i) 152 Step ii) 154 Step iii) 156 Step iv) 158 First connection module 160 Second connection module 162 First reference coordinate system 164 Second reference coordinate system R D Rotational position function r Dradius vector

Claims

1. A position tracking system (112) for tracking the relative position between at least two connection modules (114), the position tracking system (112) comprising: At least one target (118) associated with a first module of the at least two connection modules (114), the at least one target (118) being positionable on and / or within the first module of the at least two connection modules (114), the at least two connection modules (114) being mechanically interacting entities and / or components configured to enable the transfer of an object from one module to another; at least one target (118); At least one position sensor (120) associated with a second module of the at least two connection modules (114), the position sensor (120) being configured to generate at least one sensor signal according to the relative position between the at least one position sensor (120) and the at least one target (118), the at least one position sensor (120) being positionable on and / or within the second module of the at least two connection modules (114); at least one position sensor (120); At least one processing unit (122) configured to track the relative position between the connection modules (114) from the at least one sensor signal in at least one plane (124); At least one additional sensor (140) configured to generate an additional sensor signal according to at least one additional parameter, the additional sensor (140) being selected from the group consisting of a temperature sensor (142) and / or a humidity sensor, the processing unit (122) being further configured to consider the at least one additional sensor signal when determining the relative position between the connection modules (114); at least one additional sensor (140) A position tracking system (112) comprising the above components.

2. The position tracking system (112) according to claim 1, wherein the at least one sensor signal is a gradient magnetic field sensor signal.

3. The position tracking system (112) according to claim 1 or 2, comprising at least two targets (118) and at least two position sensors (120).

4. A first position sensor (128) and a first target (130) are arranged on different connection modules (114), the first position sensor (128) is configured to generate a first sensor signal, and the first sensor signal includes information about the relative position over time between the first target (130) and the first position sensor (128) in a first plane (132). A second position sensor (134) and a second target (136) are arranged on different connection modules (112), the second position sensor (134) is configured to generate a second sensor signal, and the second sensor signal includes information about the relative position over time between the second target (136) and the second position sensor (134) in a second plane (138), and the first plane (132) is different from the second plane (138). The position tracking system (114) according to claim 3.

5. The position tracking system (112) according to claim 4, wherein the first position sensor (128) and the second position sensor (134) are arranged such that the first plane (132) and the second plane (138) are substantially orthogonal.

6. The position tracking system (112) according to claim 4 or 5, wherein the processing unit (122) is configured to determine a translational change in position between the two connection modules (114) from the first sensor signal and the second sensor signal.

7. Both the first sensor signal and the second sensor signal are gradient magnetic field sensor signals, and the processing unit (122) is configured to determine both a translational change and a rotational change in position between the two connection modules (114) from the two gradient magnetic field sensor signals. The position tracking system (112) according to any one of claims 4 to 6.

8. A monitoring system (110) for monitoring at least two connection modules (114), wherein the monitoring system (110) - the position tracking system (112) according to any one of claims 1 to 7, and - at least one evaluation unit (116) configured to generate at least one movement information item regarding a change in the relative position between the two connection modules (114) A monitoring system (110) comprising.

9. The monitoring system (110) according to claim 8, wherein the evaluation unit (116) is further configured to generate at least one recommendation information item from the movement information item by evaluating the movement information item in consideration of predetermined reference data.

10. The monitoring system (110) according to claim 9, wherein the recommendation information item is generated from the movement information item by automatically searching for a correlation between predetermined reference data.

11. The monitoring system (110) according to claim 9 or 10, wherein the recommendation information item is selected from the group consisting of an ideal temperature range, a maintenance interval, a life prediction, and a tolerance prediction.

12. A method for tracking the relative position between at least two connection modules (114) by using at least one position tracking system (112) according to any one of claims 1 to 7 with reference to the position tracking system (112), the method comprising a) providing the at least one position tracking system (112); b) generating at least one sensor signal according to the relative position between the at least one position sensor (120) and the at least one target (118) by using the at least one position sensor (120); c) tracking at least one relative position between the connection modules (114) in at least two spatial dimensions by using the at least one sensor signal by using the processing unit (122) A method comprising.

13. The method according to claim 12, wherein step c) includes determining a change in the relative position between the connection modules (114) by converting the sensor signal into a gradient sensor signal.

14. A method for monitoring at least two connection modules (114) by using at least one monitoring system (110) according to any one of claims 8 to 11 with reference to the monitoring system (110), the method comprising i) providing the at least one monitoring system (110); ii) tracking the relative position between at least two connection modules (114) by implementing a method for tracking the relative position between at least two connection modules (114) according to claim 12 or 13; iii) generating at least one movement information item from the relative position tracked in step ii); A method comprising.

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