Position tracking system and method for tracking the relative position of a connecting 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 positions between at least two connection modules and a monitoring system for monitoring at least two connection modules. Furthermore, the present invention relates to a method for tracking the relative positions between at least two connection modules using the position tracking system, and a method for monitoring at least two connection modules using the monitoring system. As an example, the system and method of the present invention may be used to control and / or detect changes in the relative positions between different units of a laboratory line, particularly in modular laboratory settings in the field of modular diagnostic testing rooms. The system and method can also be used in other applications that require control and / or detection of changes in relative positions in production lines, i.e., manufacturing sites, such as manufacturing or assembly lines. [Background technology]

[0002] In the field of modular diagnostic laboratories, it is generally necessary to position multiple modules and / or units to form a laboratory line, and the positioning must typically be kept within narrow tolerances so as not to jeopardize the safety and functionality of the handling and transport processes between these modules and / or units. Specifically, in modular diagnostic laboratories, narrow positioning tolerances must generally be maintained when handling and transporting laboratory equipment such as sample containers, e.g., sample tubes filled with biological fluids to be analyzed, and / or cassettes filled with reagents, specimen slides, tissue materials, waste, etc.

[0003] Specifically, several concepts exist to maintain the relative position between modules and / or units under various environmental conditions and influences, such as changes in temperature and / or humidity, as well as mechanical influences, such as vibration. In general, the material, shape, and position of connecting elements, especially reversible connecting elements such as screws and / or clamps, are carefully selected according to their response to these environmental conditions and influences. However, changes in the relative position between modules and / or units due to material fatigue and / or deformation, for example, 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 relative position between modules and / or units using artificial intelligence, teaching, automated teaching, or tolerance chain optimization.

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

[0006] Positional alignment of relative positions between modules and / or units can be particularly important in scenarios where multiple adjacent modules and / or units must be positionally aligned, and as a result, deviations between these adjacent modules and / or units can accumulate. Therefore, these adjacent modules and / or units may form a so-called tolerance chain that must be optimized.

[0007] However, despite the advantages achieved by these concepts, several technical challenges 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 influence of overlooked or unconsidered environmental conditions can affect positioning. Furthermore, unintentionally induced positional changes, i.e., changes made by the laboratory or cleaning staff, may go unnoticed until an error occurs, and in some cases, can lead to damage that could otherwise have been avoided, i.e., by early detection. Problems that the invention aims to solve

[0008] Therefore, it is desirable to provide systems and methods that address the aforementioned technical challenges at least partially. Specifically, a location tracking system, a monitoring system, a method for tracking the relative positions between at least two connected modules, and a method for monitoring at least two connected modules should be proposed, which enable the prevention of problems arising from unrecognized changes in the relative positioning of modules. [Overview of the project]

[0009] This problem is addressed by a position tracking system for tracking the relative positions between at least two connected, particularly mechanically interacting modules, a monitoring system for monitoring at least two connected modules, a method for tracking the relative positions between at least two connected modules, and a method for monitoring at least two connected modules, having the features of an independent claim. Convenient embodiments, which may be implemented individually or in any combination, are listed in the dependent claims and throughout the specification.

[0010] In the following use, 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 in which the entity described in this context has no further features in addition to the features introduced by these terms, and situations in which one or more further features exist. For example, the expressions “A has B,” “A includes B,” and “A contains B” can refer to both situations in which A has no other elements besides B (i.e., A consists only of B), and situations in which entity A has one or more further elements besides B, such as element C, elements C and D, or other elements.

[0011] Furthermore, note that the terms "at least one" or "one or more," or similar expressions indicating that a feature or element may appear more than once, are typically used only once when introducing each feature or element. In most cases below, when referring to each feature or element, the expressions "at least one" or "one or more" will not be repeated, despite the fact that each feature or element may appear more than once.

[0012] Furthermore, when used below, the terms “preferably,” “more preferably,” “particularly,” “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 arbitrary features and are not intended to limit the technical scope of the claims in any way. The present invention may be carried out using alternative features as will be recognized by those skilled in the art. Similarly, features introduced by “in embodiments of the present invention” or similar expressions are intended to be arbitrary features without any limitation with respect to alternative embodiments of the present invention, without any limitation with respect to the technical scope of the present invention, and without any limitation with respect to the possibility of combining such features with other arbitrary or non-arbitrary features of the present invention.

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

[0014] As used herein, the term “connection module” is a broad term and should be given its usual idiomatic meaning to those skilled in the art, and should not be limited to any special or specialized meaning. Specifically, the term may refer to entities and / or components that are physically joined and / or engaged with another entity and / or component, but not limited to this. In particular, at least two connection modules may be physically connected modules, such as modules, via, for example, at least one connecting element. Specifically, at least two connection modules may be, or include, at least two mechanically interacting entities and / or components. In particular, two connection modules may enable the transport of objects, such as laboratory equipment, from one module to the other, specifically via the connection. For example, two connection modules may be configured to transport objects via at least one interface between the two connection modules, such as at least one gap and / or slit between the two modules. In particular, at least two connection modules may be part of at least one laboratory line, particularly in at least one modular diagnostic laboratory. Specifically, at least two connection modules may both be modules of a modular diagnostic laboratory. For example, at least two connection modules may be configured to interact immediately upon connection, such as immediate interaction without requiring specialized equipment, i.e., commonly known as "plug and play." Thus, for example, the interface between at least two connection modules may also be called a plug and play interface. In particular, a location tracking system may be described with reference to at least two connection modules, but the location tracking system may be a separate entity that does not include two connection modules.

[0015] The position tracking system comprises at least one target and at least one position sensor. As an example, the target and position sensor may form a collision pair or 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 usual customary meaning to those skilled in the art, and should not be limited to any special or specialized meaning. Specifically, the term may refer to any traceable element, such as an entity or marker, configured so that its position is tracked and / or detected, for example, by a position sensor. For example, a target may be an optically traceable element, such as a visible entity or marker, e.g., a visible characteristic object, a color mark and / or painted cross lines. Additionally or alternatively, a target may be an electronically traceable element, such as an entity with electric and magnetic fields, e.g., an inductive or capacitive element. In particular, a target may be an optically detectable element, i.e., an element selected from the group consisting of visible entities or visible markers, magnetoresistive detection elements, inductive elements and capacitive elements.

[0017] For 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 target's position relative to the position of the position sensor may be limited to two degrees of freedom.

[0018] In particular, the movement of a target may be trackable and / or detectable by using at least one position sensor. The term “position sensor” as used herein is a broad term and should be given its usual customary meaning to those skilled in the art, and should not be limited to any special or specialized meaning. Specifically, the term may refer to any device configured to detect at least one position of a target, but is not limited thereto. As an example, the position sensor may be, or include, a camera for detecting the position of a target, i.e., an optically detectable target, by image recognition. Additionally or alternatively, the position sensor may be, or include, at least one sensor configured to detect the position of a target by using an electric field and / or magnetic field sensing principle, such as using an inductive and / or capacitive principle. Specifically, the position sensor may be capable of generating at least one sensor signal, such as a measurement signal, e.g., 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. For example, the position sensor may be specifically selected from the group consisting of induction sensors, capacitive sensors, optical sensors, and magnetoresistive sensors, and the magnetoresistive sensor may be specifically selected from the group consisting of anisotropic magnetoresistive sensors, large magnetoresistive sensors, giant magnetoresistive sensors, and tunnel magnetoresistive sensors.

[0019] In particular, the term “sensor signal” as used herein is a broad term and should be given its usual customary meaning to those skilled in the art, and should not be limited to any special or specialized meaning. Specifically, the term may refer to, but is not limited to, measurements over time provided, for example, in the form of electrical signals 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 include, information regarding the relative position between the position sensor and the target over time, and therefore may further include information regarding the relative motion between the position sensor and the target.

[0020] In particular, the position sensor may be configured to transmit the 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 and customary meaning to those skilled in the art and should not be limited to a special or specialized meaning. Specifically, without limitation, this term may refer to the spatial position of any object or element with respect 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 with respect 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, namely a Cartesian coordinate system, specifically the Cartesian coordinate system of the position sensor. The term "relative position between the connection modules" may refer to the spatial position of one of the two connection modules with respect to the other of the connection modules. Specifically, the relative position between the connection modules may also be measured in a coordinate system, namely a Cartesian coordinate system, specifically the Cartesian coordinate system of the position sensor.

[0022] The relative position between connection modules is tracked by at least one processing unit of a 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, it 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 numerical co-processor or a numerical 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. As an example, the processing unit and / or processor can be configured to perform at least one tracking operation, such as calculating the relative position between connection modules from at least one sensor signal, by means of software programming or the like.

[0023] Specifically, the processing unit and / or processor may be configured to determine the relative positions of connection modules over time in at least one plane from sensor signals, 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 usual customary meaning to those skilled in the art, and not limited to any special or specialized meaning. Specifically, the term may refer to, but not limited to, a two-dimensional space. Thus, specifically, the processing unit may be configured to track the relative positions of connection modules in at least two spatial dimensions. As an example, the change in relative position between connection modules that can be tracked by the processing unit using only one sensor signal may be limited to one plane, i.e., two dimensions. In particular, the plane in which the movement of connection modules may be trackable from sensor signals may depend on the relative arrangement of the target and the position sensor, i.e., the positions in which both the target and the position sensor are located. As an example, the plane may be, or include, a plane of symmetry between the position of the target and the position sensor, such as a plane of symmetry in which the position of the target is symmetric with respect to the position of the position sensor. Additionally or alternatively, the plane normal vector may refer to the direction of the shortest distance between the target and the position sensor as they were originally positioned, i.e., the installation position, specifically, an unchanging relative position such as when the relative position has not changed.

[0024] At least one target may be, specifically, at least one of being locatable on and locatable within a first module of at least two connection modules. In particular, the target may be locatable on the surface of the first connection module, specifically on a surface facing at least one surface of the second module of at least two connection modules. Additionally or alternatively, the target may be locatable within the first module of at least two connection modules, for example, below the surface of the first connection module, specifically in an area close to the surface of the first connection module facing at least one surface of the second module of at least two connection modules.

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

[0026] The at least one sensor signal may specifically be, or include, a gradient magnetic field sensor signal. In particular, the processing unit and / or 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 by, for example, 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 usual customary meaning to those skilled in the art, and should not be limited to a specific or special meaning. Specifically, the term may 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, but is not limited to this.

[0027] As an example, the sensor signal S generated by a position sensor can describe the position of a target in two spatial dimensions x and y over time t. Therefore, as an example, position sensor S target The sensor signal describing the relative position of the target is a function f that depends on x and y, i.e., S target = f(x,y,t) is possible. Gradient magnetic field sensor signal S target_grad This can be determined by the processing unit using the following formula:

number

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

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

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

[0031] The first plane may be different from the second plane. In particular, the first sensor signal may include information about motion in the first plane, and the first plane may be different from the second plane. In particular, the second sensor signal may include information about motion in the second plane, and therefore different from motion in 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 substantially orthogonally. 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 substantially orthogonal. Therefore, 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 a right angle, specifically within a tolerance of ±5°, more specifically within a tolerance of ±3°. Therefore, 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 capable of tracking the relative positions between connected modules in a first plane from a first sensor signal. Therefore, as an example, the processing unit may be configured to generate a position function P1 that describes the relative positions between connected modules in the first plane over time. As an example, the position function P1 may be a function f that depends on a first spatial dimension x, a second spatial dimension y, and time t. Therefore, as an example, P1 = f(x,y,t).

[0033] From the first sensor signal, the processing unit may be able to track the relative positions between connected modules in a second plane. Therefore, as an example, the processing unit may be configured to generate a position function P2 that describes the relative positions between connected 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. Therefore, as an example, P2 = f(x, z, t).

[0034] In particular, the processing unit may be configured to determine changes in position, such as translational motion, between two connected modules from the first and second sensor signals. The translational change in position, i.e., translational motion, may be determined specifically by comparing the relative positions between the two modules over time, i.e., by comparing the current relative position with a 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 the connected modules in both the first and second planes over time. For example, if the first and second position sensors, and the first and second targets, are arranged such that the first and second planes are perpendicular to each other, the position function P may describe the relative position between the connected 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. For example, P = f(x,y,z,t), specifically P = P1 + P2.

[0035] The first and second sensor signals may both be gradient magnetic field sensor signals. Therefore, 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, can be specifically converted into gradient magnetic field sensor signals by a processing unit, for example, by calculating the gradients of both the first and second sensor signals.

[0036] Furthermore, the processing unit may be configured to determine, from at least two gradient magnetic field sensor signals, both translational and rotational changes in the position between two connected modules, specifically translational and rotational motions such as tilting and / or twisting. In particular, the processing unit may be configured to generate a rotational position function R that describes the relative position between the connected modules in both a first and a second plane over time, while further describing the possible tilting and / or rotation between the connected modules. Thus, compared to the position function P, the rotational position function R can provide further information about the tilted and / or rotated relative position between the connected modules. As an example, if the sensor signals from 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 a commonly known transformation technique, 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 time t. For example, R = f(x, y, z, r, t).

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

[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 humidity, such as the air humidity in the vicinity of at least two connected modules. In particular, the humidity sensor may be located within a radius of 10 m of the connected modules, for example, in the same room as at least two connected 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 is a function f that depends on time t, i.e., H = f H (t) is also acceptable.

[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 connected modules. Specifically, the temperature sensor may be located within a radius of 10 m of the connected modules, for example, in the same room of at least two connected 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 is a function f that depends on time t, i.e., T = f T (t) is also acceptable.

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

[0041] The processing unit may be configured to specifically consider at least one additional sensor signal when determining the relative position between connection modules. In particular, the processing unit may be configured to generate a further function U that describes the relative position between connection modules in both a first and a second plane over time, describes possible tilt and / or rotation between connection modules, and further considers one or more of 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 further function U may provide further information about additional parameters in the vicinity of the connection modules, namely temperature and humidity, either or both. Specifically, the further function U may be a function f that depends over time t, on a first spatial dimension x, a second spatial dimension y, a third spatial dimension z, rotation r, and further on additional parameters such as temperature T. For 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 present invention, a monitoring system for monitoring at least two connection modules is disclosed. The monitoring system comprises at least one position tracking system. For definitions and embodiments of the position tracking system, please refer to the definitions and embodiments outlined above or further below in the context of the position tracking system. Furthermore, the monitoring system comprises at least one evaluation unit configured to generate, specifically calculate, at least one movement information item relating to a change in the relative position between two connection modules.

[0043] In particular, the evaluation unit may be configured to generate movement information items by using the relative positions between at least two connection modules as tracked by a position tracking system. As an example, the evaluation unit may calculate movement information items from the relative positions between connection modules. The term “movement information item” as used herein is a broad term and should be given its usual customary meaning to those skilled in the art, and should not be limited to any special or specialized meaning. Specifically, the term may refer to any information item, e.g., one or more numerical values, that quantifies at least one characteristic and / or feature of a change in the relative position between at least two connection modules, but is not limited to this. As an example, a movement information item may be, or include, at least one numerical value relating to movement between at least two connection modules. In particular, a movement information item may be, or include, information selected from the group consisting of distance between an optimal position and an actual position, such as the maximum deviation from a given optimal position value, or acceleration, such as the maximum acceleration of a vibration motion.

[0044] The term “vibrational motion” is a broad term, as used herein, and its general and customary meaning is given to those skilled in the art, and is not limited to any particular or specialized meaning. Specifically, the term may refer to low-frequency vibrations, including, but not limited to, vibrations caused by impacts, specifically impacts to at least one module and / or unit. Sensors may be operated in low-frequency sampling mode and / or high-frequency sampling mode to detect their respective frequency ranges. Vibrational motion may be recorded over time. Vibrational motion may be considered exemplary 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 the Fast Fourier Transform. In particular, such a Fourier transform, specifically the Fast Fourier Transform, may select high-amplitude peaks in the time domain for processing into the frequency domain. From this, it is possible to detect at least one frequency and / or at least one external vibration causing vibrational 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 item by evaluating the movement information in consideration of predetermined reference data, i.e., previously collected data, such as predetermined threshold data. Specifically, the evaluation unit may generate recommended information items by evaluating the movement information item using previously determined data, for example, by comparing the movement information item with at least one predetermined threshold data, i.e., by checking whether it exceeds a threshold and / or limit. The term “recommended information item” as used herein is a broad term and should be given its usual customary meaning to those skilled in the art, and should not be limited to any special or specialized meaning. Specifically, the term may refer to any information item, e.g., one or more numerical values, including instructions and / or advice regarding settings, specifically environmental settings, behavior or practices. As an example, a recommended information item may include information regarding favorable settings of a connection module, such as the favorable positioning of at least one of the connection modules. Additionally or alternatively, a recommended information item may include information regarding favorable environmental settings of a connection module, such as a favorable temperature range, i.e., a temperature range to minimize environmentally induced position changes. The recommendations may include beneficial suggestions applicable to at least two connecting modules, or even the entire modular diagnostic laboratory, such as recommendations for ventilating, air conditioning, or heating the area where the two modules are located.

[0046] For example, recommended information items may be generated from movement information items by an evaluation unit, in particular, by automatically searching for correlations between predetermined reference data, i.e., previously collected data, and movement information items. In particular, the evaluation unit may be configured to automatically detect and evaluate correlations in the data, such as identifying patterns between at least one setting of a connected module, i.e., environmental conditions experienced by the connected module, and changes in the relative position between at least two connected modules. For example, the evaluation unit may be configured to automatically identify correlations between movement information items and service instances, such as repair and / or maintenance intervals performed.

[0047] In particular, the recommended information items may be selected from a group consisting of an ideal temperature range, such as the ideal temperature range of the room in which the connection modules are located; a maintenance interval, such as the time range over which maintenance should be performed; a life prediction, such as a prediction of the time remaining before damage or failure of at least one of the connection modules under current environmental conditions, i.e., under current temperature and / or humidity conditions; and a tolerance prediction, such as a prediction of the tolerance chain under current environmental conditions.

[0048] In a further aspect of the present invention, a method for tracking the relative positions between at least two connection modules by using at least one position tracking system is disclosed. For example, as herein, a method for tracking the relative positions between at least two connection modules by using at least one position tracking system may also be referred to as a “tracking method.” The method includes the following method steps, which 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. Furthermore, two or more method steps may be performed simultaneously or in overlapping time. The method may include further method steps not described herein. For example, for definitions and embodiments of position tracking systems, see the definitions and embodiments outlined above or described in more detail below.

[0049] A method for tracking the relative position between at least two connecting modules using at least one position tracking system, i.e., a tracking method, a) A step of providing at least one location tracking system, b) The step of 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 the processing unit (122), the step of tracking at least one relative position between connection modules in at least two spatial dimensions by using at least one sensor signal, and Includes.

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

[0051] In further aspects of the present invention, a method for monitoring at least two connection modules using at least one monitoring system is disclosed. In particular, as herein, a method for monitoring at least two connection modules using at least one monitoring system may be referred to as a “monitoring method.” The method includes the following method steps, which 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. Furthermore, two or more method steps may be performed simultaneously or in overlapping time. The method may include further method steps not described. For example, for definitions and embodiments of monitoring systems and / or location tracking systems, see the definitions and embodiments outlined in the context of monitoring devices.

[0052] A method for monitoring at least two connected modules using at least one monitoring system, i.e., a monitoring method, i) A step of providing at least one monitoring system, ii) A step of tracking the relative positions between at least two connection modules by implementing a method for tracking the relative positions between at least two connection modules as described in any one of the prior method claims, iii) In particular, by using an evaluation unit, the step of generating at least one movement information item from the relative position tracked in step ii) and Includes.

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

[0054] In this specification, a tracking computer program is further disclosed and proposed, which, when the program is executed by the location tracking system, includes instructions causing the location tracking system to perform at least one of steps b) and c) of the tracking method. In particular, the tracking program may include computer-implementable instructions for performing the tracking method according to the present invention in one or more embodiments contained herein, when the program is executed on the location tracking system, i.e., on the processing unit of the location tracking system, for example, on a computer or a computer network processor. Specifically, the tracking computer program may be stored on a computer-readable data carrier and / or computer-readable storage medium. Accordingly, in this specification, a location tracking computer-readable storage medium is further disclosed and proposed, which, when the location tracking computer program is executed by the location tracking system, includes instructions causing the location tracking system to perform at least one of steps b) and c) of the tracking method.

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

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

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

[0058] Specifically, one, more, or even all of the monitoring methods steps i) to iv) described above can be carried out using a computer or computer network, preferably using a computer program.

[0059] Further disclosures and proposals herein include computer program products having program code means for performing one or more tracking and monitoring methods according to the present invention in one or more embodiments included herein when the program is executed on a computer or computer network. Specifically, the program code means may be stored in a computer-readable data carrier and / or computer-readable storage medium.

[0060] Further disclosed and proposed herein is a data carrier in which data structures are stored, which, after being loaded into a computer or computer network, for example, working memory or the main memory of the computer or computer network, can perform one or more tracking and monitoring methods according to one or more embodiments disclosed herein.

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

[0062] Finally, further disclosed and proposed herein are modulated data signals containing instructions readable by a computer system or computer network for carrying out one or more tracking and monitoring methods relating to one or more embodiments disclosed herein.

[0063] With regard to computer implementations of the present invention, one or more or all of the method steps of tracking and monitoring methods according to one or more embodiments disclosed herein may be performed using a computer or computer network. Therefore, generally, any method step involving data provision and / or manipulation may be performed using a computer or computer network. Generally, these method steps may include any method step except for method steps requiring manual work, such as in certain embodiments that typically involve sample provision and / or actual measurement.

[0064] Specifically, in this specification, - A computer or computer network comprising at least one processor, wherein the processor is adapted to carry out a method according to one of the embodiments described herein, - A computer-loadable data structure adapted to perform a method according to one of the embodiments described herein while the data structure is being performed on a computer, - A computer program configured to perform a method according to one of the embodiments described herein when being performed on a computer, - A computer program having programming means for carrying out a method according to one of the embodiments described herein while the computer program is running on a computer or on a computer network, - A computer program comprising the program means according to a prior embodiment, wherein the program means is stored on a storage medium readable by a computer. - A storage medium that stores a data structure, and is configured to carry out 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 computer network, and Further disclosures include computer program products having program code means that can be stored on or are stored on a storage medium, wherein when the program code means is implemented on a computer or computer network, a method according to one of the embodiments described herein is implemented.

[0065] The system and method according to the present invention offer numerous advantages compared to known methods and apparatus of similar types. Specifically, the position tracking system can enable robust tracking of the relative positions between at least two connecting modules. In particular, the proposed system and method may be less prone to errors or failures than systems and methods known in the art. Furthermore, the maintenance and operating costs of the position tracking and monitoring system can be significantly lower.

[0066] Specifically, the proposed system and method can reduce errors requiring services such as maintenance and repair by enabling error prevention operation of the connection module, i.e., the modular diagnostic laboratory. In particular, the system and method can enable predictive maintenance of the connection module and / or even the entire modular diagnostic laboratory, that is, it can identify even slight changes in relative position, and therefore allow for the request for service and / or maintenance before an error occurs.

[0067] In other words, the proposed system and method may enable the detection of an ideal laboratory temperature range, enabling more sustainable and environmentally friendly operation of modular diagnostic laboratories. In particular, the proposed system and method may enable a reduction in the amount of repair and maintenance required to operate a modular diagnostic laboratory. Furthermore, as an example, more sustainable decisions may be possible regarding the acquisition and operation of additional equipment such as cooling systems or radiators, or regarding the planning of maintenance or service times. Specifically, the system and method may enable the determination of the movement topology throughout the entire modular diagnostic laboratory, i.e., for each connection module and / or each interface between at least two connection modules. This may enable the proposed system and method to identify hotspots, and therefore, to predict necessary service or maintenance visits, and / or to proactively plan time resources for service or maintenance visits. In addition, by enabling the detection of changes in relative position, i.e., position drift, the system and method may enable the initiation of preventive and / or predictive maintenance visits.

[0068] In summary, without ruling out 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 the first module of at least two connection modules, -At least one position sensor associated with a second module of at least two connection modules, wherein the position sensor is configured to generate at least one sensor signal according to the relative position between at least one position sensor and at least one target, - A position tracking system comprising at least one processing unit, such as a processor, configured to track the relative position between connected modules from at least one sensor signal within at least one plane.

[0070] Embodiment 2: The location tracking system according to Embodiment 1, wherein at least one target is located on or within a first module of 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 located on or within a second module of at least two connection modules.

[0072] Embodiment 4: A 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 location tracking system according to any one of Embodiments 1 to 4, comprising at least two targets and at least two location sensors.

[0074] Embodiment 6: The position tracking system according to Embodiment 5, wherein a first position sensor and a first target are arranged 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 between the first target and the first position sensor in a first plane, i.e., motion; a second position sensor and a second target are arranged 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 between the second target and the second position sensor in a second plane, i.e., motion; and the first plane is different from the second plane.

[0075] Embodiment 7: The 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 to each other.

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

[0077] Embodiment 9: The 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 the processing unit is configured to determine the translational and rotational changes in position between two connecting modules from at least two gradient magnetic field sensor signals, specifically both translational and rotational movements such as tilting and / or twisting.

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

[0079] Embodiment 11: The location tracking system according to Embodiment 10, wherein the humidity sensor is configured to generate at least one humidity sensor signal according to the humidity near at least two connected modules, specifically the room 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 near at least two connected modules, specifically room temperature.

[0081] Embodiment 13: The position tracking system according to Embodiment 11 or 12, wherein the processing unit is further configured to take into account at least one additional sensor signal, i.e., a temperature and / or humidity-dependent sensor signal, when determining the relative position between connection modules.

[0082] Embodiment 14: A 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 inductive sensors, capacitive sensors, optical sensors, and magnetoresistive sensors, and the magnetoresistive sensor is specifically selected from the group consisting of anisotropic magnetoresistive sensors, large magnetoresistive sensors, giant magnetoresistive sensors, and tunnel magnetoresistive sensors.

[0083] Embodiment 15: A monitoring system for monitoring at least two connection modules, - A position tracking system according to any one of Embodiments 1 to 14, -At least one evaluation unit configured to generate, specifically calculate, at least one movement information item relating to the change in relative position between two connecting modules. A monitoring system equipped with the following features.

[0084] Embodiment 16: The monitoring system according to Embodiment 15, wherein the movement information item is selected from the group consisting of the distance between an optimal position and the actual position, such as the maximum deviation from a predetermined optimal position value, and acceleration, such as the maximum acceleration of vibration 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 recommendation information item from the movement information item by evaluating the movement information in consideration of predetermined reference data, i.e., previously collected data, such as predetermined threshold data.

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

[0087] Embodiment 19: The monitoring system according to Embodiment 17 or 18, wherein the recommended information items are selected from the group consisting of an ideal temperature range, such as the ideal temperature range of the room in which the connection modules are located; a maintenance interval, such as the time range over which maintenance should be performed; a life prediction, such as a prediction of the time remaining before damage or failure of at least one of the connection modules under current environmental conditions, i.e., under current temperature and / or humidity conditions; and a tolerance prediction, such as a prediction of the tolerance chain under current environmental conditions.

[0088] Embodiment 20: A method for tracking the relative position between at least two connection modules by using at least one position tracking system described in any one of the preceding embodiments that reference a position tracking system, a) A step of providing at least one location tracking system, b) The step of 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, the step of tracking at least one relative position between connected modules in at least two spatial dimensions by using at least one sensor signal, and Methods that include...

[0089] Embodiment 21: The method of Embodiment 20, wherein step c) determines the change in relative position between connection modules by converting the sensor signals into gradient sensor signals, specifically by calculating the gradient of at least one of the at least one sensor signals.

[0090] Embodiment 22: A method for monitoring at least two connection modules by using at least one monitoring system described in any one of the preceding embodiments that reference a monitoring system, i) A step of providing at least one monitoring system, ii) A step of 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 as described in any one of the prior method embodiments, iii) In particular, by using an evaluation unit, the step of generating at least one movement information item from the relative position tracked in step ii) and Methods that include...

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

[0092] Embodiment 24: A location tracking computer program, which, when executed by a location tracking system as described in any one of the prior embodiments that reference a location tracking system, includes instructions causing the location tracking system to perform at least one of steps b) and c) of a tracking method according to any one of the prior embodiments that reference a method for tracking relative positions between at least two connection modules by using at least one location tracking system.

[0093] Embodiment 25: A location tracking computer-readable storage medium, wherein a location tracking computer program, when executed by a location tracking system according to any one of the prior embodiments that references a location tracking system, includes instructions causing the location tracking system to perform at least one of steps b) and c) of a tracking method according to any one of the prior embodiments that references a method for tracking relative positions between at least two connection modules by using at least one location tracking system.

[0094] Embodiment 26: A monitoring computer program, which, when executed by a monitoring system as described in any one of the prior embodiments that reference a monitoring system, includes instructions to cause the monitoring system to perform at least one of steps ii) and iii) and optionally iv) of a monitoring method by any one of the prior embodiments that reference 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 a monitoring computer program, when executed by a monitoring system described in any one of the prior embodiments that references a monitoring system, includes instructions to cause the monitoring system to perform at least one of steps ii) and iii) and optionally iv) of a monitoring method by any one of the prior embodiments that references a method for monitoring at least two connection modules by using at least one monitoring system. [Brief explanation of the drawing]

[0096] Further optional features and embodiments are disclosed in more detail in subsequent descriptions of embodiments, preferably in conjunction with dependent claims. Each of these optional features may be realized in an independent manner or in any viable combination, as will be understood by those skilled in the art. The scope of the present invention is not limited by preferred embodiments. Embodiments are schematically shown in the figures, where the same reference numerals in these figures refer to the same or functionally equivalent elements.

[0097] [Figure 1] This is a top view showing one embodiment of a monitoring system that includes one embodiment of a tracking system. [Figure 2] This is a top view showing one embodiment of a location tracking system. [Figure 3] This is a perspective view showing one embodiment of a location tracking system. [Figure 4] This is a flowchart of the tracking method. [Figure 5] These are flowcharts illustrating different monitoring methods. [Figure 6] These are flowcharts illustrating different monitoring methods. [Figure 7] This diagram illustrates the generation of the rotational position function R. [Modes for carrying out the invention]

[0098] Figure 1 shows one embodiment of the monitoring system 110 in a top view, i.e., from above. The monitoring system 110 comprises a position tracking system 112 for tracking the relative positions between at least two connection modules 114, and at least one evaluation unit 116 configured to generate at least one movement information item relating to changes in the relative positions between the two connection modules 114. The position tracking system 112 comprises at least one target 118 associated with a first module of the at least two connection modules 114. For example, the target 118 may be located within the first module of the at least two connection modules 114. Furthermore, the position tracking system 112 comprises at least one position sensor 120 associated with a second module of the at least two connection modules 114, the position sensor 120 configured to generate at least one sensor signal according to the relative position between at least one position sensor 120 and at least one target 118. As an example, the position sensor 120 may be positioned both above and within the second of at least two connection modules 114, and the position tracking system 112 further comprises at least one processing unit 122 configured to track the relative position between the connection modules 114 from at least one sensor signal within at least one plane 124. In Figure 1, for illustrative purposes, the vectors x and y in the Cartesian coordinate system 126 are shown extending to the plane 124. However, other coordinate systems, such as polar coordinates, may be used to describe the plane 124.

[0099] Figures 2 and 3 show different embodiments of the position tracking system 112. Specifically, the position tracking system 112 may comprise 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 located on different connection modules 114. Specifically, the first position sensor 128 may 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 about motion, such as the relative position between the first target 130 and the first position sensor 128 over time, i.e., relative motion in a first plane 132. In Figure 2, the vectors x and y in the Cartesian coordinate system 126 are shown extending to the first plane 132. Furthermore, the second position sensor 134 and the second target 136 may be located on different connection modules 114. The second position sensor 134 may be configured to generate a second sensor signal according to the relative position between the second target 136 and the second position sensor 134. In particular, the second sensor signal may include information about motion, such as the relative position between the second target 136 and the second position sensor 134 over time, i.e., relative motion in the second plane 138. Specifically, the first plane 132 and the second plane 138 may be arranged to be substantially orthogonal, i.e., 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 two connection modules 114, from a first sensor signal, i.e., a signal generated by the first position sensor 128, and a second sensor signal, i.e., a 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 sensor signals to the processing unit 122.

[0101] The position tracking system 112 may include at least one additional sensor 140 configured to generate an additional sensor signal according to at least one further parameter. For example, the additional sensor 140 may specifically be a temperature sensor 142, or may include a temperature sensor 142 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 additional 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 additional 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, for example, the sensor signal generated by at least one position sensor 120 may further include at least one further parameter, i.e., information about temperature.

[0102] Figure 4 shows a flowchart of a tracking method, specifically a method for tracking the relative positions between at least two connection modules 114 using at least one position tracking system 112. The tracking method includes the following steps: a) Providing at least one position tracking system 112 (indicated by reference numeral 144). b) A step of 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) A step of tracking at least one relative position between 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 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) A step of tracking the relative positions between at least two connection modules 114 by implementing a method for tracking the relative positions between at least two connection modules 114 (indicated by reference numeral 152). iii) A step of generating at least one movement information item from the relative position tracked in step ii), particularly by using the evaluation unit 116 (indicated by reference numeral 154).

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

[0105] As shown in Figure 7, the first connection module 158 may be positioned and / or placed relative to the second connection module 160, and specifically may be tilted. To exemplify the generation of the rotational position function R=f(x,y,z,r,t), it can be assumed that the first reference coordinate system 162 is inertially fixed to the first connection module 158. Furthermore, it can be assumed that the 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. Specifically, possible values ​​measured by at least two position sensors can be aggregated into a vector, specifically the following vector.

number

[0107] In the formula, 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 here using the 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 the 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 the vector t D ,

Number

Number

Number

[0109] In the formula, 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, and R DSpecifically, this is a rotational position function also expressed as R=f(x,y,z,r), which transforms coordinates relative to the first reference coordinate system 162 to coordinates relative to the second reference coordinate system 164. The spatial dimensions x, y, and z without index D refer to their respective entries in the coordinates of the first reference frame 162.

[0110] The repetition of this process introduces an additional parameter t that refers to time. In this case, R = f(x, y, z, r, t). [Explanation of symbols]

[0111] 110 Monitoring System 112 Location Tracking System 114 Connection Modules 116 evaluation units 118 Target 120 Position Sensor 122 Processing Units 124 plane 126 Cartesian Coordinate System 128 First position sensor 130 First Target 132 The First Plane 134 Second position sensor 136 Second Target 138 The Second Plane 140 Further sensors 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) that tracks the relative position between at least two connection modules (114), wherein the position tracking system (112) At least one target (118) associated with a first module of the at least two connection modules (114), wherein the at least one target (118) is at least one of being locatable on the first module of the at least two connection modules (114) and locatable within the first module, and the at least two connection modules (114) are configured to enable the transport of an object from one module to the other, and the at least one target (118) is a mechanically interacting entity and / or component, At least one position sensor (120) associated with a second module of the at least two connection modules (114), wherein 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) is at least one of being locatable on the second module of the at least two connection modules (114) and locatable within the second module, At least one processing unit (122) configured to track the relative position between the connection module (114) from the at least one sensor signal within at least one plane (124), At least one additional sensor (140) configured to generate an additional sensor signal according to at least one further parameter, wherein 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 take the at least one additional sensor signal into consideration when determining the relative position between the connection modules (114), and A location tracking system (112) comprising the above.

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, comprising at least two targets (118) and at least two position sensors (120).

4. A position tracking system (114) according to claim 3, wherein 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, the first sensor signal includes information relating to 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, the second sensor signal includes information relating to 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).

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 to each other.

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

7. The position tracking system (112) according to claim 4, wherein 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 the translational and rotational changes in position between the two connecting modules (114) from the two gradient magnetic field sensor signals.

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

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

10. The monitoring system (110) according to claim 9, wherein the recommended information items are generated from the movement information items by automatically searching for correlations between predetermined reference data.

11. The monitoring system (110) according to claim 9, wherein the recommended information items are selected from the group consisting of an ideal temperature range, maintenance interval, life prediction, and tolerance prediction.

Images