Localisation system, device and method for determining a position of a tool

Abstract

The invention relates to a localisation system (1) for determining at least one position of a tool (50) in / on a working region, comprising: - at least one or more base stations (30), wherein the respective base station (30) is designed to provide a reference point for the position determination at least temporarily in a stationary manner; - a mobile unit (40) which can be arranged on the tool (50); - a signal unit (41) of the mobile unit (40) for carrying out a localisation method by means of a localisation signal (202) which can be exchanged between the signal unit (41) and the respective base station (30), - a processing system (10) which is designed to determine the position of the tool (50) on the basis of the localisation method using the provided reference point.

Description

[0001] Description

[0002] title

[0003] Device and method for detecting a position of a

[0004] The present invention relates to a localization system, a device, in particular a handheld device, and a method for determining a position of a tool.

[0005] State of the art

[0006] It is well known from the prior art that measuring tools such as locators, thermal cameras, or laser rangefinders are used to perform measurements and collect data. However, documenting the measurements is a manual task that requires noting the recording location and, if necessary, the orientation. Likewise, intended positions for work, such as drilling, must be manually located and marked within the building using a plan before the tool can be used in the correct location.

[0007] Disclosure of the invention

[0008] The subject matter of the invention is a localization system having the features of claim 1, a device, in particular a handheld device, having the features of claim 9, and a method having the features of claim 10. Further features and details of the invention emerge from the respective subclaims, the description, and the drawings. Features and details described in connection with the localization system according to the invention naturally also apply in connection with the device or handheld device according to the invention and the method according to the invention, and vice versa, so that a mutual reference is always possible with regard to the disclosure of the invention.

[0009] The subject matter of the invention is, in particular, a localization system for determining at least one position of a tool, in particular in / on a work area. The work area can comprise at least one of the following: a construction site, a factory hall, an assembly hall, a production hall, a property such as a house or an apartment, or the like. The tool can be provided, in particular, in the form of a power tool, preferably for the work area and in particular for a construction site, or in the form of a measuring tool.

[0010] The localization system can be designed to determine a position and, if applicable, an orientation of a tool (optionally, this is referred to individually or collectively as localization). The tool is designed, for example, as a power tool for a construction site and / or as a measuring tool and / or as a device according to the invention, preferably a handheld device. Measuring tools can refer to tools used on the construction site to metrologically determine a position and / or orientation and / or distance. Power tools for the construction site include, for example, drills, saws, or grinders. Measuring tools can include, for example, thermal cameras, wall scanners, or inspection cameras.

[0011] A construction site is understood in particular to be a location where construction work is taking place, preferably using tools and / or power tools, preferably in a building. In general, the construction site can include, among other things, buildings, roads, bridges or other structures that are being repaired, renovated or demolished. A construction site includes, for example, various work areas such as excavations, foundations, shell construction, finishing work, electrical and plumbing installations and / or construction site access roads. The measuring tools can be used here, e.g. in buildings, such as new buildings or completed buildings, for testing and / or inspection and / or the like. The localization system can have at least one or more base stations. The respective base station can further be designed to provide, at least temporarily and stationary, a reference point for position determination.This particularly means that the base station can temporarily assume a fixed position and thus serve as a starting point for determining the position of the tool. To enable position determination, a counterpart to the respective base station can be provided: a mobile unit that can be arranged and / or is arranged on the tool, preferably permanently installed there and / or designed as an adapter. The mobile unit can have a signal unit designed to implement a localization method.

[0012] The localization method can be used for localization and thus for position determination, and can be carried out using a localization signal that is exchangeable and / or exchanged between the signal unit and the respective base station. The localization signal can be, for example, an optical, acoustic, or radio signal.

[0013] Furthermore, a processing system of the localization system can be provided, also for position determination, which is designed to determine the position of the tool on the basis of the localization method using the provided reference point.

[0014] The invention can thus enable at least partially automated documentation of measurements taken with measuring tools such as locating devices, thermal cameras, or laser rangefinders. The automation particularly relates to the localization of the measuring tool. Accordingly, manual noting of the recording location and, if applicable, the orientation can be at least partially dispensed with. Likewise, the invention can facilitate the locating of intended positions for work, such as drilling, and signal the positions for the work if necessary. For this purpose, a marking device is provided, for example, which visually marks the intended positions for the work, e.g.through a projection or augmented reality, or a positioning device that shows the user the exact position of the intended work. This can have the advantage of increasing work efficiency and reducing the error rate when carrying out work.

[0015] The at least one or more base stations can each be designed as portable devices. They can include electronics to provide the functionality for providing the reference point. The electronics can be enclosed in a housing that has a support and / or mounting section for setting up the base station and / or attaching it to the construction site. This allows the base station to assume an at least temporarily fixed position, thereby at least temporarily providing the reference point in a fixed location.

[0016] The mobile unit can also have electronics to carry out the localization method in cooperation with the respective base station. For this purpose, the signal unit of the mobile unit is provided, for example, which can be designed to transmit and / or receive the localization signal. Accordingly, the signal unit can be designed as an electronic interface to the base station. The mobile unit can be designed to be integrated into the tool. For this purpose, the mobile unit can have at least one fastening means that serves for attachment to a housing of the tool. The mobile unit can further have a reference point incorporated into the housing and / or marked, thus offering the possibility of referencing the determined position relative to a specific point of interest on the tool (e.g., drill head, wall scanner antenna center, and the like).

[0017] The processing system can be designed as a data processing system and thus comprise at least one or more of the following data processing devices: a computer, a microcontroller, a processor, a server, a cloud server, a storage unit, a network interface, an input device, an output device, an interface for communication with other systems, an interface for communication with sensors or actuators, in particular of a tool, an interface for communication with a user interface, an interface for communication with a database or an interface for communication with an external storage medium.

[0018] The processing system can be designed to determine the position of the tool based on the localization method using the provided reference point. For this purpose, the localization signal is evaluated, for example, since the transmission of the localization signal between two devices, such as a respective base station and the mobile unit, can be specific to the distance between these devices. Specifically, the evaluation can relate to the signal propagation time and / or the reception angle between the devices, for example, but other localization methods are also conceivable.

[0019] It is possible for the processing system to be designed to determine the position and / or orientation of the tool, in particular in the form of the measuring tool, based on the localization method using the provided reference point and then to store it non-volatilely and thus document it. In other words, the tool or measuring tool is automatically localized by the localization system according to the invention and the position and / or orientation determined in this process is documented. Before, during and / or after this process, the measuring tool may have been or will be used for measurements on the construction site, e.g., in a new building or a completed building. Accordingly, the processing system can serve to document this measurement.

[0020] In order to evaluate measurements on a construction site and / or reuse the resulting measurement data later, it can be advantageous to document the recording location (position) and, if applicable, the orientation (orientation) of the measuring tool. This means, exactly where in three-dimensional space and, if applicable, in which three-dimensional orientation the measurement data was recorded. If the position and, if applicable, orientation of a tool are known at all times, the correct location for performing a task can be easily found without prior manual marking and signaled to the user, or signaled if they attempt to use the tool in the wrong place.

[0021] It may therefore be possible for the localization system according to the invention to determine and subsequently document, i.e., at least non-volatilely, the position and / or orientation of not just one tool but several tools, in particular a construction site. The documented position and / or orientation can optionally be automatically read out and processed, and on the basis of this processing, a location for performing work with a tool can be signaled. For this purpose, for example, the documented position and / or orientation can be automatically compared with a map of the construction site and / or a building and / or with a digital task list for the construction site.

[0022] The invention particularly describes a localization system capable of localizing a measuring tool (but also other tools that are intended to use the data later) in three-dimensional space. In other words, the determined position can be a position in three-dimensional space. In addition to this capability and the corresponding accuracy of the determination in the low centimeter to subcentimeter range, it is also advantageous for the application that the system can be deployed very quickly and with little effort if a tradesperson needs to install it on any construction site or in any room during use. Due to their design for a one-time, fixed installation and optimization, conventional systems, such as those available for industrial halls, are unsuitable for many applications.

[0023] Furthermore, it can be advantageous if the mobile unit, as the part of the localization system that is integrated into the respective tools, can be implemented with as little technical effort as possible. This makes it possible to make as many tools as possible compatible with the system from the outset. For this purpose, standardized interfaces and protocols can be used for the mobile unit, for example, to enable easy integration into the tools. Another approach could be the use of "plug-and-play" modules as mobile units that can be simply inserted into the tools without requiring extensive adaptations or modifications.

[0024] Optionally, the housing of the tool(s) can be equipped with a standardized mechanical connection option. Furthermore, the tool(s) can have a standardized communication interface, which informs the mobile unit which tool it is attached to and / or which offset shift may need to be taken into account to relate the localization to the point of interest, e.g., the drill head.

[0025] According to an advantageous development of the invention, it can be provided that the processing system is designed to determine not only the position but also an orientation of the tool based on the localization method and using the provided reference point. Alternatively or additionally, it can be possible for the processing system to be designed to electronically store the determined position and / or orientation to document the determination in order to output the documentation of the determination to a user, e.g. for the work area and / or on the construction site. The output can be via a display, in particular via a touchscreen and / or via a display of a mobile device such as a laptop or smartphone. This has the advantage that a user can be very intuitively guided on the construction site to perform the work based on the determined / documented position.

[0026] It is further conceivable that the processing system is designed to use the determined position and / or orientation to control and / or configure the tool or power tool, in particular in / on the work area or for the construction site, preferably in order to stop the tool when a hazard is detected and / or to parameterize the tool for use in / on the work area or on the construction site depending on the location. For this purpose, for example, the position of the tool can be determined and electronically tracked in order to check how and / or at which position on the construction site the tool is used. By knowing the environment of the tool, such as a building on the construction site, conclusions can be drawn about hazards and / or the activity to be performed and the tool can be automatically parameterized / configured accordingly on this basis. For example,The speed and / or impact of the tool are set as parameters.

[0027] Furthermore, it can be provided that the plurality of base stations are mechanically connectable or connected to one another and preferably have a common housing in order to firmly define at least one relative position of the base stations to one another and thus provide it as a previously known parameter for the localization method and / or for a setup process of the localization method. In other words, the base stations can be located in a common housing or otherwise mechanically connected to one another so that the relative position of these base stations to one another is known. This can simplify the setup process of the localization system and / or increase the accuracy of determining the position and / or orientation, since the potential error in the relative positions to one another can be smaller than if these base stations were to locate one another or the user had to determine the relative position.

[0028] According to an advantageous development of the invention, the respective base station can have a reference element that defines the reference point, and preferably has a geometric shape suitable for spatially aligning the reference element with an environmental structure and thus defining the environmental structure as the reference point. In other words, the base station can have a geometric shape that allows a reference point to be placed at a desired point in the real room or building using a mechanical reference element of the base station. This can further simplify and accelerate the setup of the localization system.

[0029] It may further be possible for the signal unit to be designed to transmit and / or receive and / or exchange and / or measure the localization signal in order to determine a distance between the mobile unit and the respective base station based on the localization signal and to use this distance for the localization method. Alternatively or additionally, the processing system may be designed to receive further sensor values ​​from the tool that result from detection by the tool and are specific to the position and / or orientation of the tool, and to use these sensor values ​​to improve the accuracy of the position determination and / or to estimate the current accuracy of the position determination. Accordingly, sensor data fusion is also possible, in which the accuracy of the determination is further increased.

[0030] According to a further advantage, the signal unit can be designed as a sound generator permanently installed in the tool. This can further reduce manufacturing costs. The signal unit can be permanently installed in a housing of the tool, preferably essentially within the housing.

[0031] Furthermore, it is conceivable that an external data processing system is part of the localization system and / or the processing system, wherein the external data processing system is connected to the processing system or the other parts of the processing system via a network and preferably internet connection in order to exchange data about the determined position and / or to execute the localization method through a distributed computing environment. This enables flexible use in a large-scale environment such as a construction site. Furthermore, it can simplify the further processing of the position and / or measurement data using additional software-based services.

[0032] According to a further advantage, a device, in particular a handheld device, can be provided to spatially record an environmental structure and provide the resulting spatial information for the localization method and / or to record the floor plan and / or the three-dimensional spatial structure using the same system. The setup of the localization system can also be further simplified and accelerated. The spatial information can, for example, include a three-dimensional survey of a building.

[0033] The invention also relates to a method for determining at least one position and / or an orientation of a tool, in particular in / on a work area, preferably in the form of a power tool, preferably for a construction site, or in the form of a measuring tool.

[0034] According to a first method step, a reference point can be provided by means of at least one or more base stations, wherein the respective base station can preferably be designed to provide the reference point for position determination at least temporarily in a stationary manner.

[0035] Furthermore, according to an optional step of the method, at least one mobile unit can be provided which is arranged and / or can be arranged on the tool.

[0036] According to a further step, a localization method can be carried out in which a localization signal is exchanged between a signal unit of a mobile unit for the tool and the respective base station.

[0037] According to a further step, the position of the tool can be determined based on the localization method performed and the reference point provided.

[0038] The method according to the invention thus provides the same advantages as those described in detail with reference to a localization system according to the invention. Furthermore, the localization system according to the invention can be suitable for implementing the method according to the invention.

[0039] It is further possible that the respective base station and / or the mobile unit and / or the signal unit and / or the processing system each comprise at least one means for signal processing, which is designed in particular to at least partially carry out the method according to the invention.

[0040] Furthermore, it is conceivable that, according to a method according to the invention, a (spatial) detection of an environmental structure is carried out, in particular by a device according to the invention. The resulting spatial information can then be made available to the localization system according to the invention or to a user. The detection can initially comprise the detection of at least a first plane of the environmental structure. Subsequently, the detection of at least one further plane and / or a distance between at least the first and at least one further plane and / or an angle between the planes can be provided. The detection of the respective plane and / or the distance and / or the angle can optionally be provided by means of a distance measurement such as a laser distance measurement. The measurements can take place at least partially simultaneously by the (one) device.

[0041] Further details of a method according to the invention, in particular further method steps for detecting the environmental structure, are also described in connection with a device according to the invention.

[0042] In particular, the optional localization of the device for detecting the environmental structure by means of the localization system according to the invention can enable automated and more precise detection.

[0043] According to an advantageous development of the invention, the following step can be performed prior to determining the position: performing a setup process for the localization method, in which the multiple base stations locate each other to provide a respective position and / or orientation and / or distance of the base stations from each other as parameters for the localization method. The position of the tool can be determined based on the provided parameter(s). This enables automatic configuration of the localization system.It may be advantageous if, within the scope of the invention, the following step is further performed before determining the position: capturing a user input, wherein the user input is specific to a constraint for determining the position and / or orientation, in particular a restriction of the dimensions for the position, preferably a restriction to a two-dimensional space. This can have the advantage that the position and / or orientation of the tool can be determined more precisely, since the constraints restrict the possible positions and orientations. This can increase the accuracy and efficiency of the localization system.

[0044] In a further possibility, it can be provided that determining the position comprises the following step: measuring a distance between the mobile unit and the respective base station, wherein the distance measurement is carried out using two-way ranging (also referred to as two-way signal propagation time measurement), and wherein the position is determined on the basis of the distance measurement. In other words, the position can be determined by measuring the distance using two-way time measurement. This can have the advantage that the position of the object can be determined with high accuracy, since the distance measurement is very precise. It is also possible for positioning to be possible in environments where GNSS signals (i.e. signals from a global navigation satellite system such as GPS signals) are not available, since the distance measurement is carried out independently of satellite signals.The method is therefore particularly suitable for positioning in enclosed spaces or in areas with poor GNSS coverage, such as in buildings on a construction site.

[0045] According to an advantageous development of the invention, it can be provided that the tool is designed as the measuring tool, preferably a laser rangefinder, for measuring a distance. By determining the position, the measuring tool can be localized in order to determine on this basis which distance - particularly on the construction site - the measurement by the measuring tool applies to. Furthermore, the distance measured value determined during the measurement of the measuring tool can be used for documentation of the construction site instead of a distance value determined by determining the position. It is also conceivable that the distance measured value determined during the measurement of the measuring tool is used to calibrate a localization system according to the invention.

[0046] The invention particularly relates to a localization system capable of localizing a tool, such as a measuring tool, in three-dimensional space and, in doing so, preferably also determining the spatial orientation of the tool (i.e., the "3D pose"). Accordingly, the processing system of the localization system can be configured to determine not only the position but also a spatial orientation of the tool based on the localization method and / or the reference point.

[0047] The invention also relates to a device, in particular a handheld device, preferably for use with a localization system according to the invention.

[0048] A handheld device can be designed as a portable device specifically designed to be held, carried, and / or operated by one or more hands. It is preferably characterized by compact dimensions, low weight, and / or an ergonomic design that allows manual use. In particular, a housing of the device can have a carrying element such as a handle or grip, which is specifically designed to allow the user to carry the device in one hand.

[0049] Preferably, the device can also be referred to as a handheld device, a localization device, or a handheld localization device. It can serve to provide information used for the localization method and / or itself serve as a tool to be localized, the position and / or orientation of which is determined by the localization system according to the invention.

[0050] The device can be designed as a measuring tool and / or comprise at least one measuring tool. This refers in particular to the tool or measuring tool that has already been described in connection with a localization system according to the invention.

[0051] Accordingly, the device can also include the measuring tool to be located or be designed as such. The measuring tool is then preferably the tool whose position and, if applicable, its orientation are determined by the localization system according to the invention.

[0052] Determining the position and / or orientation of the device / measuring tool / handheld device can help interpret the measurement by the measuring tool. Alternatively or additionally, the measurement by the measuring tool can serve to provide information such as spatial and / or calibration and / or reference information for the localization method.

[0053] The device according to the invention, and preferably a handheld device for use with a localization system according to the invention, can be designed to spatially detect an environmental structure and provide the resulting spatial information. Furthermore, the device can be configured to provide the resulting spatial information for the localization method. In particular, at least one additional reference point and / or a calculation basis for the localization method can also be provided on this basis. The spatial detection by the device according to the invention can include the detection of floor plans and / or 3D representations of rooms and / or buildings.

[0054] The device can, if necessary, be designed for the (direct or indirect) recording of individual coordinates (e.g., corners) in a room or building. This enables the recording of floor plans and, in particular, 3D representations of rooms and / or buildings. Individual coordinates (x, y, z) can be recorded, each of which defines, for example, a corner of a room. However, a disadvantage of conventional measuring methods is that even for a simple room, eight measuring points must be recorded. An additional disadvantage in practice is that individual corners are often inaccessible (e.g., built-in kitchen cabinets).

[0055] According to the invention, the further advantage can be achieved that the effort required for spatial acquisition can be further reduced. In particular, by changing the type of measurement, by intelligently processing the measurements, and / or by making certain assumptions such as the planarity and / or parallelism of walls, the number of measurements can be significantly reduced.

[0056] For this purpose, the device according to the invention can comprise a plane detection device in order to detect at least a first plane of the surrounding structure, preferably by (directly or indirectly) detecting a normal vector on the first plane and / or assuming a planarity of the plane.

[0057] The surrounding structure is preferably at least one room and / or a building that has multiple levels, e.g., in the form of walls, ceilings, or floors. Accordingly, the surrounding structure can also have multiple corners, some of which may be inaccessible or obscured (from the perspective of the device / for the measurement by the device).

[0058] Therefore, the invention preferably provides for planes to be measured (also referred to as method "1") (e.g., instead of measuring points / corners). A plane is defined, in particular, by a normal vector on the plane, preferably given by a 3D point (x, y, z), and a 3D orientation (e.g., "roll, pitch, yaw"). Both can be determined in a single measurement process, e.g., with a device localized by the localization system according to the invention.

[0059] Assuming the flatness of the planes to be measured (walls, ceilings, floors), this measurement can be performed at any point along the plane, which is a significant advantage in practice. This allows the number of measurements to be reduced to six.

[0060] It can be provided that, based on the detection of at least the first plane and / or at least one further plane, in particular by the plane detection device, preferably by intersecting the planes, the edges and corners of the surrounding structure, and preferably of the room, are determined. This method is not dependent on right-angled corners, but can detect corners of any angle. After the measurement has been completed, the angles between two walls can also be calculated, for example, in software.

[0061] Preferably, the device according to the invention can comprise a plane distance detection device for detecting a distance from the first (detected) plane to an opposite, parallel second plane. Thus, the invention can provide for a measurement of "planes and distances" (also referred to as method "2") (e.g., instead of measuring points). This allows a further reduction in the number of measurements, in particular to three for a simple room.

[0062] According to method "2," a plane is determined for each measurement (as already described above for method "1"). Preferably, a distance from this plane to the opposite parallel plane (e.g., measurement from floor to ceiling) is determined. This can advantageously be done using a laser rangefinder on the device, which can also be localized by the 3D localization system.

[0063] Another possibility is to combine the two methods described above, i.e., measuring planes using the plane detection device (method "1") and measuring planes and distances using the plane distance detection device (method "2"). The methods can be combined, for example, such that method 2) is applied for opposing parallel planes and method 1) for all other planes. This saves one measurement for each pair of parallel planes.

[0064] Accordingly, the device according to the invention can be designed to have both the plane detection device and the plane distance detection device, and / or to allow a user to select between method “1” and method “2”.

[0065] Furthermore, the device according to the invention can optionally also include an angle detection device. This enables the measurement of planes, distances, and angles. This measurement can also be selected manually, if necessary, as an alternative to or in addition to methods "1" and "2."

[0066] The plane detection device and / or plane distance detection device and / or angle detection device can each have a measuring device, preferably a distance meter, such as a laser rangefinder or the like, to perform the respective measurement. The devices can also share a single measuring device, if necessary.

[0067] It is conceivable that the device according to the invention, preferably the plane detection device and / or plane distance detection device and / or angle detection device, carries out at least one or at least two or at least three measurements, preferably distance measurements, in particular per plane, for detecting the surrounding structure and / or when detecting the respective plane. This makes it possible, for example by expanding the localization system and method “2”, to extend the detection to include non-parallel planes and / or to check the assumption of parallel planes. For this purpose, for example, a second (and possibly a third) measurement can be carried out for each plane. This measurement(s) can differ from the other measurements either in the selected point or in the selected orientation of the distance meter. In the first case (method “1”), for example, this isfor further, parallel distance measurements to the opposite plane. In the second case (Method "2"), for example, the lengths of oblique connecting lines between the two planes can be determined at a known angle. This method can also be used when the opposite planes are not parallel, for example, due to a sloping roof.

[0068] The second (and possibly third) measurement can also be used to determine the normal vector of the opposite plane. A second measurement is sufficient, for example, if the two planes share a parallel edge and the measurement is taken along a vector orthogonal to this edge.

[0069] Furthermore, it is conceivable for the device according to the invention to perform multiple measurements per plane simultaneously or at least partially in parallel. The second (and possibly third) measurement from the same plane can also be realized, for example, by integrating two (or possibly three) distance meters / laser rangefinders at different angles to each other into the measuring device. In other words, in this case, it may be sufficient for use if only one measurement process is performed per pair of planes.

[0070] The device according to the invention, in particular a measuring device, can optionally also be a distance meter and preferably a laser rangefinder which measures a number of distances one after the other or simultaneously, e.g. using optics which direct the laser beam in 2 or 3 different directions. These can be the same distance from the vertical, so that in the case of a parallel plane the 2 or 3 distances are the same. However, it can also be useful to deliberately make the distances to the vertical different, so that in the case of a parallel plane exactly different distances result and the individual measuring points can be evaluated separately. Additional measuring processes can be used if there are several planes at different angles to a surface, e.g. a roof truss. This has the advantage that the user does not have to physically move these planes, e.g.does not have to be reached using a ladder, but can measure it from a distance.

[0071] Further advantages, features, and details of the invention will become apparent from the following description, which describes embodiments of the invention in detail with reference to the drawings. The features mentioned in the claims and in the description may be essential to the invention individually or in any combination. They show:

[0072] Fig. 1 is a schematic visualization of a localization system and method according to embodiments of the invention.

[0073] Fig. 2 shows a further schematic visualization of a localization system and method according to embodiments of the invention, in which a cloud connection is used.

[0074] Fig. 3 shows a further schematic visualization of a localization system and method according to embodiments of the invention, in which a cloud connection is used.

[0075] Fig. 4 shows a further schematic visualization of a localization system and method according to embodiments of the invention, in which a master base station and a cloud connection are used.

[0076] Fig. 5 shows a further schematic visualization of a localization system and method according to embodiments of the invention, in which more than one base station and one cloud connection are used.

[0077] Fig. 6 shows a schematic visualization of base stations of a localization system according to embodiments of the invention.

[0078] Fig. 7 is a schematic visualization of a method according to embodiments of the invention.

[0079] Fig. 8-10 Further embodiments of the invention for determining spatial information. Figs. 1 to 7 schematically show embodiments of a localization system 1 and method 100. The localization system 1 comprises, as a basic system according to embodiments of the invention, at least one base station 30, which can be at least temporarily stationary, and at least one mobile unit 40, whose position (and optionally orientation) can be determined with the aid of the base station(s) 30 relative to a reference point. A mobile unit 40 can be part of a tool 50. It is also conceivable, however, to provide the mobile unit 40 as a tag that can be attached to a tool 50. The mobile unit 40 can be attached to the tool 50, for example, using a fastening means such as screws, adhesive, or connectors.It is conceivable that an electrical connection is established between the mobile unit 40 and the electronics of the tool 50 during attachment, so that the mobile unit 40 can, for example, utilize a power supply of the tool 50. Alternatively, the mobile unit 40 may have electronics and / or a power supply that are independent of the tool 50, e.g., an integrated, possibly rechargeable battery.

[0080] The localization system 1 can be used to determine at least one position of a tool 50 in / on a work area, in particular in the form of a power tool 50, for example, for a construction site or in the form of a measuring tool 50. For this purpose, the localization system 1 can have at least one or more base stations 30, wherein the respective base station 30 is designed to provide a reference point for position determination, at least temporarily and in a fixed location. Furthermore, the mobile unit 40, which can be arranged and / or is arranged on the tool 50, can have a signal unit 41 for carrying out a localization method using a localization signal 202. The mobile unit 40 can be permanently installed on the tool 50, for example. It is also possible for the mobile unit 40 to be detachably attached to the tool 50, plugged on, and / or designed as an adapter, for example in the form of a "tag."The mobile unit 40 is mobile because it can preferably be moved with the tool 50 by a user—preferably portable. Furthermore, a processing system 10 can be provided, which is designed to determine the position of the tool 50 based on the localization method using the provided reference point. Fig. 7 also shows a method 100 for determining at least one position of a tool 50 in the form of a power tool for a construction site or in the form of a measuring tool. According to a first step 101, a reference point is provided, in particular by means of at least one or more base stations 30. The respective base stations 30 can provide the reference point for position determination at least temporarily in a stationary manner. According to a second step 102, a localization method can be carried out.For this purpose, a mobile unit 40 can be provided, which is arranged and / or can be arranged on the tool 50. Furthermore, a signal unit 41 of the mobile unit 40 can be provided for this purpose, for implementing the localization method using a localization signal 202, which is exchangeable between the signal unit 41 and the respective base station 30. According to a third step 103, the position of the tool 50 is determined based on the localization method and the provided reference point. According to an optional fourth step 104, the position can be output to a user of the work area.

[0081] The number of base stations 30 in the exemplary embodiments varies. In Figs. 1 and 2, it can be seen that preferably only a single base station 31 is provided. However, to improve accuracy or coverage, additional base stations 32 are also possible; this is illustrated in Figs. 3 to 5. Optionally, the multiple base stations 31, 32 can locate each other. This simplifies the setup of the system 1 for a user.

[0082] Fig. 6 shows that optionally at least some of the plurality of base stations 31, 32 are located in a housing 35 or are otherwise mechanically connected to one another, so that the relative position of these base stations 30 to one another is known. In other words, the plurality of base stations 31, 32 can also be designed as mechanically interconnected base stations 31, 32. This can simplify the setup process and / or increase accuracy, since the potential error in the relative positions to one another can be smaller than if these base stations 31, 32 were to locate one another or the user had to determine the relative position. The base stations can preferably be compact and light enough to be easily transported by one person. Accordingly, the at least one base station 30 or the mechanically interconnected base stations 31, 32 can be designed to be portable.

[0083] The base station 30 can have a geometric shape that allows a reference point to be placed at a desired point in the real room or building using a mechanical reference element 36 of the base station 30. For this purpose, the reference element 36 of the base station 30 can be aligned and positioned at the desired point in the room or building in order to define this point as the reference point (zero point) of the localization system 1. An example of this, shown in Fig. 1, is a cuboid design of the base station 30 with a corner 36 that is defined as the zero point. By placing the base station 30, i.e. the cuboid, in a corner of the room that coincides with the zero point, the corner of the room is also defined as the zero point of the localization system 1.

[0084] Various technologies are available for measurement, including sound and ultrasound; electromagnetic waves in the radio spectrum such as ultrawideband, ISM bands, and Wi-Fi; electromagnetic waves in the optical spectrum such as visible light, infrared, and laser light; and magnetic fields. Inertial sensing can also be used to achieve further advantages. Suitable measurement tools can include: sound and ultrasound transceivers, ultrawideband transceivers, Wi-Fi transceivers, infrared and laser light transceivers, magnetic field sensors, and inertial sensors such as gyroscopes and accelerometers.

[0085] Optionally, additional sensors can be used in the individual tools 50 to improve accuracy. For example, the position can be determined very accurately using an IMU (Inertial Measurement Unit) (already built into the tool 50). By comparing the information (e.g., position) with the corresponding information from the localization system 1, errors can even be detected or the current accuracy estimated. For localization, an appropriate algorithm (localization method) can be used, which includes, for example, measurements regarding time of flight (ToF), angle of arrival, multilateration, time difference of arrival (TDOA), received signal strength indicator (RSSI), and combinations thereof, if necessary by means of sensor data fusion.

[0086] According to embodiments of the invention, the base stations 30 serve as anchor points to enable localization based on the known positions of the base stations 30. This can improve localization accuracy and / or robustness for many applications. This can be further improved by a user entering boundary conditions and making them available for localization. For example, the information that localization is being performed on a wall can enable restriction to two dimensions. A restriction to a specific area, volume, or room can also be made based on the entered boundary condition.

[0087] It is also conceivable that a sound generator (such as a piezo element) which is often already built into the tool 50 is used as a transmitter or as a mobile unit 40.

[0088] Communication between the localization system and the tool can be provided, e.g., via Bluetooth Low Energy (BLE), Bluetooth (BT), or Wi-Fi connections. This allows the localization result to be distributed and / or time synchronization to be enabled. Alternatively, modulation of the localization signal, e.g., using FSK, can be used for communication.

[0089] A connection to an app 60 is also conceivable, which runs, for example, on a laptop and / or smartphone and / or in the cloud, in order to enter, for example, measurement data with localization data into a floor plan or 3D model.

[0090] The localization system 1 can further be designed to be used both indoors and outdoors. For localization purposes, a handheld device 70 for detecting individual coordinates (e.g., corners) in a room or building can also be provided as part of the localization system 1. Conversely, a coordinate can also be specified, which can then be searched for using the handheld device 70. The display can be visual, acoustic, and / or haptic, and navigation to that location can also be provided. Advantageously, the handheld device 70 can have a suitable shape to easily reach points in corners, etc., such as a pointer extension like a pen. Furthermore, the handheld device 70 can have a trigger with which a measurement of the current position is triggered. Alternatively or additionally, the pointer extension can also be touch-sensitive, so that a measurement is automatically triggered as soon as a point (e.g., corner) is touched.Furthermore, it may not be necessary to actively activate a trigger. System 1, for example, can continuously perform measurements and thus generate spatial information from the point cloud.

[0091] The localization system 1 can be used, for example, with machining tools such as drills or other power tools. This enables the tool to be localized and linked to data, so that, for example, the drill stops before drilling into an object. The data can also be used to influence the tool's mode (e.g., adapting to the wall type, speed, drill type, impact on / off, speed, and the like, previously determined by a measuring tool).

[0092] To make the data in the room easier for users to find, AR (augmented reality) can be used to visualize the data in the room. It is also possible to track the location of the smartphone (possibly during the day, using a phone case with a transmitter) to support localization using images and photos.

[0093] The base stations 30 can be provided in a master / slave configuration. Furthermore, multiple anchor points can be provided in a base station 30; in this context, these can be referred to as virtual base stations. Furthermore, communication connections can be unidirectional and / or bidirectional. Furthermore, an app / cloud connection is possible. Data processing for localization (i.e., where a corresponding algorithm is executed) can take place in the base station and / or the mobile unit and / or in the cloud.

[0094] Ranging, one-way ranging, or two-way ranging (both TX / RX) can be used to achieve time synchronization, similar to secondary radar on aircraft. Ranging can be used to measure the distance between two devices by measuring the travel time of a signal between the devices. With one-way ranging, a first device, such as the mobile unit, sends a signal to a second device, such as the base station (or vice versa), which measures the time based on an additional, separate time synchronization that the signal requires to arrive. With two-way ranging, for example, the first device sends a signal to the second device, which receives the signal and sends back a signal that the first device then measures. Both methods can be used to achieve accurate time synchronization between the devices.

[0095] Fig. 1 shows a variant in which only the tool 50 requires the localization information. An algorithm implementing the localization method can be located in the base station 30, and the mobile unit 40 in the form of a localization transmitter 1 can be located in the tool 50. Unidirectional communication 201 can be provided for distributing the localization solution.

[0096] In Fig. 2, a base station 30 is provided, with communication 201 always taking place via an external data processing system 60, such as an app or cloud. The algorithm can be provided in the cloud or in the base station 30, accordingly.

[0097] In Fig. 3, several base stations 30 are provided. Communication 201 can always take place via an external data processing system 60, such as an app or cloud. The algorithm can be provided in the cloud. In Fig. 4, several base stations 30 are also provided. A first base station 31 can be a master with (optional) connection to an external data processing system 60, such as an app or cloud. A second base station 32, as a slave, can also send a localization signal 202 in order to be localized by the first base station 30 (master) itself. The algorithm can be executed on the first base station 31.

[0098] In Fig. 4, several base stations 30 are also provided. A first base station 31 can be provided as a master. The tool 50 can have a connection to an external data processing system 60, such as an app or cloud. The second base station 32, as a slave, can also transmit the localization signal 202 in order to be localized by the first base station 31 itself. The algorithm can be calculated on the mobile unit 40. This can receive the necessary system parameters from the base station 30 via a communication connection.

[0099] Localization system 1 can be used, for example, for imaging with tracking devices and / or for locating the generated images (measurement data, migrated in 3D) in a 2D / 3D plan. Its use with thermal cameras is also conceivable.

[0100] The localization system 1 can also be used to locate a laser rangefinder. This way, the distance being measured is known. If necessary, the more precise measurement value from the laser rangefinder can be used instead of the length measured by the localization system. The user does not need to inform the system of the distance being measured with the laser rangefinder. The use of laser rangefinder measurement values ​​can also be used to calibrate the localization system.

[0101] The localization system 1 can also be used with inspection cameras and / or power tools (such as hammer drills, milling machines, saws, etc.), for comparing work with the plan and logging completed work, and / or for automatically determining a crane target position and / or with construction site robots. In general, the localization system 1 can be used for products that generate measured values ​​in order to document and reuse these measured values. Furthermore, the localization system 1 enables documentation of the completed work and comparison with a building information model before the work is performed.

[0102] In Fig. 8 to 10, further embodiments of the invention are shown to illustrate a device 70 in the form of a handheld device 70.

[0103] The handheld device 70 can be intended for use with a localization system 1. The handheld device 70 can be configured to spatially detect an environmental structure and provide resulting spatial information.

[0104] The handheld device 70 can have a plane detection device 71, shown in Fig. 8, in order to detect at least a first plane 701 of the surrounding structure (see Figs. 9 and 10). This is possible in particular by detecting a normal vector on the first plane 701 and / or assuming a planarity of the plane 701. One or more measurements (measuring processes) can be provided for detecting the first planes 701 and, if applicable, further planes. The measurements per plane can be provided, for example, as distance measurements, preferably also in different directions, and can be carried out, if appropriate, at least partially in parallel in time by the handheld device 70 for detection.

[0105] Furthermore, the handheld device 70 can have a plane distance detection device 72 for detecting a distance from the first plane 701 to an opposite, parallel second plane 702. For this purpose, the parallelism of the planes 701, 702 can be assumed accordingly. Here, too, it is possible for the measurements per plane to include distance measurements and / or to take place in different directions and / or to be performed at least partially in parallel by the handheld device 70 for detection.

[0106] Fig. 9 and 10 show examples of the measuring principle. The points in

[0107] Fig. 10 shows the locations where the measuring system can be installed. The lines specifically symbolize laser distance measurements using the handheld device 70.

[0108] The above explanation of the embodiments describes the present invention exclusively by way of examples.

[0109] Of course, individual features of the embodiments can be freely combined with one another, provided that this is technically reasonable, without departing from the scope of the present invention.

Claims

Claims 1 . Localization system (1) for determining at least one position of a tool (50) in / on a work area, comprising: at least one or more base stations (30), wherein the respective base station (30) is designed to provide a reference point for position determination at least temporarily in a stationary manner, a mobile unit (40) which can be arranged on the tool (50), a signal unit (41) of the mobile unit (40) for carrying out a localization method by means of a localization signal (202) which is exchanged between the signal unit (41) and the respective base station (30), a processing system (10) which is designed to determine the position of the tool (50) on the basis of the localization method using the provided reference point.

2. Localization system (1) according to claim 1, characterized in that the processing system (10) is designed to determine not only the position but also an orientation of the tool (50) on the basis of the localization method and using the provided reference point, and that the processing system (10) is further designed to store the determined position and orientation electronically for documentation of the determination in order to output the documentation of the determination for a user, preferably of the work area and in particular on a construction site.

3. Localization system (1) according to claim 2, characterized in that the processing system (10) is designed to use the determined position and orientation for controlling and / or configuring the tool (50), in particular the power tool (50), in / on the work area and preferably for a construction site, preferably in order to stop the tool (50) upon detection of a hazard and / or in order to parameterize the tool (50) for use in / on the work area depending on the location.

4. Localization system (1) according to one of the preceding claims, characterized in that the plurality of base stations (30) are mechanically connectable to one another and preferably have a common housing (35) in order to firmly define at least one relative position of the base stations (30) to one another and thus to provide it as a previously known parameter for the localization method and / or for a setup process of the localization method.

5. Localization system (1) according to one of the preceding claims, characterized in that the respective base station (30) has a reference element (36) which defines the reference point and has a geometric shape which is suitable for spatially aligning the reference element (36) with an environmental structure and thus defining the environmental structure as the reference point.

6. Localization system (1) according to one of the preceding claims, characterized in that the signal unit (41) is designed to carry out a signal transmission and / or a signal reception and / or a signal exchange and / or a signal measurement of the localization signal (202) in order to determine a distance between the mobile unit (40) and the respective base station (30) on the basis of the localization signal (202) and to use this for the localization method, wherein the processing system (10) is designed to receive further sensor values from the tool (50) which result from detection by the tool (50) and are specific to the position and / or orientation of the tool (50), and to use these sensor values to improve the accuracy of the position determination.

7. Localization system (1) according to one of the preceding claims, characterized in that the signal unit (41) is designed as a sound generator (40) permanently installed in the tool (50), and / or that a hand-held device (70) is provided in order to spatially detect an environmental structure and to provide resulting spatial information for the localization method.

8. Localization system (1) according to one of the preceding claims, characterized in that an external data processing system (60) is part of the localization system (1), wherein the data processing system (60) is connected to the processing system (10) via a network and preferably Internet connection in order to exchange data about the determined position and / or to execute the localization method through a distributed computer environment.

9. Device (70), preferably in the form of a handheld device (70), for use with a localization system (1) according to one of the preceding claims, wherein the device (70) is designed to spatially detect an environmental structure and to provide spatial information resulting therefrom, characterized in that the device (70) has a plane detection device (71) for detecting at least a first plane (701) of the environmental structure, preferably by detecting a normal vector on the first plane (701) and / or assuming a planarity of the plane (701), wherein preferably the device (70) has a plane distance detection device (72) for detecting a distance from the first plane (71) to an opposite parallel second plane (72).

10. Method (100) for determining at least one position of a tool (50) in / on a work area, comprising the following steps: Providing (101) a reference point by means of at least one or more base stations (30), carrying out (102) a localization method in which a localization signal is exchanged between a signal unit (41) of a mobile unit (40) for the tool (50) and the respective base station (30), determining (103) the position of the tool (50) on the basis of the localization method carried out and using the provided reference point.

11. Method (100) according to claim 10, characterized in that the following step is further carried out before determining (103) the position: - carrying out a setup process of the Localization method in which the plurality of base stations (30) localize each other in order to provide a respective position and / or orientation and / or a distance of the base stations (30) from each other as a parameter for the localization method, wherein the determination (103) of the position of the tool (50) is carried out on the basis of the parameter(s) provided.

12. Method (100) according to claim 10 or 11, characterized in that the following step is further carried out before determining (103) the position: Detecting a user input, wherein the user input is specific to a boundary condition for determining the position and / or orientation, in particular a restriction of the dimensions for the position, preferably restriction to a two-dimensional space.

13. Method (100) according to one of claims 10 to 12, characterized in that the determination (103) of the position further comprises the following step: Measuring a distance between the mobile unit (40) and the respective base station (30), wherein the distance measurement is carried out by means of two-way time measurement, and wherein the position is determined on the basis of the distance measurement.

14. Method (100) according to one of claims 10 to 13, characterized in that the tool (50) is designed as a measuring tool (50), preferably a laser rangefinder, for measuring a distance, wherein the measuring tool (50) is localized by determining (103) the position in order to determine on this basis which distance, preferably in the work area and in particular on a construction site, the measurement by the measuring tool (50) applies to, wherein preferably the distance measurement value determined during the measurement of the measuring tool (50) is used for documentation, in particular of the construction site, instead of a distance value determined by determining (103) the position and / or wherein the distance measurement value determined during the measurement of the measuring tool (50) is used to calibrate a localization system according to one of claims 1 to 9.

15. Method (100) according to one of claims 10 to 14, characterized in that a localization system (1) according to one of claims 1 to 9 is provided for carrying out the method steps.

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