SYSTEM AND METHOD FOR DETERMINING A POSITION OF A MOVABLE OBJECT, ARRANGEMENT OF GENERAL LIGHTING LED AND LIGHT SENSOR FOR A POSITION DETERMINATION OF A MOVABLE OBJECT

• US 20120022826A1
• Filed: 07/19/2011
• Published: 01/26/2012
• Est. Priority Date: 07/21/2010
• Status: Active Grant

• Current Assignee: Fraunhofer Gesellschaft Zur Foerderung Der Angewandten Forsching E.V.
• Original Assignee: Fraunhofer Gesellschaft Zur Foerderung Der Angewandten Forsching E.V.
• Inventors: GIESEKUS, Joachim
• Granted Patent: US 8,805,645 B2
• Time in Patent Office: Days
• US Class Current: 702/150
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves

Abstract

A system for determining a position of a moving object is described, having: an arrangement having at least three general lighting LEDs, wherein each of the general lighting LEDs is implemented to transmit one light signal each with a transmission time information and a transmitter information, wherein the wavelength ranges of the general lighting LEDs for the signal transmission overlap, wherein the transmitter information enables at least a determination of a position of the respective general lighting LEDs and the transmission time information is information on a point in time when the respective signal was transmitted; a light sensor mounted to the moving object and implemented to receive the light signals and allocate one signal receive time each; and an evaluation unit which is implemented to determine the position of the object based on the transmitter information, the transmission time information and the receive time information.

Claims

1. A system for determining a position of a moving object, comprising:

an arrangement comprising at least three general lighting LEDs, wherein a first general lighting LED of the at least three general lighting LEDs is implemented to transmit a first light signal comprising a first transmission time information and a first transmitter information in a first wavelength range, wherein the first transmitter information enables at least a determination of a position of the first general lighting LED and the first transmission time information is information on a point in time when the first signal was transmitted, wherein a second general lighting LED of the at least three general lighting LEDs is implemented to transmit a second light signal comprising a second transmission time information and a second transmitter information in a second wavelength range, wherein the second transmitter information enables at least a determination of a position of the second general lighting LED, and the second transmission time information is information on a point in time when the second signal was transmitted, wherein a third general lighting LED of the at least three general lighting LEDs is implemented to transmit a third light signal comprising a third transmission time information and a third transmitter information in a third wavelength range, wherein the third transmitter information enables at least a determination of a position of the third general lighting LED and the third transmission time information is information on a point in time when the third signal was transmitted, and wherein the first wavelength range, the second wavelength range and the third wavelength range at least partially overlap in an overlapping range;

a light sensor mounted to the moving object and implemented to receive the first to third light signals in the overlapping range and allocate a first signal receive time to the first light signal, allocate a second signal receive time to the second light signal and a third signal receive time to the third light signal, and

an evaluation unit which is implemented to determine the position of the object based on the first to third transmitter information, the first to third transmission time information and the first to third receive time information.

2. The system according to claim 1, wherein the first general lighting LED is a first fluorescence LED which is implemented to generate, for a general lighting, light, for example white light, by mixing a directly generated light portion and a light portion indirectly generated via a fluorescence layer, and to transmit the first light signal simultaneously by modulating an excitation current of the first fluorescence LED, wherein a wavelength range of the light portion directly generated by the first fluorescence LED forms the first wavelength range,

wherein the second general lighting LED is a second fluorescence LED which is implemented to generate light for a general lighting, for example white light, by mixing a directly generated light portion and a light portion generated indirectly via a fluorescence layer, and to transmit the second signal simultaneously by modulating an excitation current of the second fluorescence LED, wherein a wavelength range of the light portion generated directly by the second fluorescence LED forms the second wavelength range, and

wherein the third general lighting LED is a third fluorescence LED which is implemented to generate light for a general lighting, for example white light, by mixing a directly generated light portion and a light portion generated indirectly via a fluorescence layer, and to transmit the third signal simultaneously by modulating an excitation current of the third fluorescence LED, wherein a wavelength range of the light portion generated directly by the third fluorescence LED forms the third wavelength range.

3. The system according to claim 1, wherein the first general lighting LED is a first RGB-LED which is implemented to generate light for a general lighting, e.g., white lights, by mixing directly generated light portions of different colors, and to transmit the first light signal simultaneously by modulating an excitation current of the first RGB-LED, wherein a light portion directly generated by the first RGB-LED, of the directly generated light portions of different colors, forms the first wavelength range,

wherein the second general lighting LED is a second RGB-LED which is implemented to generate light for a general lighting, e.g., white light, by means of mixing directly generated light portions of different colors, and to transmit the second light signal simultaneously by modulating an excitation current of the second RGB-LED, wherein a light portion generated directly by the second RGB-LED, of the directly generated light portions of different colors, forms the second wavelength range,

wherein the third general lighting LED is a third RGB-LED which is implemented to generate light for a general lighting, for example white light, by means of mixing directly generated light portions of different colors, and to transmit the third light signal simultaneously by modulating an excitation current of the third RGB-LED, wherein a light portion directly generated by the third RGB-LED, of the directly generated light portions of different colors, forms the third wavelength range.

4. The system according to claim 2, wherein the light sensor is implemented to only evaluate light portions within the overlapping range to determine the first to third signal receive times.

5. The system according to claim 4, wherein the light sensor comprises a filter which is more transmissive in the overlapping range than in wavelength ranges generated by the first, second or third general lighting LED.

6. The system according to claim 4, wherein the overlapping range is in a wavelength range from 420 nm to 490 nm.

7. The system according to claim 1, comprising:

a transmitter mounted to the moving object; and

a receiver, wherein the transmitter is implemented to transmit a signal to the receiver for a data transmission via a contactless interface.

8. The system according to claim 7, wherein the transmitter is a further general lighting LED and the receiver is a further light sensor.

9. The system according to claim 1, wherein the arrangement of the at least three general lighting LEDs and the light sensor are implemented to transmit the first to third light signal in a time division multiplexing method, wherein the first general lighting LED is implemented to transmit the first light signal in a first time slot of the time division multiplexing method, the second general lighting LED is implemented to transmit the second light signal in a second time slot of the time division multiplexing method and the third general lighting LED is implemented to transmit the third light signal in a third time slot of the time division multiplexing method.

10. The system according to claim 1, wherein the evaluation unit is mounted to the moving object or arranged at another location.

11. The system according to claim 1, wherein the evaluation unit is implemented to determine the position by means of a TDOA method (Time Difference of Arrival).

12. The system according to claim 1, wherein the light sensor is synchronized with the at least three general lighting LEDs and comprises a common time reference and wherein the evaluation unit is implemented to determine the position of the object by means of a TOA method (Time of Arrival).

13. An arrangement of at least three general lighting LEDs for a position determination of a moving object with a light sensor, comprising:

a first general lighting LED comprising a first memory in which a first position of the first general lighting LED is stored and which is implemented to transmit a first light signal, comprising first transmission time information and the first position in a first wavelength range;

a second general lighting LED comprising a second memory in which a second position of the second general lighting LED is stored and which is implemented to transmit a second light signal comprising second transmission time information and the second position in a second wavelength range;

a third general lighting LED comprising a third memory in which a third position of the third general lighting LED is stored and which is implemented to transmit a third light signal comprising third transmission time information and the third position in a third wavelength range, and wherein the first wavelength range, the second wavelength range and the third wavelength range at least partially overlap in an overlapping range.

14. A system for determining a position of a moving object, comprising:

an arrangement comprising at least three general lighting LEDs, wherein a first general lighting LED of the at least three general lighting LEDs is implemented to transmit a first light signal comprising a first transmission time information and a first transmitter information in a first wavelength range, wherein the first transmitter information enables at least a determination of a position of the first general lighting LED and the first transmission time information is information on a point in time when the first signal was transmitted, wherein a second general lighting LED of the at least three general lighting LEDs is implemented to transmit a second light signal comprising a second transmission time information and a second transmitter information in a second wavelength range, wherein the second transmitter information enables at least a determination of a position of the second general lighting LED, and the second transmission time information is information on a point in time when the second signal was transmitted, wherein a third general lighting LED of the at least three general lighting LEDs is implemented to transmit a third light signal comprising a third transmission time information and a third transmitter information in a third wavelength range, wherein the third transmitter information enables at least a determination of a position of the third general lighting LED and the third transmission time information is information on a point in time when the third signal was transmitted, and wherein the first wavelength range, the second wavelength range and the third wavelength range at least partially overlap in an overlapping range;

a receiver which is implemented to receive a signal comprising the first to third transmitter identification, the first to third transmission time information and a first to third receive time information, or to receive a signal comprising the first to third transmitter identification and time information determined based on the first to third transmission time information and the first to third receive time information, wherein a first receive time information is information on a point in time when the first light signal was received by a light sensor mounted to the moving object, wherein a second receive time information is information on a point in time when the second light signal was received from the light sensor mounted to the moving object, and wherein a third receive time information is information on a point in time when the third light signal was received from the light sensor mounted to the moving object; and

a memory in which the first transmitter identification and a first position of the first general lighting LED associated with the same is stored, in which the second transmitter identification and a second position of the second general lighting LED associated with the same is stored, and in which the third transmitter identification and a third position of the third general lighting LED associated with this third transmitter identification is stored; and

an evaluation unit which is implemented to determine the position of the moving object based on the first to third transmitter information and these associated first to third positions of the first to third general lighting LEDs, the first to third transmission time information of the first to third receive time information or based on the time information determined based on the first to third transmitter time information and the first to third receive time information.

15. A light sensor for a position determination of a moving object, when the light sensor is mounted to the moving object, wherein the light sensor is implemented to receive a first light signal of a first general lighting LED comprising a first transmitter identification and a first transmission time information in a first wavelength range, and to allocate a first receive time information to the first light signal to receive a second light signal of a second general lighting LED comprising a second transmitter identification and a second transmission time information in a second wavelength range and to allocate a second receive time information to the second light signal, and to receive a third light signal from a third general lighting LED comprising a third transmitter identification and a third transmission time information in a third wavelength range and to allocate the third receive time information to the third light signal and to provide the first to third receive time information for position determination, wherein the first wavelength range, the second wavelength range and the third wavelength range at least partially overlap in an overlapping range.

16. The light sensor according to claim 15, wherein the light sensor is implemented to evaluate only light portions in the overlapping range to determine the first to third signal receive time.

17. A system for determining a position of a moving object, comprising:

an arrangement of at least three general lighting LEDs, wherein a first general lighting LED of the at least three general lighting LEDs is implemented to transmit a first pulse-type light signal in a first wavelength range at a first transmission time, wherein a second general lighting LED of the at least three general lighting LEDs is implemented to transmit a second pulse-type light signal in a second wavelength range at a second transmission time comprising a first transmission time difference at the first transmission time, wherein a third general lighting LED of the at least three general lighting LEDs is implemented to transit a third pulse-type light signal in a third wavelength range at a third transmission time comprising a second transmission time difference at the first transmission time, wherein the first to third pulse-type light signals comprise an identical pulse-type form, and wherein the first wavelength range, the second wavelength range and the third wavelength range at least partially overlap in an overlapping range;

a light sensor mounted to the moving object and implemented to receive the first to third light signal in the overlapping range and generate a receive signal by means of overlaying the first to third light signal; and

an evaluation unit which is implemented to control the second general lighting LED and/or the third general lighting LED based on an evaluation of the form of the receive signal such that the second transmission time and/or the third transmission time are shifted with respect to the first transmission time such that the first to third light signal are simultaneously received by the light sensor and the evaluation unit is further implemented, based on a position of the first general lighting LED, a position of the second general lighting LED, a position of the third general lighting LED and the first and/or the second transmission time difference, to determine the position of the moving object.

18. The system according to claim 17, wherein the first general lighting LED is a first fluorescence LED which is implemented to generate light for a general lighting, for example white light, by mixing a directly generated light portion with a light portion indirectly generated via a fluorescence layer and to transmit the first light signal simultaneously by modulating an excitation current of the first fluorescence LED, wherein a wavelength range of the light portion directly generated by the first fluorescence LED forms the first wavelength range,

wherein the second general lighting LED is a second fluorescence LED which is implemented to generate light for a general lighting, for example white light, by mixing a directly generated light portion and a light portion indirectly generated via a fluorescence layer, and to transmit the second signal simultaneously by modulating an excitation current of the second fluorescence LED, wherein a wavelength range of the light portion directly generated by the second fluorescence LED forms the second wavelength range, and

wherein the third general lighting LED is a third fluorescence LED which is implemented to generate light for a general lighting, for example white light, by mixing a directly generated light portion and a light portion indirectly generated via a fluorescence layer, and to transmit the third signal simultaneously by modulating an excitation current of the third fluorescence LED, wherein a wavelength range of the light portion directly generated by the third fluorescence LED forms the third wavelength range.

19. The system according to claim 17, wherein the light sensor is implemented to evaluate only light portions in the overlapping range to determine the first to third signal receive time.

20. The system according to claim 19, wherein the light sensor comprises a filter which is more transmissive in the overlapping range than in other wavelength ranges generated by the first, second and third general lighting LEDs.

21. The system according to claim 19, wherein the overlapping range is in a wavelength range from 420 nm to 490 nm.

22. A system for determining a position of a moving object, comprising:

a general lighting LED mounted to the moving object and implemented to transmit a light signal comprising transmission time information and transmitter information, wherein the transmitter information enables at least an allocation of the signal to the moving object, and the transmission time information is information about a point in time when the light signal was transmitted;

an arrangement of at least three light sensors, wherein a first light sensor of the at least three light sensors is arranged at a first position and is implemented to receive the light signal and to allocate a first signal receive time to the light signal, and wherein a second light sensor of the at least three light sensors is arranged at a second position and is implemented to receive the light signal and to allocate a second signal receive time to the light signal, and wherein a third light sensor is arranged at a third position and is implemented to receive the light signal and allocate a third receive time to the light signal; and

an evaluation unit which is implemented to determine the position of the object based on the transmitter information, the transmission time information, the first to third receive time information and the first to third positions of the light sensors.

23. A method for determining a position of a moving object, comprising:

transmitting a first light signal comprising a first transmission time information and a first transmitter information in a first wavelength range, by a first general lighting LED, wherein the first transmitter information enables at least a determination of a position of the first general lighting LED and the first transmission time information is information about a point in time when the first signal was transmitted;

transmitting a second light signal comprising a second transmission time information and a second transmitter information in a second wavelength range by a second general lighting LED, wherein the second transmitter information enables at least a determination of a position of the second general lighting LED and the second transmission time information is information about a point in time when the second signal was transmitted;

transmitting a third light signal comprising a third transmission time information and a third transmitter information in a third wavelength range by a third general lighting LED, wherein the third transmitter information enables at least a determination of a position of the third general lighting LED and the third transmission time information is information about a point in time when the third signal was transmitted, wherein the first wavelength range, the second wavelength range and the third wavelength range at least partially overlap in an overlapping range;

receiving the first to third light signals in the overlapping range by a light sensor mounted to the moving object;

allocating a first signal receive time to the first light signal;

allocating a second signal receive time to the second light signal;

allocating a third signal receive time to the third light signal; and

determining the position of the object based on the first to third transmitter information, the first to third transmission time information and the first to third receive time information.

24. A method for determining a position of a moving object, comprising:

transmitting a first pulse-type light signal in a first wavelength range by a first general lighting LED at a first transmission time;

transmitting a second pulse-type light signal in a second wavelength range by a second general lighting LED at a second transmission time comprising a first transmission time difference to the first transmission time;

transmitting a third pulse-type light signal in a third wavelength range by a third general lighting LED at a third transmission time comprising a second transmission time difference to the first transmission time, wherein the first to third pulse-type light signal comprise an identical pulse-like form and wherein the first wavelength range, the second wavelength range and the third wavelength range at least partially overlap in an overlapping range;

receiving the first to third light signals in the overlapping range by a light sensor mounted to the moving object;

generating a receive signal by means of overlaying the first to third light signals; and

controlling the second general lighting LED and/or the third general lighting LED based on an evaluation of a form of the receive signal such that the second transmission time and/or the third transmission time are shifted with respect to the first transmission time such that the first to third light signals are received simultaneously by the light sensor;

determining the position of the moving object based on a position of the first general lighting LED, a position of the second general lighting LED, a position of the third general lighting LED and the first and/or the second transmission time difference.

25. A method for determining a position of a moving object, comprising;

transmitting a light signal with a transmission time information and a transmitter information by a general lighting LED mounted to the moving object, wherein the transmitter information enables at least an allocation of the signal and the transmission time information T4S is information on a point in time when the light signal was transmitted;

receiving the light signal by a first light sensor arranged at a first position; and

allocating a first signal receive time to the light signal;

receiving the light signal by a second light sensor arranged at a second position, and allocating a second signal receive time to the light signal;

receiving the light signal by a third light sensor arranged at a third position; and

allocating a third signal receive time to the light signal;

determining the position of the object based on the transmitter information, the transmission time information, the first to third receive time information and the first to third position of the light sensors.

26. A computer program comprising a program code for executing a method for determining a position of a moving object, comprising:

transmitting a first light signal comprising a first transmission time information and a first transmitter information in a first wavelength range, by a first general lighting LED, wherein the first transmitter information enables at least a determination of a position of the first general lighting LED and the first transmission time information is information about a point in time when the first signal was transmitted;

transmitting a second light signal comprising a second transmission time information and a second transmitter information in a second wavelength range by a second general lighting LED, wherein the second transmitter information enables at least a determination of a position of the second general lighting LED and the second transmission time information is information about a point in time when the second signal was transmitted;

transmitting a third light signal comprising a third transmission time information and a third transmitter information in a third wavelength range by a third general lighting LED, wherein the third transmitter information enables at least a determination of a position of the third general lighting LED and the third transmission time information is information about a point in time when the third signal was transmitted, wherein the first wavelength range, the second wavelength range and the third wavelength range at least partially overlap in an overlapping range;

receiving the first to third light signals in the overlapping range by a light sensor mounted to the moving object;

allocating a first signal receive time to the first light signal;

allocating a second signal receive time to the second light signal;

allocating a third signal receive time to the third light signal; and

determining the position of the object based on the first to third transmitter information, the first to third transmission time information and the first to third receive time information,

when the computer program is executed on a computer.

27. A computer program comprising a program code for executing a method for determining a position of a moving object, comprising:

transmitting a first pulse-type light signal in a first wavelength range by a first general lighting LED at a first transmission time;

transmitting a second pulse-type light signal in a second wavelength range by a second general lighting LED at a second transmission time comprising a first transmission time difference to the first transmission time;

transmitting a third pulse-type light signal in a third wavelength range by a third general lighting LED at a third transmission time comprising a second transmission time difference to the first transmission time, wherein the first to third pulse-type light signal comprise an identical pulse-like form and wherein the first wavelength range, the second wavelength range and the third wavelength range at least partially overlap in an overlapping range;

receiving the first to third light signals in the overlapping range by a light sensor mounted to the moving object;

generating a receive signal by means of overlaying the first to third light signals; and

controlling the second general lighting LED and/or the third general lighting LED based on an evaluation of a form of the receive signal such that the second transmission time and/or the third transmission time are shifted with respect to the first transmission time such that the first to third light signals are received simultaneously by the light sensor;

determining the position of the moving object based on a position of the first general lighting LED, a position of the second general lighting LED, a position of the third general lighting LED and the first and/or the second transmission time difference,

when the computer program is executed on a computer.

28. A computer program comprising a program code for executing a method for determining a position of a moving object, comprising;

transmitting a light signal with a transmission time information and a transmitter information by a general lighting LED mounted to the moving object, wherein the transmitter information enables at least an allocation of the signal and the transmission time information T4S is information on a point in time when the light signal was transmitted;

receiving the light signal by a first light sensor arranged at a first position; and

allocating a first signal receive time to the light signal;

receiving the light signal by a second light sensor arranged at a second position, and

allocating a second signal receive time to the light signal;

receiving the light signal by a third light sensor arranged at a third position; and

allocating a third signal receive time to the light signal;

determining the position of the object based on the transmitter information, the transmission time information, the first to third receive time information and the first to third position of the light sensors,

when the computer program is executed on a computer.