Method and apparatus for controlling a movable object for localization within a positioning area

• US 7,795,861 B2
• Filed: 04/30/2007
• Issued: 09/14/2010
• Est. Priority Date: 05/02/2006
• Status: Expired due to Fees

• Current Assignee: Cairos Technologies Ag
• Original Assignee: Cairos Technologies Ag
• Inventors: Englert, Walter, Bucher, Tilman
• Primary Examiner(s): Patidar; Jay M
• Application Number:
  US11/742,513
• Publication Number:
  US 20070299625A1
• Time in Patent Office: 1,233 Days
• Field of Search: None
• US Class Current: 324/207.17
• CPC Class Codes: A63B 2024/0037 on a target surface or at impact on the ground
• CPC Class Codes: A63B 2024/0043 Systems for locating the point of impact on a specific surface
• CPC Class Codes: A63B 2220/833 Sensors arranged on the exercise apparatus or sports implement
• CPC Class Codes: A63B 2220/89 Field sensors, e.g. radar systems
• CPC Class Codes: A63B 2225/50 Wireless data transmission, e.g. by radio transmitters or telemetry
• CPC Class Codes: A63B 2225/52 modulated by measured values
• CPC Class Codes: A63B 24/0021 Tracking a path or terminating locations
• CPC Class Codes: A63B 43/00 Balls with special arrangements
• CPC Class Codes: A63B 63/00 Targets or goals for ball games golf cups A63B57/40
• CPC Class Codes: A63B 63/004 Goals of the type used for football, handball, hockey or the like
• CPC Class Codes: A63B 71/0605 Decision makers and devices using detection means facilitating arbitration
• CPC Class Codes: G01B 7/003 for measuring position, not involving coordinate determination coordinate measuring G01B7/004

Abstract

At least two coils located at different positions with regard to a positioning area are controlled to indicate a position of an object located within the range of magnetic fields generated by the coils. An embodiment of the invention comprises a generator that uses a multiplexing technique to generate coil enable signals for the at least two coils. The coil enable signals are generated for the at least two coils with any of different polarities and different intensities.

Claims

1. A device for controlling at least two coils located at different positions with regard to a positioning area, for indicating a position of an object located within the range of magnetic fields generated by the coils, the device comprising:

a generator for generating coil enable signals for the at least two coils using a multiplexing technique;

wherein the generator for generating coil enable signals generates the coil enable signals for the at least two coils with different intensities.

2. The device as claimed in claim 1, wherein the generator for generating coil enable signals sequentially generates, using time division multiplexing, coil enable signals for the at least two coils, so that only one of the at least two coils is enabled within a first time period, and only one other of the at least two coils is enabled within a second time period.

3. The device as claimed in claim 2, wherein the generator for generating coil enable signals generates the coil enable signals at different times such that a magnetic field generated by a controlled coil is constant at least for a predetermined time period.

4. The device as claimed in claim 3, wherein the generator for generating coil enable signals generates the coil enable signals at different times such that a magnetic field generated by a controlled coil is constant at least for a time period T≧

10 microseconds.

5. The device as claimed in claim 2, the device further comprising:

a conveyor for conveying information about which coil of the at least two coils is currently being controlled by the generator for generating coil enable signals.

6. The device as claimed in claim 2, the device further comprising:

a conveyor for conveying information about a start of the sequential generation of the coil enable signals.

7. The device as claimed in claim 1, wherein the generator for generating coil enable signals generates alternating magnetic fields using the at least two coils by means of a frequency division multiplexing technique, so that an alternating magnetic field of one of the at least two coils comprises a different frequency than an alternating magnetic field of another of the at least two coils.

8. The device as claimed in claim 1, the device further comprising:

at least three coils; and

said generator generating a permanent enable signal for said at least three coils.

9. A movable object for a localization within a positioning area, within which at least two coils which are located at different positions with regard to the positioning area are controlled in accordance with a control sequence, the movable object comprising:

a generator for generating coil enable signals for the at least two coils using a multiplexing technique;

wherein the generator for generating coil enable signals generates the coil enable signals for the at least two coils with different intensities;

a magnetic field sensor for detecting a magnetic field within which the movable object is located;

a transmitter for transmitting at least one measurement value; and

a control for controlling the magnetic field sensor or the transmitter, so that magnetic field measurement values may be sent in accordance with the control sequence.

10. The movable object as claimed in claim 9, wherein the magnetic field sensor is a three-dimensional magnetic field sensor.

11. The movable object as claimed in claim 9, wherein the transmitter for transmitting at least one measurement value comprises a radio transmitter.

12. The movable object as claimed in claim 9, the movable object comprising an energy supplier so as to supply the movable object with energy.

13. The movable object as claimed in claim 9, wherein the control controls the magnetic field sensor and/or the transmitter at predetermined time intervals.

14. The movable object as claimed in claim 9, further comprising:

a receiver for receiving an enable signal for the movable object;

a processor for enabling the control for controlling the magnetic field sensor or the transmitter on the basis of the enable signal.

15. A device for determining information about a position of a movable object within a positioning area within which at least two coils are located at different positions, and are controlled in accordance with a control sequence so as to sequentially generate one magnetic field, respectively, the device comprising:

a generator for generating coil enable signals for the at least two coils using a multiplexing technique;

wherein the generator for generating coil enable signals generates the coil enable signals for the at least two coils with different intensities

a receiver for receiving a sequence of measurement values from the movable object, it being possible to associate measurement values of the sequence of measurement values with a coil of the at least two coils; and

an evaluator for evaluating the sequence of measurement values while using information about the coils from which the individual measurement values originate, so as to acquire the information about the position of the movable object.

16. The device as claimed in claim 15, wherein the receiver is a radio receiver.

17. The device as claimed in claim 15, wherein the evaluator acquires the information about the position of the movable object by solving an equation system into which the sequence of measurement values with regard to the magnetic fields of the individual coils is inserted.

18. The device as claimed in claim 15, wherein the evaluator acquires the information about the position of the movable object by comparing the measurement values of the sequence of measurement values with predetermined values which correspond to positions of the movable object within the positioning area.

19. The device as claimed in claim 15, wherein the evaluator increases an accuracy of the information about the position of the movable object in that field strength measurement values of the magnetic field are combined with associated field direction measurement values.

20. The device as claimed in claim 15, wherein the evaluator determines a rotational speed of the movable object by evaluating sequential measurement values of the earth'"'"'s magnetic field.

21. The device as claimed in claim 15, wherein the evaluator corrects the information about the position of the movable object on the basis of previous information about previous positions of the movable object and the rotational speed.

22. The device as claimed in claim 15, the device further comprising:

a transmitter for transmitting an enable signal for a movable object.

23. The device as claimed in claim 15, wherein the evaluator for evaluating the sequence of measurement values filters the sequence of measurement values such that a filtered sequence comprises measurement values of magnetic fields of only one of the at least two coils.

24. A positioning system comprising:

a device for controlling at least two coils located at different positions with regard to a positioning area, for indicating a position of an object located within the range of magnetic fields generated by the coils, the device comprising;

a generator for generating coil enable signals for the at least two coils using a multiplexing technique;

wherein the generator for generating coil enable signals generates the coil enable signals for the at least two coils with different intensities

a movable object, the position of which may be determined by said positioning system, said movable object having associated therewith;

a magnetic field sensor for detecting a magnetic field within which the movable object is located;

a radio transmitter for transmitting at least one measurement value; and

a control for controlling the magnetic field sensor or the transmitter, so that magnetic field measurement values may be sent in accordance with the control sequence;

a device for determining information about the position of the movable object, comprising;

a receiver for receiving a sequence of measurement values from the movable object, each measurement value of the sequence of measurement values being associated with a coil of the at least two coils, and

an evaluator for evaluating the sequence of measurement values while using information about the coils from which the individual measurement values originate, so as to acquire the information about the position of the movable object.

25. A method of controlling at least two coils, located at different positions with regard to a positioning area, for an indication of the position of an object located within the range of magnetic fields generated by the coils, the method comprising:

sequentially generating coil enable signals for the at least two coils using a multiplexing technique;

wherein said coil enable signals are generated for the at least two coils with different intensities.

26. A method of localizing a moveable object within a positioning area within which at least two coils are located at different positions with regard to the positioning area and are controlled in accordance with a control sequence, the method comprising:

generating coil enable signals for the at least two coils using a multiplexing technique;

wherein the coil enable signals are generated for the at least two coils with different intensities;

detecting a magnetic field within which the movable object is located;

transmitting at least one measurement value; and

controlling a magnetic field sensor or a transmitter, so that magnetic field measurement values may be sent in accordance with the control sequence.

27. A method of determining information about a position of a movable object within a positioning area within which at least two coils are located at different positions which are controlled in accordance with a control sequence, so as to sequentially generate one magnetic field, respectively, the method comprising:

generating coil enable signals for the at least two coils using a multiplexing technique;

wherein the coil enable signals are generated for the at least two coils with different intensities;

receiving a sequence of measurement values from the movable object, each measurement value of the sequence of measurement values being associated with a coil of the at least two coils; and

evaluating the sequence of measurement values while using information about the coils from which the individual measurement values originate so as to acquire the information about the position of the movable object.

28. A positioning method comprising:

controlling at least two coils, which are located at different positions with regard to a positioning area, for indicating a position of an object located within the range of magnetic fields generated by the coils by generating coil enable signals for the at least two coils by means of a multiplexing technique, wherein the coil enable signals are generated for the at least two coils with different intensities;

detecting a magnetic field, within which the movable object is located, by means of a movable object;

transmitting at least one measurement value by means of the movable object; and

controlling a magnetic field sensor or a transmitter, so that magnetic field measurement values may be transmitted, in accordance with the control sequence, by means of the movable object;

receiving a sequence of measurement values from the movable object, each measurement value of the sequence of measurement values being associated with a coil of the at least two coils; and

evaluating the sequence of measurement values using information about the coils from which the individual measurement values originate so as to acquire the information about the position of the movable object.

29. A computer program embodied within a computer readable medium and having a program code for performing the method of controlling at least two coils, located at different positions with regard to a positioning area, for an indication of the position of an object located within the range of magnetic fields generated by the coils, the method comprising:

sequentially generating coil enable signals for the at least two coils using a multiplexing technique, wherein the coil enable signals are generated for the at least two coils with different intensities,

when the computer program runs on a computer or a microcontroller.

30. A computer program embodied within a computer readable medium and having a program code for performing the method of localizing a moveable object within a positioning area within which at least two coils are located at different positions with regard to the positioning area and are controlled in accordance with a control sequence, the method comprising:

generating coil enable signals for the at least two coils using a multiplexing technique;

wherein the coil enable signals are generated for the at least two coils with different intensities;

detecting a magnetic field within which the movable object is located;

transmitting at least one measurement value; and

controlling a magnetic field sensor or a transmitter, so that magnetic field measurement values may be sent in accordance with the control sequence,

when the computer program runs on a computer or a microcontroller.

31. A computer program embodied within a computer readable medium and having a program code for performing the method of determining information about a position of a movable object within a positioning area within which at least two coils are located at different positions which are controlled in accordance with a control sequence, so as to sequentially generate one magnetic field, respectively, the method comprising:

generating coil enable signals for the at least two coils using a multiplexing technique;

wherein the coil enable signals are generated for the at least two coils with different intensities;

receiving a sequence of measurement values from the movable object, each measurement value of the sequence of measurement values being associated with a coil of the at least two coils; and

evaluating the sequence of measurement values while using information about the coils from which the individual measurement values originate so as to acquire the information about the position of the movable object,

when the computer program runs on a computer or a microcontroller.

32. A computer program embodied within a computer readable medium and having a program code for performing the positioning method, the positioning method comprising:

controlling at least two coils, which are located at different positions with regard to a positioning area, for indicating a position of an object located within the range of magnetic fields generated by the coils by generating coil enable signals for the at least two coils by means of a multiplexing technique, wherein the coil enable signals are generated for the at least two coils with different intensities;

detecting a magnetic field, within which the movable object is located, by means of a movable object;

transmitting at least one measurement value by means of the movable object; and

controlling a magnetic field sensor or a transmitter, so that magnetic field measurement values may be transmitted, in accordance with the control sequence, by means of the movable object;

receiving a sequence of measurement values from the movable object, each measurement value of the sequence of measurement values being associated with a coil of the at least two coils; and

evaluating the sequence of measurement values using information about the coils from which the individual measurement values originate so as to acquire the information about the position of the movable object, when the computer program runs on a computer or a microcontroller.