Method for angle determination for moving assemblies, and apparatus
First Claim
1. A method for determining an assembly angle between a first assembly and a second assembly movable relative to the first assembly, comprising:
- coupling a radar sensor with at least two channels physically spaced apart from each other, each channel coupled to the first assembly such that motion of the first assembly causes motion of the respective channel;
coupling at least two coding radar targets physically spaced apart from each other, each coding radar target coupled to the second assembly such that motion of the second assembly causes motion of the respective coding radar target;
sending, from the at least two channels of the radar sensor, a sensor signal to the coding radar targets;
sending, respectively by the coding radar targets in response to the sensor signal, at least one coded signal;
receiving at least two coded signals from at least two of the coding radar targets by at least one channel of the radar sensor;
ascertaining a temporal relationship between the at least two coded signals received; and
determining the assembly angle from the temporal relationship.
1 Assignment
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Accused Products
Abstract
In an installation including first and second components, a radar sensor that has at least two channels, each arranged to be spatially at a distance from the other, is motion-coupled to the first component, and at least two coding radar targets, each arranged to be spatially at a distance from an adjacent target, are motion-coupled to the second component. A signal is sent to each of the radar targets using one of the at least two channels of the radar sensor. At least one coded signal is respectively sent by the radar targets upon or after receiving such a signal, one of the at least two coded signals being received by one or more channels of the radar sensor from each target. The temporal relationship between at least two of the received coded signals is acquired and used to determine an angle between the first and second components.
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Citations
25 Claims
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1. A method for determining an assembly angle between a first assembly and a second assembly movable relative to the first assembly, comprising:
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coupling a radar sensor with at least two channels physically spaced apart from each other, each channel coupled to the first assembly such that motion of the first assembly causes motion of the respective channel; coupling at least two coding radar targets physically spaced apart from each other, each coding radar target coupled to the second assembly such that motion of the second assembly causes motion of the respective coding radar target; sending, from the at least two channels of the radar sensor, a sensor signal to the coding radar targets; sending, respectively by the coding radar targets in response to the sensor signal, at least one coded signal; receiving at least two coded signals from at least two of the coding radar targets by at least one channel of the radar sensor; ascertaining a temporal relationship between the at least two coded signals received; and determining the assembly angle from the temporal relationship. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. An apparatus including a first assembly and a second assembly movable relative to the first assembly, comprising:
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a radar sensor having at least two channels physically spaced apart from each other and coupled to the first assembly such that motion of the first assembly causes motion of the at least two channels; at least two coding radar targets physically spaced apart from each other and coupled to the second assembly such that motion of the second assembly causes motion of the at least two coding radar targets; and an evaluation device ascertaining a temporal relationship between at least two coded signals by separating the coded signals explicitly or implicitly beforehand, based on at least one of multiple signal classification and estimation of signal parameters via rotational invariance techniques. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. An installation comprising:
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a first assembly; a second assembly movable relative to the first assembly; a radar sensor having at least two channels physically spaced apart from each other and coupled to the first assembly such that motion of the first assembly causes motion of the at least two channels; at least two coding radar targets physically spaced apart from each other and coupled to the second assembly such that motion of the second assembly causes motion of the at least two coding radar targets; and an evaluation device ascertaining a temporal relationship between at least two coded signals by separating the coded signals explicitly or implicitly beforehand, based on at least one of multiple signal classification and estimation of signal parameters via rotational invariance techniques.
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Specification