DE102016203076A1 - Marking device for locating an object - Google Patents

Abstract

Marking device (1) for locating an object (2) to which the marking device (1) is connected, comprising at least one locating module (3) designed to position the marking device (1) in a plane and / or or in space, and at least one transmitter (4), which is designed to modulate a carrier signal (41), which has a frequency of at most 1 GHz, with a data stream (42), which determines the determined position (11). contains, wherein the localization module (3) at least one receiver (31) for beacon signals (61-64) of at least three terrestrial transmitters (51-54) and an evaluation unit (32), wherein the evaluation unit (32) is adapted to, from to determine the position (11) of the marking device (1) for the beacon signals (61-64). System (100) for locating at least one object (2) with the marking device (1), a receiver (9) for the data stream (42) and at least three terrestrial transmitters (51-54). Use of the marking device (1) and / or the system (100) on a construction site (200).

Description

The present invention relates to a marking device for locating an object, which is particularly useful on construction sites, as well as a system for locating an object with this marking device.

State of the art

Due to confined space, it is not always possible on construction sites to allocate a fixed storage space to each item. For frequently used items, and especially consumables, continuous accounting of what is where is not practical. As a result, a lot of work is spent on construction sites looking for items and materials.

From the DE 10 2004 055 033 A1 is a system for tracking objects on construction sites, in which each object to be tracked is provided with an RFID transponder. The transponder is coupled to a GPS module and can therefore, when requested, return the current position of the object.

The US 2015 301 155 A1 describes a method for localizing an object, in which one and the same signal of a transmitter connected to the object is detected by several receivers and from this is calculated back to the position of the object.

The US 2014 240 143 A1 discloses to determine the position of the object with GPS and transmit it from the object with sub-1 GHz radio.

The DE 694 16 006 T2 discloses the control of implements by means of GPS. The DE 60 2004 004 246 T2 describes general prior art for passing status data from a vehicle.

Disclosure of the invention

In the context of the invention, a marking device for localizing an object to which the marking device is connected has been developed. This marking device comprises at least one localization module, which is designed to determine the position of the marking device in a plane and / or in space, and at least one transmitter, which is designed to have a carrier signal, which has a frequency of at most 1 GHz to modulate a data stream containing the determined position.

The modulation of the carrier signal with the data stream can be done in any way. For example, the amplitude, the phase or the frequency of the carrier signal can be modulated individually or in combination depending on the data stream. The choice of the modulation method depends on the one hand on the distance in which the radio signal radiated by the transmitter should still be receivable, and on the other hand after the transmission bandwidth required for the data stream.

According to the invention, the localization module has at least one receiver for beacon signals from at least three terrestrial transmitters and an evaluation unit, wherein the evaluation unit is designed to determine the position of the marking device from the beacon signals.

The use of terrestrial transmitters instead of GPS or other satellite-based systems is initially an additional expense and thus an apparent disadvantage compared to the prior art. The inventors have recognized, however, that this disadvantage is overcompensated in two respects.

On the one hand, terrestrial beacon signals with a suitable frequency and signal strength can be made available, so that partially completed buildings, construction machines and other obstacles on the radio link to the localization module are overcome. If the terrestrial transmitters are installed on the construction site itself, for example, neighboring buildings can not influence the position determination. By contrast, a GPS signal is much more susceptible to being shielded by obstacles due to the low transmit power of the satellites. This is particularly true at a construction site where the marking device may be located, for example, at the bottom of an excavation that is surrounded by high neighboring buildings. The signal of a GPS satellite can then usually only be received when the satellite passes over the visible part of the sky. Accordingly, all receivable satellites will be relatively close to each other, which suffers the accuracy of the position determination.

On the other hand, the position determination by means of terrestrial beacon signals at the location of the marking device requires considerably less electrical energy than the position determination by means of GPS. Thus, in a particularly advantageous embodiment of the invention, the marking device can be supplied with energy, for example via an energy harvesting device which converts mechanical energy, thermal energy and / or light from the surroundings of the marking device into electrical energy. Energy harvesting devices are Maintenance-free, so that the position determination can not fail because of a missed battery change at the marking device. They supply much lower electrical power than batteries.

If batteries are used to supply energy to the marking device, they last much longer than if the marking device had to supply a GPS receiver. Ideally, the battery is sized so that it does not need to be replaced or charged for the life of the marker.

The marking device can be supplied with energy, alternatively or in combination, for example, also by the object to which it is connected. This is particularly advantageous when this object is about a work machine or a power generator. There is then more energy available than an energy harvesting device can supply batteries or rechargeable batteries at the price that an intervention in the object itself is required.

An energy-autonomous marking device can be fastened, for example, mechanically or magnetically in a detachable manner to the object. One and the same marking device can then optionally be used to locate different objects.

For the purpose of saving energy, the marking device can advantageously spend most of its time in a passive standby mode and have a receiver via which it can be switched to the active transmission mode on the basis of a specific search request. For example, the search query can be made via a local stationary construction site network in the sub-1 GHz range.

The radio transmission in the sub-1 GHz range offers the advantage over previous solutions based on Bluetooth or WLAN of a much larger range, which can reach up to more than 10 km in the open field. Typical construction site sizes of up to a few square kilometers can thus be reliably covered.

In a particularly advantageous embodiment of the invention, the evaluation unit is adapted to determine from the signal strength of at least one beacon signal, and / or from the duration of this beacon signal from the terrestrial transmitter to the receiver, the distance between the terrestrial transmitter and the receiver.

The signal strength already provides a first approximation for the distance. However, especially on a construction site, there are many shielding materials that can weaken the signal. This attenuation, in turn, has no effect on the propagation time of the beacon signal, so that the distance over the runtime can be determined more accurately. If only the runtime is evaluated, the distance measurement can be influenced by multipath propagation and reflections, depending on the environment and frequency. Ideally, therefore, the evaluation of the signal strength is combined with the evaluation of the transit time.

The duration of the beacon signal can be determined, for example, via an airtime encoded in the beacon signal, provided that the terrestrial transmitter on the one hand and the marking device on the other hand have sufficiently precisely synchronized clocks. In a further advantageous embodiment of the invention, the evaluation unit is designed to use a known temporal modulation structure of the beacon signal for determining the propagation time of the beacon signal. Synchronized clocks are not required.

In a further particularly advantageous embodiment of the invention, the evaluation unit is designed to evaluate wireless signals emitted by WLAN access points as terrestrial transmitters as beacon signals. The localization module can, for example, have an additional reception module for WLAN radio signals for this purpose. These radio signals are almost ubiquitous in built-up environments. The range of WLAN radio signals in the 2.4 GHz band and in particular in the 5 GHz band is shorter than in the sub 1 GHz band. However, for use as a beacon already sufficient signal strength, which is significantly lower than the minimum required for a connection to the Wi-Fi network.

In a further particularly advantageous embodiment of the invention, the evaluation unit is coupled to a database which contains the known locations of the terrestrial transmitters. The database may in particular contain location coordinates. The database can be used to improve the relative accuracy with which the localization module determines the position. On the other hand, the position can also be calibrated in absolute coordinates.

In a further advantageous embodiment of the invention, an interface for introducing additional user data is provided in the data stream. For example, this payload may come from one or more sensors,

for example, an acceleration sensor, a position sensor, a temperature sensor, a pressure sensor or a humidity sensor. In this way, both the position of the object and information about the current state of the object can be transmitted via one and the same radio signal.

The sensors can also be used by the marking device itself. For example, the signal of an acceleration sensor can be evaluated in such a way that the marking device only becomes active in order to save energy and emits a radio signal when the object is being moved.

The marking device can be equipped with additional functions. It can, for example, have an LCD or ePaper display for displaying the determined position or the further user data supplied by the sensors. It can also have a Bluetooth, WLAN or NFC unit, for example. It may also be equipped with a receiver for a satellite-based positioning system, GNSS, such as GPS, Baidou, Galileo or GLONASS.

The invention also relates to a system for locating at least one object. This system comprising at least one marking device according to the invention, which is connected to the object, at least three terrestrial transmitters, which are adapted to transmit beacon signals to the localization module of the marking device, and at least one receiver for the data stream of the marking device. From the beacon signals of at least three terrestrial transmitters, the position of the object within a plane can be uniquely determined. In a further particularly advantageous embodiment of the invention, at least four terrestrial transmitters are provided. Then an unambiguous determination of the position is possible even in three-dimensional space. Especially the construction work on a construction site is usually not only in one plane.

The geometric arrangement of the terrestrial transmitters to each other is arbitrary. The only boundary condition is that the beacon signals of at least three, or at least four, terrestrial transmitters should be receivable in the entire area in which the object is to be located. With additional terrestrial transmitters, on the one hand, the covered area can be increased and, on the other hand, the accuracy of positioning can be increased. In order to increase the range of the terrestrial transmitters, they can be arranged, for example, in higher places, such as on cranes, crane jibs, towers, or on or in construction machines.

At least one terrestrial transmitter is advantageously designed to transmit the beacon signal with a modulated or unmodulated carrier frequency of at most 1000 MHz, preferably between 150 MHz and 1000 MHz and very particularly preferably between 800 MHz and 100 MHz. Below 1000 MHz, the range is typically several kilometers.

The range above 150 MHz is on the one hand distinguished in that at low-end transmitter and receiver modules that cover frequencies up to 1000 MHz, the lowest possible frequency begins at about 150 MHz. On the other hand, then the efficiency of the antennas, which is determined by the ratio between the predetermined by the application antenna size and the wavelength, in an advantageous range.

In the range between 800 and 1000 MHz, the efficiency of small antennas in particular becomes even better due to the shorter wavelength. At the same time, in this frequency range, on the one hand, a higher bandwidth is available for the data stream, and on the other hand there are regulated frequency bands in which the relative frequency occupancy time is limited. In contrast to the ISM bands, the signal can therefore not be covered by other permanent transmitters.

For the beacon signal but also much lower frequencies can be selected, for example, to further increase its range or to avoid reflections and multipath propagation. For example, the ISM bands in the shortwave range between 13.553 MHz and 13.576 MHz or between 6.765 MHz and 6.795 MHz, or also appropriately allocated frequencies between 3 MHz and 5 MHz, can be used for this purpose.

A receiver for the data stream transmitted by the transmitter of the marking device can for example be combined with the terrestrial transmitter and / or arranged in its vicinity. One and the same location can then be used for both functions and the cabling effort is minimized. Advantageously, a further translating transmitting unit can be integrated into this combination in order to forward the data stream, for example, to an external processing unit or cloud. In the arithmetic unit or cloud, for example, a software solution can be implemented which determines, for example, the position and possibly the vectorial direction of movement of the object from the data stream and, if necessary, by sensor data fusion with additional information.

If the terrestrial transmitter is mounted at a higher location, such as on a crane or jib, it can be advantageously combined with a camera or a stereo camera be so that the site can also be visually detected and a representation of the localized objects in a construction plan view is possible. The camera or stereo camera can optionally also be combined with a laser distance sensor for the three-dimensional detection of the construction site.

In a further particularly advantageous embodiment of the invention, the receiver for the data stream is designed as a mobile device, which in turn has a localization module according to the invention. A construction worker who searches the object on site can then compare his own position relative to the terrestrial transmitters directly with the determined position of the marking device and is then guided unerring to the object, if the position determination is not calibrated in absolute coordinates. The mobile device can also display further data from the data stream, such as the additional user data of sensors, on a display. The mobile device can furthermore be designed to send control commands to the marking device, for example in order to switch it off temporarily for the purpose of saving energy or avoiding radio interference.

The object may be, for example, a construction machine or a construction machine part, a garment, a tool or a building material. For example, the object may be an accessory for an excavator, such as a grave bucket, a grapple or a deep hole drill. Such accessories are typically stored on a large construction site and used by various excavators, so it is a typical problem for the excavator driver to find the right grave bucket on the jobsite. Instead of sending a construction worker on the search, the position of the grave spoon can then be displayed on a display in the excavator cockpit or on the smartphone of the excavator driver. If the object is a garment, the position of construction workers can also be tracked so that operations and the progress of work processes can be detected. A building material may for example be a concrete slab, a pipe or an intermediate product which is moved on the construction site. A tool may be, for example, a portable power tool, a power generator or a compressed air generator.

Likewise, the location of persons and objects in special danger areas, such as in explosive or collapse-endangered areas of a construction site, possible. This location also allows automated monitoring and the introduction of measures for personal protection or to avoid property damage.

The marking unit, the terrestrial transmitter and / or the receiver for the data stream are advantageously housed respectively in a robust and possibly waterproof housing, for example according to one or more of the standards IP6K6K, IP6K7, IP6K8, IP6K9K DIN 40 050 Part 9 or MIL STD 810.

The system is particularly suitable for use on construction sites, but is not limited to this use. It can also be used, for example, in the field of logistics, for example in packaging, containers, containers or as a shim in bulk goods. Other outdoor applications, such as at logistics yards, events such as concerts or at airports, are possible.

Further measures improving the invention will be described in more detail below together with the description of the preferred embodiments of the invention with reference to figures.

embodiments

It shows:

1 Embodiment of the system 100 on a construction site 200 ;

2 Embodiment of a marking device 1 ,

1 shows an embodiment of the system 100 working on a construction site 200 is installed. The construction site 200 includes, among other things, a crane 201 , a construction container 202 and a waste dump 203 , On the site 200 is an example of the position 11 a grave spoon as a construction machine part 21 , a construction helmet as a garment 22 , a wrench as a tool 23 and a pile of wood as a building material 24 to monitor.

For this purpose is on the boom of the crane 201 a terrestrial transmitter 51 installed, which is a beacon signal 61 radiates. On the roof of the construction container 202 is another terrestrial transmitter 53 installed, which is a beacon signal 63 radiates. Two more terrestrial stations 52 and 54 , the beacon signals 62 respectively. 64 are blasting elsewhere in the construction site 200 distributed.

Each object to be tracked 21-24 is with a marking device 1 each connected to a localization module 3 having. The localization module 3 determines the position in each case 11 the marking device 1 , The in 1 each not shown transmitter 4 in the marking device 4 modulates a carrier signal 41 with a data stream 42 who's the position 11 contains, and emits this signal 41 . 42 from.

The recipient 9 for the data stream 42 is part of a mobile device 91 , The mobile device 91 For its part, it has a localization module 3 and shows on his display 94 the comparison between that of the own localization module 3 determined position 11a and the one from the data stream 42 decoded position 11 of the searched object 21-24 at. The user of the mobile device 91 thus becomes unerring to the respective object 21-24 guided, without the position determination in absolute coordinates must be calibrated. In addition, the data stream 42 via a GSM / UMTS module 92 as a mobile signal 93 retransmitted.

With the four terrestrial transmitters 51 - 54 can change the position of each object 21-24 be uniquely determined in the three-dimensional space spanned by the coordinate directions x, y and z.

2 shows the detailed structure of an object 2 . 21-24 connected marking device 1 , The marking device 1 is about an energy harvesting device 8th energized. This energy becomes the localization module 3 and the transmitter 4 operated. The localization module 3 has a receiver 31 for the beacon signals 61-64 the terrestrial transmitter 51 - 54 on. The evaluation unit 32 determined from these beacon signals 61-64 in conjunction with the from a database 33 retrieved known positions of the terrestrial transmitter 51 - 54 the position 11 the marking device 1 ,

The transmitter 4 modulates a carrier signal 41 in the sub-1 GHz range with one data stream 42 who's the position 11 the marking device 1 contains. Via an interface 43 be in the data stream 42 additional user data 7 encoded by an acceleration sensor 71 a position sensor 72 , a temperature sensor 73 , a pressure sensor 74 and a humidity sensor 75 at the object 2 . 21-24 were won. That with the data stream 42 modulated carrier signal 41 is as a radio signal 41 . 42 from the transmitter 4 radiated. It can be from the recipient 9 be received and further evaluated.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102004055033 A1 [0003]
• US 2015301155 A1 [0004]
• US 2014240143 A1 [0005]
• DE 69416006 T2 [0006]
• DE 602004004246 T2 [0006]

Cited non-patent literature

• DIN 40 050 [0038]

Claims (14)

Marking device ( 1 ) for localizing an object ( 2 ), with which the marking device ( 1 ), comprising at least one localization module ( 3 ), which is adapted to the position ( 11 ) of the marking device ( 1 ) in one plane and / or in space, and at least one transmitter ( 4 ) which is adapted to receive a carrier signal ( 41 ), which has a frequency of at most 1 GHz, with a data stream ( 42 ), which determines the position determined ( 11 ), characterized in that the localization module ( 3 ) at least one recipient ( 31 ) for beacon signals ( 61-64 ) of at least three terrestrial transmitters ( 51 - 54 ) and an evaluation unit ( 32 ), wherein the evaluation unit ( 32 ) is adapted from the beacon signals ( 61-64 ) the position ( 11 ) of the marking device ( 1 ) to investigate. Marking device ( 1 ) according to claim 1, characterized in that the evaluation unit ( 32 ) is adapted from the signal strength of at least one beacon signal ( 61-64 ), and / or the duration of this beacon signal ( 61-64 ) from the terrestrial transmitter ( 51 - 54 ) to the recipient ( 31 ), the distance between the terrestrial transmitter ( 51 - 54 ) and the recipient ( 31 ) to investigate. Marking device ( 1 ) according to claim 2, characterized in that the evaluation unit ( 32 ) is adapted to determine the duration of the beacon signal ( 61-64 ) a known temporal modulation structure of this beacon signal ( 61-64 ). Marking device ( 1 ) according to one of claims 1 to 3, characterized in that the evaluation unit ( 32 ) is adapted from wireless access points as terrestrial transmitters ( 51 - 54 ) radiated radio signals as beacons ( 61-64 ). Marking device ( 1 ) according to one of claims 1 to 4, characterized in that the evaluation unit ( 32 ) with a database ( 33 ), which are the known locations of terrestrial transmitters ( 51 - 54 ) contains. Marking device ( 1 ) according to one of claims 1 to 5, characterized in that an interface ( 43 ) for the introduction of further user data ( 7 ) into the data stream ( 42 ) is provided. Marking device ( 1 ) according to claim 6, characterized in that at least one sensor ( 71 - 75 ) for obtaining the further user data ( 7 ) is provided. Marking device ( 1 ) according to claim 7, characterized in that the sensor ( 71 - 75 ) an acceleration sensor ( 71 ), a position sensor ( 72 ), a temperature sensor ( 73 ), a pressure sensor ( 74 ) or a humidity sensor ( 75 ). Marking device ( 1 ) according to one of claims 1 to 8, characterized in that for supplying energy to the marking device ( 1 ) an energy harvesting device ( 8th ) is provided, the mechanical energy, heat energy and / or light from the environment of the marking device ( 1 ) converts into electrical energy. System ( 100 ) for locating at least one object ( 2 ) comprising at least one marking device ( 1 ) according to one of claims 1 to 9, associated with the object ( 2 ), at least three terrestrial transmitters ( 51 - 54 ), which are adapted to beacon signals ( 61-64 ) to the localization module ( 3 ) of the marking device ( 1 ) and at least one recipient ( 9 ) for the data stream ( 42 ) of the marking device ( 1 ). System ( 100 ) according to claim 10, characterized in that at least four terrestrial transmitters ( 51 - 54 ) are provided. System ( 100 ) according to one of claims 10 to 11, characterized in that at least one terrestrial transmitter ( 51 - 54 ) is adapted to the beacon signal ( 61-64 ) with a modulated or unmodulated carrier frequency of at most 1000 MHz, preferably between 150 MHz and 1000 MHz and very particularly preferably between 800 MHz and 100 MHz. System ( 100 ) according to one of claims 10 to 12, characterized in that the receiver ( 9 ) for the data stream ( 42 ) as a mobile device ( 91 ), this mobile device ( 91 ) in turn a localization module ( 3 ) according to the characterizing part of claim 1. Use of a marking device ( 1 ) according to one of claims 1 to 9 and / or a system ( 100 ) according to one of claims 10 to 13 on a construction site ( 200 ), wherein at least one construction machine or a construction machine part ( 21 ), at least one garment ( 22 ), at least one tool ( 23 ) and / or at least one building material ( 24 ) as an object ( 2 ) is selected.

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