EP3271745A1

EP3271745A1 - 3d-position determination method and device

Info

Publication number: EP3271745A1
Application number: EP16704804.0A
Authority: EP
Inventors: Alexander RUDOY
Original assignee: Toposens GmbH
Current assignee: Meysens GmbH
Priority date: 2015-03-19
Filing date: 2016-01-29
Publication date: 2018-01-24
Also published as: DE102015003584A1; WO2016146292A1; US10698094B2; KR102559855B1; KR20180011056A; US20180074177A1; JP6789999B2; JP2018513981A; CN107407723B; CN107407723A

Abstract

The invention relates to a device and a method for determining the three-dimensional position of an object. The device comprises at least one transmitter which is suitable for emitting a signal; at least three receivers, wherein the at least three receivers and the at least one transmitter are arranged preferably within a first plane, a first receiver and a second receiver are preferably arranged along a first straight line, and a third receiver is arranged preferably at a distance from the first straight line; and a processor, which is configured to calculate at least three propagation times, each propagation time being the time required by the signal to travel from the transmitter to the respective receiver via the object. The processor is additionally configured to determine the three-dimensional position of the object from the calculated propagation times and from the arrangement of the transmitter and the receivers.

Description

Method and device for 3D position determination

The present invention relates to a method and apparatus for three-dimensional positioning of a reflecting or diffusing object using at least three receivers and at least one transmitter.

Techniques are known in the art which can determine the distance of an object to a signal source due to a reflected signal relative to the signal source, e.g. the distance measurement in a vehicle. Thus, these systems only measure the distance to an object in front of the system. Accordingly, with these known methods no position of an object in three-dimensional space can be determined.

For determining the position (location) of objects in three-dimensional space, there are various solutions, such as. the GPS location or GSM location. However, all of these methods and their various variants require an object that actively sends a signal. Thus, a passive object that does not actively send a signal can not be located with the existing solutions.

WO 2006/130004 A1 describes a radar system for an aircraft in order to detect at least one further flying object in a region surrounding the aircraft during operation, the system comprising at least one subsystem comprising at least one transmitter for emitting an electromagnetic measurement signal and an in phase arranged array of receivers for simultaneously receiving reflections of the transmitted measurement signal and for generating received signals, each having a received reflection of the

Has represent measuring signal. The subsystem further comprises a signal processing unit for processing each of the received signals to obtain information about a detected flying object in the region surrounding the aircraft. The signal processing unit is configured to determine the direction relative to the aircraft, of which the

received reflections, and where, to determine this direction, the

Signal processing unit is configured to perform a fast Fourier transform with respect to a received signal.

US 2013/0172739 A1 describes a nuclear probe and an ultrasonic transducer which are connected to each other. The connection aligns the coordinate systems in a known spatial relationship. The ultrasound data is used to determine an offset of the Transducer or to detect a position change of the transducer without using a tracking sensor.

The present invention is based on the object, a method and a

Device to provide the or a position determination of an object in the

allows three-dimensional space, where the object can be anywhere in the room and does not have to actively send a signal. Another object of the present invention is to provide a method and apparatus that overcomes one or more of the above-mentioned problems of the known systems.

Further advantages of the present invention will become apparent, inter alia, from the following description.

This object is achieved with the features of the independent claims. The dependent claims relate to further aspects of the invention.

According to one aspect of the present invention, an apparatus for determining the three-dimensional position of an object is provided. The device according to the invention comprises at least one transmitter which is suitable for emitting a signal and at least three receivers, wherein the at least three receivers and the at least one transmitter are preferably arranged substantially within a first plane, a first receiver and a second receiver preferably are arranged substantially along a first straight line, preferably spaced from each other, and a third receiver is preferably arranged at a distance from the first straight line. Furthermore, the

The inventive apparatus includes a processor configured to determine at least three run times, wherein the processor is further configured to determine the three-dimensional position of the object from the determined transit times as well as the location of the transmitter and the receivers. The device according to the invention is also suitable for

To determine the surface texture of an object by determining the three-dimensional position of many points forming an object (point cloud). In this way, not only the macroscopic shape of a three-dimensional object, but also its

microscopic surface texture (roughness).

If the at least one transmitter and the at least three receivers are not mounted within a plane, a position error occurs in the algorithm. However, the issued positions still have the right tendency. The offset of the sensors from the plane is expressed by a shorter or longer term and thus in an imaginary offset position of the object. As described above by the term "spaced", the two receivers should be spaced apart to create a plane through the two receivers and the object, the distance being infinitesimally small, and the same for the distance between the first straight line and the third receiver.

By determining the three-dimensional position of the object in space, the determination of all coordinates (e.g., x, y, and z coordinates in a Cartesian) is determined

Coordinate system) of the object, for example its center of gravity, with respect to the

Arrangement of transmitter and receivers understood. In some embodiments this can also be the determination of the position in a half-space (for example z> 0).

The transit time is preferably determined as a time difference between the time at which a signal reflected and / or scattered by the object is detected at a receiver and the time at which the transmitter has sent the signal corresponding to the received signal.

For determining the position, the preset arrangement of the transmitter and the receiver, for example, can be stored in the processor (or an associated memory) or can be determined metrologically, as described in more detail below.

Preferably, the transmitter is arranged on the first straight line between the first and second receiver, for example centrally. Alternatively, the position of the transmitter may be substantially identical to the position of one of the at least three receivers. This can be realized, for example, by one of the three receivers simultaneously serving as a transmitter. In other words, the transmitter may be a stand-alone unit that is only suitable for transmitting a signal. The transmitter can also be integrated into a receiver. Thus, the position of the transmitter and the receiver in the

Essentially identical. A receiver with transmit and receive functionality in a unit can also be called a sensor. However, it may be sufficient to arrange a transmitting and a receiving unit next to each other. Furthermore, the transmitter can also be arranged at a predetermined distance perpendicular to the first straight line. In other words, the starting point of the signal can be offset perpendicular to the straight line and / or perpendicular to the plane by a predetermined distance.

There may also be integrated in all three receivers three transmitters, e.g. all at the same time or delayed (different modulated signals) can send.

The transmitter may preferably be capable of distributing the signal isotropically in all

Spacing spatial directions or at least in a half-space, or be a half-circle transmitter. In the latter case, the center of the half-circle transmitter is preferably in the first Plane and on the first straight, so that the signal has its starting point on a semicircle with a distance (radius of the semicircle) from the first straight line. However, in the context of the invention, this should be understood to mean that the half-circle transmitter is arranged within the first plane.

The processor may be further configured to determine from a first delay, which requires the signal from the transmitter via the object to the first receiver, within a second plane, a first elliptical or a first elliptical orbit and a second delay, the signal from the transmitter via the object to the second receiver is required to determine within the second plane a second ellipse path or a second half ellipse path, wherein the position of the object in three-dimensional space is calculated by using the position of the intersection of the two elliptical or semi-elliptic paths in the second plane.

For example, the x-coordinate may be defined as a coordinate along the first straight line. In this example coordinate system, the y-coordinate may be a coordinate perpendicular to the x-coordinate, with the x and y coordinates defining the first plane. Thus, the z-coordinate is a coordinate that passes vertically through the first plane. Preferably, the origin of coordinates is placed on the position of the transmitter. However, it is clear that the position of the coordinate system has no influence on the measurement principle and can be chosen freely.

According to the present invention, it is also possible that the first focus of the first ellipse trajectory coincides with the second focus of the first ellipse trajectory and the first focal point of the second ellipse trajectory coincides with the second focus of the second ellipse

Elliptical path coincides. In this case, it is a circle (as a special case of an ellipse). In other words, according to the present invention, it is also possible to determine from a first transit time, which requires the signal from the transmitter via the object to the first receiver, within a second plane, a first circular path or semicircular path and from a second transit time, which the Signal from the transmitter via the object to the second receiver is required to determine within the second plane a second circular or semicircular path, the position of the object in three-dimensional space being calculated using the position of the intersection of the two circular paths or semicircles in the second plane.

Preferably, the processor is further configured to determine an angle between the first and second planes from a third delay that requires the signal from the transmitter via the object to the third receiver. In other words, the location of the second level (compared to the first level) is determined over the third term. Without the third runtime, only the determination of the position within the second level is possible. The third runtime creates a path that determines the angle or tilt between the two levels.

Thus, from the intersection of the two elliptical or semi-elliptical orbits in the second plane and the second layer's position / angle / tilt (compared to the first plane), the three-dimensional position, i. e.g. the x, y, z coordinates of the position of the object in the case of a Cartesian coordinate system, are determined in three-dimensional space. Since there are, strictly speaking, two intersections of two intersecting ellipses, preference is given to knowledge of the arrangement of the system (for example based on the assumption that the transmitter only emits signals in a half-space or an object for geometrical reasons is only present at one of the two intersections can), the correct of the two points of intersection selected.

When using a half-circle transmitter, so that the signal has its starting point on a semicircle with a distance (radius h of the semicircle) from the first straight line, a tilting of the semi-elliptical orbits occurs. This tilting is caused by the distance (radius) h of the output signal of the half-circle transmitter. The signal is radiated higher by the radius h (in the second plane) than in a method without the half-circle transmitter. As a result, the two focal points of the two hemi-elliptical paths are raised by the distance h and the upper (positive) Halbellipsenbahnen be tilted up and the lower

tilted (negative) Halbellipsenbahnen down.

As a result, as will be described in greater detail below, a tilting of the semi-elliptical paths may result. Preferably, at an angle not equal to zero (or above a predetermined threshold value), the respective elliptical orbit in each case two

Semi-elliptical paths are divided along the first straight line and tilted at an angle with respect to the first plane in the positive and negative directions. This method can be used, for example, when the signal source corresponds to a half-circle transmitter or even if the signal source has an extension that is opposite to the emitted one

Radiation is large and thus approximately corresponds to an offset perpendicular to the first straight line.

According to a further aspect of the present invention, there is provided an apparatus as described above, the apparatus comprising a processor configured to shape out of shape and / or travel time one or more signals received from one or more of the at least three receivers and / or to determine the size and / or texture of the surface of the object. In which

Preferably, a signal source is used which emits a plurality of short pulses to allow the object to be represented as a point cloud and thus better the

To capture object geometry.

According to a further aspect of the present invention, a method for the

Determining the three-dimensional position of an object provided. The method comprises transmitting a signal from a transmit position that is at least partially reflected and / or scattered by an object and receiving the at least partially reflected and / or scattered signal at at least three receive positions, wherein the at least three receive positions are preferably substantially within one arranged first level with the transmission position, wherein a first reception position and a second

Receiving position preferably substantially along a first straight line, preferably spaced from each other, are arranged and a third receiving position is preferably arranged at a distance from the first straight line. The method further comprises determining at least three run times, the respective run time being a time which requires the signal from the transmit position over the object to the respective receive position and the determination of the three-dimensional position of the object using the determined run times and the arrangement of the objects Transmission position and the reception positions.

The transmission position can be arranged along the first straight line, preferably between the first and second reception position, or also with one of the at least three

Receiving positions is substantially identical.

The determination of a first coordinate of the three-dimensional position of the object can take place on the basis of a first and second transit time, which the signal from the transmitter via the object to the first or second receiver requires, and the distances of the first and the second receiving position to the transmission position, wherein the first coordinate defines the position of the object along the first straight line. Preferably, the determination of the position of the object in three-dimensional space is performed using an intersection of a first and a second elliptical or a first and a second elliptical orbit within a second plane, wherein a first transit time, the signal from the transmitter over the object to the first Required receiver, the first elliptical or the first Halbellipsenbahn defined in the second plane and a second transit time, the signal from the transmitter on the object to the second

Required receiver defines the second elliptical or the second half ellipse path in the second plane. Using the intersection of the first and second ellipse paths or the first and second half ellipse paths within the second plane, not only a y and z coordinate (exemplary coordinate system as described above) of the object in three-dimensional space can be determined, but also the x Coordinate (coordinate along the first straight line) of the object in three-dimensional space. The second level is defined by the first straight line and the object. In other words, the second level is a level defined by the first receiver, the second receiver and the object.

As already described above, the first focal point of the first elliptical orbit may coincide with the second focal point of the first elliptical orbit and the first focal point of the second elliptical orbit coincide with the second focal point of the second elliptical orbit to define a circular path.

Preferably, the calculation of the position of the object in three-dimensional space is performed using an angle between the first and second planes, wherein the third delay that the signal requires from the transmitter via the object to the third receiver defines the angle. The angle defines a possible tilting of the first level against the second level (see also explanations above).

Furthermore, the method may include a step of calculating the distances of the

Receiving positions to the sending position, wherein the calculation of the distances based on a transit time of a transmitted directly from the sending position to the respective receiving position signal, using a predetermined propagation speed based.

In other words, if the propagation speed of the signal is known, the distances can be determined on the basis of the transit times of the signals measured directly by the transmitter to the respective receiver with the aid of the method according to the invention. Thus, a determination of the distances between the receivers or between the receivers and the transmitter prior to use could be omitted. This could allow, for example, a flexible attachment of the receiver and transmitter, ie a fixed attachment of the elements with predetermined Distances would not be necessary. This could also lead to lower manufacturing costs and more flexible application areas, eg the receivers and the transmitter could be stored independently and depending on the situation on an existing level (eg a building wall, a bumper of a car, etc.) are attached without determining the distances exactly to have to. After use, the receivers and the transmitter could be removed from the plane and reassembled at another level. As another example, in the production process of the sensor system, the position of the individual receivers could be determined to the sensor and the algorithm of

Tolerance deviation of each individual sensor can be adjusted.

Alternatively, the method may include a step for calculating a

Propagation speed of the transmitted signal, wherein the calculation of the propagation velocity based on the signal transmitted directly from the transmission position to one of the at least three receiving positions, using a predetermined distance between the transmission position and the one of the at least three receiving positions.

In other words, if the distances between the receivers and the transmitter are known, the propagation speed of the signal transmitted directly from the transmission position to one of the at least three reception positions can be determined with the aid of the present invention. This is advantageous in order to provide a calibration of the device before the position determination. Furthermore, the propagation speed may change as a function of the situation (for example due to a temperature change of the environment, use in different propagation media). Thus, a calibration prior to each measurement could, among other things, improve measurement accuracy.

According to another aspect of the present invention, there may be provided a method as described above and additionally comprising a step of calculating the extent and / or size and / or texture of the surface of the object using the shape and / or run time of one or more of one or more of the three

Receive receiving positions of received signals.

It may also be advantageous that the method of the present invention is carried out repeatedly, while the transmission position is varied and preferably between two or more receiving positions. Thereby, e.g. the measuring accuracy can be increased.

The present invention is further directed to the use of the apparatus and method described above for one or a combination of the following applications: gesture recognition (gesture control), person recognition, Position detection of objects (persons, objects, etc.), speed measurement of objects (persons, objects, etc.), room surveillance (alarm system,

Presence detection), volume detection, detection of geometries (3D scanner), creation of a 3D color image (sensor + camera), non-destructive material testing, body scanning (eg organ, tissue and bone scan), fish finder, scanning of water bottoms, microscopy, cartography, Display of temperature and gas flow, environment detection (eg for autonomous vehicles, drones), soil scanner for raw material search and / or detection of ground infrastructure, navigation, illumination of objects (detection of internal structure), security applications (eg at the airport), detection of moving objects .

meteorological observations, use for controlling machines, use in the military sector (for example, minesweepers), level measurement, height control, presence control,

Collision protection, path detection, distance measurement, and / or classification.

The present invention is basically applicable to any type of wave, as long as corresponding transmitters and receivers for such waves can be constructed, and in particular comprises electromagnetic waves, e.g. Radio waves, microwaves,

Heat radiation, light, X-radiation, gamma radiation; Pressure waves e.g. acoustic waves, shock waves; gravitational waves; Radiation such as Particle radiation and

Wave radiation; Plasma waves; Matter waves; Bending waves; seismic waves; magnetic waves; electric waves.

Features which are described in relation to the method according to the invention may of course also correspond to corresponding properties of the corresponding devices of the device according to the invention. Accordingly, features of the described apparatus of the present invention may correspond to method features.

Hereinafter, the present invention will be explained in more detail with reference to embodiments and the figures. Show it:

1 is a schematic plan view of a sensor arrangement according to a first embodiment of the invention,

Fig. 2 is a schematic 3 D view of the geometric construct for three

Transit time measurements by reflection according to the first embodiment of the invention,

Fig. 3a is a schematic plan view of the geometric construct for three

3b is a schematic geometric construct of two auxiliary lines according to the first embodiment of the invention, 4 shows a schematic representation of a transit time measurement with two receivers according to the first embodiment of the invention,

5a shows a schematic geometric structure for two transit time measurements by reflection according to the first embodiment of the invention,

5b is a schematic representation for determining the positions of the object on two elliptical orbits according to the first embodiment of the invention,

6 is a schematic view of a possible structure of a half-circle transmitter according to a second embodiment of the invention,

Fig. 7 is a schematic 3D view of the geometric construct for three

Runtime measurements by reflection with a semicircular according to the second

Embodiment of the invention,

Fig. 8 a is a schematic plan view of the geometric construct for three

Runtime measurements by reflection with a half-circle transmitter according to the second

Embodiment of the invention,

Fig. 8b is a schematic representation of the geometric construct of two

Auxiliary lines according to the second embodiment of the invention,

9 is a schematic representation of the transit time measurement with two receivers and a half-circle transmitter according to the second embodiment of the invention,

10a is a schematic representation of the geometric construct for two

Runtime measurements by reflection with half-circle transmitter according to the second embodiment of the invention,

10b is a schematic representation of the possible positions of the object on four tilted Halbellipsenbahnen according to the second embodiment of the invention,

Fig. 11 is a schematic plan view of a sensor arrangement according to the third

Embodiment of the invention,

Fig. 12 is a schematic 3D view of the geometric construct for three

Transit time measurements by reflection according to the third embodiment of the invention,

13a is a schematic plan view of the geometric construct according to FIG. 12 according to the third embodiment of the invention,

13b is a schematic representation of the geometric construct of FIG. 12 according to the third embodiment of the invention,

FIG. 14 shows a schematic illustration for transit time measurement with two receivers according to the third embodiment of the invention, FIG. 15a is a schematic representation of the geometric construct for two transit time measurements by reflection according to the third embodiment of the invention,

15b is a schematic representation of the possible positions of the object on two circular paths according to the third embodiment of the invention,

16 is a schematic diagram for switching the transmission functionality of the sensors according to the third embodiment of the invention;

17 shows a schematic representation of the received signals according to a further embodiment of the invention,

18 a schematic representation of the reflection on two extended objects,

19 shows a schematic representation of the signals received by the two objects according to FIG. 18,

FIG. 20 shows a schematic representation of the signals received by the two objects according to FIG. 18, FIG.

21 is a schematic representation of the reflection on two extended objects, and

Fig. 22 is a schematic representation of a rough surface.

1 shows the schematic structure of a first embodiment of the present invention with a first receiver 10, a second receiver 20, a third

Receiver 30 and a transmitter 40. The relationships between the individual components are also shown and explained in more detail below.

The transmitter 40 and the three receivers 10, 20, 30 are preferably arranged at the same level (i.e., preferably within a first plane, here characterized by z = 0) according to this embodiment. The receiver 10 and the receiver 20 are preferably positioned in a row (ie, preferably along a first straight line) with the transmitter 40 (preferably on the dashed line), thus preferably on the x-axis (ie, y = 0 and z = 0) ). The first receiver 10 has a distance 2fi from the transmitter 40 and the second one

Receiver 20 also has a distance 2f ₂ from the transmitter 40. The distances may be both different in size, ie 2fj φ 2f ₂ , as well as equal, ie 2fi = 2f ₂ . The receiver 30 may be the distance b in the x direction and the distance a from the y direction

Coordinate origin O (here the position of the transmitter 40). The distances a and b can assume any value. However, a should preferably be non-zero, ie the third receiver should preferably not be arranged on the x-axis. In other words, the receiver 30 should preferably be spaced apart from the first x-axis. Although it is assumed in Fig. 1 of a mathematically correct positioning within a plane or along a straight line, it will be clear to the skilled person that small Deviations thereof, which may already result from manufacturing tolerances, etc., can not lead out of the scope of the invention. Even if the exactness of

Positioning of the individual system components has an influence on the accuracy of the determined position, so the position of an object can still with

determined with sufficient accuracy, if the components 10, 20, 30 and 40 in

Substantially disposed within a plane and / or if the components 10, 20 and 40 are arranged substantially along a straight line.

Fig. 2 shows a schematic representation of the first embodiment in a

three-dimensional view. According to FIG. 2, the transmitter 40, the receivers 10, 20, 30 and the object 50 are shown schematically. Furthermore, FIG. 2 shows the distance s, which travels the signal from the transmitter 40 to the object 50. The routes ei, β2, e ₃ as shown in FIG. 2, the distances traveled by the reflected light from the object 50 signal to the respective receivers are. The others

Plotted distances \ 2D, y2D, d, r, a, b are used and described in more detail below.

For determining the three-dimensional position of the object 50, three transit time measurements are performed according to the first embodiment of the present invention. The three transit time measurements are performed by means of the transmitter 40 and the three receivers 10, 20, 30. The transmitter 40 generates a signal (distance s denotes the path of the fastest signal from the transmitter 40 to the object 50, ie theoretically a wave or a particle current is emitted.) The distance s shows the shortest transit time and thus the first reflected signal at the object. ), which propagates in three-dimensional space until it encounters an object 50 and is partially reflected and / or scattered at it. The reflected or scattered portions of the signal strike the three receivers 10, 20, 30 (along the distances ei, β2, ej). This results in the three runtimes that arise from the transit time from the transmitter 40 to the object 50 together with the transit time from the object 50 to the individual receivers 10, 20, 30 (transit time measurement).

Considering the distance .y travels the signal from the transmitter 40 to the object 50 and the individual routes ei, e ₂ and e ₃ , which cover the signal from the object 50 to the respective receiver 10, 20, 30, so receives that shown in FIG. 2,

three-dimensional geometric construct together with the auxiliary lines X2D, y2D, d, r, a, b.

FIGS. 3 a and 3 b show the geometric construct viewed from above (FIG. 3 a:

Top view of the z-axis) or viewed from the side (FIG. 3b: top view of the x-axis). Fig. 3b shows additional auxiliary lines q, y and the coordinate z. The two auxiliary lines y _2D and d are always perpendicular to the x-axis and are connected to the top of the object. Together with the distance α, these form a triangular construction (see FIGS. 3a and 3b).

The geometric construct yields the following equation:

If the eq. (1) for the distance a to z, the following equation for the z-coordinate of the object 50 in three-dimensional space results:

V2y ₂ ² _D a ² - y ₂ ⁴ _D - rf ⁴ + 2d ² y _D + 2d ² a ² - a ⁴

a

Wherein the Eq. (2) if a> 0 a positive sign and a <0 a negative

Sign (for the upper position of the object 50, i.e. above the plane in which the receivers 10, 20, 30 and the transmitter 40 are located). If the object 50 is below the plane in which the receivers 10, 20, 30 and the transmitter 40 are located, the sign is reversed.

The auxiliary route d in the Gl. (2) corresponds to the following equation:

d = Use3 ^l 2D + yz>) - 0 - * 2D) ² (3)

The determination of the x-coordinate of the object in three-dimensional space takes place via the following equation:

₌ 1 -4 / ₂ ² t / _sel + 4A ² E / _se2 - U _{se2 s} ² _el + U _sel U _e2

The routes U _sel , U _se2 and U _se3 are routes that arise through the running time (sum of the distance s and the respective distance e _n ). These routes are over the

Propagation speed c of the signal and the transit times t, t ₂ and t ₃ , which requires the signal from the transmitter 40 to the respective receiver 10, 20, 30, determined as follows: U s. en = C tn (5)

The determination of the y-coordinate of the object in three-dimensional space takes place via the following equation:

Wherein the Eq. (6) For the y-coordinate in three-dimensional space a positive

Has signs at y> q- \ a \ and α> 0, as well as at y <q- \ a \ and α <0. For all other value ranges, Eq. (6) a negative sign.

The auxiliary distance q mentioned in the case distinction is calculated as follows:

The auxiliary lines χ _Ώ and y _2D mentioned in the above equations are the x and y coordinates of the object 50 during the position determination of the object 50 in the two-dimensional space (possibly in the second plane).

For the determination of the x and y coordinates (x _2D and y _2D ) of the object 50 im

Two-dimensional space according to the first embodiment of the present invention

Invention requires a transmitter 40 and two receivers 10, 20 of the three receivers 10, 20, 30. This is shown schematically in FIG. In this arrangement, the geometric construct shown in Fig. 5a arises. Two run-time paths ej and e ^ give rise to two

Elliptical paths (see Fig. 5b). The position of the object 50 is shown in FIG. 5b at the intersection of the two elliptical orbits. The first two focal points of the two elliptical orbits coincide exactly at the position of the transmitter 40 (origin of the distance s) together.

From the geometric constructs according to FIGS. 5 a and 5 _b , the following equations result for the two propagation _distances (U _sel and U _se2 )

and yio + ^x w +} yh + (2 2 + * 2D) (9)

If the eq. (8) for the transit time U _sel to y _2D converted, the following equation results:

4 / i ² + UjeiX-Usex + 4 * ₂ ² _D + 4Λ ² - 8A » _2D ) ₍₁₀₎

If the eq. (9) for the transit _distance U _{se2 converted} to y _2D , the following equation results:

The equations, with a positive sign, for the half-ellipse paths (10) and (11) are equated and set to zero:

After switching the Eqs. (12) after x _2D the following equation results:

- fjUsel + Vissel ^~ Use2 Ull + ^ 1 ^ 2

It should be noted that the equation 13 for the x-component in the two-dimensional space corresponds to the equation of the x-component (equation 4) in three-dimensional space. If the equations for x _2D and y _2D for the positive half ellipse path (+) are transformed into Eqs. (2) for the three-dimensional z-coordinate and in Eq. (6) is used for the three-dimensional y-coordinate, Eq. (14) and Eq. (15):

N

+1 Of course, the preferred embodiment discussed in detail herein is merely an exemplary way of computing the coordinates. However, the invention is by no means limited to this example. Rather, let's get out of the geometric

Situation illustrated in the figures, also derive other equations by means of which the expert can calculate the individual coordinates of the object position. For example only, it should be mentioned that all equations in a polar coordinate system look completely different. However, the invention is based inter alia on the general idea that two of the determined three transit times define two intersecting elliptical orbits, as shown in FIG. 5b. Accordingly, the processor is preferably configured to determine, within a second level, a first ellipse path or a first half ellipse path from a first transit time, which requires the signal from the transmitter via the object to the first receiver, and a second transit time, which derives the signal from Transmitter on the object to the second receiver needed to determine within the second level a second elliptical or a second half elliptical, wherein the position of the object in

three-dimensional space using the location of the intersection of the two

Ellipse trajectories or half elliptical orbits in the second plane is calculated, without the invention being limited to a particular type of calculation.

The preferred embodiment discussed above is based on the assumption that the transmitter 40 emits a signal substantially isotropically. However, other transmitters, e.g. the half-circle transmitter 60 shown in FIG. 6 is used. The half-circle transmitter 60 according to a second embodiment of the present invention has a main body 62 through which a slot 61 (also referred to as an opening or a column) extends on its peripheral side of the main body 62. Starting from the slot 61, a signal is transmitted to propagate from there in three-dimensional space. It can thus be achieved that a signal has a defined starting point on a semicircle, i. the signal exits the half-circle transmitter 60 through the slot 61 and then propagates in three-dimensional space above the half-circle transmitter 60.

In other words, a half-circle transmitter 60 is a transmitter with a signal source in the form of a half-circle column 61. From the signal source, the signal is emitted simultaneously into the three-dimensional half-space. The semicircular shape of

Signal source allows object detection above the half-circle transmitter 60, ie for z> 0 (see Fig. 7). Of course, variations of the half-circle transmitter 60 are possible in which the signal source is smaller or larger than 180 degrees. Fig. 7 shows a three-dimensional representation of the situation according to the second embodiment of the present invention. The signal emitted by the half-circle transmitter 60 is reflected by the object 50 to be detected in the three receivers 10, 20, 30.

In addition to the distances s, e _L e ₂ , e ₃ , d, a, b, r, y _2D , X ₂ D known from FIG. 2, the radius h of the half-circle transmitter 60 is shown in FIG.

The arrangement of the receivers 10, 20, 30 and the transmitter, here the half-circle transmitter 60, is preferably analogous to the arrangement as shown in Fig. 1. It should be noted that when using a half-circle transmitter 60, the mid-point of the semicircle corresponds to the position of the transmitter 40 shown in FIG. The center of the semicircle preferably lies on the one hand within a plane with the receivers 10, 20, 30 and on the other hand on a straight line with the receivers 10, 20. Thus, the signal origin lies at a predetermined distance h (radius of the half-circle transmitter 60) from the origin of the receiver Coordinate system (see Fig. 7).

According to the second embodiment of the present invention, for the

Determining the three-dimensional position of an object 50 three running time measurements performed. The three transit time measurements are performed by means of the half-circle transmitter 60 and the three receivers 10, 20, 30. The half-circle transmitter 60 emits a signal as described above, which propagates in three-dimensional space until it encounters an object 50 (distance s) and is partially reflected. The reflected portions of the signal strike the three receivers 10, 20, 30 (stretches e _h e ₂ , e ₃ ). This results in the three running times, which consist of the transit time from the half-circle transmitter 60 to the object 50 (time which requires the signal for the distance s) together with the transit time from the object 50 to the individual receiver 10, 20, 30 (time the signal for the respective distance ej, e ₂ , e ₃ needed) arise

(Transit time measurement).

The three receivers 10, 20, 30 and the center of the semicircle (radius origin) are preferably arranged or fixed in one plane (at the same height). The receiver 10 and the receiver 20 are preferably positioned on a straight line with the half-circle transmitter 60 (preferably on the dashed line), thus preferably directly on the x-axis. The receiver 30 may have the distance b in the x-direction and the distance a from the coordinate origin O in the y-direction. The distances a and b may take any value. Preferably, a should be non-zero.

Considering the distance s that travels the signal from the half-circle transmitter 60 to the object 50 and the individual distances e _1; e ₂ and e ₃ , which cover the signal from the object 50 to the respective receiver 10, 20, 30, one obtains that shown in Fig. 7,

three-dimensional geometric construct together with the marked auxiliary lines. Fig. 8a shows the geometric construct of Fig. 7 viewed from above (top view of the z-axis) and Fig. 8b shows the geometric construct of Fig. 7 viewed from the side (top view of the x-axis).

The two auxiliary lines J ^ _Ö and d, are always perpendicular to the x-axis and are connected to the top 50 with the object. Together with the route a these form one

Triangular construction according to FIGS. 8a and 8b.

The geometric construct yields the following equation:

If the eq. (16) for the distance a to z, the following equation for the z-coordinate of the object 50 in three-dimensional space results:

Wherein the Eq. (17) if a> 0 is a positive sign and a <0 is a negative sign

Sign (for the upper position of the object 50). For the lower position, the sign is reversed. Upper position means that the object 50 is above the plane defined by the three receivers 10, 20, 30. Lower position accordingly means that the object 50 is below the plane defined by the three receivers 10, 20, 30.

The auxiliary route d in the Gl. (17) corresponds to the following equation:

The determination of the x-coordinate of the object 50 in three-dimensional space takes place via Eqs. and Eq. (20). The Gl. gives the x coordinate of the object 50 for a runtime _distance at U _sel > U _se2 and Eq. (20) the x-coordinate for a runtime _distance at U _sel <U _se2 . For the sake of completeness it is mentioned that it can just as well be U _sel > U _se2 and U _sel <U _se2 . O

The routes U _sel , U _se2 and U _se3 are routes which arise through the running time (sum of the distance s and the respective distance e _n ). These routes are over the

Propagation speed c of the signal and the transit times t _1? t ₂ and t _{3 of} the signal are determined as follows:

Usen = C t _n (21)

The determination of the y-coordinate of the object 50 in three-dimensional space takes place via the following equation:

Whereby, the Eqs. (22) has a positive sign at y> q- \ a \ and α> 0 for the y-coordinate in three-dimensional space, and at y <q- \ a \ and α <0. For all other value ranges, Eq. (22) a negative sign.

The auxiliary lines mentioned in the above equations X ₂ D and y ₂ o ^{sm (} ide x and y coordinate of the object 50 in the position determination of the object 50 in two-dimensional space.

To determine the x and y-coordinate {x _2D and Y ₂ O) d ^is the object 50 in the

FIG. 9 shows a half-circle transmitter 60 and two receivers 10, 20.

From Fig. 9, the geometric construct of Fig. 10a can be placed. As a result of this arrangement, there are also four hemi-elliptical paths according to FIG. 10b which intersect with one another.

According to the present invention, in particular the second embodiment, the position of the object 50 lies at the intersection of the two elliptical orbits (semi-elliptical orbits). From the condition that the signal of the half-circle transmitter propagates above the plane, the point of intersection which determines the position of the object 50 is also arranged above the two-dimensional construct (above the x _2D -axis) according to FIG. It is clear that the

Semicircular transmitter 60 can radiate in any other direction than in this Example. In any case, it is clear that due to the limited transmission range of the half-circle transmitter 60, the relevant point of intersection of the object is determined.

The geometric construct yields the following equations for the two run-time _paths (U _sel and U _se2 ):

U s. ei (24) and u _S e2 = (25)

If the eq. (24) for the travel distance U _sel to y _2D , the following equation results:

If the eq. (25) for the transit _distance U _{se2 converted} to y _2D , the following equation results:

Will the Eqs. (26) and Eq. (27), with positive signs, equated, zeroed and converted to x _2D , we obtain the equation for the x _2D coordinate. This is the same as that for the x coordinate and thus corresponds to Eq. and Eq. (20). For the second embodiment, the onset of individual results is omitted due to the complexity of the terms. It is clear to the person skilled in the art that this can be carried out substantially analogously to the manner described already with reference to the first exemplary embodiment, in order to obtain a "final equation" for the coordinates of the object 50 in three-dimensional space, but it is also expressly pointed out that it is not absolutely necessary to draw up the "final equations" as a successive one

Calculation of the above-described calculation steps is sufficient to determine the position of the object 50 in three-dimensional space.

Fig. 11 shows a third embodiment of the present invention with three sensors 100, 200, 300. The sensors 100, 200, 300 can each be a component having both transmit and receive functionality. According to the present invention, at least three sensors 100, 200, 300 with receiving functionality are to be provided, and at least one of the at least three sensors 100, 200, 300 may be equipped with additional transmitting functionality. However, all of the at least three sensors 100, 200, 300 may also be equipped with transmitting and receiving functionality, for example in order to obtain e.g. allow the system to send from different send positions (either simultaneously or with a time delay).

According to the third embodiment, the determination of the three-dimensional position of an object 50 may be performed on the basis of three propagation time measurements. The three transit time measurements are performed according to the third embodiment by means of three sensors 100, 200, 300, whereby at least one sensor (e.g., sensor 100) can transmit and receive. It is also possible that a separate transmitting and receiving device are installed close to each other to send and receive more or less from the same position. In other words, a sensor 100, 200, 300 may each consist of two separate transmitting and receiving devices, which are arranged in close proximity to each other.

According to FIG. 12, a signal is emitted by the sensor 100, which propagates in three-dimensional space until it encounters an object 50 (distance s) and is partially reflected. The reflected portions of the signal strike the three sensors 100, 200, 300 (paths e _/ , β2, ei). This results in the three transit times that arise from the transit time from the sensor 100 to the object 50 together with the transit time from the object 50 to the individual sensors 100, 200, 300 (transit time measurement).

The three sensors 100, 200, 300 are preferably arranged in one plane (i.e., at the same height). The sensor 300 may be the distance b in the x direction and the y direction in the y direction

Distance a from the coordinate origin 0 have. The distances a and b may each Assume value, wherein the distance a is preferably not equal to zero. The coordinate origin 0 is preferably located on a straight line which preferably extends between the sensor 100 and 200. It will be understood, however, that the location of the origin O does not affect the feasibility of the present invention.

Considering the distance s that travels the signal from the sensor 100 to the object 50 and the individual distances e _x , e ₂ and e ₃ that cover the signal from the object 50 to the respective sensors 100, 200, 300, This gives the three-dimensional geometric construct shown in FIG. 12 together with the auxiliary lines shown (X2D,> 2D, a, b, r, d).

If the geometric construct according to FIG. 12 is viewed from above (top view of the z-axis), the geometric construction according to FIG. 13 a results together with the auxiliary lines. If the geometric construct according to FIG. 12 is viewed from the side (top view of the x-axis), then the geometric construction according to FIG. 13b results together with the auxiliary lines.

The two auxiliary lines y _2D and d are always perpendicular to the x-axis and are connected at the top to the object 50. Together with the route a these form one

Triangular construction according to FIGS. 13a and 13b.

The geometric construct yields the following equation:

If the eq. (28) for the distance α to z, the following results

Equation for the z-coordinate of the object 50 in three-dimensional space:

1 V2y ₂ ² ₀ a ² - y ₂ ⁴ _D - rf ⁴ + 2d ² yj _D + 2d ² a ² - a ⁴ ₍₂₉₎ ~ 2 a

Wherein the Eq. (29) has a positive sign at a> 0 and a negative sign at a <0 (for the upper position of the object 50). For the lower position, the sign is reversed.

The Hilfsstre

The determination of the x-coordinate of the object 50 in three-dimensional space takes place via the following equation: l - + f2 ² + UselUse2 - UL2

X = (5 1)

2 A + / ₂

Propagation speed c of the signal and the transit times t _l3 1 ₂ and t _{3 of} the signal determined as follows:

U sen C (32)

The determination of the y-coordinate of the object 50 in three-dimensional space is made by the following equation: y = ^ yw - (33)

Wherein the Eq. (33) for the y-coordinate in three-dimensional space a positive

Has signs at y> q- \ a \ and α> 0, as well as at y <q- \ a \ and α <0. For all other value ranges, Eq. (33) a negative sign.

q = yd ² - z ² (34)

The auxiliary lines x _2D and y _2D mentioned in the above equations are the x and y coordinates of the object 50 when determining the position of the object 50 in two-dimensional space (possibly in the second plane).

For the determination of the x and y coordinates (X ₂ D and y _2D ) of the object 50 im

Two-dimensional space requires a transmitter 100 and two receivers 100, 200 (see Fig. 14). From Fig. 14 follows the geometric construct of FIG. 15a. Wherein, according to FIG. 15b, two circular paths or semicircular paths are formed by the two propagation paths. The positive result of equation (37) and equation (38) for the circular paths describes the upper semicircular path and the negative one the lower one.

The position of the object 50 lies at the intersection of the two circular paths. From the geometric construct (Figure 15b), the following equations are obtained for the two run-time _paths (U _sel and U _se2 ):

and If the eq. (35) for the transit distance U _sel to y _2D converted, the following equation results:

1

= + - -4xf _D + U _el - 4 + 8f _lX2D (37)

^~ 2 -

If the eq. (36) for the transit _distance U _{se2 converted} to y _2D , the following equation results:

(3 yz = ± \ J-4/ ₂ ² + U * _el - 4U _sel U _se2 + 4i / _e2 - 8f ₂ x _2D - 4x 2 ² D

8th)

The equations for the positive (+) semicircular path (37) and (38) are set equal to and set to zero:

After changing the Eqs. (39) after x _2D the following equation results:

^X2D - ^" 2 ÄTf ₂ ⁽⁴⁰⁾

If the equations for x _2D and y _2D for the positive half-ellipse are calculated in Eq. (29) for the three-dimensional z-coordinate and in Eq. (33) is used for the three-dimensional y-coordinate, Eq. (41) and Eq. (42): (M

Ö

'- \

+

£ 5

I

CM

00

+

+1

N

+

s?

I

+

I

Ί I CO

+1 The two elliptical or semi-elliptical orbits created by the two transit times can both be replaced by ellipsoids. The object is somewhere on the path, which is created by the two intersecting ellipsoids. Accordingly, even in the case of the circular path, the circular paths or semicircular paths, which arise through the two transit times, are both replaced by balls. The object will then be somewhere on the path created by the two intersecting spheres.

The third runtime then produces a third ellipsoid / sphere which intersects with the orbit (which results from cutting the first two ellipsoids / spheres). There are two intersections at the top in the positive and negative in the bottom, which correspond to the three-dimensional position of the object. Then, e.g. be selected by the directivity of the transmitter and / or the receiver of one of the two points as the correct position of the object.

It can also only one of the two elliptical orbits or circular orbits

Semi-elliptical paths / semicircular paths, which arise through the two transit times, are replaced by an ellipsoid / sphere. The elliptical train / circular path or

Semi-elliptical paths / semicircular path then intersects with the ellipsoid / ball, creating two points of intersection in the second plane (in which the elliptical path / circular path or semi-elliptic path lies). By the location of the intersection (or the intersections, above in the positive and below in the negative range at transmitters and receivers which can send and capture 360 °) in the second plane (which by the one elliptical orbit / orbit

Halbellipsenbahn / semicircular path arises) and the position / angle / tilt of the second level (compared to the first level) in the three-dimensional space, which arises from the third term, thus the three-dimensional position of the object can be determined.

An ellipsoid / sphere may also be created by the third transit time, which intersects with the intersection (or intersections, see above) in the second plane, thereby determining the three-dimensional position.

16 shows, by way of example, the above-mentioned possibility of switching through the transmission functionality of the various sensors 100, 200, 300. In the illustrated case 1, the sensor 200 assumes the transmission and reception functionality, the sensors 100, 300 acting merely as receivers. In case 2, the sensor 100 takes over the transmission and

Receive functionality and the sensors 200, 300 act exclusively as receivers. In case 3, the sensor 300 takes over the transmission and reception functionality and the sensors 100, 200 act exclusively as receivers. It may be beneficial if this functionality can be controlled as needed, ie at each new measurement, another sensor 100, 200, 300 could act as a transmitter and at the same time as a receiver.

Fig. 17 schematically shows an exemplary signal measured at one of the receivers. In this case, a synchronization pulse (square wave signal at the beginning of the pulse sequence in FIG. 17) can be connected upstream for synchronization in order to ensure an accurate measurement of the transit times. Fig. 17 shows a first signal 1 (t _{1, Pl} ) which is the direct radiation

(emitted signal from the transmitter on direct route to the receiver) represents. The subsequent pulses 2-5 are the signals reflected from different objects 1-n.

According to the present invention, it can be determined by the pulse height (amplitude) and the measured propagation time (t _1> _{p 2} , t ₁ _{> p3} , t _ljp4 , t _{1, Pn} ,) how large the object is. The larger the amplitude and the shorter the runtime, the larger the object.

If the signals 2 and 5 are compared with one another, it can be seen, inter alia, that the two signals have substantially the same amplitude, but that the signal 5 has a significantly longer transit time (t _{1 pn} > t _{1, P2} ). From this it can be concluded that the nth object must be larger than the first object.

The width of the signal can be used to determine the extent of the object. The wider (longer) the signal, the wider the object. Consider, e.g. the signal 3, it can be seen that this is much wider than the other signals. It can

it can be concluded that the second object has a larger extent than the other objects. The second object could e.g. a tube (small reflection surface, larger extent).

This embodiment of the present invention may, among other things, be configured to control the signals, preferably the wider signals, e.g. to represent the signal 3 by several short pulses (by appropriate evaluation algorithms and hardware). This allows the object to be represented as a point cloud so as to better capture the object geometry.

Further, in the present invention, a speed determined by the Doppler effect of the individual objects or dots can be determined. The 3D position / position of the object or several objects, the nature of the object or objects, the speed of the object or objects and / or the individual points (point cloud) can be determined simultaneously (from a measurement).

Although the algorithm of the preferred embodiments of the present invention has been described for the sake of clarity and ease of understanding with reference to a small to point-like object, it will be apparent to those skilled in the art that the the present invention is not limited thereto. Methods for determining the position of an extended object will be described below by way of example.

The wave impinges on the extended object as a spherical wave (electromagnetic waves, e.g., radio waves, microwaves, heat radiation, light, X-rays, gamma rays, pressure waves, e.g., acoustic waves, shock waves, gravitational waves, radiation, e.g.

Particle radiation and wave radiation; Plasma waves; Matter waves; Bending waves; seismic waves; magnetic waves; electric waves). A surface is thus first scanned in the middle and then at the edges.

FIG. 18 further shows by way of example two surfaces 51, 52 (extended objects) which reflect a signal emitted from the sensor unit 100 (transmitter and receiver). For the sake of clarity, only the reflected signals are shown in FIG.

The surface 51 is located to the left of the sensor unit 100, and therefore reflects the signal on the right side (solid line) first. Finally, the left side (dashed line) of surface 51 reflects the signal back to sensor 100.

The surface 52 is in this example below the sensor unit 100, slightly offset to the left and reflects the first signal (solid line) out of the surface 52. The reflected signal of the right side of the surface 52 arrives a little later on the sensor 100, so it takes a longer time (dotted line). Finally, the left side (dashed line) of the surface 52 reflects the signal back to the sensor 100. The surfaces 51, 52 reflect the signal over the entire surface. However, only individual reflected signals have been shown in FIG. 18 for a better overview.

FIG. 19 shows the time profile of the received signal reflected at the areas 51, 52 (at one of the receivers, eg sensor 100 from FIG. 18). In comparison with FIG. 17, it can be seen that the reflected signals from the individual surfaces 51, 52 have a temporal extension t _pn compared to the reflected signals (signals 1 to 5 from FIG. 17) at the individual point objects. Due to the pulse height (amplitude) and / or the area below the waveform (integrated over the waveform), the measured transit time t _n and / or pulse duration t _pn , the size and / or the reflectance of a

Surface / object to be determined. In other words, the individual signals reflected on the surface are superimposed and an extended signal is generated.

Considering the waveforms of three receivers shown in FIG. 20 (the solid line corresponds to the signal in a first receiver, the dashed line corresponds to the signal in a second receiver, and the finer dashed line corresponds to FIG Signal in a third receiver), so you can see the individual, time-shifted reflected signals.

In the signal profile to the reflection at the first surface 51 it can be seen that the reflected signals, due to the receiver arranged in the space, arrive with a time delay. The signal to the reflection on the second surface 52 shows that the reflected signals strike the individual receivers at the same time, since the signal is first reflected just below the transmitter and the receivers, in this example, have the same distance to the transmitter , At the end of the waveform on the second surface 52, the signals stop timing, because the surface 52 is not exactly below the sensor unit 100 but is slightly shifted to the left.

If the position is determined from the transit time t _n , one obtains the position of the point on the surface 51, 52 from which the signal was first reflected. If the position is measured from the time to the end of the signal (transit time t _n + pulse duration t _pn ), one obtains the position of the point on the surface 51, 52 from which the signal was last reflected. From these two position values, for areas 51, 52 which are not located below the transmitter 100, one obtains the starting position and the end position of the surface 51, 52 and thus the position and the extent of an extended object in space.

If the surface 51, 52 is below the transmitter, as described above, the position of the point on the surface 51, 52 from which the signal was first reflected and the position of the point on the surface 51, 52 of which the signal last is has been determined to be determined. However, in order to be able to determine the beginning and end point of the surface 51, 52, e.g. either the measurement is performed again with a transmitter that is not above the surface 51, 52 (the transmitter must be more than one wavelength away from the other (first) transmitter) or e.g. the method in which all three sensors are transmitted with different keys (different frequencies or encrypted signal) and then applied to received (the distance between two sensors should be greater than the extent of the surface 51, 52, so that it can be guaranteed, one of the sensors is not over the surface 51, 52 at any time.)

It can also be seen from FIG. 20 that the individual reflection signals can be assigned to the individual surfaces 51, 52. The assignment of belonging to an object

Reflection signals may e.g. above:

the temporal proximity to each other (the time lag between the individual

Reflection signals generated by the spatial distribution of the sensors) the similar waveforms (each reflected signal has a, by the object, specific waveform with which at least three signals reflected on the same object can be assigned to each other)

similar amplitudes (Each object has on the basis of its size, geometry and

Reflectance another amplitude from which the individual signals reflected from the object can be assigned to one another)

the duration of the reflection (the duration of reflection depends on the extent of the object and can therefore be assigned to the objects of different sizes, the duration of the reflection being longer, especially in the case of surfaces

Expansion as a wavelength can be determined with high accuracy)

If these criteria are applied to the received signals, they can be assigned to the individual objects (areas 51, 52).

The received signals must not be superimposed. This means that the individual surfaces 51, 52 should have a minimum distance of more than one wavelength from one another in order to be recognized as two individual surfaces 51, 52 (if the surfaces 51, 52 are at a distance of one wavelength or less from each other, they become recognized as a contiguous area 51, 52).

A special case are two objects / surfaces 53, 54 which have the same distance (± one wavelength) to the sensor 100 but are offset in different directions (see FIG. 21).

In this case, the reflected signals would be superimposed and could not be assigned to the individual areas. As mentioned above, this may e.g. either by a repeated measurement with a transmitter which is not located exactly between the surfaces 53, 54 (the transmitter must have a distance of more than one wavelength to the position of the other (first) transmitter) or e.g. the procedure whereby all three sensors are transmitted with different keys (different frequencies or encrypted signal) and then applied to received (the individual sensors should be spaced more than one wavelength apart).

This also applies to individual objects / points (point-shaped objects). These should preferably also have a minimum distance of more than one wavelength from each other to be uniquely recognized as two objects / points (point-shaped objects).

Fig. 22 shows a schematic representation of a rough surface. The roughness consists of points and points. The position of each peak and area can, as described above, and thereby the nature and in particular the surface condition (3D scan of the surface / point cloud of the surface) of an object are determined. The wavelength also determines the resolution limit of the roughness of the surface to be examined.

The above-described methods may e.g. also in vacuum, in gases (e.g., air), in liquids (e.g., water), in solids (e.g., iron under standard conditions), or in plasma environments.

While the present invention is described herein with reference to its preferred

As has been described and illustrated, it will be apparent to those skilled in the art that various modifications and changes may be made thereto without departing from the scope of the invention. In this way, it is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents. Furthermore, features described in connection with a particular embodiment are not to be understood solely in connection with other features of this embodiment. Rather, it is clear that a combination of features from different embodiments is also possible. Also, a feature described in connection with another feature may be present in one possible embodiment according to the present invention without the other feature.

Claims

claims

A device for determining the three-dimensional position of an object, the device comprising:

at least one transmitter adapted to emit a signal; at least three receivers, wherein the at least three receivers and the at least one transmitter are preferably disposed within a first plane, wherein a first receiver and a second receiver are preferably disposed along a first straight line and a third receiver is preferably spaced from the first straight line; and

a processor configured to determine at least three run times, wherein the processor is further configured to determine the three-dimensional position of the object from the determined transit times and the arrangement of the transmitter and the receiver.

2. Device according to claim 1, wherein the transmitter is preferably arranged on the first straight line, preferably between the first and second receiver, or the position of the transmitter is substantially identical to the position of one of the at least three receivers, wherein preferably one of the three receivers also serves as a transmitter.

Apparatus according to claim 1 or 2, wherein the transmitter is adapted to radiate the signal isotropically in all spatial directions or the transmitter is a half-circle transmitter.

The apparatus of any one of claims 1 to 3, wherein the processor is configured to determine from a first delay, which requires the signal from the transmitter via the object to the first receiver, within a second plane, a first ellipse path or a first half ellipse path and from a second transit time, which requires the signal from the transmitter via the object to the second receiver, within the second plane to determine a second elliptical or a second semi elliptical, wherein the position of the object in three-dimensional space using the position of the intersection of the two elliptical or semi elliptical is calculated in the second plane, wherein preferably the first focus of the first elliptical orbit with the second focus of the first Ellipse trajectory coincides and the first focal point of the second elliptical orbit coincides with the second focal point of the second elliptical orbit.

5. The apparatus of claim 4, wherein the processor is further configured to determine an angle between the first and second planes from a third delay that requires the signal from the transmitter via the object to the third receiver.

6. The apparatus of claim 1, wherein the processor is further configured to determine, from the shape and / or transit time, one or more signals received from one or more of the at least three receivers, the extent and / or the magnitude and / or the magnitude Determine the nature of the surface of the object.

7. Method for determining the three-dimensional position of an object with the steps:

Transmitting a signal from a transmit position that is at least partially reflected by an object;

Receiving the at least partially reflected signal at at least three receiving positions, wherein the at least three receiving positions are preferably arranged within a first plane with the transmitting position, wherein a first receiving position and a second receiving position are preferably arranged along a first straight line and a third receiving position preferably from the first Is arranged at a distance;

Determining at least three run times; and

Determining the three-dimensional position of the object using the specific transit times and the arrangement of the send position and the receiving positions.

8. The method according to claim 7, wherein the transmission position is preferably arranged along the first straight line, preferably between the first and second reception position, or is substantially identical to one of the at least three reception positions.

9. The method of claim 7 or 8, wherein the determination of a first coordinate of the three-dimensional position of the object based on a first and second transit time, which requires the signal from the transmitter on the object to the first and second receiver, and the distances of the first and second receive position to the transmit position, wherein the first coordinate defines the position of the object along the first straight line.

10. The method according to claim 7, wherein the determination of the position of the object in three-dimensional space is carried out using an intersection of a first and a second ellipse path or a first and a second half ellipse path within a second plane, wherein a first transit time, which requires the signal from the transmitter via the object to the first receiver, defines the first elliptical orbit in the second plane, and a second delay which requires the signal from the transmitter via the object to the first receiver, the second elliptic orbit second half ellipse path defined in the second plane, wherein preferably the first focal point of the first elliptical orbit coincides with the second focus of the first elliptical orbit and the first focus of the second elliptic orbit coincides with the second focus of the second elliptical orbit.

The method of claim 9 or 10, wherein the calculation of the position of the object in three-dimensional space is performed using an angle between the first and second planes, the third delay requiring the signal from the transmitter through the object to the third receiver , defines the angle.

12. The method of claim 7, wherein the method comprises a step for calculating the distances of the reception positions to the transmission position, wherein the calculation of the distances is based on a transit time of a signal transmitted directly from the transmission position to the respective reception position using a predetermined signal Propagation speed, based.

13. The method according to any one of claims 7 to 11, wherein the method comprises a step for calculating a propagation speed of the transmitted signal, wherein the calculation of the propagation velocity is based on the signal transmitted directly from the transmission position to one of the at least three reception positions, using a predetermined distance between the transmission position and the one of the at least three reception positions.

Method according to one of claims 7 to 13, wherein the method comprises a step of calculating the extent and / or the size and / or the texture of the surface of the object using the shape and / or the running time of one or more of one or more of the three Receiving positions of received signals.

Method according to one of claims 7 to 14, wherein the method is carried out repeatedly and thereby the transmission position and / or the number of transmission positions is varied, and preferably between two or more receiving positions.