Method for determining the position of an object, device for determining the position of an object, and system

Abstract

The invention relates to a method for determining a position of an object, which comprises at least one non-linear component, in particular one semiconductor component, which, when irradiated with high-frequency transmitted signals from at least two different positions, produces and emits object signals having twice and/or three times the frequency of the respective transmitted signals.

Claims

1. A method for determining a position of an object, which comprises at least one non-linear component including a semiconductor component, which, when irradiated with high-frequency transmitted signals from at least two different positions, produces and emits object signals having twice and/or three times the frequency of the respective transmitted signals, the method comprising: determining the angle of incidence having a maximum backscatter power of each transmitted signal; determining a position of the object by triangulation based on the angle of incidence having the maximum backscatter power of each transmitted signal and on the positions from which the transmitted signals were emitted; irradiating, with at least one transmitting device, the object with at least two transmitted signals emitted from different positions; receiving, by at least one receiving device, the object signals emitted by the at least one non-linear component having twice and/or three times the frequency of the transmitted signals; and determining a backscatter power of the object signals taking into account an angle of incidence of the transmitted signals.

2. The method according to claim 1, wherein the backscatter power of the object signals is integrated with angular resolution over the entire frequency range of the object signals to detect the angle of incidence having the maximum backscatter power.

3. The method according to claim 1, wherein based on a shape of antenna lobes, of the transmitting and/or receiving devices and on the angle of incidence having the maximum backscatter power, a position of maximum distance and a position of minimum distance are determined.

4. The method according to claim 3, wherein the position of the object is determined from the position of maximum distance and the position of minimum distance.

5. The method according to claim 1, wherein the angle of incidence of each transmitted signal is set by mechanically and/or electronically pivoting an antenna lobe of the at least one transmitting device.

6. The method according to claim 1, wherein each transmitted signal is emitted from one single transmitting device, and is received by one single receiving device, the transmitting device in a first position emitting transmitted signals and the receiving device receiving object signals and subsequently, re-emitting transmitted signals and receiving object signals in further positions.

7. The method according to claim 1, wherein each transmitted signal is emitted from a different transmitting device, which are arranged in different positions, and the respective object signal is received by a receiving device assigned to the respective transmitting device.

8. A device for determining a position of an object, which comprises at least one non-linear component including a semiconductor component, which, when irradiated with high-frequency transmitted signals from at least two different positions, produces and emits object signals having twice and/or three times the frequency of the respective transmitted signals, the device comprising: a circuit device configured to measure the angle of incidence having a maximum backscatter power of each transmitted signal, and to determine a position of the object by triangulation on the basis of the angle of incidence having the maximum backscatter power of each transmitted signal and on the basis of the positions; at least one transmitting device configured to produce at least two transmitted signals emitted from different positions; and at least one receiving device configured to receive object signals, the frequency of which corresponds to two and/or three times the frequency of the respective transmitted signals, wherein the at least one transmitting device and the at least one receiving are operationally connected to the circuit device, which is configured to determine the backscatter power of the object signals taking into account an angle of incidence of the transmitted signals.

9. The device according to claim 8, wherein the circuit device is configured to integrate the backscatter power of the object signals with angular resolution over the entire frequency range of the object signals.

10. The device according to claim 8, wherein the circuit device is configured to determine a position of maximum distance and a position of minimum distance based on a shape of antenna lobes of the transmitting and/or receiving devices and on the angle of incidence having the maximum backscatter power.

11. The device according to claim 8, wherein the circuit device is configured to determine the position of the object from the position of maximum distance and the position of minimum distance.

12. The device according to claim 8, wherein the angle of incidence of each transmitted signal is set by mechanically and/or electronically pivoting an antenna lobe of the at least one transmitting device.

13. The device according to claim 8, wherein the at least one transmitting device is one single transmitting device for the emission of each transmitted signal, and the at least one receiving device is one single receiving device for receiving each received signal, the device being configured to emit transmitted signals via the transmitting device in a first position and to receive object signals via the receiving device, and subsequently to re-transmit transmitted signals via the transmitting device and to receive object signals in further positions.

14. The device according to claim 8, wherein the at least one transmitting device comprises at least two transmitting devices configured to emit transmitted signals in different positions, and wherein the at least one receiving device comprises at least two receiving devices each being assigned to one of the transmitting devices to receive the respective object signal.

15. The device comprising the device according to claim 8.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) The invention is to be explained below by way of example based on embodiments with reference to the drawings.

(2) In the drawings:

(3) FIG. 1 is a schematic representation of a device according to the invention in accordance with one embodiment;

(4) FIG. 2 is a schematic representation of a transmitting and receiving device;

(5) FIG. 3 is a schematic representation of the device according to the invention in accordance with the embodiment shown in FIG. 1;

(6) FIG. 4 is a schematic representation of a device according to the invention in accordance with a further embodiment;

(7) FIG. 5 is a schematic representation of the device according to the invention in accordance with the embodiment shown in FIG. 4;

(8) FIG. 6 is a schematic representation of a device according to the invention in accordance with one embodiment; and

(9) FIG. 7 is a schematic representation of the device according to the invention in accordance with the embodiment shown in FIG. 6.

DETAILED DESCRIPTION

(10) FIG. 1 shows a device 1 according to the invention for determining a position of an object 2. The object 2 comprises at least one non-linear component 3. The non-linear component 3 preferably has a semiconductor component. When irradiated with high-frequency transmitted signals 4.sub.1, 4.sub.2, 4.sub.n by means of the device, object signals 5.sub.1, 5.sub.2, 5.sub.n having twice and/or three times the frequency of the respective transmitted signal 4.sub.1, 4.sub.2, 4.sub.n are produced and re-emitted.

(11) As shown in FIG. 1, the device 1 comprises at least two transmitting devices 6.sub.1, 6.sub.2, 6.sub.n to produce at least two transmitted signals 4.sub.1, 4.sub.2, 4.sub.n emitted from different positions P.sub.1, P.sub.2, P.sub.n. According to FIG. 1, a plurality of transmitting devices 6.sub.1, 6.sub.2, 6.sub.n are formed for this purpose, which are arranged in different positions P.sub.1, P.sub.2, P.sub.n.

(12) Furthermore, the device 1 comprises a plurality of receiving devices 12.sub.1, 12.sub.2, 12.sub.n for receiving object signals 5.sub.1, 5.sub.2, 5.sub.n, the frequency of which corresponds to two and/or three times the frequency of the respective transmitted signals 4.sub.1, 4.sub.2, 4.sub.n.

(13) It can also be provided that the transmitting devices 6.sub.1, 6.sub.2, 6.sub.n and the receiving devices 12.sub.1, 12.sub.2, 12.sub.n are combined in each case to a transmitting and receiving device 6.sub.1, 12.sub.1; 6.sub.2, 12.sub.2; 6.sub.n, 12.sub.n.

(14) The device thus has at least two transmitting devices 6.sub.1, 6.sub.2, 6.sub.n for emitting transmitted signals 4.sub.1, 4.sub.2, 4.sub.n, which are each arranged in different positions P.sub.1, P.sub.2, P.sub.n. Each transmitting device 6.sub.1, 6.sub.2, 6.sub.n is assigned a receiving device 12.sub.1, 12.sub.2, 12.sub.n for receiving the respective object signal 5.sub.1, 5.sub.2, 5.sub.n i.e. they are positioned identically or substantially identically.

(15) In addition, the device 1 comprises a circuit device 10 to which the transmitting devices 6.sub.1, 6.sub.2, 6.sub.n and the receiving devices 12.sub.1, 12.sub.2, 12.sub.n are operationally connected. The circuit device 10 is configured to determine the backscatter power of the object signals 5.sub.1, 5.sub.2, 5.sub.n received by the receiving devices taking into account the angle of incidence α1, α2, an of the transmitted signals 4.sub.1, 4.sub.2, 4.sub.n.

(16) The angle of incidence α1, α2, an of each transmitted signal 4.sub.1, 4.sub.2, 4.sub.n can be set by mechanically and/or electronically pivoting the antenna lobes 7.sub.1, 7.sub.2, 7.sub.n of the transmitting devices 6.sub.1, 6.sub.2, 6.sub.n. The circuit device 10 is also configured to determine the angle of incidence having the maximum backscatter power α1max, α2max, αnmax of each transmitted signal 4.sub.1, 4.sub.2, 4.sub.n. For this purpose, the circuit device 10 is configured to integrate the backscatter power of the object signals 5.sub.1, 5.sub.2, 5.sub.n with angular resolution over the entire frequency range of the object signals 5.sub.1, 5.sub.2, 5.sub.n. These backscatter powers are detected and compared for each angle of incidence of a transmitting device 6.sub.1, 6.sub.2, 6.sub.n. The angle of incidence α1, α2, an for which the greatest backscatter power is detected is the angle of incidence having the maximum backscatter power α1max, α2max, αnmax of each transmitted signal 4.sub.1, 4.sub.2, 4.sub.n.

(17) Furthermore, the circuit device 10 is configured to determine a position Pobj of the object 2 by triangulation on the basis of the angle of incidence having the maximum backscatter power α1max, α2max, αnmax of each transmitted signal and on the basis of the positions P.sub.1, P.sub.2, P.sub.n. A more detailed description of the position determination by means of the circuit device 10 by triangulation is given below with reference to FIG. 3.

(18) FIG. 2 shows a transmitting device 6.sub.1, 6.sub.2, 6.sub.n or receiving device 12.sub.1, 12.sub.2, 12.sub.n according to the present invention. FIG. 2 shows the transmission characteristics of the transmitting device 6.sub.1, 6.sub.2, 6.sub.n and the receiving device 12.sub.1, 12.sub.2, 12.sub.n. FIG. 2 shows the shape of the main lobe of the respective antenna lobes 7.sub.1, 7.sub.2, 7.sub.n and the opening angles β1, β2, β3 of the main lobe marked accordingly.

(19) FIG. 3 schematically shows the device according to FIG. 1. Two transmitting devices 6.sub.1, 6.sub.2, 6.sub.n and two receiving devices 12.sub.1, 12.sub.2, 12.sub.n are shown in this case by way of example for purposes of illustration. Each transmitted signal 4.sub.1, 4.sub.2, 4.sub.n is emitted from a different transmitting device 6.sub.1, 6.sub.2, 6.sub.n, which are arranged in each case in different positions P.sub.1, P.sub.2, P.sub.n, and the respective object signal 5.sub.1, 5.sub.2, 5.sub.n is received in each case by a receiving device 12.sub.1, 12.sub.2, 12.sub.n assigned to the respective transmitting devices 6.sub.1, 6.sub.2, 6.sub.n.

(20) As shown in FIG. 3, the entire pivoting range of the antenna lobes 7.sub.1, 7.sub.2, 7.sub.n is shown, through which range the respective angle of incidence αl, α2, αn can pass when pivoting.

(21) The method for determining a position of the object is described below on the basis of its method steps according to FIG. 3. As can be seen in FIG. 3, irradiating the object 2 with at least two transmitted signals 4.sub.1, 4.sub.2, 4.sub.n emitted from different positions P.sub.1, P.sub.2, P.sub.n by means of the transmitting devices 6.sub.1, 6.sub.2, 6.sub.n takes place. Subsequently, the object signals 5.sub.1, 5.sub.2, 5.sub.n emitted by the non-linear components 3 having twice and/or three times the frequency of the transmitted signals 4.sub.1, 4.sub.2, 4.sub.n are received by means of at least one receiving device 12.sub.1, 12.sub.2, 12.sub.n. Thereafter, the backscatter power of the object signals 5.sub.1, 5.sub.2, 5.sub.n is determined taking into account the angle of incidence α1, α2, an of the transmitted signals 4.sub.1, 4.sub.2, 4.sub.n. For this purpose, the backscatter power of the object signals 5.sub.1, 5.sub.2, 5.sub.n is integrated with angular resolution over the entire frequency range of the object signals 5.sub.1, 5.sub.2, 5.sub.n to detect the maximum backscatter power. This process is repeated until a predefined pivoting range or the entire pivoting range has been passed through. For this purpose, the angle of incidence α1, α2, an of each transmitted signal 4.sub.1, 4.sub.2, 4.sub.n can be set by mechanically and/or electronically pivoting the antenna lobes 7.sub.1, 7.sub.2, 7.sub.n of the transmitting devices 6.sub.1, 6.sub.2, 6.sub.n and runs through the pivoting range. The corresponding backscatter powers are stored with angular resolution. Then, the angle of incidence having the maximum backscatter power α1max, α2max, αnmax of each transmitted signal 4.sub.1, 4.sub.2, 4.sub.n is determined. Finally, the position Pobj of the object 2 is determined by triangulation on the basis of the angle of incidence having the maximum backscatter power α1max, α2max, αnmax of each transmitted signal 4.sub.1, 4.sub.2, 4.sub.n and on the basis of the positions P.sub.1, P.sub.2, P.sub.n from which the transmitted signals 4.sub.1, 4.sub.2, 4.sub.n were emitted. The positions P.sub.1, P.sub.2, P.sub.n from which the transmitted signals 4.sub.1, 4.sub.2, 4.sub.n were emitted are stored in the circuit device 10 for this purpose.

(22) As can be seen in FIG. 3, for each angle of incidence having the maximum backscatter power α1max, α2max, αnmax, there is therefore a specific measurement tolerance, which is defined by the shape of the antenna lobes 7.sub.1, 7.sub.2, 7.sub.n, in particular the opening angles β1, β2, βn of the main lobes. This measurement tolerance is taken into account accordingly in the method shown in FIG. 3. For two transmitting devices 6.sub.1, 6.sub.2, 6.sub.n, this results in two angles of incidence having the maximum backscatter power α1max, α2max, αnmax. Two angular ranges are assigned as a tolerance to these angles of incidence having the maximum backscatter power α1max, α2max, αnmax. In the case of FIG. 3, these are the opening angles β1, β2, βn of the main lobes. In FIG. 3, these are highlighted by dotted lines. As can be seen from FIG. 3, these intersect and intersection points result which define the region in which the object 2 is located. These intersection points define a position of maximum distance Pobj,max and a position of minimum distance Pobj,min. A position Pobj of the object 2 is then detected from these positions, for example by averaging.

(23) The device 1 is designed to implement the method described above accordingly. The circuit device 10 is configured, on the basis of this shape of the antenna lobes 7.sub.1, 7.sub.2, 7.sub.n, of the transmitting and/or receiving devices 6.sub.1, 6.sub.2, 6.sub.n; 12.sub.1, 12.sub.2, 12.sub.n, and on the basis of the angle of incidence having the maximum backscatter power α1max, α2max, αnmax to determine the position of maximum distance Pobj,max and the position of minimum distance Pobj,min. The opening angles β1, β2, β3 of the main lobes are used in particular. Furthermore, the circuit device 10 is configured to determine the position Pobj of the object 2 from the position of maximum distance Pobj,max and the position of minimum distance Pobj,min. In one embodiment, the transmitting and/or receiving device can be arranged on a system, in particular a vehicle, a trailer, or a container, and can be transported into different positions.

(24) FIG. 4 shows a device according to the invention in accordance with a further embodiment which substantially corresponds to the embodiment according to FIG. 1, the differences to the embodiment according to FIG. 1 being explained below. In the embodiment shown in FIG. 4, the transmitting devices 6.sub.1, 6.sub.2, 6.sub.n and the receiving devices 12.sub.1, 12.sub.2, 12.sub.n are combined in an array 8. In this case, the individual antennas of the array 8 or subarrays from a plurality of antennas form the transmitting devices 6.sub.1, 6.sub.2, 6.sub.n and the receiving devices 12.sub.1, 12.sub.2, 12.sub.n. The different positions P.sub.1, P.sub.2, P.sub.n of the transmitting devices 6.sub.1, 6.sub.2, 6.sub.n which are designed to emit the transmitted signals 4.sub.1, 4.sub.2, 4.sub.n and of the receiving devices 12.sub.1, 12.sub.2, 12.sub.n which are designed to receive the respective object signal are correspondingly predetermined and known on the basis of the predetermined positions of the individual antennas or the subarrays in the array 8.

(25) FIG. 5 shows the device 1 according to the embodiment described in FIG. 4. The implementation of the method substantially corresponds to the implementation described in FIG. 3.

(26) FIG. 6 shows a device 1 according to the invention in accordance with a further embodiment. The embodiment corresponds substantially to the embodiment according to FIG. 1, the differences of the embodiment according to FIG. 6 embodiment being explained below.

(27) The device 1 shown in FIG. 6 has only one single transmitting device 6.sub.1. This one transmitting device 6.sub.1 is used for the emission of each transmitted signal 4.sub.1, 4.sub.2, 4.sub.n. Furthermore, the device has only one single receiving device 12.sub.1 for receiving each received signal. The device 1 is configured so that the transmitting device 6.sub.1 and the receiving device 12.sub.1 emits transmitted signals 4.sub.1, 4.sub.2, 4.sub.n and receives object signals 5.sub.1, 5.sub.2, 5.sub.n in a first position P.sub.1. It is then provided that the device 1 in a further position P.sub.2, P.sub.n re-emits transmitted signals 4.sub.1, 4.sub.2, 4.sub.n and receives object signals 5.sub.1, 5.sub.2, 5.sub.n.

(28) FIG. 7 shows the device 1 according to the embodiment described in FIG. 6. The implementation of the method substantially corresponds to the implementation described in FIG. 3, with the difference that only one single transmitting device 6.sub.1 is provided, which is repositioned before the transmitted signals are repeatedly emitted. Every transmitted signal 4.sub.1, 4.sub.2, 4.sub.n is emitted from one single transmitting device 6.sub.1 and is received by one single receiving device 12.sub.1. The transmitting device 6.sub.1 and the receiving device 12.sub.1 emit a transmitted signal 4.sub.1, 4.sub.2, 4.sub.n in the first position P1 and receive the object signals 5.sub.1, 5.sub.2, 5.sub.n. Thereafter, signals are re-emitted and received in further positions P.sub.2, P.sub.n.

(29) If reference was made above to transmitting devices and receiving devices, these can also be designed accordingly as transmitting and receiving devices.

LIST OF REFERENCE SIGNS

(30) 1 Device 2 Object 3 Non-linear component 4.sub.1, 4.sub.2, 4.sub.n Transmitted signals 5.sub.1, 5.sub.2, 5.sub.n Object signals 6.sub.1, 6.sub.2, 6.sub.n Transmitting devices 7.sub.1, 7.sub.2, 7.sub.n Antenna lobe 8 Array 10 Circuit device 12.sub.1, 12.sub.2, 12.sub.n Receiving devices P.sub.1, P.sub.2, P.sub.n Positions Pobj Position of the object α1, α2, αn Angle of incidence α1max, α2max, αnmax Angle of incidence having maximum backscatter power β1, β2, βn Opening angle