阅读说明：本技术 第一模块与第二模块之间的数据传输方法以及实施该方法的具有移动装置的设施 (Method for transmitting data between a first module and a second module and installation comprising a mobile device for implementing said method ) 是由 A·万耶科 S·斯托克 华志东 T·舍费尔 J·施密特 于 2020-04-02 设计创作，主要内容包括：本发明涉及一种用于在第一模块与第二模块之间传输数据的方法以及用于实施该方法的具有移动装置的设施,其中：-将第一模块的时基与第二模块的时基同步；第一模块的发射器在相应的时间范围内、尤其是在时隙内分别单个地依次和/或按编号的顺序发射光信号脉冲；-其中,确定出现最强的接收信号的第二模块接收器,其中,确定出现最强的接收信号的时间范围和/或时间范围的编号；-将所确定的时间范围和/或所确定的编号从第二模块传输给第一模块；-确定与所确定的时间范围和/或所确定的编号对应的第一模块发射器并且将该对应的第一模块发射器用于随后从第一模块到第二模块的数据传输。(The invention relates to a method for transmitting data between a first module and a second module, and to a system having a mobile device for carrying out the method, wherein: -synchronizing the time base of the first module with the time base of the second module; the transmitter of the first module emits light signal pulses in each case individually in succession and/or in the numbered sequence in a corresponding time range, in particular in a time slot; -wherein the second modular receiver in which the strongest received signal occurs is determined, wherein the time range and/or the number of time ranges in which the strongest received signal occurs is determined; -transmitting the determined time range and/or the determined number from the second module to the first module; -determining a first module transmitter corresponding to the determined time range and/or the determined number and using the corresponding first module transmitter for subsequent data transmission from the first module to the second module.)

1. A method for transmitting data between a first module and a second module,

wherein the first module has an emitter, in particular for light, and a receiver, in particular light-sensitive,

wherein the second module has an emitter, in particular for light, and a receiver, in particular light-sensitive,

it is characterized in that the preparation method is characterized in that,

in a first method step, the time base of the first module is synchronized with the time base of the second module,

in a second method step, the transmitter of the first module emits light signal pulses in a respective time range, in particular in time slots, in each case individually in succession and/or in the numbered sequence,

-wherein the following receivers of the second module are determined, in particular by the electronic control means of the second module: in particular, the strongest received signal is present at the receiver during the execution of the second method step, wherein the time range, in particular the time slot, in which the strongest received signal is present and/or the number of the time range in which the strongest received signal is present is determined,

in a third method step, the determined time range and/or the determined number are transmitted from the second module to the first module,

in a fourth method step, a first module transmitter corresponding to the determined time range and/or the determined number is determined, in particular by the electronic control device of the first module, and is used for the subsequent data transmission from the first module to the second module,

in particular, at least the second method step, the third method step and the fourth method step are carried out repeatedly in time.

2. The method of claim 1, wherein the first and second light sources are selected from the group consisting of,

it is characterized in that the preparation method is characterized in that,

in a fifth method step, the transmitter of the second module emits light signal pulses in a respective time range, in particular in time slots, in each case individually in succession and/or in the numbered sequence,

-wherein the following receivers of the first module are determined: in particular, the strongest received signal is present at the receiver during the implementation of the fifth method step, wherein the time range, in particular the time slot, in which the strongest received signal is present and/or the number of the time range in which the strongest received signal is present is determined,

-transmitting the determined time range and/or the determined number from the first module to the second module in a sixth method step,

determining a corresponding second module transmitter corresponding to the determined time range and/or the determined number in the seventh method step and using the corresponding second module transmitter for a subsequent data transmission from the second module to the first module,

in particular, at least the fifth method step, the sixth method step and the seventh method step are carried out repeatedly in time.

3. The method according to claim 1 or 2,

it is characterized in that the preparation method is characterized in that,

the emitters of the first module have a preferred direction in terms of emitted light and are arranged differently oriented i.e. non-parallel,

in particular, wherein the light cones respectively emitted by the emitters of the first module are oriented non-parallel, the emitters of the second module have a preferred direction with respect to the emitted light and are arranged oriented differently, i.e. non-parallel,

in particular, the light cones emitted by the emitters of the second module are oriented in a non-parallel manner.

4. The method according to any one of the preceding claims,

it is characterized in that the preparation method is characterized in that,

the message is transmitted after the fourth method step and/or the seventh method step.

5. The method according to any one of the preceding claims,

it is characterized in that the preparation method is characterized in that,

the transmitter is embodied as an LED and the receiver is embodied as a light-sensitive device, in particular a phototransistor or a photodiode.

6. The method according to any one of the preceding claims,

it is characterized in that the preparation method is characterized in that,

the second module is located within the transmission range of the at least one transmitter of the first module,

the first module is located within a transmission range of at least one transmitter of the second module.

7. The method according to any one of the preceding claims,

it is characterized in that the preparation method is characterized in that,

the optical signal pulses emitted by the emitters in the second method step are all modulated in the same way, so that each optical signal pulse contains the same message.

8. An installation having a mobile device for performing the method according to any of the preceding claims,

it is characterized in that the preparation method is characterized in that,

each mobile device has at least one module, each having a transmitter, in particular for light, and a receiver, in particular light-sensitive,

in particular, the transmitter and the receiver of the respective module of each mobile device are connected to an electronic control device.

9. The installation according to any one of the preceding claims,

it is characterized in that the preparation method is characterized in that,

the mobile device can be driven on a driving surface of the installation, and the modules are each at the same distance from the driving surface.

10. The installation according to any one of the preceding claims,

it is characterized in that the preparation method is characterized in that,

the emitters of each module are arranged along a curved surface, wherein the cones of light emitted by the emitters are oriented differently.

11. The installation according to any one of the preceding claims,

it is characterized in that the preparation method is characterized in that,

no signal transmission can take place between the first mobile device and the third mobile device, in particular because of obstacles arranged in the middle and/or because of excessive distances,

wherein data transmission is implemented between the first mobile device and the second mobile device and between the second mobile device and the third mobile device,

wherein the method according to any one of claims 1 to 7 is implemented between a module of a first mobile device and a module of a second mobile device, and the method according to any one of claims 1 to 7 is implemented between a module of the second mobile device and a module of a third mobile device.

Technical Field

The invention relates to a method for transmitting data between a first module and a second module and to a system having a mobile device for carrying out the method.

Background

As is known, a receiver receives a signal from a transmitter for data transmission.

As the closest prior art, document US 2011/0069971 a1 discloses a method for data transmission by means of visible light.

A method for transmission signal tracking in an optical free-space transmission system is known from DE 60100824T 2.

A tracking system for tracking a carrier of a mobile communication unit is known from document DE 102015205220 a 1.

A method for establishing a communication connection using visible light is known from document US 2009/0022496 a 1.

A wireless broadcast network is known from document US 2009/0316679 a 1.

Disclosure of Invention

It is therefore an object of the present invention to improve a low interference and/or low error data transmission.

According to the invention, this object is achieved by a method according to claim 1 and a plant according to the features of claim 8.

In a method for data transmission between a first module and a second module, an important feature of the invention is that the first module has a transmitter, in particular for light, and a receiver, in particular photosensitive,

wherein the second module has a transmitter, in particular for light, and a receiver, in particular photosensitive,

wherein:

in a first method step, the time base of the first module is synchronized with the time base of the second module,

in a second method step, the transmitter of the first module emits light signal pulses in a respective time range, in particular in time slots, individually in succession and/or in the numbered sequence,

-wherein the following receivers of the second module are determined, in particular by the electronic control means of the second module: in particular, the strongest received signal is present at the receiver of the second module during the execution of the second method step, wherein the time range, in particular the time slot, in which the strongest received signal is present and/or the number of the time range in which the strongest received signal is present is determined,

in a third method step, the determined time range and/or the determined number are transmitted from the second module to the first module,

in a fourth method step, the transmitter of the first module corresponding to the determined time range and/or the determined number is determined, in particular by the electronic control device of the first module, and the corresponding transmitter of the first module is used for the subsequent data transmission from the first module to the second module,

in particular, at least the second method step, the third method step and the fourth method step are carried out repeatedly in time.

It is advantageous here that a data transmission with as low interference and low noise as possible can be achieved. Since a directional transmission of the signal can be achieved by using a transmitter which emits light more strongly in the preferred direction than in the other directions, and by using a receiver which likewise has a preferred direction in the sensitive area. Thus, a disturbing transmitter emitting light is suppressed if it is not arranged in the used transmission space region comprising the connection line between the transmitter and the receiver. Furthermore, the following transmitters of the first module and the following receivers of the second module are selected in a temporally iterative manner: the transmitter of the first module and the receiver of the second module are capable of signal transmission with an optimal signal-to-noise ratio. The selected pair (transmitter and receiver) achieves the maximum received amplitude at the receiver, i.e. the best signal-to-noise ratio. The connection line between the transmitter and the receiver in the pair is here at least almost parallel to the preferred direction of the transmitter and the preferred direction of the receiver. Since the orientation of the modules relative to one another changes during the movement of the displacement device, the preferred direction deviates from the direction of the connecting line, so that the pairing is always repeatedly determined over time.

In an advantageous embodiment:

in a fifth method step, the transmitter of the second module emits light signal pulses in a respective time range, in particular in a respective time slot, in each case individually in succession and/or in the numbered sequence,

a receiver of the first module is determined, at which the strongest received signal occurs, in particular during the implementation of the fifth method step, wherein the time range, in particular the time slot, at which the strongest received signal occurs and/or the number of the time range at which the strongest received signal occurs is determined,

subsequently, in a sixth method step, the determined time range and/or the determined number are transmitted from the first module to the second module,

subsequently determining in a seventh method step the transmitter of the second module corresponding to the determined time range and/or the determined number and using the corresponding transmitter of the second module for subsequent data transmission from the second module to the first module,

in particular, at least the fifth method step, the sixth method step and the seventh method step are carried out repeatedly in time. It is advantageous here that a likewise low-interference transmission can also be provided for the reverse channel, since for this purpose the pairing that achieves the best signal-to-noise ratio can also be selected.

In an advantageous embodiment, the emitters of the first module have a preferred direction with respect to the light emitted by the emitters and are arranged differently oriented, i.e. non-parallel,

in particular, wherein the light cones respectively emitted by the emitters of the first module are oriented non-parallel,

the emitters of the second module have a preferred direction in respect of the light emitted by the emitters and are arranged oriented differently i.e. non-parallel,

in particular, the light cones emitted by the emitters of the second module are oriented in a non-parallel manner. The advantage here is that interfering light sources/stray light sources can be suppressed. Since the communication channel only requires a limited spatial area.

In an advantageous embodiment, the message is transmitted after the fourth method step and/or after the seventh method step. It is advantageous here to select the pair of transmitter and receiver that is best in terms of signal-to-noise ratio according to the invention, so that messages can be transmitted with low errors and interference resistance.

In an advantageous embodiment, the emitter is implemented as an LED and the receiver is implemented as a light-sensitive element, in particular a phototransistor or a photodiode. The advantage here is that a directional emission of light can be carried out and likewise a reception can be carried out with a preferred direction.

In an advantageous embodiment, the second module is located in the emission range of the at least one emitter of the first module, and the first module is located in the emission range of the at least one emitter of the second module. It is advantageous here that message transmission is possible.

In an advantageous embodiment, the optical signal pulses emitted by the emitters in the second method step are all modulated in the same manner, so that each optical signal pulse contains the same message. The advantage here is that the training procedure carried out in the second method step makes it possible on the one hand to determine the pairing with the best signal-to-noise ratio and on the other hand to still transmit the message during this time. It is disadvantageous here that each of the emitters of the first module in turn emits the same light signal pulse, on which the same message is modulated. Therefore, the data transmission rate during the training procedure is smaller than in the usual data transmission. The more transmitters the first module has and the shorter the optical signal pulses respectively, the lower the data transmission rate.

However, if the first module has, for example, only four transmitters and the optical signal pulses each occupy almost a quarter of the total duration of the training procedure (i.e. the second method step), a data transmission rate which is slightly less than a quarter of the usual data transmission rate can still be achieved. Thus, a data transmission rate slightly less than one-N of the usual data transmission rate can be achieved with N transmitters.

An important feature in a facility with mobile devices for carrying out the above-described method is that each mobile device has at least one module, each having a transmitter, in particular for light, and a receiver, in particular light-sensitive,

in particular, the transmitter and the receiver of the respective module of each mobile device are connected to an electronic control device.

The advantage here is that the mobile device can transmit messages to another mobile device, so that the interacting operations can be carried out. Thus, on the one hand, collisions can be avoided and on the other hand the transport tasks of the internal logistics can be jointly performed. Further, information may be communicated. However, with directional transmission, message communication from the first mobile device to the third mobile device via the second mobile device may be implemented even if there is no communication connection between the first mobile device and the third mobile device. In this way, it is also possible to transmit messages to mobile devices that are too far away or to mobile devices with which there is no direct, i.e. straight-line, visual contact. Therefore, low-interference communication bypassing the obstacle can be realized.

In an advantageous embodiment, the displacement device can be driven on a driving surface of the installation, and the modules are each at the same distance from the driving surface. The advantage here is that the message transmission can be carried out in a defined plane or surface at a constant distance from the driving surface.

In an advantageous embodiment, the emitters of each module are arranged along a curved surface, the cones of light emitted by the emitters being oriented differently. The advantage here is that a wide spatial angle range can be covered despite the narrow transmitter, i.e. the transmitter emits in a respectively small spatial angle range.

In an advantageous embodiment, no signal transmission can take place between the first mobile device and the third mobile device, in particular because of obstacles arranged in the middle and/or because of excessive distances,

wherein data transmission is implemented between the first mobile device and the second mobile device and data transmission is implemented between the second mobile device and the third mobile device,

wherein the method according to any of claims 1 to 7 is implemented between a module of a first mobile device and a module of a second mobile device, and the method according to any of claims 1 to 7 is performed between a module of the second mobile device and a module of a third mobile device. In this case, it is advantageous if, in the event of an excessive distance or if a light obstacle is arranged in the middle, a bridging is implemented by means of a second mobile device arranged in the middle and having two modules, so that information received by means of a first module of the two modules from one module of the first mobile device is transmitted by means of a second module of the two modules of the second mobile device to a third mobile device, in particular to a module of the third mobile device.

Further advantages emerge from the dependent claims. The invention is not limited to the combination of features of the claims. Other possible combinations of the features of the claims and/or of the individual claims and/or of the features of the description and/or of the drawings are obvious to the person skilled in the art, especially from the objects set forth and/or compared with the prior art.

Drawings

The invention will now be explained in detail by means of a schematic drawing:

fig. 1 schematically shows a first module 1 and a second module 4, which is preferably of identical construction.

Fig. 2 schematically shows a transmission signal profile and a reception signal profile.

Detailed Description

As shown in the figures, the first module 1 has four emitters, in particular LEDs, which can emit cones of light oriented in different directions.

Each emitter corresponds to a respective receiver, in particular a photodiode or a phototransistor, the sensitive area of which is shaped similarly to the respective cone of light, i.e. likewise with a preferred direction. In the simplest case, the preferred direction of the light cone of each respective emitter is parallel to the preferred direction of each respective receiver.

Preferably, the emitters are arranged along a curved, in particular circular, trajectory and are regularly spaced from each other along said curved surface.

The second module 4 is preferably embodied identically to the first module 1.

The first module 1 is arranged on a first displacement device and the second module 4 is arranged on a second displacement device which is moved independently, in particular guided automatically, in the installation relative to the first displacement device.

In order to carry out the communication, the optimum transmission channel is determined repeatedly in time by the transmitter of the first module 1 emitting a light pulse and by the receiver which detects the highest reception amplitude being determined. Thus, a transmission channel is established between the receiver and the strongest transmitter for the receiver. The determining and establishing are repeated iteratively over time.

This is described in more detail below:

in a temporally determined grid, the signal is transmitted by the first module 1 and received by the second module 4, or vice versa.

For this purpose, a training signal profile is attached to the respective message characterized by the time range t _ TX _ DATA.

The training signal comprises four successive time segments, in particular time slots, wherein in each of the time slots a respectively different LED of the first module 1 emits a light signal pulse. Here, the energy of each optical signal pulse is as large as the duration.

Thus, according to fig. 1:

the first transmitter of the first module 1 transmits a light signal pulse in a first time slot t _ int1, the second transmitter of the first module 1 transmits a light signal pulse in a second time slot t _ int2, the third transmitter of the first module 1 transmits a light signal pulse in a third time slot t _ int3, and the fourth transmitter of the first module 1 transmits a light signal pulse in a fourth time slot t _ int 4.

The signal E received by one of the receivers of the second module 4 is depicted in fig. 2 and shows the maximum value at the time of the third optical signal pulse. A communication channel can thus be established between the third transmitter and the receiver. But also the received signals, not shown in fig. 2, of the other receivers of the second module 4. A communication channel is then established between the third transmitter and the receiver that received the strongest signal. If another transmitter implements a stronger signal on one of the receivers, it may be used instead of the third transmitter.

In other words, the transmitter-receiver pair that can achieve the strongest received signal is determined.

As shown in fig. 2, a first training signal with four light signal pulses of the transmitter of the first module 1 follows a first message packet transmitted from the first module 1 to the second module 4.

Where the receiver with the highest amplitude of the received signal is determined. The transmitter corresponding to this highest amplitude, i.e. the third transmitter in fig. 2, is determined and information about the identity of this respective transmitter, i.e. the third transmitter, is transmitted to the first module 1 in the next message packet transmitted from the second module to the first module 1.

In this way, a corresponding communication channel is established for the transmission of messages from the first module to the second module. Thus, in this embodiment, the third transmitter of the first module 1 and the determined receiver of the second module 4 are used to transmit messages from the first module to the second module.

The pairing that the reverse channel will use is then determined:

for this purpose, the second module 4 likewise emits a training signal which in turn comprises the light signal pulses to be emitted individually by the emitters.

In this way, it is now possible to determine the receiver of the maximum amplitude of reception of the first module 1 again. At the same time, a determination of the transmitter of the second module 4 which transmitted the strongest signal can be carried out.

Thus, the optimal transmitter-receiver pair is also determined for the reverse channel.

In this example, the pair is the second transmitter of the second module 4 and the receiver of the first module 1 that detected the strongest received signal.

The pair thus determined is used for subsequent message transmissions until the currently optimum transmitter-receiver pair is determined again by means of the training signal.

Only the determined transmitter and receiver are used when transmitting the message. No other transmitter and receiver are used. Thus, interference effects to or from other mobile devices can be prevented. Since only the light cone 3 generated by the transmitter and directed at the receiver of the further module (1, 4) is used for the information transmission. As a result, the emitters are directed as little as possible to other spatial regions in which, for example, other modules of other mobile devices are moving.

In other embodiments of the invention, the optical signal pulses themselves are also modulated such that each optical signal pulse in the training signal profile transmits the same message, but in particular in a different preferred direction. Thus, the receiver receives a message that is more or less noisy depending on the received amplitude. However, after the strongest received signal is determined, the message transmitted with that signal can also be detected with low error.

In other embodiments of the present invention, the training signal tracks/follows each transmitted message, enabling optimal updates in determining the currently optimal transmitter-receiver pair.

List of reference numerals

1 first Module

2 optical transceiver, in particular LED with photodiode or phototransistor

3 light cone

4 second module

E receiving

t _ TX _ DATA message Transmission

t _ int1 first slot

t _ int2 second time slot

t _ int3 third time slot

t _ int4 fourth time slot