WO2002035904A2

WO2002035904A2 - Method and device for determining the position, orientation and/or deformation of an object

Info

Publication number: WO2002035904A2
Application number: PCT/EP2001/012645
Authority: WO
Inventors: Friedrich Niederndorfer
Original assignee: Abatec-Electronic Ag
Priority date: 2000-11-02
Filing date: 2001-10-31
Publication date: 2002-05-10
Also published as: DE10054282A1; AU2002215993A1; WO2002035904A3

Abstract

The invention relates to a device and method for determining the position, orientation and/or deformation of an object whereby electromagnetic signals are emitted from one or more signal transmitters (A-G, M) arranged on an object. According to the invention, the signal transmitters (A-G, M) are controlled in such a way that the individual signals are different from each other. Said signals are projected onto at least one two-dimensional resolution position detector (PSD) and there they are converted into two-dimensional positioning co-ordinates. The position, orientation and/or deformation of an object is determined from the positioning co-ordinates.

Description

Method and device for determining the position, orientation and / or deformation of an object

The invention relates to a method and a device for determining the position, orientation and / or deformation of an object. D

It is often desirable to be able to analyze the trajectory and exact movement of an object. For example, in the sports sector, there is increasing demand for movement sequences, particularly using the latest technology. So today 5 video analyzes are already taking place to a large extent, in which, for example, the tennis or golf player's stroke to be analyzed is recorded on tape and then analyzed by a sportsperson by playing the tape in slow motion. However, due to the two-dimensional recording 0 of a movement sequence taking place in three dimensions, it is difficult to be able to produce precise analyzes.

Some methods and devices are already known from the prior art with which the position and orientation 5 of an object can be determined.

Document EP 0 704 715 AI shows, for example, a portable system for determining the initial trajectory of a golf ball, basketball, soccer ball, etc. For this purpose, several reflective or high-contrast area markings are applied to the D object. These area markings are recorded by one or two cameras by opening a camera aperture synchronously with the emission of a flash light. The camera thus records a light pattern of all visible surface markings in the form of snapshots. The position and orientation of the golf ball is then determined from the two-dimensional camera data of the surface markings and calibration data obtained. The calibration data are recorded before the system is started up by recording 20 Fl - chenmarkungen an object whose position and orientation 'is known, and the focal length, orientation and position of the camera determined. The camera only records the light pattern originating from, for example, 6 markings, which thus shows 6 light spots which are indistinguishable from one another. Finally, the evaluation electronics must assign the associated marking on the golf ball to each recorded light spot (for example by analyzing the previously recorded light pattern and a movement prediction). This is possible as long as the light spots shift only slightly from shot to shot on the camera recording surface (if the period between the shots is too long, such an assignment is no longer clearly possible) and the degree of freedom of movement of the object, particularly with regard to a deformation of the - same, not too big.

The invention is based on the object of further developing the method known from the prior art and the associated device in such a way that the determination of position, orientation and / or deformation becomes clear, in particular independently of the recording speed and the degree of freedom of movement ,

The invention solves this problem with the subject matter of claims 1 and 14. Preferred exemplary embodiments are described in the subclaims.

Thereafter, a method for determining the position, orientation and / or deformation of an object, in particular a moving object, is created, in which electromagnetic signals are emitted by one or more signal transmitters arranged on the object, the signal transmitters being controlled in such a way that the individual signals from one another are distinguishable, these signals are projected onto at least one two-dimensional position detector and converted there into two-dimensional position coordinates, and the position, orientation and / or deformation of the (moving) object is determined from the position coordinates. The determination of position, orientation and / or deformation with the additional one is advantageous Labeling of each signal is easier, firstly, since no corresponding mathematical identification procedures are required, and secondly, clearly (see above). In the case of a simple possible identification variant, the signal transmitters can emit light signals at different frequencies, the position detector or a detector additionally arranged at the position detector being able to identify the respective frequencies. In addition, several position detectors, one position detector for each frequency, can be used, which, for example, have filters in front of their receiving surface and thus work frequency-selectively. This simple identification is possible for the first time since, in contrast to the prior art described above, actively illuminating signal transmitters are used instead of passive reflectors in the invention. Depending on the number of degrees of freedom of translation, rotation and deformation of the object and the number of position detectors, a certain minimum number of signal transmitters provided on the object is required. These, _, signal transmitters can be grouped together and attached to the object at different locations. In particular, such groups are attached to locations on the object that can move to other locations on the object. If the object comprises, for example, a swivel joint, a group of signal transmitters can be rigidly attached to a swivel arm of the swivel joint, each group comprising a specific number of signal transmitters depending on the degrees of freedom of translation and rotation of the respective swivel arm.

The transmission of the signals is preferably controlled by the signal transmitters in such a way that the signals arrive at the position detector one after the other in corresponding time windows. Thus, a frequency-resolving position detector does not necessarily have to be used, since with a corresponding control circuit in the signal transmitters and a corresponding evaluation circuit in the position detector (which are synchronized with one another) it is clear at all times which signal transmitter has sent. A so-called PSD detector (position sensitive detector) can advantageously also be used, which coordinates the coordinates of a single light spot projected onto it per time window outputs (when, for example, a light signal is used as an electromagnetic signal). In this embodiment, for example, two signal transmitters can also transmit their signals at the same time, provided the signal transmitters are located on two opposite sides of an object and the position detector thus receives only one of the two signals at any time depending on the orientation of the object.

Additional information for identifying the transmitted signal is preferably transmitted together with each signal. This can be the frequency of the signal already mentioned above. Alternatively, the additional information is preferably contained as coding in each signal. The additional information can particularly preferably be modulated onto the respective signal. The modulation can be frequency, phase or amplitude modulation. This additional information can be used in addition or as an alternative to the measure of sending the signals in fixed time windows. The former increases identification security.

If the position detector is capable of doing so due to its processing speed, the coded or modulated additional information can preferably be directly decoded or demodulated by the position detector. This eliminates the need for an additional reception unit. However, if the frequency with which the individual signals are transmitted successively in time is increased further (in order, for example, to achieve a finer position resolution even at high object speeds), it may be necessary to receive the additional information preferably from a separate receiving unit. The position detector then deals only with the output of the two-dimensional position coordinates of the incoming signals.

The additional information is preferably transmitted by a separate additional information transmitter, which is attached to the object, for example. For this purpose, a control circuit can be provided on the object, which controls the transmission of the individual signal transmitters. The control signal used for this purpose is then also sent to a corresponding one via the additional information transmitter Transmit evaluation circuit coupled additional information receiving unit, in particular wireless, for example by radio, ultrasound or optical.

The position of the moving object in the form of the three orthogonal coordinates in space and the orientation in the form of the three orthogonal angles of rotation in space are preferably determined, at least seven signal transmitters being used for this purpose. So it is already possible with a position detector and seven signal transmitters, which are arranged so rigidly on a rigid object that the position detector can receive its signals in any position and orientation of the object, the position and orientation in all three translational and three To determine degrees of rotational freedom. If the object is not rigid in itself, but can be deformed, for example, via joints, the deformation of the object can also be determined by means of correspondingly arranged signal transmitters.

However, depending on the object (i.e. also for larger, stiff objects), more than seven signal transmitters are preferably used, which are arranged on the object such that seven signals from seven different signal transmitters are always imaged on the two-dimensional position detector in every possible position and orientation of the object.

The electromagnetic signals are preferably infrared light signals, which firstly have a good directivity and secondly are not so disturbed by the ambient light.

The invention and further advantages and features of the invention will now be explained in more detail on the basis of preferred exemplary embodiments with reference to the attached drawing. The drawing shows:

1 shows a schematic view of the arrangement of four signal transmitters attached to an object and a position detector with optics, i

2 shows a schematic view of a first example in which two position detectors PSD1 and PSD2 and a single signal transmitter L attached to the object are used; FIG. 3 'shows a second example in a schematic view in which one position detector PSD and two are attached to the object Signal generators L1 and L2 are used, Figure 4 in a schematic view, the second example in which a position detector PSD and two at the

Object-attached signal transmitters L1 and L2 are used, but the object has different degrees of freedom of movement compared to FIG. 3, FIGS. 6a, b, c schematically show the position and orientation of an object in three views in the xyz, xz and yz planes , whose position is determined with a position detector and seven signal transmitters attached to the object.

1 shows a schematic view of an arrangement of four signal transmitters A to C and M which are attached to an object (not shown), for example a golf club head, and which are in a fixed position relative to one another. If the signal transmitters are movable relative to one another, the exact position of the signal transmitters relative to one another should always be known for the subsequent evaluation at each evaluation time. In FIG. 1, the signal generators A to C and M are attached to a tripod forming a signal generator unit, with the three signal generators A to C at the leg ends and the signal generator M in the center. These signal transmitters A to C and M can also be attached to the object at any positions of a rigid object, ie without the tripod, or via an arbitrarily shaped frame, ie differently than the tripod. Furthermore, several such tripods, each with four signal transmitters A to C and M, can be attached to different positions of an object, so that either different movements of an object, for example the head, shoulder, hip, arm, hand, golf club, and / or leg movement of a golfer, or the movement of a part of a __- larger object can be tracked from several sides. In the latter case, for example in the case of an object on the front and rear of which such a tripod is attached, the object movement can also be tracked even when the object is rotated by 180 °, ie the front and rear are interchanged with respect to an observation point of view. Conversely, of course, with only one tripod on the front or back of the object, the object movement can of course also be tracked by two opposite position detectors (behind and in front of the object) regardless of the position and orientation of the object. It therefore depends entirely on the design of the object where the individual tripods or signal transmitters or the individual position detectors must be arranged in order to be able to reliably determine all object movements.

The signal generators A to C and M can, for example, be simple light-emitting diodes which emit isotropically in a half-space, in particular infrared light-emitting diodes. For the rest, however, all types of signal transmitters are suitable which can emit an electromagnetic, acoustic or optical signal, provided that a corresponding position detector can use the incoming signal to indicate the direction from which the signal was emitted.

FIG. 1 shows the sensitive recording area of such a two-dimensionally resolving position detector 1. The infrared light beam emitted by the individual infrared light-emitting diodes as signal generators A to C and M is projected onto this receiving surface via a projection lens 2. The position detector PSD is preferably a PSD detector (position sensitive detector) which directly outputs the x and y coordinates of the pixels B _A to B _c and B _{M of} the respective signals of the signal generators A to C and M as position coordinates. The advantage of this position detector is that the center of gravity of a striking light spot is already determined inside the detector and only the x and y coordinates of the center of gravity are output. However, such a cost-effective position detector, which is highly accurate in resolution, can only determine the center of gravity coordinates of one output a single light spot or a more complicated light pattern, but this is completely sufficient in this case for the reasons discussed below.

The optical signals of the individual signal generators A to C and M are thus emitted one after the other in time. The transmission can take place in a periodically repeating sequence of predefined time windows. After a period in which all signal transmitters have emitted their signals one after the other, there can be a brief pause to indicate the start of a new period. For this purpose, a corresponding control circuit can be provided in the signal transmitters A to C and M, which is synchronized from time to time with a corresponding evaluation circuit downstream of the position detector (for example, only at the beginning of the position determination).

For communication with the individual signal generators A to C and M (for example for their control) or for the synchronization of the individual signal generators A to C and M, an optical transmitter unit can also be used on the position detector, which the individual signal generators A to C and M and / or signal generator units controls and determines which signal generators A to C and M and / or signal generator units are allowed to send at what time. For this purpose, one or more optical receiving units and a logic circuit are provided on each signal generator A to C and M or on each signal generator unit, which decides whether, how and when transmission may take place. The signaling devices A to C and M can also be communicated or synchronized via radio, ultrasound, etc. If, for example, a signal transmitter unit with several signal transmitters A to C and M is activated to send out its signals, the logic circuit of the associated signal transmitter unit can generate the individual transmission windows for their respective signal transmitters A to C and M. The information about the sequence of the transmission windows is either known in the evaluation circuit downstream of the position detector or else it is sent back by the logic circuit to a corresponding receiving unit in the position detector and then made available to the evaluation circuit. If it becomes necessary to distinguish the individual optical signals from one another in addition or as an alternative to the transmission in predetermined time windows, the signals can be identified accordingly. For this purpose, the optical signals are modulated or coded differently, for example. If the type of modulation or the coding is sufficiently slow, the position detector itself could demodulate or decode the optical signals in order to identify them. However, if faster types of modulation or coding are used, an optical receiver unit (e.g. an infrared receiver) can be used in addition to the position detector, particularly in its immediate vicinity, which only demodulates or decodes the incoming signal, but does not determine the position. The demodulated or decoded signal of the optical receiving unit together with the essentially simultaneously output position signal (x and y coordinates) represents the information which signal generator A to C or M has just sent.

In principle, one or more position detectors can be used to evaluate the optical signals sent by the signal generators A to C and M. With two position detectors at a known distance from one another, a three-dimensional determination of the object coordinates can be made possible. Due to various restrictions on the freedom of movement of the object, special cases arise which simplify the subsequent position calculations. These special cases are described below using a specific example. Finally, an example is given for the general case, in which both the position (spatial coordinates) and the rotations of the axes of an otherwise rigid object can be calculated. For a deformable object, just as many signal generators A to C and M can be attached to different points of the object that can move towards one another that the movement of these points from the signals of the signal generators assigned to this point and the already determined position and orientation of the entire property and the other moving parts of the object can be derived.

FIG. 2 shows a first special example in which two position detectors PSD1 and PSD2 and a single signal generator L attached to the object are used. With this constellation, the spatial coordinates of the object can be calculated, but no twists of the object. It is assumed that the distance between the position detectors PSD1 and PSD2 is known. To determine the position of the object, the two x and y coordinates of the pixels of the signal generator L which are imaged on the two position detectors PSD1 and PSD2 are read out and fed to an evaluation circuit. If the orientation and position of the two position detectors PSD 1 and PSD2 and the focal length of the two (not shown) projection lenses in front of the position detectors PSD1 and PSD2 are known, the directions of the incoming light beams can be derived from these coordinates. The intersection of the two directions gives the 3D coordinates of the object.

In this variant, the successive emission of light signals from the signal generator L can trigger, for example, the evaluation clock of the evaluation circuit. By increasing the transmission frequency, the resolution of the position determination becomes more precise. If the object includes, for example, an integrated speed or acceleration meter, the transmission frequency can be set depending on the measured speed or acceleration. According to the invention, a distinction is thus also made between the individual light signals emitted by the one signal transmitter L.

An example of an application for this simple structure would be the measurement of the head movement of a golfer when head turns are no longer to be determined.

FIG. 3 shows a second specific example in which a position detector PSD and two signal transmitters L1 and L2 attached to the object are used. Furthermore, it is assumed that the object is only in one plane parallel to the position detector PSD can move and the distance of this level to the position detector PSD is known. In addition, only a rotation of the object in this plane should be allowed, ie the two signal generators L1 and L2 also always remain in the plane. With this constellation, the coordinates of the object in the parallel plane and the one angle of rotation can be calculated. The two directions of the incoming light beams can be derived from the signal transmitter L1 and the signal transmitter L2, respectively, from the x and y coordinates of the two image points mapped onto the position detector PSD in chronological order. From the two directions and the distance from the parallel plane to the position detector PSD, the coordinates of the signal transmitters L1 and L2, and thus the coordinates of the associated object (with known fixed arrangement of the signal transmitters Ll and L2 on the object), and then in one step second step of determining an angle of rotation of the object in this plane.

An example of an application for this constellation is the leg movement of a golfer along a parallel plane.

In the constellation of FIG. 4, a further degree of freedom of movement can be determined under the following assumption: on the one hand the object should be able to rotate and move in a parallel plane and on the other hand the parallel plane should be able to move in depth. The distance between the two signal generators L1 and L2 is again known. With this constellation, the distance from the parallel plane to the position detector PSD and the angle of rotation and the position of the object within the parallel plane are calculated. From the knowledge that the signal transmitters L1 and L2 are located in a parallel plane to the position detector PSD, and from a determination of the distance of the pixels of the two signal transmitters L1 and L2 from one another, the distance g of the parallel plane to the position detector PSD can be determined as follows:

L ₂ ~ _X g = e (1) B ₂ - B ₂ where L ₂ -Lι is the known distance between the two signal generators Ll and L2, B ₂ -B- _{L is} the calculable distance between the two pixels of the two signal generators Ll and L2 and e is the focal length of the projection lens. Figure 4 illustrates the above situation.

Then, as explained above, the two directions of the incoming light beams can be determined by the signal transmitters L1 and L2 from the x and y coordinates of the two image points imaged on the position detector PSD and finally the position from the determined directions and the distance of the object in the parallel plane and the angle of rotation can be calculated.

An application example for this constellation is the determination of the forward and backward movement of the head of a golfer along a line perpendicular to the position detector and a lateral movement and rotation of the head in the parallel plane.

FIGS. 5a and 5b show in two views in the yz and xz planes the position and orientation of an object, the position of which is to be determined using a position detector PSD and three signal transmitters A, B and C attached to the object, and the corresponding ones three pixels on the position detector. In this example, the position of the object in space is to be determined, while the rotations of the object are only restricted to one rotation in the yz plane. The three signal generators A to C are arranged at right angles to one another, ie they are located at the corners of a right-angled triangle with the signal generator B at the corner with the right angle. The distances AB and CB of the signal generators A to C have the length a / 2 and - as I said - are orthogonal to each other. From this knowledge, the distances g _A , gs and gc of the signal transmitter from the projection lens and the angle of rotation φ in the yz plane can be determined as follows:

where G _AX and G _Ay the x and y coordinates of the signal generator A, ^B _A x ^and d _Ay the x and y coordinates of the pixels of the signal generator A in the position detector PSD, gA the distance of the signal generator A from the projection lens and e is the focal length of the projection lens (or the distance from the projection lens to the receiving surface of the position detector PSD). In FIGS. 5a and 5b the y coordinates G _By and Gc _{y of} the signal generators B and C and the x and y coordinates B _Bx , B _x and B _By , B _{Cy are} the pixels of the signal generators B and C drawn.

Analog signaling equations result for the signal generators B and C from the mapping laws. Since the three signal generators A to C are always in the yz plane for all values of the angle of rotation, the following applies (as can also be easily seen from FIG. 5b):

^G Ax = ^G Bx = ^G Cx ⁽ 3 ⁾

The angle of rotation φ can - as can easily be seen from FIG. 5a - be determined from the difference distances g _A -g _B or. Derive g _B -gc:

The angle of rotation φ can also be obtained from the ratio of the difference distances and the mapping equations as follows:

= ^B ? ^BB (5)

The distance of the signal generator B from the projection lens (and thus the object position) can also be written as follows:

An example of an application would be to determine the back and forth movement of a golfer's back along a line with an additional twist in that direction.

FIGS. 6a, b and c show in three views in the xyz, xz and yz planes the position and orientation of an object, the position of which is to be determined using a position detector PSD and seven signal transmitters A to G attached to the object , In this general example, the position of the object in space and all three angles of rotation in space are to be determined. The geometric arrangement of the 7 signal generators A to G is shown in FIG. 6a. The signal generators A to G are arranged in such a way that the lines BA, BC, BE and BG have the length a / 2 and the lines BD and BF the length v3 / 4. The coordinate system is also selected so that the locations of all signal generators are initially located directly on the coordinate axes x, y and z. The signal generators A and C are thus on the x axis, the signal generators D and F on the y axis and the signal generators E and G on the z axis and the signal generator B in the center of the coordinate axes. This geometric arrangement of the seven signal generators A to G can be shifted and rotated in the Cartesian coordinate system. The signal generator B is shifted in the center of the arrangement by the coordinates G _Bx , G _By and G _Bz compared to the initial coordinate system. The angle φl describes a rotation about the y-axis, the angle φ2 one

Rotation around the x-axis and the angle φ3 a rotation around the z-axis.

The seven signal generators A to G have the following coordinates in space: A: =

The pixels A to G as images of the seven signal generators A to G on the position detector PSD have the following coordinates:

The coordinates of the signal generator A and C to G in space can depend on the coordinates of the signal generator B and the three

Angle of rotation φl, φ2 and φ3 can be represented as follows:

^G Ax = ^G Bx - sin (φ ₂ ) • sin (^) • sin () + - cos (^) • cos () a

^G Ay = ^G 'BB.y + ^ cos (&) - sin () (9)

^G Az = ^G Bz - sin (^ ₂ ) • sin (ξ) • cos () - - cos () • sin ()

^G c _x ) • cos ()

G, r ^a ^r Cy s () -sin (,) aa

^G a = ^G BZ + 2 ■ sin (,) • sin (^ ₃ ) • cos () + - ^■ cos (^) • sin ()

(10) ^G D Dxx = 'lBx) - cos ()

3

Gθ - = ^ ^G B _B y _y + o - cos (^ ₂ ) ^• cos (^) (11)

[3 ^" IT

G 'Dnz, = GJ B _B z _r - a _Λ - sin (,) • cos (^ ₃ ) ^■ cos () + aJ— sin (,) • sin ()

^G _EX = G _& - - cos (^ ₂ ) ^• sin ()

G ^ = G _fö , - sin (&) (12)

^G a = ^G B, - 2 ^cos () ^{• cos} ()

_* = G _ßJC + a ^ - m (φ ₂ ) ^• cos (φ ₃ ) • sin () + a - sin (^) • cos ()

[3 Ϊ3

^G _Z = ^G _BZ ^{+ a} ^ ^{sin (} ^ 2) ^• ∞ ^s (<k) ^• cos () - a - sin (^) ^• sin ()

a

G Gx G _Bx + -cos (φ ₂ ) -sin (φ) a

^G a _y = G _By + -sin (φ ₂ ) (14) a

G _G2 = G _B∑ + -cos (φ ₂ ) - cos (^)

Furthermore, as can easily be seen from FIGS. 6b and 6c, the following equations result from the mapping law:

B Ax G Ax B Ay G Ay and (15)

G Az e G Az

Analog equations result for the signal generators B, C, D, E, F and G. From these equations (15) obtained via the mapping law and the equations (9) to (14) set out above, the angles of rotation φl, φ2 and φ3 and the distance G _{Bz can be described} as a function of the coordinates of the pixels and the angle of rotation already calculated in each case.

Angle of rotation φ3:

Angle of rotation φ2:

or

Angle of rotation φl

Distance g _B :

or

The coordinates of the points A, B, C, D, E, F and G in space can be calculated from the calculated angles of rotation φl, φ2 and φ3 and the distance g _B using equations (9) to (14). A reference point can be defined for this, which has the following coordinates.

The coordinates of point A in relation to reference point R are as follows.

The coordinates of points B, C, D, E, F and G are calculated analogously. From the specific positions of, for example, a swinging golf club and the known position of a golf ball to be hit, it is then possible, for example, to first determine the golf club's swing path, then the exact meeting point of the golf ball (hook, slice, draw, etc.) and the speed of the hit and finally that Calculate the trajectory of the golf ball. For example, this can be displayed in large format on a screen in front of the golfer together with the golf course, so that overall a complete, absolutely realistic golf simulation is possible.

The applicant reserves the right to pursue the subject of the above-mentioned special evaluation method for determining the position and orientation separately from the differentiation of the individual signals from the signal transmitters. This object relates to a method, a device for determining the position, orientation and / or deformation of an object, in which electromagnetic signals are emitted by one or more signal transmitters coupled to the object, these signals are projected onto one or more position detectors with two-dimensional resolution and there into two-dimensional ones Position coordinates are converted, and the position, orientation and / or deformation of the moving object is determined from the position coordinates using simple mapping laws.

Claims

Expectations :

1. A method for determining the position, orientation and / or deformation of an object, in which a) electromagnetic signals are emitted by one or more signal transmitters (AG, M) arranged on the object, the signal transmitters (AG, M) being controlled in this way that the individual signals are distinguishable from each other; b) these signals are projected onto at least one two-dimensional position detector (PSD) and are converted there into two-dimensional position coordinates; and c) the position, orientation and / or deformation of the object is determined from the position coordinates.

2. The method according to claim 1, wherein the transmission of the signals from the signal transmitters (A-G, M) is controlled such that the signals arrive at the position detector (PSD) one after the other in corresponding time windows.

3. The method of claim 1 or 2, wherein together with each signal, additional information for identifying the transmitted signal is transmitted.

4. The method according to claim 3, wherein the additional information is contained as coding in each signal.

5. The method according to claim 4, wherein the additional information is modulated onto the respective signal.

6. The method according to claim 4 or 5, in which the coded or modulated additional information is directly decoded or demodulated by the position detector (PSD).

7. The method according to any one of claims 2 to 5, wherein the additional information is received by a separate receiving unit. i

8. The method according to any one of the preceding claims, wherein the additional information is transmitted by a separate additional information transmitter.

9. The method as claimed in one of claims 2 to 8, in which the control signal for the transmission control of the signal transmitters (A-G, M) is transmitted wirelessly to the signal transmitters (A-G, M). 0

10. The method according to claim 9, wherein the control signal is transmitted optically, by radio or by ultrasound.

11. The method according to any one of the preceding claims, in which the position of the moving object in the form of the three orthogonal coordinates in space and the orientation in the form of the three orthogonal angles of rotation in space is determined, at least six signal transmitters (A-G) being used. 0

12. The method according to claim 11, in which, depending on the object, more than six signal transmitters (AG, M) are used, which are arranged on the object such that in every possible position, orientation or deformation of the object 5 there are always six signals from six different signal transmitters ( AG, M) are imaged on the two-dimensional position detector (PSD).

13. The method according to any one of the preceding claims, in which D the electromagnetic signals are infrared light signals.

14. Device for determining the position, orientation and / or deformation of an object, with: 5 a) one or more signal transmitters (AG, M) arranged on the object for emitting electromagnetic signals, the signal transmitters (AG, M) being controlled in this way that the signals are distinguishable from each other; b) at least one two-dimensional position detector (PSD), which is designed such that the signals projected onto it are converted into two-dimensional position coordinates; and c) an evaluation circuit for determining the position, orientation and / or deformation of the moving object from the position coordinates.

15. The apparatus of claim 14, with a control circuit for controlling the signal generator (A-G, M) such that the signals of the signal generator (A-G, M) arrive at the position detector (PSD) successively in time in corresponding time windows.

16. The apparatus of claim 13 or 14, wherein each signal generator (A-G, M) is designed such that it transmits, together with the signal, additional information for identifying the signal emitted by it.

17. The apparatus of claim 16, wherein each signal generator (A-G, M) is designed such that the additional information is encoded in the signal sent by the signal generator (A-G, M).

18. The apparatus of claim 17, wherein ^' each signal generator (AG, M) is designed such that the additional information is modulated onto the signal sent by the signal generator (AG, M).

19. The apparatus of claim 17 or 18, wherein the position detector (PSD) is designed such that it decodes or demodulates coded or modulated additional information.

20. Device according to one of claims 15 to 18, in which a separate receiving unit is further provided for receiving the additional information.

21. Device according to one of claims 14 to 20, wherein an additional information transmitter coupled to the signal transmitters (A-G, M) is provided for transmitting the additional information.

22. Device according to one of claims 15 to 21, in which a control signal transmission unit for wireless transmission of the control signal to the signal generator (A-G, M) is provided, which controls the transmission of the signal generator.

23. The apparatus of claim 22, wherein the control signal is transmitted optically, by radio or by ultrasound.

24. Device according to one of claims 14 to 23, in which at least six signal transmitters (AG) are used and the evaluation circuit is designed such that the position of the moving object in the form of the three orthogonal coordinates in space and the orientation in the form of the three orthogonal angle of rotation in space is determined.

25. The apparatus of claim 24, in which more than six signal transmitters (AG, M) are used, depending on the object, before being arranged on the object in such a way that ^' in every possible position, orientation and / or deformation of the object there are always six signals from six different signal generators (AG, M) are mapped on the two-dimensional position detector (PSD).

26. The device according to any one of the preceding claims, wherein the electromagnetic signals are infrared light signals.

27. The device according to one of claims 14 to 26, wherein the position detector (PSD) is a PSD detector.