Apparatus and method for performing a localization of a movable treatment device

An apparatus (10) for performing a localization of a movable treatment device (11) relative to a target surface (12), the movable treatment device (11) comprising an inertial sensor (13) and being configured to treat the target surface (12), the apparatus (10) comprising:

• a motion pattern recognition device (14) configured to discriminate between two or more motion patterns (151, 152, 153, . . . , 15n) contained in a set (15) of motion patterns of the movable treatment device (11), and
• an interface (16) for providing at least one inertial sensor data (171, 172, 173, . . . , 17n) from the inertial sensor (13) to the motion pattern recognition device (14), the at least one inertial sensor data (171, 172, 173, . . . , 17n) representing a movement of the movable treatment device (11),
• wherein the motion pattern recognition device (14) comprises a neural network (18) configured to receive the at least one inertial sensor data (171, 172, 173, . . . , 17n) and to map the at least one inertial sensor data (171, 172, 173, . . . , 17n) to at least one motion pattern (151, 152, 153, . . . , 15n) contained in the set (15) of motion patterns, wherein said motion patterns (151, 152, 153, . . . , 15n) are each associated (201, 202, 203, . . . , 20n) with one or more different zones (211, 212, 213, . . . , 21n) of the target surface (12) so that the mapping of the at least one inertial sensor data (171, 172, 173, . . . , 17n) with the at least one motion pattern (151, 152, 153, . . . , 15n) indicates an estimation of the location of the movable treatment device (11) with respect to the one or more zones (211, 212, 213, . . . , 21n) of the target surface (12),
• wherein the neural network (18) comprises at least a first layer (71) and a second layer (72), wherein the first layer (71) comprises a first neural unit (60) and wherein the second layer (72) comprises a second neural unit (70), wherein at a first time instant t the at least one inertial sensor data (172) is input into the first neural unit (60) of the first layer (71), and wherein at least one output ht (46) of the first neural unit (60) is input into the second neural unit (70) of the second layer (72).

An apparatus (10) for performing a localization of a movable treatment device (11) relative to a target surface (12), the movable treatment device (11) comprising an inertial sensor (13) and being configured to treat the target surface (12), the apparatus (10) comprising:

• a motion pattern recognition device (14) configured to discriminate between two or more motion patterns (151, 152, 153, . . . , 15n) contained in a set (15) of motion patterns of the movable treatment device (11), and
• an interface (16) for providing at least one inertial sensor data (171, 172, 173, . . . , 17n) from the inertial sensor (13) to the motion pattern recognition device (14), the at least one inertial sensor data (171, 172, 173, . . . , 17n) representing a movement of the movable treatment device (11),
• wherein the motion pattern recognition device (14) comprises a neural network (18) configured to receive the at least one inertial sensor data (171, 172, 173, . . . , 17n) and to map the at least one inertial sensor data (171, 172, 173, . . . , 17n) to at least one motion pattern (151, 152, 153, . . . , 15n) contained in the set (15) of motion patterns, wherein said motion patterns (151, 152, 153, . . . , 15n) are each associated (201, 202, 203, . . . , 20n) with one or more different zones (211, 212, 213, . . . , 21n) of the target surface (12) so that the mapping of the at least one inertial sensor data (171, 172, 173, . . . , 17n) with the at least one motion pattern (151, 152, 153, . . . , 15n) indicates an estimation of the location of the movable treatment device (11) with respect to the one or more zones (211, 212, 213, . . . , 21n)of the target surface (12),
• wherein the neural network (18) comprises at least a first layer (71) and a second layer (72), wherein the first layer (71) comprises a first neural unit (60) and wherein the second layer (72) comprises a second neural unit (70), wherein at a first time instant t the at least one inertial sensor data (172) is input into the first neural unit (60) of the first layer (71), and wherein at least one output ht (46) of the first neural unit (60) is input into the neural unit (70) of the second layer (72), and wherein at a subsequent second time instant t+1 a second inertial sensor data (173) and at least one output ht (46) of the first neural unit (60) at the first time instant tis input into the first neural unit (60) at the subsequent second time instant t+1.

An apparatus (10) for performing a localization of a movable treatment device (11) relative to a target surface (12), the movable treatment device (11) comprising an inertial sensor (13) and being configured to treat the target surface (12), the apparatus (10) comprising:

• a motion pattern recognition device (14) configured to discriminate between two or more motion patterns (151, 152, 153, . . . , 15n) contained in a set (15) of motion patterns of the movable treatment device (11), and
• an interface (16) for providing at least one inertial sensor data (171, 172, 173, . . . , 17n) from the inertial sensor (13) to the motion pattern recognition device (14), the at least one inertial sensor data (171, 172, 173, . . . , 17n) representing a movement of the movable treatment device (11),
• wherein the motion pattern recognition device (14) comprises a neural network (18) configured to receive the at least one inertial sensor data (171, 172, 173, . . . , 17n) and to map the at least one inertial sensor data (171, 172, 173, . . . , 17n) to at least one motion pattern (151, 152, 153, . . . , 15n) contained in the set (15) of motion patterns, wherein said motion patterns (151, 152, 153, . . . , 15n) are each associated (201, 202, 203, . . . , 20n) with one or more different zones (211, 212, 213, . . . , 21n) of the target surface (12) so that the mapping of the at least one inertial sensor data (171, 172, 173, . . . , 17n) with the at least one motion pattern (151, 152, 153, . . . , 15n) indicates an estimation of the location of the movable treatment device (11) with respect to the one or more zones (211, 212, 213, . . . , 21n) of the target surface (12),
• wherein the at least one inertial sensor data (171, 172, 173, . . . , 17n) comprises one or more inertial sensor data portions, and wherein an input to the neural unit (60) at a first time instant t is a respective inertial sensor data (171, 172, 173, . . . , 17n) comprising the one or more inertial sensor data portions retrieved during said first time instant t.