Device for monitoring the position and/or attitude and/or movement of a tool

A device that monitors a position and/or an attitude and/or a movement of a tool,

• wherein the tool comprises
• an inertial sensor comprising a gyroscope sensor and/or an inertia sensor mounted thereon, and
• wherein the device further comprises
• a supervisory unit,
• at least one image capture unit, and
• an image evaluation unit,
• wherein the supervisory unit determines the position and/or the attitude and/or the movement of the tool, starting from a specified initial situation, based on sensor data captured from the inertial sensor,
• wherein the image capture unit calibrates the inertial sensor, and the image capture unit captures one or more photographs of the tool in an image area at least at specific times or in specific time intervals,
• wherein the image evaluation unit determines the position and/or the attitude and/or the movement of the tool,
• wherein the supervisory unit calibrates the sensor data from the inertial sensor in order to process data from the image capture unit,
• wherein the device further comprises a locating device having a single ultrasonic transmitter and an ultrasonic receiver, which determines the position and/or attitude and/or movement of the tool in combination with the inertial sensor,
• wherein the locating device locates the tool by determining a distance between the single ultrasonic transmitter and the ultrasonic receiver by way of time-of-flight measurements on ultrasonic signals, the ultrasonic signals being used to determine a distance between the single ultrasonic transmitter and receiver, and
• wherein the work area of the locating device operating by means of time-of-flight measurement stretches beyond the image area of the image capture unit, and there is provision for the presence of the tool in the image area of the image capture unit to be detected by the locating device in order to locate the tool by way of time-of-flight measurements on the ultrasonic signals.