Patent ID: 8199316

Claim:
A device ( 1 ) for tracking the movement of a tool of a handling unit ( 2 ) having at least one directional radiator ( 5 ) that can be aligned with the tool and be tracked, and a signal evaluation unit ( 4 ) for determining the movement, in which the directional radiators ( 5 ) have, actuators for aligning the directional beam ( 6 ) at adjustable angles with reference to a fixed spatial plane, and angle sensors for determining the current directional beam angle with reference to the spatial plane, and the angle sensors are connected to the signal evaluation unit ( 4 ), direction beam sensors ( 7 ) for detecting the directional beam ( 6 ) are arranged with a fixed reference to the tool and movably therewith, and are connected to the signal evaluation unit ( 4 ), and the signal evaluation unit ( 4 ) is set up for tracking the directional beam ( 6 ) of the at least one directional radiator ( 5 ) onto an assigned, moving directional beam sensor ( 7 ), and for determining the arbitrary movement of the tool in three-dimensional space as a function of the directional beam angles, characterized in that at least one inertial sensor ( 8 ) is connected to the tool for quantitatively acquiring the acceleration and/or rate of rotation and acquiring the direction of acceleration and/or direction of rotation of the tool and is connected with a signal output to the signal evaluation unit ( 4 ), and in that the signal evaluation unit ( 4 ) is set up for correcting the movement information determined with the aid of the signals of the inertial sensor ( 8 ) by means of the movement information determined with the aid of the directional radiators ( 5 ), and for tracking the movement of the tool and/or for tracking the directional radiators ( 5 ) as a function of the acceleration and/or rate of rotation signals of the inertial sensor ( 8 ).