System and method for controlling operation of robot

Abstract

Systems and methods for controlling operation of a robot. A system and method includes a robot. The radar transmitter is configured to output a radar signal. The harmonic receiver is configured to receive a harmonic signal. The harmonic reflector is configured to be coupled to an object. The harmonic reflector is configured to output a harmonic signal in response to a radar signal contacting the harmonic reflector. The control unit is in communication with the robot, the radar transmitter and the harmonic receiver. The control unit is configured to determine a position, velocity and orientation of the harmonic reflector based on the harmonic signal, and to limit operation of the robot based on the position, velocity and orientation of the harmonic reflector.

Description

Technical Field

[0001] Examples of this disclosure generally relate to systems and methods for controlling the operation of a robot, and more specifically, to systems and methods for safely operating a robot based on tracked harmonic signals. Background Technology

[0002] Various structures are formed and assembled by robots. Furthermore, in some manufacturing environments, human operators often collaborate with robots. Specifically, collaborative robots interact with one or more humans in the workspace to form structures. During the manufacturing process, both collaborative robots and human operators perform certain defined tasks on the structure.

[0003] In robotic work environments, important measures are taken to protect humans from harm. These measures include fencing, locked doors, laser-guided curtains, and weight-sensing pads. Some safety systems either prevent humans from working near robots or require line-of-sight imaging devices to detect the presence of humans in the robotic work environment.

[0004] As is understandable, large-scale industrial robots may pose safety risks to humans. For example, a distracted person might enter the operating range of a robot's end effector and could be accidentally touched by it, potentially causing injury.

[0005] Some tasks may require collaborative action between robots and humans to be successfully completed. In factory and supply chain environments, the ability to increase output may be hampered if humans cannot work safely near robots. However, latency in data processing, as well as the increasing size and weight of robots, may increase the time it takes for one or more parts of the robot to come to a complete stop before contact with a human. Summary of the Invention

[0006] There is a need for improved safety systems and methods in robotic working environments. In view of this need, certain examples of this disclosure provide a system including a robot. A radar transmitter is configured to output a radar signal. A harmonic receiver is configured to receive harmonic signals. A harmonic reflector is configured to be coupled to an object. The harmonic reflector is configured to output a harmonic signal in response to a radar signal contacting the harmonic reflector. A control unit communicates with the robot, the radar transmitter, and the harmonic receiver. The control unit is configured to determine the position, velocity, and orientation of the harmonic reflector based on the harmonic signals, and to limit the robot's operations based on the position, velocity, and orientation of the harmonic reflector.

[0007] In at least one example, the control unit is configured to adjust the robot's operation by allowing a normal operating mode in response to determining that the harmonic reflector is outside the robot's operating range and that the harmonic reflector is not moving toward the operating range. As another example, the control unit is configured to adjust the robot's operation by restricting one or both of limiting and stopping the robot's operation in response to determining that the harmonic reflector is within the robot's operating range or is moving toward the operating range at a predetermined speed.

[0008] In at least one example, the robot includes a radar transmitter and a harmonic receiver. In another example, the radar transmitter and harmonic receiver are mounted on the robot's end effector.

[0009] In at least one example, the robot includes a control unit. In at least one example, the robot includes a radar transmitter, a harmonic receiver, and a control unit.

[0010] In at least one example, the control unit is configured to determine the position, velocity, and orientation of the harmonic reflector based on the Doppler effect of the harmonic signal.

[0011] As an example, harmonic reflectors are placed on a part of the clothing.

[0012] Some examples of this disclosure provide a method comprising: determining the position, velocity, and orientation of a harmonic reflector by a control unit based on a harmonic signal; and adjusting the operation of a robot by the control unit based on the position, velocity, and orientation of the harmonic reflector.

[0013] Certain examples of this disclosure provide a non-transitory computer-readable storage medium including executable instructions that, in response to execution, cause one or more control units including a processor to perform the following operations: determining the position, velocity, and orientation of a harmonic reflector based on a harmonic signal output by the harmonic reflector in response to contact with a radar signal; and adjusting the operation of a robot based on the position, velocity, and orientation of the harmonic reflector. Attached Figure Description

[0014] Figure 1 A simplified block diagram of a system according to an example of this disclosure is shown.

[0015] Figure 2 A side view of a robot relative to a human is shown, according to an example of this disclosure.

[0016] Figure 3 A top view of a robot relative to a human, according to an example of this disclosure, is shown.

[0017] Figure 4 A flowchart of an example method according to this disclosure is shown.

[0018] Figure 5 A schematic block diagram of a control unit according to an example of this disclosure is shown. Detailed Implementation

[0019] The foregoing description of the invention and certain examples will be better understood when read in conjunction with the accompanying drawings. As used herein, elements or steps described in the singular and preceded by the words "a" or "an" should be understood to not necessarily exclude multiple elements or steps. Furthermore, the reference to "an example" is not intended to be construed as excluding the existence of additional examples also incorporated into the described features. Moreover, unless expressly stated to the contrary, examples that "have" or "comprise" an element or multiple elements having a particular condition may include additional elements that do not have that condition.

[0020] This disclosure provides an example of a system configured to track and predict the vector of a moving object within a robot's work area. The system includes one or more harmonic reflectors coupled to the moving object. A transmitter coupled to the robot outputs a radar signal, which is received by the harmonic reflector(s). In response, harmonic signals are generated and transmitted back from the harmonic reflectors(s). The harmonic signals are received by a harmonic receiver coupled to the robot. Based on the Doppler effect, the harmonic tone shifts as the harmonic reflectors(s) move, thus providing the direction and velocity of the harmonic reflectors(s). A control unit tracks the harmonic signals reflected by the harmonic reflectors(s) and predicts when the object may enter a safe operating area, thereby causing the robot to decelerate or stop. In at least one example, a faster-moving object initiates a faster safety response (such as deceleration or stopping) before a slower-moving object. When the object moves far enough away from the robot, the control unit allows the robot to resume its task.

[0021] Figure 1 A simplified block diagram of a system 100 according to an example of this disclosure is shown. System 100 includes a robot 102 configured to operate within a work area 104. In at least one example, system 100 is a collaborative robot system in which the robot 102 and a human operator each perform certain operations on a workpiece. The workpiece can be any structure configured to be formed by robotic and / or collaborative robot processes. For example, the workpiece can be the structure of a vehicle. As another example, the workpiece can be part of the fuselage, wings, etc., of an aircraft. As yet another example, the workpiece can be a structure forming part of a fixed structure, such as a residential or commercial building.

[0022] Robot 102 includes an actuation member 106. In at least one example, the actuation member 106 includes an end effector connected to one or more articulated arms. The end effector and the arms(s) are operatively coupled to one or more actuators, such as electric motors. The actuation member 106 is configured to operate on a structure such as a workpiece. The actuation member 106 may include a drill bit, saw, milling device, lathe, gripper arm, laser, vacuum container, etc.

[0023] Robot 102 also includes a control unit 108 that communicates with the operating member 106, for example, via one or more wired or wireless connections. Control unit 108 also communicates, for example, with one or more radar transmitters 110 and one or more harmonic receivers 112 via one or more wired or wireless connections. The radar transmitters 110 and harmonic receivers 112 are attached to one or more parts of robot 102, such as the operating member 106, base, arm, articulated joint, etc. In at least one example, the radar transmitters 110 and harmonic receivers 112 are separate and distinct from each other. In another example, the radar transmitters 110 and harmonic receivers 112 may be included within a single device, such as a transceiver.

[0024] In at least one other example, the control unit 108 is separate from and distinct from the robot 102. For example, the control unit 108 may be located within a computer workstation configured to control the operation of the robot 102.

[0025] In at least one other example, the radar transmitter 110 and harmonic receiver 112 may be separate from and distinct from the robot 102. For example, the housing including the radar transmitter 110 and harmonic receiver 112 may be located within the working area 104.

[0026] As shown, control unit 108 communicates with robot 102 (e.g., manipulator 106), radar transmitter(s) 110, and harmonic receiver(s) 112. Control unit 108 is configured to regulate the operation of robot 102 (e.g., manipulator 106) based on one or more signals received by harmonic receiver(s) 112. Optionally, manipulator 106 may be operated by a separate control unit that communicates with control unit 108.

[0027] Object 114 is movable relative to work area 104. In at least one example, object 114 is a person. As another example, object 114 is a vehicle, another robot, a workbench, a tray, a workpiece, etc. To track the movement of object 114 relative to work area 104, one or more harmonic reflectors 116 are attached to object 114. For example, harmonic reflectors 116 may be attached to clothing, helmets, etc., worn by a person. As another example, harmonic reflectors 116 may be securely mounted to the outer surface of a vehicle, another robot, a workpiece, etc. The harmonic reflectors 116 move together with object 114. Therefore, the tracking position of the harmonic reflectors 116 also provides the tracking position of object 114.

[0028] Harmonic reflector 116 is configured to output a harmonic signal in response to receiving a radar signal impacting the harmonic reflector 116. In at least one example, harmonic reflector 116 is or otherwise includes a harmonic transceiver, passive transponder, etc., which may include nonlinear devices such as Schottky diodes or nonlinear diodes. In at least one example, harmonic reflector 116 may be implemented on an integrated chip.

[0029] Robot 102 is configured to move within the entire operating range 118 of work area 104. Operating range 118 may include all directions relative to the X, Y, and Z axes. For example, robot 102 supported on a floor within work area 104 may have operating members 106 including one or more arms. In such an example, the arms(s) in a fully extended position define operating range 118 as a hemisphere that defines a specific spatial volume above the floor.

[0030] Control unit 108 is configured to monitor the position, velocity, and heading of the plurality of harmonic reflectors 116 coupled to object 114, and to control the operation of operating member 106 based on the position, velocity, and heading of the plurality of harmonic reflectors 116. In operation, radar transmitter 110 outputs radar signal 120 received by harmonic reflectors 116. In response to radar signal 120 striking or otherwise contacting harmonic reflectors 116, harmonic reflectors 116 output harmonic signals 122 derived from radar signal 120. Harmonic receiver 112 receives harmonic signal 122. Control unit 108, communicating with harmonic receiver 112, receives harmonic signal 122 and determines the position, velocity, and heading of the plurality of harmonic reflectors 116 based on harmonic signal 122, thereby identifying the object.

[0031] In at least one example, radar signal 120 has a specific frequency. Harmonic reflector 116 is tuned to respond (e.g., resonate) to the specific frequency of radar signal 120. When radar signal 120 contacts harmonic reflector 116, the nonlinear device of harmonic reflector 116 resonates at the specific frequency, generating a response in the form of harmonic signal 122. For example, the harmonic signal (including harmonic frequencies) may be a multiple of the specific frequency of radar signal 120. In at least one example, harmonic signal 122 is twice the frequency of radar signal 120.

[0032] Control unit 108 determines the Doppler effect of harmonic signal 122 to track and predict the vector of object 114. That is, control unit 108 tracks the Doppler effect of harmonic signal 122 received by harmonic receiver 112 to determine the vector (including velocity and direction) of object 114 relative to operating area 104. Harmonic reflector 116 emits harmonic signal 122 having harmonic frequencies in response to radio frequency activation by radar signal 120. A Doppler effect occurs when harmonic reflector 116 moves. Based on the Doppler effect included in harmonic signal 122, control unit 108 determines the velocity and direction of harmonic reflector 116 (and therefore object 114). In this way, control unit 108 tracks and predicts the movement of object 114.

[0033] In at least one example, control unit 108 also (based on predetermined stored data) predicts the waiting time and duration for stopping one or more parts of robot 102. Combining the data within harmonic signal 122, control unit 108 then predicts how long it will take for robot 102 to contact object 114 (based on the current trajectory and speed), thereby ensuring that the robot slows down, stops, or shuts down before contacting object 114. Therefore, control unit 108 is configured to detect and process the Doppler effect of harmonic signal 122 received from harmonic reflector 116 to predict whether and when contact between object 114 and robot 102 will occur, and then restrict operations (such as by slowing the movement of robot 102, preventing operation within a portion of the operating range of robot 102, or deactivating robot 102) to prevent such contact.

[0034] Control unit 108 is configured to control the operation of robot 102 based on harmonic signals 122 received from harmonic reflectors 116 coupled to object 114. For example, in response to harmonic signals 122 indicating that object 114 is stationary (i.e., not moving) and outside the operating range 118 of robot 102, control unit 108 allows robot 102 to operate in a normal, unrestricted manner (e.g., according to a workpiece-related control plan). Conversely, in response to harmonic signals 122 indicating that object 114 is within the operating range 118, control unit 108 may deactivate robot 102 or allow robot 102 to operate in a restricted manner. For example, control unit 108 may prevent operation of manipulator 106. As another example, control unit 108 may restrict the movement of manipulator to a reduced range within the operating range 118. The reduced range is the range in which object 114 is neither located nor moving toward.

[0035] As described herein, system 100 includes a robot 102, a radar transmitter 110 configured to output radar signal 120, and a harmonic receiver 112 configured to receive harmonic signal 122. A harmonic reflector 116 is configured to be coupled to an object 114 (and thus associated with the position, velocity, and orientation of the object 114). The harmonic reflector 116 is configured to output harmonic signal 122 in response to contact of the radar signal 120 with the harmonic reflector 116. A control unit 108 communicates with the robot 102, the radar transmitter 110, and the harmonic receiver 112. The control unit 108 is configured to determine the position, velocity, and orientation of the harmonic reflector 116 (and therefore, the object 114) based on the harmonic signal 122, and to adjust the operation of the robot 102 based on the position, velocity, and orientation of the harmonic reflector 116. For example, control unit 108 is configured to adjust the operation of robot 102 by allowing a normal operating mode in response to determining that harmonic reflector 116 is outside the operating range 118 of robot 102 and that harmonic reflector 116 is not moving toward the operating range 118. As another example, control unit 108 is configured to adjust the operation of robot 102 by restricting the operation of robot 102 (e.g., by operating robot 102 in a restricted operating mode) and / or stopping the operation of robot 102 in response to determining that harmonic reflector 116 is within the operating range 118 of robot 102 or moving toward the operating range 118 at a predetermined speed, said predetermined speed exceeding a threshold (the size of which is stored in memory) at which robot 102 may stop operating before object 114 contacts one or more parts of robot 102.

[0036] Figure 2 A side view of robot 102 relative to human 105, according to an example of this disclosure, is shown. (Reference) Figure 1 and Figure 2 Person 105 is an object 114 that can move relative to the operating range 118 of robot 102. Person 105 wears harmonic reflectors 116 on a part of clothing, such as armband 200. Optionally, harmonic reflectors 116 can be worn on a shirt, helmet, headband, belt, etc. As another example, person 105 can wear multiple harmonic reflectors 116.

[0037] Robot 102 includes a base 202 and arms 204 and 206 joined together at one or more articulated joints 208. An end effector 210 is mounted to the end of arm 206. A radar transmitter 110 and a harmonic receiver 112 are mounted on the end effector 210. Optionally, the radar transmitter 110 and harmonic receiver 112 may be mounted on other parts of robot 102, such as arms 204 or 206, articulated joints 208, or base 202. As another example, robot 102 may include multiple radar transmitters 110 and harmonic receivers 112. As described above, radar transmitter 110 outputs a radar signal 120 in contact with harmonic reflector 116. In response, harmonic reflector 116 outputs a harmonic signal 122 including a Doppler effect. Harmonic receiver 112 receives harmonic signal 122, and control unit 108 determines the Doppler effect based on harmonic signal 122. Based on the Doppler effect determined by the harmonic signal 122, the control unit 108 determines the position, velocity, and heading of the harmonic reflector 116, and thus the position, velocity, and heading of the object 114.

[0038] In response to the determination from harmonic signal 122 that harmonic reflector 116 (and therefore, person 105) is stationary (i.e., not moving) and outside the operating range 118 of robot 102, control unit 108 allows robot 102 to operate in a normal operating mode (e.g., in an unrestricted manner). The operating range 118 is stored in the memory of control unit 108 or communicated with control unit 108.

[0039] Figure 3 A top view of robot 102 relative to human 105, according to an example of this disclosure, is shown. (Reference) Figures 1 to 3 In response to determining from the harmonic signal 122 that the harmonic reflector 116 (and therefore, the human 105) is stationary but within the operating range of the robot 102, the control unit 108 either restricts the operation of the robot 102 to a restricted operating mode or stops the operation of the robot 102. In the restricted operating mode, the robot 102 can operate at a slower speed and / or in a reduced area excluding the operating range 118 of the human 105.

[0040] When person 105 moves away from robot 102, such as away from the operating range, the harmonic signal 122 received from harmonic reflector 116 shifts to a lower harmonic frequency. Control unit 108 determines that the lower harmonic frequency indicates that harmonic reflector 116 has moved away from robot 102. In this way, when harmonic reflector 116 moves out of the operating range, control unit 108 can switch robot 102 back to normal operating mode, and / or, when person 105 moves away from robot 102, adjust the restricted operating mode (e.g., to increase the area that robot 102 can operate, increase the operating speed of robot 102, etc.).

[0041] Conversely, when the harmonic reflector 116 moves toward the robot 102, the harmonic signal 122 received from the harmonic reflector 116 shifts to a higher harmonic frequency, which the control unit 108 determines as the harmonic reflector is moving toward the robot 102. Thus, when the harmonic reflector 116 (and therefore, the person 105) moves toward and enters the operating range 118, the control unit 108 can restrict the operation of the robot 102.

[0042] As described herein, control unit 108 determines the vector (velocity and direction) of harmonic reflector 116 (and therefore object 114) based on harmonic signal 122. Based on harmonic signal 122 (such as the Doppler effect therein), control unit 108 determines the position and current trajectory of object 114 to determine whether to restrict or stop the operation of robot 102.

[0043] Figure 4 A flowchart illustrating an example method according to this disclosure is shown. References Figures 1 to 4 At 300, radar transmitter 110 outputs radar signal 120. At 302, radar signal 120 contacts one or more harmonic reflectors 116 connected to object 114 (such as person 105). At 304, in response to contact with radar signal 120, harmonic reflectors 116 output harmonic signal 122. At 306, control unit 108 receives harmonic signal 122 via harmonic receiver 112 and determines the position, velocity, and heading of harmonic reflectors 116 (and therefore object 114) based on harmonic signal 122 (e.g., through Doppler effects within harmonic signal 122, such as Doppler frequency shift).

[0044] At 308, based on the harmonic signal 122 and a predetermined location (such as stored in memory) of the operating range 118, the control unit 108 determines whether the harmonic reflector(s)116 is outside the operating range 118 of the robot 102. If not, the method proceeds to 310, where the control unit 108 restricts or stops the operation of the robot 102. For example, if the robot 102 is operating in a normal operating mode, the control unit 108 switches the robot 102 to a restricted operating mode, for example by slowing down the operating rate, restricting movement within the operating range to avoid object 114, and / or similar operations. As another example, the control unit 108 may stop the operation of the robot 102. The method then returns from 310 to 306.

[0045] However, if at 308 the harmonic reflectors 116 are outside the operating range 118, the method proceeds to 312, where the control unit 108 determines whether the harmonic reflectors 116 have moved toward the operating range 118. If not, the method proceeds to 314, where the control unit 108 allows normal operation of the robot 102. The method then returns to 306.

[0046] However, if at 312 the control unit 108 determines that the harmonic reflectors(s)116 are moving toward the operating range 118 of the robot 102, the method proceeds to 316, and the control unit 108 restricts or stops the operation of the robot 102. The method then returns to 306.

[0047] As described herein, the system and method determine the position of (and therefore the object) harmonic reflectors 116 relative to the work area 104 and track their movement. Based on the Doppler effect, as the (and therefore the object) harmonic reflectors 116 move, a frequency shift occurs in the harmonic modulation of the harmonic signal 122, thereby providing both direction and velocity to the control unit 108. By tracking the harmonic signal 122, the control unit 108 is able to predict when the object 114 may enter the operating range 118 of the robot 102, and can then limit or stop the operation of the robot 102.

[0048] The examples disclosed herein can be used in non-line-of-sight environments. Specifically, in at least one example, the radar transmitter(s) 110 and the harmonic reflectors(s) 116 do not need to be (although may) in line of sight to each other. Similarly, the harmonic reflectors(s) 116 and the harmonic receivers(s) 112 do not need to be (although may) in line of sight to each other. Alternatively, intermediate structures (such as walls, floors, ceilings, vehicles, workbenches, etc.) may be between the radar transmitter(s) 110 and the harmonic reflectors(s) 116, and between the harmonic reflectors(s) 116 and the harmonic receivers(s) 112.

[0049] Figure 5 A schematic block diagram of a control unit 108 according to an example of this disclosure is shown. In at least one example, the control unit 108 includes at least one processor 400 in communication with a memory 402. The memory 402 stores instructions 404, received data 406, and generated data 408. Figure 5 The control unit 108 shown is merely exemplary and not limiting.

[0050] As used herein, the terms “control unit,” “central processing unit,” “CPU,” “computer,” etc., can include any processor-based or microprocessor-based system, including systems using microcontrollers, reduced instruction set computers (RISC), application-specific integrated circuits (ASICs), logic circuits, and any other circuitry or processors, including systems capable of performing the functions described herein, including hardware, software, or combinations thereof. These are merely exemplary and are therefore not intended to limit the definition and / or meaning of these terms in any way. For example, control unit 108 may be or include one or more processors configured to control operations, as described herein.

[0051] Control unit 108 is configured to execute a set of instructions stored in one or more data storage units or elements (such as one or more memories) to process data. For example, control unit 108 may include or be coupled to one or more memories. Data storage units may also store data or other information as desired or required. Data storage units may take the form of physical memory elements within an information source or processor.

[0052] The instruction set may include various commands that instruct the control unit 108, acting as a processor, to perform specific operations of methods and processes, such as those described herein, representing various examples of the subjects. The instruction set may be in the form of a software program. Software can take various forms, such as system software or application software. Furthermore, software may be a collection of individual programs, a subset of programs within a larger program, or a part of a program. Software may also include modular programming in the form of object-oriented programming. The processor's processing of input data may be in response to user commands, the results of previous processing, or a request from another processor.

[0053] The diagrams in this document may illustrate one or more control or processing units, such as control unit 108. It should be understood that a processing or control unit may represent a circuit, a portion thereof, which may be implemented as hardware (e.g., software stored on a tangible and non-transitory computer-readable storage medium, such as a computer hard disk drive, ROM, RAM, etc.) having associated instructions for performing the operations described herein. The hardware may include state machine circuits hardwired to perform the functions described herein. Optionally, the hardware may include electronic circuitry comprising and / or connected to one or more logic-based devices, such as microprocessors, processors, controllers, etc. Optionally, control unit 108 may represent processing circuitry, such as one or more field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), microprocessors (multiple) such processors, etc. The circuits in the various examples may be configured to execute one or more algorithms to perform the functions described herein. One or more algorithms may include aspects of the examples disclosed herein, whether or not explicitly identified in the flowcharts or methods.

[0054] As used herein, the terms “software” and “firmware” are interchangeable and include any computer program stored in data storage units (e.g., one or more memories) for execution by a computer, including RAM memory, ROM memory, EPROM memory, EEPROM memory, and non-volatile RAM (NVRAM) memory. The data storage unit types described above are merely exemplary and therefore do not limit the types of memory that can be used to store computer programs.

[0055] Furthermore, this disclosure includes examples pursuant to the following terms:

[0056] Clause 1. A system comprising:

[0057] robot;

[0058] A radar transmitter configured to output a radar signal;

[0059] A harmonic receiver, the harmonic receiver being configured to receive harmonic signals;

[0060] A harmonic reflector configured to be coupled to an object, wherein the harmonic reflector is configured to output the harmonic signal in response to a radar signal contacting the harmonic reflector; and

[0061] A control unit that communicates with the robot, the radar transmitter, and the harmonic receiver, wherein the control unit is configured to:

[0062] The position, velocity, and direction of the harmonic reflector are determined based on the harmonic signal, and

[0063] The robot's operation is adjusted based on the position, velocity, and orientation of the harmonic reflector.

[0064] Clause 2. The system according to Clause 1, wherein the control unit is configured to adjust the operation of the robot by allowing a normal operating mode in response to determining that the harmonic reflector is outside the operating range of the robot and that the harmonic reflector has not moved toward the operating range.

[0065] Clause 3. The system according to Clause 2, wherein the control unit is configured to, in response to determining that the harmonic reflector is moving within the operating range of the robot or toward the operating range at a predetermined speed, adjust the operation of the robot by limiting the operation of the robot and stopping the operation of the robot, or both.

[0066] Clause 4. The system according to any one of Clauses 1 to 3, wherein the robot includes the radar transmitter and the harmonic receiver.

[0067] Clause 5. The system according to Clause 4, wherein the radar transmitter and the harmonic receiver are mounted on the end effector of the robot.

[0068] Clause 6. The system according to any one of Clauses 1 to 5, wherein the robot includes the control unit.

[0069] Clause 7. The system according to any one of Clauses 1 to 6, wherein the robot includes the radar transmitter, the harmonic receiver, and the control unit.

[0070] Clause 8. The system according to any one of Clauses 1 to 7, wherein the control unit is configured to determine the position, velocity, and orientation of the harmonic reflector based on the Doppler effect of the harmonic signal.

[0071] Clause 9. The system according to any one of Clauses 1 to 8, wherein the harmonic reflector is arranged on a portion of the garment.

[0072] Clause 10. A method for a system, the system comprising:

[0073] robot;

[0074] A radar transmitter configured to output a radar signal;

[0075] A harmonic receiver, the harmonic receiver being configured to receive harmonic signals;

[0076] A harmonic reflector configured to be coupled to an object, wherein the harmonic reflector is configured to output the harmonic signal in response to a radar signal contacting the harmonic reflector; and

[0077] A control unit that communicates with the robot, the radar transmitter, and the harmonic receiver.

[0078] The method includes the following steps:

[0079] The control unit determines the position, velocity, and direction of the harmonic reflector based on the harmonic signal; and

[0080] The control unit adjusts the robot's operation based on the position, speed, and direction of the harmonic reflector.

[0081] Clause 11. The method according to Clause 10, wherein the adjustment includes allowing a normal operating mode in response to determining that the harmonic reflector is outside the operating range of the robot and that the harmonic reflector has not moved toward the operating range.

[0082] Clause 12. The method according to Clause 11, wherein the adjustment further includes, in response to determining that the harmonic reflector is moving within the operating range of the robot or toward the operating range at a predetermined speed, limiting one or both of the operation of the robot and stopping the operation of the robot.

[0083] Clause 13. The method according to any one of Clauses 10 to 12, wherein the robot includes the radar transmitter and the harmonic receiver.

[0084] Clause 14. The method according to Clause 13, wherein the radar transmitter and the harmonic receiver are mounted on the end effector of the robot.

[0085] Clause 15. The method according to any one of Clauses 10 to 14, wherein the robot includes the control unit.

[0086] Clause 16. The method according to any one of Clauses 10 to 15, wherein the determination is based on the Doppler effect of the harmonic signal.

[0087] Clause 17. The method according to any one of Clauses 10 to 16, wherein the harmonic reflector is arranged on a portion of the garment.

[0088] Clause 18. A non-transitory computer-readable storage medium comprising executable instructions, said executable instructions causing one or more control units, including a processor, to perform operations in response to execution, said operations including:

[0089] The position, velocity, and orientation of the harmonic reflector are determined based on the harmonic signal output by the harmonic reflector in response to contact with a radar signal; and

[0090] The robot's operation is adjusted based on the position, velocity, and orientation of the harmonic reflector.

[0091] Clause 19. The non-transitory computer-readable storage medium as described in Clause 18, wherein the adjustment includes allowing a normal operating mode in response to determining that the harmonic reflector is outside the operating range of the robot and that the harmonic reflector has not moved toward the operating range.

[0092] Clause 20. The non-transitory computer-readable storage medium as described in Clause 19, wherein the adjustment further includes, in response to determining that the harmonic reflector is moving within the operating range of the robot or toward the operating range at a predetermined speed, limiting one or both of the operation of the robot and stopping the operation of the robot.

[0093] As described herein, examples of this disclosure provide improved safety systems and methods for use in robotic working environments.

[0094] While various spatial and directional terms (such as top, bottom, lower, middle, horizontal, horizontal, vertical, front, etc.) may be used to describe examples of this disclosure, it should be understood that these terms are used only relative to the orientation shown in the accompanying drawings. The orientation may be reversed, rotated, or otherwise changed such that an upper portion is a lower portion, or vice versa, a horizontal portion becomes a vertical portion, etc.

[0095] As used herein, structures, constraints, or elements “configured to” perform a task or operation are structurally formed, constructed, or adapted in a manner corresponding to the task or operation. For clarity and to avoid ambiguity, objects that can only be modified to perform a task or operation are not “configured to” perform the task or operation as used herein.

[0096] It should be understood that the above description is intended to be exemplary and not restrictive. For example, the above examples (and / or aspects thereof) may be used in combination with each other. Furthermore, many modifications may be made to adapt particular situations or materials to the teachings of the various examples of this disclosure without departing from its scope. While the dimensions and types of materials described herein are intended to define aspects of the various examples of this disclosure, these examples are by no means restrictive and are exemplary. Many other examples will be apparent to those skilled in the art upon review of the above description. Therefore, the scope of the various examples disclosed should be determined with reference to the appended claims and the full scope of their equivalents. In the appended claims and the detailed description herein, the terms “comprising” and “wherein” are used as simple equivalents to the corresponding terms “including” and “therein”. Furthermore, the terms “first,” “second,” and “third,” etc., are used merely as labels and are not intended to impose numerical requirements on their objects. Moreover, the limitations of the appended claims are not written in a means-plus-function format unless and until the claim limitation expressly uses the phrase “for a means” followed by a functional statement without further structure.

[0097] This written description uses examples to disclose various examples of this disclosure, including best practices, and also enables any person skilled in the art to practice the various examples of this disclosure, including making and using any device or system and performing any incorporated methods. The patentable scope of the various examples of this disclosure is defined by the claims, and may include other examples that would occur to a person skilled in the art. Such other examples are intended to fall within the scope of the claims if the example has structural elements that are not indistinguishable from the literal language of the claims, or if the example includes equivalent structural elements that are not substantially indistinguishable from the literal language of the claims.

Claims

1. A system (100) comprising: Robot (102); A radar transmitter (110) configured to output a radar signal (120); Harmonic receiver (112), the harmonic receiver (112) being configured to receive harmonic signals (122); A harmonic reflector (116) configured to be coupled to an object (114), wherein the harmonic reflector (116) is configured to output a harmonic signal (122) in response to the radar signal (120) contacting the harmonic reflector (116); and A control unit (108) communicating with the robot (102), the radar transmitter (110), and the harmonic receiver (112), wherein the control unit (108) is configured to: The position, velocity, and direction of the harmonic reflector (116) are determined based on the harmonic signal (122), and The operation of the robot (102) is adjusted based on the position, velocity and orientation of the harmonic reflector (116).

2. The system (100) according to claim 1, wherein, The control unit (108) is configured to adjust the operation of the robot (102) by allowing a normal operating mode in response to determining that the harmonic reflector (116) is outside the operating range (118) of the robot (102) and that the harmonic reflector (116) is not moving toward the operating range (118).

3. The system (100) according to claim 2, wherein, The control unit (108) is configured to adjust the operation of the robot (102) by limiting the operation of the robot (102) or stopping the operation of the robot (102) in response to determining that the harmonic reflector (116) is moving within the operating range (118) of the robot (102) or toward the operating range (118) at a predetermined speed.

4. The system (100) according to claim 1, wherein, The robot (102) includes the radar transmitter (110) and the harmonic receiver (112).

5. The system (100) according to claim 4, wherein, The radar transmitter (110) and the harmonic receiver (112) are mounted on the end effector of the robot (102).

6. The system (100) according to claim 1, wherein, The robot (102) includes the control unit (108).

7. The system (100) according to claim 1, wherein, The robot (102) includes the radar transmitter (110), the harmonic receiver (112), and the control unit (108).

8. The system (100) according to claim 1, wherein, The control unit (108) is configured to determine the position, velocity, and orientation of the harmonic reflector (116) based on the Doppler effect of the harmonic signal (122).

9. A method for a system (100), the system (100) comprising: Robot (102); A radar transmitter (110) configured to output a radar signal (120); Harmonic receiver (112), the harmonic receiver (112) being configured to receive harmonic signals (122); A harmonic reflector (116) configured to be coupled to an object (114), wherein the harmonic reflector (116) is configured to output a harmonic signal (122) in response to the radar signal (120) contacting the harmonic reflector (116); and A control unit (108) that communicates with the robot (102), the radar transmitter (110), and the harmonic receiver (112). The method includes the following steps: The position, velocity, and direction of the harmonic reflector (116) are determined by the control unit (108) based on the harmonic signal (122); and The control unit (108) adjusts the operation of the robot (102) based on the position, speed and orientation of the harmonic reflector (116).

10. A non-transitory computer-readable storage medium including executable instructions, said executable instructions causing one or more control units (108) including a processor to perform operations in response to execution, said operations including: The position, velocity, and orientation of the harmonic reflector (116) are determined based on the harmonic signal (122) output by the harmonic reflector (116) in response to contact with the radar signal (120); and The operation of the robot (102) is adjusted based on the position, velocity and orientation of the harmonic reflector (116).

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