Guidance system for robots, base station and guidance method

Abstract

The present disclosure relates to a guidance system for a robot, a base station, and a guidance method. For example, embodiments of the invention relate to a guidance system for a robot. The guidance system comprises a millimeter wave positioning system and a transmitter. The millimeter wave positioning system is configured to determine a position of the robot relative to a base station for charging the robot. The transmitter is configured to transmit a radar guidance signal for guiding the robot to the base station and to steer the radar guidance signal to the position of the robot.

Description

TECHNICAL FIELD

[0001] Embodiments of the invention relate to a guidance system for a robot, a base station comprising such a guidance system and a method for guiding a robot. In particular, but not exclusively, embodiments relate to a radar-based guidance system for a robot. BACKGROUND

[0002] For the navigation of a robot, a radiation-based guidance system can be used.

[0003] Known guidance systems illuminate their environment with radiation signals for guiding a robot to a base station along an increasingly strong radiation signal. Due to distortions (e.g. interferences) of the radiation signal, the robot can follow a wrong path, thus in some cases discharging or losing, i.e. detaching from the radiation-illuminated environment. Thus, the robot can need to be manually connected to the base station. SUMMARY

[0004] Therefore, there can be a need for improving the concept of a guidance system for a robot.

[0005] The subject matter of the attached independent claims and dependent claims can meet this requirement.

[0006] Embodiments of the invention relate to a guidance system for a robot. The guidance system comprises a millimeter wave positioning system and a transmitter. The millimeter wave positioning system is configured to determine a position of the robot relative to a base station for charging the robot. The transmitter is configured to emit a radar guidance signal for guiding the robot to the base station and to steer the radar guidance signal to the position of the robot.

[0007] For example, the robot is a lawnmower robot, a vacuum cleaner robot, a household robot or another kind of mobile device controlled / manipulated at least partially automatically (e.g. a vehicle manipulated at least partially automatically).

[0008] For example, the millimeter wave positioning system is a radar-based positioning system which uses millimeter wave signals for positioning the robot, i.e. the position of the robot relative to the base station. The position can be indicative of coordinates in a predefined reference coordinate system of the base station.

[0009] The radar guidance signal can be a millimeter wave signal with a frequency between 3 GHz and 300 GHz, i.e. a wavelength between 1 and 100 mm. Since the radar guidance signal is steered to the position of the robot, it can be understood as a directional signal towards the robot / position of the robot.

[0010] This allows the radar guidance signal to be transmitted within a smaller field of view compared to applications using "non-directional" signals for guiding the robot (not purposefully directed towards the robot). Hence, the probability or number of distortions of the (directional) radar guidance signal can be smaller than for non-directional signals. Moreover, this can reduce the probability of the guided robot following a wrong path, or of the robot getting lost and possibly discharged somewhere far away from the base station.

[0011] Typically, the guidance system can be installed in a base station of the robot or separate from the base station.

[0012] It is noted that the guidance system can typically be configured to guide multiple robots, e.g. using multiple (directional) radar guidance signals directed / steered towards the robots.

[0013] Some embodiments relate to a base station for a robot. The base station comprises the above-described guidance system.

[0014] The base station can be understood as a fixed device at which the robot can dock for charging, maintenance and / or cleaning of the robot. For example, the guidance system is installed near or next to a docking port for guiding the robot to the docking port or at least close to the docking port.

[0015] Some embodiments relate to a method for guiding a robot. The method comprises determining a position of the robot relative to a base station for charging the robot; transmitting a radar guidance signal for guiding the robot to the base station; and steering the radar guidance signal to the position of the robot.

[0016] For example, the above-described guidance system is capable of performing the method. Hence, features and aspects of the guidance system described herein can be applied to the method mutatis mutandis. BRIEF DESCRIPTION OF DRAWINGS

[0017] Some examples of apparatus and / or methods will hereinafter be described by way of example only, and with reference to the accompanying drawings, in which:

[0018] Figure 1 A known concept for guiding a robot is shown;

[0019] Figure 2 A flowchart schematically illustrating a method for guiding a robot is shown;

[0020] Figure 3 A block diagram schematically illustrating a guidance system for a robot is shown;

[0021] Figure 4 An exemplary application of the guidance system in a base station of a robot is shown;

[0022] Figure 5Another exemplary application of a guidance system suitable for phase-modulation based communication with a robot is shown; and

[0023] Figure 6 Another exemplary application of a guidance system comprising a radio-based communication system is shown. DETAILED DESCRIPTION

[0024] Some examples are now described in more detail with reference to the accompanying drawings. Other potential examples are not limited to features of the examples described in detail herein. Other examples can include modifications and equivalents of features and combinations of features as well as combinations of methods described herein. Additionally, the terminology used herein is not intended to limit further potential examples.

[0025] Throughout the description of the figures, same or similar reference numerals can refer to same or similar elements and / or features, which can be implemented identically or in a modified form, while providing the same or a similar function. The thickness of lines, layers and / or regions can be exaggerated in the figures for clarity.

[0026] When two elements A and B are used in “or” combination, it is understood that all possible combinations are disclosed, i.e. only A, only B and A and B, unless otherwise explicitly specified in the individual case. As an alternative wording for the same combination, “at least one of A and B” or “A and / or B” can be used. This applies equally to combinations of more than two elements.

[0027] If singular forms are used (such as “one” and “the”), and it is not explicitly or implicitly defined that only a single element is to be used as mandatory, further examples can also use several elements to implement the same function. If the following description uses a function implemented using several elements, further examples can use a single element or a single processing entity to implement the same function. It is also to be understood that the terms “comprise” and / or “comprising” when used are to describe the presence of certain features, integers, steps, operations, processes, elements, components and / or groups thereof, but do not exclude the presence or addition of one or more other features, integers, steps, operations, processes, elements, components and / or groups thereof.

[0028] Figure 1 A known concept is shown for guiding a robot 130 to its base station 100. This enables the robot 130 to find and dock to the base station 100 automatically, e.g. for charging or maintenance purposes.

[0029] For example, the robot 130 is a vacuum cleaner robot that moves automatically within a predetermined outdoor or indoor movement area, e.g. in a living space.

[0030] To guide the robot 130 to the base station 100, the base station 100 exhibits an antenna 120 that emits a radiated signal within a predetermined field of view (FoV) 140. The robot 130 can orient itself by the radiated signal and follow the intensity distribution or power distribution of the radiated signal within the FoV 140 to find the base station 100.

[0031] For example, the robot 130 follows a path 132 along an increasing intensity or an increasing average power level of the intensity distribution within the FoV 140 to find the base station 100. To this end, the robot 130 can be equipped with a sensor (not shown) for sensing the intensity of the radiation or the average power level of the radiation within a time interval and a navigation unit (not shown) for navigating the robot 130 in the direction of a maximum of the sensed intensity or average power level.

[0032] The directivity of the field of view 140 is represented by an opening angle a, e.g., indicating a half-power beam width of the radiated signal. The opening angle a can be set such that the field of view covers a large portion of the moving area of the robot to guide the robot from a large portion of positions in the moving area to the base station 100. In typical applications of such known guidance systems, the half-power beam width / opening angle a of the radiated signal is between 30° and 160°.

[0033] Distortions (e.g., interferences) of the radiated signal and its intensity distribution can cause the robot 130 to follow a wrong path. For example, such distortions are caused by objects within the field of view 140. From Figure 1 It can be seen that the robot 130 can end up outside the field of view 140 due to following a wrong path and can not be able to find (return) a way to the base station 100. Thus, the robot 130 can be completely discharged before reaching the base station 100 and can need to be manually coupled to the base station 100.

[0034] Therefore, there can be a need to improve the concept of a guidance system. In the following, reference is made to Figures 2-6 A concept is described that meets this need.

[0035] Figure 2 A flowchart schematically showing a method 200 for guiding a robot is shown. The method 200 comprises determining (210) a position of the robot relative to a base station for charging the robot. Further, the method 200 comprises emitting (220) a radar guidance signal for guiding the robot to the base station and diverting the radar guidance signal to the position of the robot.

[0036] In the context of the present disclosure, a robot is to be understood as a mobile device that is controlled / manipulated at least partially automatically. In some applications, the robot is a lawnmower robot, a vacuum cleaner robot, a household robot or another type of robot. In other applications, a vehicle that is at least partially automatically manipulated is implemented as a robot. For example, the vehicle is an automatically manipulated vehicle (e.g. an autonomous car or an autonomous flying aircraft).

[0037] The base station can be a stationary (already installed) device. For example, the radar guidance signal enables the robot to automatically find the base station by following a radiation pattern (e.g. an intensity pattern) of the radar guidance signal and to dock to the base station, e.g. for charging and maintenance / service purposes.

[0038] The radar guidance signal can be directed (designated or purposefully) to the robot based on a sensed position of the robot. This allows to reduce distortions of the radar guidance signal using a smaller field of view illuminated by the radar guidance signal compared to applications using arbitrary undirected signals for guiding the robot (not purposefully directed to the robot). For example, the field of view illuminated by the radar guidance signal is smaller than Figure 1 the field of view in the example. In particular, this can reduce the probability of the robot following a wrong path and / or getting “lost” when trying to find the base station.

[0039] The smaller field of view can also make the path the robot travels to the base station shorter and thus the energy consumption lower.

[0040] Further details and aspects are mentioned in connection with the described embodiments with reference to further drawings.

[0041] For example, the method 200 can be performed by Figure 3 the guidance system 300 shown.

[0042] The guidance system 300 comprises a millimeter wave positioning system 310 for determining (210) a position of a robot 330 relative to a base station (not shown) for charging the robot 330 and a transmitter 320 for transmitting a radar guidance signal 340 for guiding the robot 330 to the base station and diverting the radar guidance signal 340 to the position of the robot 330.

[0043] In some applications, the robot 330 is a vacuum cleaner robot, a lawnmower robot or a household robot. For example, the guidance system 300 is installed in the base station.

[0044] For example, the millimeter wave positioning system 310 is a radar positioning system that determines (210) the position of the robot 330 using reflections or so-called “echoes” of radar positioning signals from the robot 330.

[0045] For example, the transmitter 320 uses beam steering to control the radar guidance signals 340 and to steer / turn the radar guidance signals 340 (purposefully) towards the robot based on the sensed position. As explained in more detail later, the transmitter 320 can comprise a plurality of transmission elements for beam steering.

[0046] The robot 330 can be equipped with a sensor (not shown) for sensing the intensity of the radar guidance signals and a navigation unit (not shown) for navigating the robot 330 based on the sensed intensity.

[0047] The millimeter wave positioning system 310 and the transmitter 320 can be independent devices, e.g. using independent antennas for transmitting the radar positioning and radar guidance signals 340.

[0048] Alternatively, the millimeter wave positioning system 310 and the transmitter 320 can use (i.e. share) transmission elements for transmitting the radar positioning and radar guidance signals 340 from each other, as explained in more detail later with reference to Figure 4

[0049] The millimeter wave positioning system 310 and the transmitter 320 can also use common data processing circuitry or independent respective data processing circuitry for controlling the transmission elements for transmitting the radar positioning and radar guidance signals 340 independently or from each other, respectively.

[0050] Figure 4 An exemplary application of the guidance system 300 in a base station 400 of the robot 330 is shown. The base station 400 can be fixedly placed next to and facing a movement area of the robot 330. For example, if the robot is a vacuum cleaner or a lawnmower robot, the movement area comprises a living space or a garden of a user, respectively.

[0051] The guidance system 300 comprises a plurality of radar transmission elements having different sub- fields of view 1, 2,..., n covering a total field of view 360. For example, the radar transmission elements comprise differently oriented radar antennas. For example, the transmission elements comprise one or more horn antennas and / or patch antennas.

[0052] As described below, both the millimeter wave positioning system 310 and the transmitter 320 can use the radar transmission elements. The millimeter wave positioning system 310 can use the radar transmission elements for transmitting the radar positioning signals 350 and determining (210) the position of the robot 330. The transmitter 320 can use the radar transmission elements for transmitting (220) the radar guidance signals 340 to guide the robot 330.

[0053] ​To capture the robot 330 in most of its moving area with the radar positioning signals 350, e.g. the entire field of view 360 has an opening angle a or a half-power beamwidth of 45°. In alternative embodiments, a different (e.g. larger or smaller) overall field of view can be used. From Figure 4 As can be seen, the entire field of view 360 can be (theoretically) evenly divided into sub-views 1, 2,..., n. Thus, the sub-views 1, 2,..., n have an opening angle a or a half-power beamwidth of In practice, the radar transmitting elements can not have adjacent but overlapping sub-views 1, 2,..., n with an opening angle a or a half-power beamwidth of and b < a.

[0054] In a first step, the radar transmitting elements are used to transmit radar positioning signals 350 in the entire field of view 360 to determine the position of the robot using reflections of the radar positioning signals 350. For example, the millimeter wave positioning system 310 further comprises one, two, or more receiving antennas (not shown) that receive the reflections and a data processing unit (not shown) that determines the position using the reflections.

[0055] It will be appreciated by the skilled person in the art, having the benefit of the present disclosure, that the reflections or reflection sequences are indicative of the speed, material, shape, and / or position of the objects within the field of view 360. To identify the robot 330 among multiple detected objects, the data processing circuitry can compare the speed of the sensed objects with a predetermined speed of the robot 330. The reflections related to the robot 330 can be used to determine the position of the robot.

[0056] Alternatively, the data processing circuitry can identify and locate the robot 330 from the reflections by its shape or material (radar signature).

[0057] From Figure 4 As can be seen, for example, the millimeter wave positioning system 310 detects the robot 330 in sub-view 1.

[0058] In a next step, the respective radar transmitting element with sub-view 1 is selected and used to transmit and steer radar guidance signals 340 towards the robot 330.

[0059] In other scenarios where the robot 330 is detected in sub-view 2 or n, the respective radar transmitting element with sub-view 2 or n is used to transmit the radar guidance signals 340.

[0060] The radar guidance signals 340 can be continuous, modulated (e.g. frequency modulated continuous wave (FMCW)), or pulsed signals that are transmitted until the robot reaches (e.g. docks to) the base station 400.

[0061] It is noted that alternatively, multiple transmit antennas (e.g., with adjacent fields of view) can be used to transmit the radar guidance signal 340.

[0062] It will be appreciated by a person skilled in the art, having the benefit of the present disclosure, that the transmit elements (e.g., multiple patch antennas) can optionally be operated in a phased array (or electronically scanned array) configuration to determine the position of the robot.

[0063] The robot 330 is optionally (indicated by dashed lines) equipped with a reflector 332 for the radar positioning signal 350. This can result in a stronger reflection of the radar positioning signal from the robot 330 and a more accurate and / or reliable position of the robot 330. It is noted that the robot can also be equipped with multiple reflectors, for example mounted around the robot to reflect the radar positioning signal at various orientations of the robot.

[0064] The base station 400 is powered by a power supply 410.

[0065] Figure 5 Another exemplary application of the guidance system 300 suitable for phase-modulation based communication with a robot is shown.

[0066] The guidance system 300 includes a communication system (not shown) for phase-modulation based communication (i.e., communication using phase-modulated signals) with a robot.

[0067] For example, the communication system includes a communication antenna and a modulator for controlling the communication antenna to transmit phase-modulated (communication) signals. To save the cost of a separate communication antenna, one or more radar transmit elements can be used as the communication antenna.

[0068] Preferably, the radar guidance signal 340 includes the phase-modulated signals for communication while guiding the robot 330. For example, the radar guidance signal 340 is phase-modulated.

[0069] In turn, the robot 330 includes a receiver for receiving and processing the phase-modulated signals.

[0070] In this way, the communication system can communicate with the robot. In some applications, the communication system can communicate a position or navigation message of the robot through the phase-modulated signals, which includes instructions for movement of the robot 330. This communication can reduce the probability of the robot 330 getting lost.

[0071] For example, the communication is based on (binary) phase-shift keying. The modulator can use (binary) phase-shift keying to generate a phase-modulated signal indicative of the robot’s position, navigation messages, and / or other information. Optionally, one or more predetermined frequency bands can be used for the communication. In some embodiments, one or more frequency bands reserved for industrial, scientific, and medical (ISM), so-called ISM (radio) bands, are used for the communication, e.g., to avoid predetermined (legal) restrictions related to the signals, e.g., related to the modulation scheme of such signals, for communication outside the ISM bands.

[0072] In some applications, the robot 330 and the communication system each comprise a transceiver for bidirectional communication over a peer-to-peer connection using the phase-modulated signal.

[0073] Figure 6 Another exemplary application of the guidance system 300 comprising a radio-based communication system is shown. The radio-based communication system comprises an interface 370 for wireless communication, e.g., via a wireless local area network (WLAN), WiGig (e.g., WiGig at 60 GHz), Bluetooth (BT), Long Range (LoRa) technology, mobile radio, etc. For example, the interface comprises a WLAN interface, a BT interface, and / or a RadCom system (e.g., comprising an orthogonal frequency-division multiplexing (OFDM) radar for detection and communication). In some applications, the robot 330 is equipped with a WLAN, BT, WiGig, and / or mobile radio communication module 336 to communicate with the radio-based communication system via the WLAN, BT, WiGig, and / or mobile radio, respectively. In some applications, the robot 330 is (already) equipped with such a communication module 336, e.g., for communication with a user.

[0074] In this way, the base station 400 and the robot 330 can communicate the robot’s position, battery level, navigation messages, and / or other information. This can further reduce the probability that the robot 330 loses or discharges before reaching the base station 400.

[0075] The examples described herein can be summarized as follows:

[0076] An example relates to a guidance system for a robot. The guidance system comprises a millimeter-wave positioning system configured to determine a position of the robot relative to a base station for charging the robot. The guidance system further comprises a transmitter configured to transmit a radar guidance signal for guiding the robot to the base station and to steer the radar guidance signal to the position of the robot.

[0077] In some examples, the millimeter-wave positioning system is configured to transmit a radar positioning signal, to receive a reflection of the radar positioning signal from the robot, and to determine the position of the robot using the reflection.

[0078] In some examples, the millimeter wave positioning system exhibits a first field of view, and the transmitter is configured to transmit the radar guidance signal within a second field of view encompassed by the first field of view.

[0079] In some examples, the transmitter exhibits a plurality of transmitting elements, each transmitting element having a respective field of view, and the transmitter is configured to steer the radar guidance signal to the location of the robot by selectively transmitting the radar guidance signal in a single field of view in which the robot is located using one of the transmitting elements.

[0080] In some examples, the millimeter wave positioning system is configured to use the transmitter to transmit a radar positioning signal.

[0081] In some examples, the guidance system includes a communication system configured to communicate with the robot.

[0082] In some examples, the communication system is configured to use the transmitter to communicate with the robot using a phase-modulated signal.

[0083] In some examples, the radar guidance signal includes a phase-modulated signal.

[0084] In some examples, the communication system includes at least one of a wireless local area network (WLAN) interface, a Bluetooth (BT) interface, and a mobile radio interface to communicate with the robot.

[0085] In some examples, the communication system is configured to transmit the location to the robot.

[0086] In some examples, the communication system is configured to transmit a navigation message to the robot, the navigation message including instructions for movement of the robot.

[0087] A further example relates to a base station for a robot, the base station comprising a guidance system of any of the preceding claims.

[0088] A further example relates to a method of guiding a robot. The method comprises determining a location of the robot relative to a base station for charging the robot; and transmitting a radar guidance signal for guiding the robot to the base station and steering the radar guidance signal to the location of the robot.

[0089] Aspects and features described in relation to one of the particular examples in the previous examples can also be combined with one or more further examples, either to replace the same or similar features of the further example, or to additionally introduce these features into the further example.

[0090] Examples can also be (computer) programs or a (computer) program product comprising program code to perform one or more of the methods described above, when the program is executed on a computer, processor or other programmable hardware component. Thus, steps, operations or processes of different ones of the methods described above can also be executed by a programmed computer, processor or other programmable hardware component. Examples can also cover program storage devices such as digital data storage media, which are machine, processor or computer readable and encode and / or contain machine executable, processor executable or computer executable program code and / or instructions. The program storage devices can include or be digital storage devices, magnetic storage media such as magnetic disks and magnetic tapes, hard disk drives or optical data storage media. Other examples can also include computers, processors, control units, (field) programmable logic arrays ((F)PLAs), (field) programmable gate arrays ((F)PGAs), graphics processor units (GPUs), application-specific integrated circuits (ASICs), integrated circuits (ICs) or system-on-a-chip (SoC) systems programmed to perform the steps of the methods described above.

[0091] It is further understood that the disclosure of multiple steps, processes, operations or functions disclosed in the description or claims can not be construed as an implied teaching that these operations are necessarily dependent on the order stated in the description or claims. Thus, the foregoing description does not place a limitation on the number of steps or processes or operations to be performed to practice the methods described above. Furthermore, in further examples, a single step, process, operation or function can include and / or be broken up into multiple sub-steps, sub-processes, sub-operations or sub-functions.

[0092] If some aspects have been described in relation to a device or system, these aspects should also be understood as a description of corresponding methods. For example, a block, device or functional aspect of a device or system can correspond to a feature of a corresponding method, e.g. a method step. Thus, aspects described in relation to a method should also be understood as a description of corresponding devices or corresponding blocks, corresponding elements, properties or functional features of a corresponding system.

[0093] The following claims are hereby incorporated into the detailed description, in which each claim can stand as a separate example. Note that, although dependent claims refer to a specific combination of one or more other claims, other examples can also include combinations of the dependent claim with any other dependent or independent claim. Such combinations are hereby expressly proposed, unless the specific combination is excluded in the individual case. Furthermore, any other independent claim is also to include the features of the claim, even if the claim is not directly defined as dependent on the other independent claim.

Claims

1. A guidance system (300) for a robot (330), the guidance system (300) comprising: a millimeter wave positioning system (310) configured to: emit a radar positioning signal (350); receive reflections of the radar positioning signal (350) from the robot (330); and determine a position of the robot (330) relative to a base station (400) for charging the robot (330) using the reflections; and a transmitter (320) configured to emit a radar guidance signal (340) for guiding the robot (330) to the base station (400) based on a radiation pattern of the radar guidance signal (340) and to steer the radar guidance signal (340) to the position of the robot (330) based on the determined position.

2. The guidance system (300) of claim 1, wherein the millimeter wave positioning system (310) exhibits a first field of view; and wherein the transmitter is configured to emit the radar guidance signal within a second field of view encompassed by the first field of view.

3. The guidance system (300) of any of the preceding claims, wherein the transmitter (320) exhibits a plurality of transmission elements each having a respective field of view, and wherein the transmitter (320) is configured to steer the radar guidance signal to the position of the robot by selectively emitting the radar guidance signal (340) in a single field of view using one of the plurality of transmission elements when the robot (330) is determined to be located therein.

4. The guidance system (300) of claim 1, wherein the millimeter wave positioning system (310) is configured to use the transmitter (320) to emit the radar positioning signal (350).

5. The guidance system (300) of claim 1, further comprising a communication system configured to communicate with the robot (330).

6. The guidance system (300) of claim 5, wherein the communication system is configured to use the transmitter (320) to communicate with the robot (330) using a phase modulated signal.

7. The guidance system (300) of claim 6, wherein the radar guidance signal comprises the phase modulated signal.

8. The guidance system (300) of any of claims 5 to 7, wherein the communication system comprises at least one of a wireless local area network, WLAN, interface, a Bluetooth, BT, interface, and a mobile radio interface to communicate with the robot (330).

9. The guidance system (300) of any of claims 5 to 7, wherein the communication system is configured to transmit the position to the robot (330).

10. The guidance system (300) of any of claims 5 to 7, wherein the communication system is configured to emit a navigation message to the robot (330), the navigation message comprising instructions for movement of the robot (330).

11. A base station (400) for a robot (330), the base station comprising a guidance system (300) of any of the preceding claims.

12. A method for guiding a robot (330), the method comprising: emitting a radar positioning signal (350); receiving reflections of the radar positioning signal (350) from the robot (330); determining a position of the robot (330) relative to a base station (400) for charging the robot (330) using the reflections; and emitting a radar guidance signal (340) for guiding the robot (330) to the base station (400) based on a radiation pattern of the radar guidance signal (340) and steering the radar guidance signal (340) to the position of the robot (330) based on the determined position.

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