Robot Motion Control Using Harmonic Radar Collision Prediction
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Solution Overview
Problem
Existing safety systems in robotic work environments fail to effectively prevent human injury by allowing close proximity operation with robots, leading to potential accidents due to latency in data processing and large robot size, which can result in delayed reaction times.
Innovation Solution
A system utilizing a radar transmitter, harmonic receiver, and harmonic reflector to track and predict the position, speed, and direction of objects within the robot's operative range, enabling the control unit to regulate robot operation by restricting or stopping it when necessary to prevent collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional safety systems (fencing, laser curtains, weight detecting mats) are used to prevent human injury, then safety is improved, but productivity deteriorates because humans cannot work in close proximity to robots
Solution Approach 1:
The patent replaces traditional mechanical safety systems (fencing, physical barriers, weight detecting mats) with a radar-based detection system that uses electromagnetic waves to monitor human presence and robot motion, enabling close proximity collaboration without physical constraints
Solution Approach 2:
The patent introduces radar signals as an intermediary to indirectly detect human presence and robot motion, allowing the system to respond to potential hazards before physical contact occurs, thus enabling safe close-proximity work
2Reliability
If line-of-sight imaging devices are used to detect human presence, then safety is improved, but productivity deteriorates due to restricted workspace access and required line-of-sight
Solution Approach 1:
The patent replaces line-of-sight imaging devices with radar technology that can detect objects through walls and obstacles, eliminating the requirement for direct visual contact and enabling detection in non-line-of-sight conditions
Solution Approach 2:
The radar system serves multiple functions: detecting human presence, tracking robot motion, and providing early hazard warning, making it more versatile than specialized imaging devices that only detect visible objects within direct line-of-sight
3Productivity
If large industrial robots are used to increase production capability, then productivity is improved, but safety deteriorates due to increased mass and longer stopping time
Solution Approach 1:
The radar system performs preliminary detection of human presence and tracks robot motion continuously, providing early warning before a collision hazard develops, allowing the robot to begin deceleration earlier to compensate for its larger mass and longer stopping distance
Solution Approach 2:
The system uses real-time feedback from radar signals to continuously monitor the relative position and velocity between the robot and human, enabling dynamic adjustment of robot speed to ensure safe operation despite the robot's large mass
4Reliability
If data processing latency is reduced to improve safety response time, then safety is improved, but device complexity increases
Solution Approach 1:
The patent extracts only the essential safety-critical parameters (human presence detection, relative position, velocity) from the radar signal data, processing only what is necessary for safety decisions rather than analyzing all available data, thus reducing processing latency without excessive complexity
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables safe human-robot collaboration by allowing operation in non-line-of-sight environments, providing real-time safety responses to potential collisions, and ensuring the robot stops or slows down before contact, thus enhancing safety and productivity.
Implementation Method 1
A radar transmitter is configured to output a radar signal
Implementation Method 2
The control unit may be configured to determine the position, the speed, and the direction of the harmonic reflector based on a Doppler effect of the harmonic signal
Implementation Method 3
A harmonic reflector is configured to be coupled to an object. The harmonic reflector is configured to output the harmonic signal in response to the radar signal contacting the harmonic reflector
Data Source
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AI summary
A system (100) and a method include a robot (102). A radar transmitter (110) is configured to output a radar signal (120). A harmonic receiver (112) is configured to receive a harmonic signal (122). A harmonic reflector (116) is configured to be coupled to an object (114). The harmonic reflector (116) is configured to output the harmonic signal (122) in response to the radar signal (120) contacting the harmonic reflector (116). A control unit (108) is in communication with the robot (102), the radar transmitter (110), and the harmonic receiver (112). The control unit (108) is configured to determine a position, a speed, and a direction of the harmonic reflector (116) based on the harmonic signal (122), and regulate operation of the robot (102) based on the position, the speed, and direction of the harmonic reflector (116).