# US 11,554,491 B2 · Robotic system and method of movement control using synthetic array radar and passive beacons > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,554,491 B2 - Document ID: US11554491B2 - Status: Granted - Kind: B2 - Application number: 16/328,158 - Filed: 2016-10-26 - Published: 2019-06-20 - Granted: 2023-01-17 - Earliest claimed: 2016-10-26 - Assignees: Sony Group Corporation - Applicants: Sony Corporation - Inventors: Peter C. Karlsson; Mattias Falk; Hannes Bergkvist - Web page: https://patentgrep.com/patent/US11554491B2 ## CPC - B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion} - B25J 9/1692: {Calibration of manipulator} - B25J 13/086: {Proximity sensors} - G01S 13/10: using transmission of interrupted, pulse modulated waves (determination of distance by phase measurement G01S13/32) - G05B 19/4155: characterised by program execution, i.e. part program or machine function execution, e.g. selection of a program - B25J 9/06: characterised by multi-articulated arms - B25J 9/1623: {Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base} - G05B 2219/37097: Marker on workpiece to detect reference position - G05B 2219/37288: Tracking lasers follow object, reflection gives 3-D position - G05B 2219/39012: Calibrate arm during scanning operation for identification of object - G05B 2219/39024: Calibration of manipulator - G05B 2219/40623: Track position of end effector by laser beam - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A system includes a moveable element adapted to move relative to a coordinate system defined for a robot, an object detection transceiver unit adapted to be mounted on the moveable element, and a controller. The controller controls the object detection transceiver unit to emit a signal and obtain a return signal for an operational cell of the robot at each of a series of predetermined positions to emulate a transceiver aperture larger than an aperture of the object detection transceiver unit. A location corresponding to a marker present in the operational cell is determined from the return signals. A predetermined operation is carried out where the predetermined operation includes using the determined location to guide movement of the robot. ## Claims ### Claim 1 A system, comprising: a moveable element adapted to move relative to a coordinate system defined for a robot; an object detection transceiver unit mounted on the moveable element; and a controller configured to, in a configuration mode of the robot, determine one or more calibration points based on a location of at least one configuration mode marker within an operational cell of the robot to calibrate the robot, wherein the at least one configuration mode marker is positioned within the operational cell during a set up process in the configuration mode and the controller is configured to collect radar data and marker localization during the set up process, and in an operational mode of the robot, conduct a predetermined operation on each of plural objects that enter the operational cell of the robot, each object having a marker attached thereto, conducting the predetermined operation including: control the object detection transceiver unit to conduct a synthetic aperture array scan of the operational cell of the robot by emitting a radar signal and obtaining a return signal for the operational cell of the robot at each of a series of predetermined positions to emulate a transceiver aperture larger than an aperture of the object detection transceiver unit; determine a location corresponding to the object based on return signals of the marker attached to the object, the marker being reflective of the signals emitted by the object detection transceiver unit so that return signals reflected by the marker have a larger signal strength than return signals reflected by the object, and the location corresponding to the object is in the coordinate system; and move the robot in accordance with the determined location to carry out a predetermined automated task on the object with the robot. ### Claim 2 (depends on 1) The system of claim 1, wherein the location determination includes generating, by the controller, a composite return image in the form of a topological map of at least a portion of the operational cell of the robot from the obtained return signals, the location of the object within the topological map being determinable by geometrical analysis. ### Claim 3 (depends on 1) The system of claim 1, wherein at least two markers are attached to the object and the controller is further configured to determine an orientation of the object from the return signals. ### Claim 4 (depends on 1) The system of claim 1, wherein, prior to entering the operational mode of the robot, conduct the configuration mode of the robot during which the at least one configuration mode marker is placed in the operational cell of the robot not attached to the object and a location of the at least one configuration mode marker is determined and stored in a memory for use in at least one iteration of the predetermined operation. ### Claim 5 (depends on 1) The system of claim 1, wherein each iteration of the predetermined operation further includes deleting the location corresponding to the object from a memory after the predetermined automated task on the object is conducted and before a subsequent iteration of the predetermined operation. ### Claim 6 (depends on 1) The system of claim 1, wherein a first marker and a second maker are present in the operational cell when the return signals are obtained, the second marker having a different physical characteristic than the first marker, the differing physical characteristics imparting differing signatures to components of the return signals respectively corresponding to the first and second markers. ### Claim 7 (depends on 1) The system of claim 1, wherein the object detection transceiver unit is configured to emit radar pulses and a distance between each successive predetermined position in the series is a sub-wavelength of the radar pulses. ### Claim 8 (depends on 1) The system of claim 1, wherein the moveable element is part of the robot. ### Claim 9 (depends on 1) The system of claim 1, wherein the robot is a serial or parallel robot. ### Claim 10 (depends on 1) The system of claim 1, wherein the at least one configuration mode marker identifies one or more reference locations within the operational cell used during the operational mode, and the one or more reference locations comprises one or more of pick and place destinations and safety boundaries. ### Claim 11 (depends on 1) The system of claim 1, wherein the controller is configured to further collect the radar data and marker localization in an automatic process as part of a programmed routine of the robot in the operational mode. ### Claim 12 A method of controlling a robot where a moveable element moves relative to a coordinate system defined for the robot and an object detection transceiver unit is mounted on the moveable element, the method comprising, in a configuration mode of the robot, determining one or more calibration points based on a location of at least one calibration marker within an operational cell of the robot to calibrate the robot, wherein the at least one calibration marker is positioned within the operational cell during a set up process in the configuration mode and collecting radar data and marker localization during the set up process, and in an operational mode of the robot, conducting a predetermined operation on each of plural objects that enter the operational cell of the robot, each object having a marker attached thereto, conducting the predetermined operation including: conducting a synthetic aperture array scan of the operational cell of the robot by emitting a radar signal from the object detection transceiver unit and obtaining a return signal for the operational cell of the robot at each of a series of predetermined positions to emulate a transceiver aperture larger than an aperture of the object detection transceiver unit; determining a location corresponding to the object based on return signals of the marker attached to the object, the marker being reflective of the signals emitted by the object detection transceiver unit so that return signals reflected by the marker have a larger signal strength than return signals reflected by the object, and the location corresponding to the object is in the coordinate system; and moving the robot in accordance with the determined location and carrying out a predetermined automated task on the object with the robot. ### Claim 13 (depends on 12) The method of claim 12, wherein the determining of the location corresponding to the object includes generating a composite return image in the form of a topological map of at least a portion of the operational cell of the robot from the obtained return signals, the location of the object within the topological map being determinable by geometrical analysis. ### Claim 14 (depends on 12) The method of claim 12, wherein at least two markers are attached to the object and the conducting the predetermined operation further comprises determining an orientation of the object from the return signals. ### Claim 15 (depends on 12) The method of claim 12, wherein, prior to entering the operational mode of the robot, conducting a configuration mode of the robot during which a configuration mode marker is placed in the operational cell of the robot and a location of the configuration mode marker is determined and stored in a memory for use in at least one iteration of the predetermined operation. ### Claim 16 (depends on 12) The method of claim 12, wherein each iteration of the predetermined operation further includes deleting the location corresponding to the object from a memory after the predetermined automated task on the object is conducted and before a subsequent iteration of the predetermined operation. ### Claim 17 (depends on 12) The method of claim 12, wherein a first marker and a second marker are present in the operational cell when the return signals are obtained, the second marker having a different physical characteristic than the first marker, the differing physical characteristics imparting differing signatures to components of the return signals respectively corresponding to the first and second markers. ### Claim 18 (depends on 12) The method of claim 12, wherein the object detection transceiver unit is configured to emit radar pulses and a distance between each successive predetermined position in the series is a sub-wavelength of the radar pulses.