High precision time of flight measurement system for industrial automation

• US 10,422,870 B2
• Filed: 04/23/2018
• Issued: 09/24/2019
• Est. Priority Date: 06/15/2015
• Status: Active Grant

• Current Assignee: Humatics Corporation
• Original Assignee: Humatics Corporation
• Inventors: Mindell, David A., Charvat, Gregory L., Hirsch, Michael, Kinsey, James Campbell, Beane, Matthew Ian
• Primary Examiner(s): Barker, Matthew M
• Application Number:
  US15/960,224
• Publication Number:
  US 20180239010A1
• Time in Patent Office: 519 Days
• CPC Class Codes: G01B 11/14 for measuring distance or clearance between spaced objects or spaced apertures G01B11/26 takes precedence; rangefinders G01C3/00
• CPC Class Codes: G01S 11/02 using radio waves G01S19/00 takes precedence
• CPC Class Codes: G01S 13/34 using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
• CPC Class Codes: G01S 13/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S13/46
• CPC Class Codes: G01S 13/74 Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
• CPC Class Codes: G01S 13/75 using transponders powered from received waves, e.g. using passive transponders , or using passive reflectors
• CPC Class Codes: G01S 13/76 wherein pulse-type signals are transmitted
• CPC Class Codes: G01S 13/767 Responders; Transponders teaching or practice apparatus for gun-aiming or gun-laying using reflecting targets or active targets F41G3/26
• CPC Class Codes: G01S 13/785 Distance Measuring Equipment [DME] systems
• CPC Class Codes: G01S 13/79 Systems using random coded signals or random pulse repetition frequencies , e.g. "Separation and Control of Aircraft using Non synchronous Techniques" [SECANT]
• CPC Class Codes: G01S 13/82 wherein continuous-type signals are transmitted
• CPC Class Codes: G01S 13/84 for distance determination by phase measurement
• CPC Class Codes: G01S 13/878 Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector G01S13/874 takes precedence
• CPC Class Codes: G01S 13/88 Radar or analogous systems specially adapted for specific applications electromagnetic prospecting or detecting of objects, e.g. near-field detection, G01V3/00
• CPC Class Codes: G01S 13/91 for traffic control G01S13/93 takes precedence
• CPC Class Codes: G01S 13/935 for terrain-avoidance
• CPC Class Codes: G01S 2205/01 specially adapted for specific applications
• CPC Class Codes: G01S 5/0294 Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
• CPC Class Codes: G01S 5/14 Determining absolute distances from a plurality of spaced points of known location
• CPC Class Codes: G01S 7/285 Receivers
• CPC Class Codes: G01S 7/352 : Receivers
• CPC Class Codes: G08B 21/02 : Alarms for ensuring the safety of persons
• CPC Class Codes: H04W 4/029 : Location-based management or tracking services

Abstract

A system for tracking position of objects in an industrial environment includes an interrogator, a transponder, and a processor. The interrogator transmits a signal and provides a first reference signal corresponding to the transmitted signal. The transponder provides a response signal. The interrogator receives the response signal and provides a second reference signal corresponding to the response signal. The processor determines a location of either the interrogator or the transponder, relative to the other, based on the two reference signals.

Claims

1. A system comprising:

at least one first radio frequency transceiver configured to be mounted to a body part of a user;

a plurality of interrogators configured to determine a position of the at least one first radio frequency transceiver;

at least one controller to track, using the determined position of the at least one first radio frequency transceiver, movement of the body part of the user while picking items from a plurality of bins, placing items into the plurality of bins, or picking items from the plurality of bins and placing items into the plurality of bins;

at least one second radio frequency transceiver mounted to a portion of a robot, wherein the plurality of interrogators are configured to determine a position of the at least one second radio frequency transceiver, and wherein the at least one controller is configured to track, using the determined position of the at least one second radio frequency transceiver, movement of the portion of the robot; and

at least one feedback mechanism to provide feedback to the user about the user'"'"'s proximity to the portion of the robot.

2. The system of claim 1, wherein the at least one feedback mechanism is configured to provide feedback to the user in picking items from the plurality of bins, placing items into the plurality of bins, or picking items from the plurality of bins and placing items into the plurality of bins.

3. The system of claim 1, wherein the at least one feedback mechanism is configured to signal to the user a correct one of the plurality of bins to pick an item from, to place an item into, or to pick an item from and to place an item into.

4. The system of claim 1, wherein the at least one feedback mechanism is configured to signal to the user that an item has been correctly picked, correctly placed, or correctly picked and correctly placed.

5. The system of claim 1, wherein the at least one feedback mechanism is configured to signal to the user that an item has been incorrectly picked, incorrectly placed, or incorrectly picked and incorrectly placed.

6. The system of claim 1, wherein the at least one feedback mechanism provides an indication of an unsafe condition.

7. The system of claim 1, wherein the at least one feedback mechanism comprises haptic feedback.

8. The system of claim 1, wherein the at least one feedback mechanism comprises at least one light emitting diode.

9. The system of claim 1, wherein the at least one first radio frequency transceiver is affixed to a wristband configured to be worn by the user.

10. The system of claim 1, wherein the at least one controller is configured to track the position of the body part of the user relative to the position of the portion of the robot.

11. The system of claim 10, wherein the at least one controller is configured to stop movement of the portion of the robot based on the determined position of the body part of the user relative to the determined position of the portion of the robot.

12. The system of claim 10, wherein the at least one controller is configured to move the portion of the robot away from the body part of the user based on the determined position of the body part of the user relative to the determined position of the portion of the robot.

13. A method comprising:

determining a position of at least one first radio frequency transceiver mounted to a body part of a user using a plurality of interrogators;

determining a position of at least one second radio frequency transceiver mounted to a portion of a robot using the plurality of interrogators;

tracking movement of the body part of the user while picking items from a plurality of bins, placing items into the plurality of bins, or picking items from the plurality of bins and placing items into the plurality of bins, using the determined position of the at least one first radio frequency transceiver;

tracking, using the determined position of the at least one second radio frequency transceiver, movement of the portion of the robot; and

providing feedback to the user about the user'"'"'s proximity to the portion of the robot.

14. The method of claim 13, further comprising providing feedback to the user in picking items from the plurality of bins, placing items into the plurality of bins, or picking items from the plurality of bins or placing items into the plurality of bins.

15. A system comprising:

at least one first radio frequency transceiver configured to be mounted to a body part of a user;

a plurality of interrogators configured to determine a position of the at least one first radio frequency transceiver;

at least one controller to track, using the determined position of the at least one first radio frequency transceiver, movement of the body part of the user while picking items from a plurality of bins, placing items into the plurality of bins, or picking items from the plurality of bins and placing items into the plurality of bins; and

at least one second radio frequency transceiver mounted to a portion of a robot, wherein the plurality of interrogators are configured to determine a position of the at least one second radio frequency transceiver, and wherein the at least one controller is configured to track, using the determined position of the at least one second radio frequency transceiver, movement of the portion of the robot,

wherein the at least one controller is configured to track the position of the body part of the user relative to the position of the portion of the robot, and

wherein the at least one controller is configured to stop movement of the portion of the robot based on the determined position of the body part of the user relative to the determined position of the portion of the robot.

16. The system of claim 15, further comprising at least one feedback mechanism to provide feedback to the user in picking items from the plurality of bins, placing items into the plurality of bins, or picking items from the plurality of bins and placing items into the plurality of bins.

17. The system of claim 16, wherein the at least one feedback mechanism is configured to signal to the user a correct one of the plurality of bins to pick an item from, to place an item into, or to pick an item from and to place an item into.

18. The system of claim 16, wherein the at least one feedback mechanism is configured to signal to the user that an item has been correctly picked, correctly placed, or correctly picked and correctly placed.

19. The system of claim 16, wherein the at least one feedback mechanism is configured to signal to the user that an item has been incorrectly picked, incorrectly placed, or incorrectly picked and incorrectly placed.

20. The system of claim 16, wherein the at least one feedback mechanism provides an indication of an unsafe condition.

21. The system of claim 16, wherein the at least one feedback mechanism comprises haptic feedback.

22. The system of claim 15, wherein the at least one first radio frequency transceiver is affixed to a wristband configured to be worn by the user.

23. A system comprising:

at least one first radio frequency transceiver configured to be mounted to a body part of a user;

a plurality of interrogators configured to determine a position of the at least one first radio frequency transceiver;

at least one controller to track, using the determined position of the at least one first radio frequency transceiver, movement of the body part of the user while picking items from a plurality of bins, placing items into the plurality of bins, or picking items from the plurality of bins and placing items into the plurality of bins; and

at least one second radio frequency transceiver mounted to a portion of a robot, wherein the plurality of interrogators are configured to determine a position of the at least one second radio frequency transceiver, and wherein the at least one controller is configured to track, using the determined position of the at least one second radio frequency transceiver, movement of the portion of the robot,

wherein the at least one controller is configured to track the position of the body part of the user relative to the position of the portion of the robot, and

wherein the at least one controller is configured to move the portion of the robot away from the body part of the user based on the determined position of the body part of the user relative to the determined position of the portion of the robot.

24. The system of claim 23, further comprising at least one feedback mechanism to provide feedback to the user in picking items from the plurality of bins, placing items into the plurality of bins, or picking items from the plurality of bins and placing items into the plurality of bins.

25. The system of claim 24, wherein the at least one feedback mechanism is configured to signal to the user a correct one of the plurality of bins to pick an item from, to place an item into, or to pick an item from and to place an item into.

26. The system of claim 24, wherein the at least one feedback mechanism is configured to signal to the user that an item has been correctly picked, correctly placed, or correctly picked and correctly placed.

27. The system of claim 24, wherein the at least one feedback mechanism is configured to signal to the user that an item has been incorrectly picked incorrectly placed, or incorrectly picked and incorrectly placed.

28. The system of claim 24, wherein the at least one feedback mechanism provides an indication of an unsafe condition.

29. The system of claim 24, wherein the at least one feedback mechanism comprises haptic feedback.

30. The system of claim 23, wherein the at least one first radio frequency transceiver is affixed to a wristband configured to be worn by the user.