Visual indication of target tracking

• US 9,283,677 B2
• Filed: 04/05/2012
• Issued: 03/15/2016
• Est. Priority Date: 04/05/2012
• Status: Active Grant

• Current Assignee: Rethink Robotics
• Original Assignee: Rethink Robotics
• Inventors: Hersey, Stephen
• Primary Examiner(s): Ratcliffe, Luke
• Assistant Examiner(s): Baghdasaryan, Hovhannes
• Application Number:
  US13/440,653
• Publication Number:
  US 20130265854A1
• Time in Patent Office: 1,440 Days
• US Class Current: 1/1
• CPC Class Codes: B25J 19/026 Acoustical sensing devices
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: G01S 15/523 for presence detection burglar, theft or intruder alarms G08B13/00, e.g. G08B13/16
• CPC Class Codes: G01S 15/66 Sonar tracking systems
• CPC Class Codes: G01S 7/64 Luminous indications G01S7/62 takes precedence ; short-range imaging G01S7/52076
• CPC Class Codes: G05B 2219/40203 Detect position of operator, create non material barrier to protect operator

Abstract

Awareness of a device, such as a robot, to proximate humans (or other moving object) is manifested by a visual signal aligned with—i.e., aimed at—the human. For example, an illumination system may take the form of a closed or partial ring around which lighting elements may be selectively activated.

Claims

1. A method for providing a visual tracking indication to a moving observer, the method comprising:

tracking, by a tracking device on a robot system comprising an appendage operative within a working envelope and which might cause danger to objects within the envelope, a location of the observer moving within a defined space relative to the robot system; and

responsive to the tracked location, providing a visual tracking signal on the robot system continually visible to the moving observer within the space and varying with the tracked location relative to the robot system, the signal visually indicating, to the observer, a position of the observer relative to the robot system.

2. The method of claim 1, wherein the visual tracking signal is provided over a field covering at least 180°

relative to the tracking device.

3. The method of claim 1, wherein the visual tracking signal is provided over a field covering 360°

relative to the tracking device.

4. The method of claim 1, wherein the visual tracking signal is provided by an arcuate illumination device having an angularly variable illumination output, the illumination output being confined to a variable arcuate region continuously aligned with the tracked target.

5. The method of claim 4 wherein the arcuate illumination device has a closed ring configuration, the arcuate regions of available illumination extending fully around the ring.

6. The method of claim 4, wherein the arcuate illumination device comprises a plurality of individually actuable segments of the arcuate illumination device, the segments being variably actuated as the target moves to maintain the alignment.

7. The method of claim 1, further comprising:

tracking, by the tracking device, a location of a second target object moving within the defined space; and

responsive to the tracked location of the second target object, providing a second visual tracking signal continually visible to the moving second target object within the space and varying with the tracked location of the second target object, the second signal visually indicating the tracked location of the second target object relative to the tracking device.

8. A system for tracking movement, the system comprising:

a robot system comprising an appendage operative within a working envelope and which might cause danger to objects within the envelope;

a robot controller on the robot system;

a tracking system on the robot system for tracking a location of an observer moving within a defined space relative to the robot system;

an illumination device having an arcuate profile and an angularly variable illumination output; and

an illumination controller, responsive to the tracking system, for controlling the illumination device to provide a visual tracking signal continually visible to the moving observer within the space and varying with the tracked location relative to the robot system, the signal visually indicating, to the observer, a position of the observer relative to the robot system.

9. The system of claim 8 wherein the tracking system comprises an ultrasound transducer comprising a plurality of transducer elements, each element emitting and receiving ultrasound with a spatial zone defined by a solid angle;

drive circuitry coupled to the transducer elements; and

an ultrasound controller for controlling ultrasound waves emitted from the transducer elements and determining movements of objects based thereon, the illumination controller causing the illumination device to output light to the spatial zone in which the target is located.

10. The system of claim 9, wherein the illumination device comprises a plurality of individually actuable segments each corresponding to one of the spatial zones, the segments being variably actuated as the target moves so that at least the segment corresponding to the spatial zone in which the target is instantaneously located is lit.

11. The system of claim 10, wherein the transducer elements and the illumination segments are arranged in a ring.

12. The system of claim 8, wherein the field covers at least 180°

relative to the tracking device.

13. The system of claim 8, wherein the field covers 360°

relative to the tracking device.

14. The system of claim 8, wherein the illumination device has an angularly variable illumination output, the controller causing the visual signal to be confined to a variable arcuate region continuously aligned with the tracked target.

15. The system of claim 8, wherein the illumination device has a closed ring configuration, the angularly variable illumination output extending fully around the ring.

16. The system of claim 8, wherein the illumination device comprises a plurality of individually actuable segments, the controller variably actuating the segments as the target moves to maintain the alignment.

17. The system of claim 8, wherein:

the tracking system is configured to track a location of a second target object moving within the defined space; and

the illumination controller is responsive to the tracked location of the second target object and controls the illumination device to provide a second visual tracking signal continually visible to the moving second target object within the space and varying with the tracked location of the second target object, the second signal visually indicating the tracked location of the second target object relative to the tracking device.