System and method for controlling operation of a robot

1 . A system comprising:

a robot;

a radar transmitter configured to output a radar signal;

a harmonic receiver configured to receive a harmonic signal including a Doppler effect;

a harmonic reflector configured to be coupled to an object, wherein the harmonic reflector is configured to reflect the harmonic signal including the Doppler effect in response to the radar signal contacting the harmonic reflector; and

a control unit in communication with the robot, the radar transmitter, and the harmonic receiver, wherein the control unit is configured to:

track the Doppler effect of the harmonic signal reflected by the harmonic reflector,

determine from the Doppler effect of the harmonic signal a position, a speed, and a heading of the harmonic reflector, and

regulate operation of the robot based on the position, the speed, and the heading of the harmonic reflector by (a) determining, based on the position, the speed, and the heading of the harmonic reflector, that the object is stationary and outside of an operative range of the robot, and providing normal, unrestricted operation of the robot only in response to determining that the object is stationary and outside of the operative range of the robot, (b) determining, based on the position, the speed, and the heading of the harmonic reflector, that the object is within the operative range of the robot and moving toward the robot, and deactivating the robot only in response to determining that the object is within the operative range of the robot and moving toward the robot, wherein the deactivating prevents any operation of the robot, (c) determining, based on the position, the speed, and the heading of the harmonic reflector, that the object is within the operative range of the robot and not moving toward the robot or moving away from the robot, and restricting movement of one or more portions of the robot to a reduced range within the operative range only in response to determining that the object is within the operative range of the robot and not moving toward the robot or moving away from the robot, wherein the restricting allows for operation beyond said deactivating, but less than normal, unrestricted operation of the robot, and (d) determining, based on the position, the speed, and the heading of the harmonic reflector, that the object has moved from a location within the operative range to a location outside of the operative range, and transitioning the robot back to the normal, unrestricted operation only in response to determining that the object has moved from the location within the operative range to the location outside of the operative range.

2 . The system of claim 1 , wherein the robot comprises the radar transmitter and the harmonic receiver.

3 . The system of claim 2 , wherein the radar transmitter and the harmonic receiver are mounted on an end effector of the robot.

4 . The system of claim 1 , wherein the robot comprises the control unit.

5 . The system of claim 1 , wherein the robot comprises the radar transmitter, the harmonic receiver, and the control unit.

6 . The system of claim 1 , wherein the harmonic reflector is disposed on a portion of clothing.

7 . The system of claim 1 , wherein the radar signal has a specific frequency, wherein the harmonic reflector is configured resonate at the specific frequency of the radar signal and generate the harmonic signal, and wherein the harmonic signal is at least twice the frequency of the radar signal.

8 . The system of claim 1 , wherein the control unit is further configured to predict time to stop one or more portions of the robot in relation to a trajectory and speed of the object.

9 . The system of claim 1 , wherein the control unit is further configured to increase both an area of the reduced range within the operative range, and an operational speed of the robot in response to determining that the object is within the operative range and moving away from the robot.

10 . A method for a system comprising:

a robot;

a radar transmitter configured to output a radar signal;

a harmonic receiver configured to receive a harmonic signal including a Doppler effect;

a harmonic reflector configured to be coupled to an object, wherein the harmonic reflector is configured to reflect the harmonic signal including the Doppler effect in response to the radar signal contacting the harmonic reflector; and

a control unit in communication with the robot, the radar transmitter, and the harmonic receiver,

wherein the method comprises:

tracking, by the control unit, the Doppler effect of the harmonic signal reflected by the harmonic reflector;

determining, from the Doppler effect of the harmonic signal by the control unit, a position, a speed, and a heading of the harmonic reflector; and

regulating, by the control unit, operation of the robot based on the position, the speed, and the heading of the harmonic reflector, wherein said regulating comprises:

determining, based on the position, the speed, and the heading of the harmonic reflector, that the object is stationary and outside of an operative range of the robot;

providing normal, unrestricted operation of the robot only in response to determining that the object is stationary and outside of the operative range of the robot;

determining, based on the position, the speed, and the heading of the harmonic reflector, that the object is within the operative range of the robot and moving toward the robot;

deactivating the robot only in response to determining that the object is within the operative range of the robot and moving toward the robot, wherein said deactivating prevents any operation of the robot;

determining, based on the position, the speed, and the heading of the harmonic reflector, that the object is within the operative range of the robot and not moving toward the robot or moving away from the robot;

restricting movement of one or more portions of the robot to a reduced range within the operative range only in response to determining that the object is within the operative range of the robot and not moving toward the robot or moving away from the robot, wherein said restricting allows for operation beyond said deactivating, but less than normal, unrestricted operation of the robot; and

determining, based on the position, the speed, and the heading of the harmonic reflector, that the object has moved from a location within the operative range to a location outside of the operative range; and

transitioning the robot back to the normal, unrestricted operation in response to determining that the object has moved from the location within the operative range to the location outside of the operative range.

11 . The method of claim 10 , wherein the robot comprises the radar transmitter and the harmonic receiver.

12 . The method of claim 11 , wherein the radar transmitter and the harmonic receiver are mounted on an end effector of the robot.

13 . The method of claim 10 , wherein the robot comprises the control unit.

14 . The method of claim 10 , wherein the harmonic reflector is disposed on a portion of clothing.

15 . The method of claim 10 , wherein the radar signal has a specific frequency, wherein the harmonic reflector resonates at the specific frequency of the radar signal and generates the harmonic signal, and wherein the harmonic signal is at least twice the frequency of the radar signal.

16 . The method of claim 10 , further comprising predicting, by the control unit, time to stop one or more portions of the robot in relation to a trajectory and speed of the object.

17 . The method of claim 10 , wherein said regulating further comprises increasing, by the control unit, both an area of the reduced range within the operative range, and an operational speed of the robot in response to determining that the object is within the operative range and moving away from the robot.

18 . A non-transitory computer-readable storage medium comprising executable instructions that, in response to execution, cause one or more control units comprising a processor, to perform operations comprising:

tracking a Doppler effect of a harmonic signal reflected by a harmonic reflector in response to being contacted by a radar signal;

determining from the Doppler effect of the harmonic signal a position, a speed, and a heading of the harmonic reflector; and

regulating operation of a robot based on the position, the speed, and the heading of the harmonic reflector, wherein said regulating comprises:

determining, based on the position, the speed, and the heading of the harmonic reflector, that the object is stationary and outside of an operative range of the robot;

providing normal, unrestricted operation of the robot only in response to determining that the object is stationary and outside of the operative range of the robot;

determining, based on the position, the speed, and the heading of the harmonic reflector, that the object is within the operative range of the robot and moving toward the robot;

deactivating the robot only in response to determining that the object is within the operative range of the robot and moving toward the robot;

determining, based on the position, the speed, and the heading of the harmonic reflector, that the object is within the operative range of the robot and not moving toward the robot or moving away from the robot;

restricting movement of one or more portions of the robot to a reduced range within the operative range in response to determining that the object is within the operative range of the robot and not moving toward the robot or moving away from the robot wherein said restricting allows for operation beyond said deactivating, but less than normal, unrestricted operation of the robot;

determining, based on the position, the speed, and the heading of the harmonic reflector, that the object has moved from a location within the operative range to a location outside of the operative range; and

transitioning the robot back to the normal, unrestricted operation in response to determining that the object has moved from the location within the operative range to the location outside of the operative range.

19 . The non-transitory computer-readable storage medium of claim 18 , wherein the radar signal has a specific frequency, wherein the harmonic reflector is configured resonate at the specific frequency of the radar signal and generate the harmonic signal, and wherein the harmonic signal is at least twice the frequency of the radar signal.

20 . The non-transitory computer-readable storage medium of claim 18 , further comprising predicting, by the control unit, time to stop one or more portions of the robot in relation to a trajectory and speed of the object.