Some demonstrative aspects include radar apparatuses, devices, systems and methods. In one example, an apparatus may include a plurality of Transmit (Tx) chains to transmit radar Tx signals, and a plurality of Receive (Rx) chains to process radar Rx signals. For example, the radar Rx signals may be based on the radar Tx signals. The apparatus may be implemented, for example, as part of a radar device, for example, as part of a vehicle including the radar device. In other aspects, the apparatus may include any other additional or alternative elements and/or may be implemented as part of any other device.

A method of radar detection of targets in an environment, comprising cyclically obtaining a detection profile that associates with each position in the protected area an amount of radar signal that has been reflected, and detecting targets from the detection profile in different modes. A base mode is used for a first series of cycles and is insensitive to motionless targets and sensitive to dynamic targets that move between different locations in the protected area. When the base mode detects a target, two additional modes are started, which are active in different areas. In first areas, a fine movement detection mode is used, which also neglects motionless targets and may be more sensitive than the base mode. In second areas, a presence mode detects both dynamic and motionless targets. When neither the presence mode nor the fine movement mode detects any target for a sufficient time, no people in danger are deemed to be present in the area and the base mode may be restored.

For example, a system may include a radome to be attached to a vehicle bumper fascia; an antenna array on a Printed Circuit Board (PCB), the antenna array is between the PCB and the radome, the antenna array comprising a Transmit (Tx) antenna configured to transmit Tx radar signals via the radome and the vehicle bumper fascia, and a receive (Rx) antenna configured to receive Rx radar signals based on the Tx radar signals; and an absorbing spacer in a spacer area between the PCB and the radome, the spacer area separating the Tx antenna from the Rx antenna, the absorbing spacer configured to absorb reflected signals formed by reflection of the Tx radar signals from the vehicle bumper fascia.

A mobile platform structured for mounting a soft target thereon is provided. The mobile platform includes a self-propelled drive unit configured to move along a ground surface responsive to a control signal. The mobile platform also includes a hardened mobile platform control module coupled to the drive unit so as to move with the drive unit. The mobile platform also includes a sacrificial body structured and coupled to the drive unit so as to move along the ground surface with the drive unit.

One variation of a method for maintaining perpetual inventory within a store includes: accessing a radar scan of an inventory structure within a store; accessing an optical image of the inventory structure; identifying a product type associated with the slot in a region of the optical image; retrieving a volumetric definition of the product type; locating a slot volume defining the slot in the radar scan; extracting a volumetric representation of a set of product units intersecting the slot volume in the radar scan; segmenting the volumetric representation by the volumetric definition to calculate a quantity of the set of product units occupying the slot; and updating a stock record of the store to reflect the quantity of the set of product units occupying the slot.

Data from a radar sensor moving through a static environment may be smoothed and used to generate range profiles by approximating peaks. A direction of arrival (DOA) can then be determined based on the range profile in order to generate a reprojection map. The reprojection map is used to provide updates to a stored map in a robot.

A radar metrology system is provided for use with a movement system (e.g., a robot arm) that moves an end tool, and includes mobile and stationary radar configurations. The mobile radar configuration includes mobile radar components that are coupled to the end tool or an end tool mounting configuration. The stationary radar configuration includes stationary radar components (e.g., that surround a volume in which the end tool is moved). As part of a calibration process, the mobile radar configuration is moved to a plurality of calibration positions, and received radar signals are utilized to determine distances between stationary radar components and one or more mobile radar components. The radar signals are either transmitted from stationary radar components and received by mobile radar components, or vice versa. The locations (e.g., coordinates) of the stationary radar components are determined based at least in part on the determined distances.

A radar metrology system is provided for use with a movement system (e.g., a robot arm) that moves an end tool, and includes mobile and stationary radar configurations. The mobile radar configuration includes mobile radar components that are coupled to the end tool or an end tool mounting configuration. The stationary radar configuration includes stationary radar components (e.g., which define a metrology frame volume that surrounds a movement volume in which the end tool is moved). Distances are determined between stationary radar components and mobile radar components based at least in part on radar signals, wherein the distances indicate (e.g., and may be utilized to determine) a position and orientation (e.g., of the mobile radar configuration and/or end tool). The radar signals are either transmitted from stationary radar components and received by mobile radar components, or transmitted from mobile radar components and received by stationary radar components.

A robot movable on a substrate is controlled on the basis of an occupancy grid of cells, where each cell is associated with an occupancy probability that some physical object is present in the cell. Occupancy-related measurements are obtained by RGB-D, radar or other sensing of an incident electromagnetic wave at an elevated point on the robot. From a measurement taken at an angle of incidence, an occupancy probability is assigned as follows: it is evaluated whether the measurement indicates that some physical object is present in the angle of incidence; a first predetermined model is selected if the evaluation is positive, and second predetermined model if the evaluation is negative; and a new occupancy probability for cells in the angle of incidence is determined on the basis of the measurement and the selected model.

Systems and methods for detecting floor from noisy depth measurements for robots are disclosed herein. According to at least one non-limiting exemplary embodiment, a height map may be produced based on one or more depth measurements from a sensor of a robot. The height map may be utilized to determine surface normal vectors which may be further utilized by the robot to determine if regions of the height map are floor.