WO2024149453A1

WO2024149453A1 - Arrangement for performing wireless sensing of one or more sensing positions, and method of operating the same

Info

Publication number: WO2024149453A1
Application number: PCT/EP2023/050538
Authority: WO
Inventors: Mario Hernán Castañeda Garcia; Anastasios KAKKAVAS; Richard Stirling-Gallacher; Xitao Gong; Josef Eichinger
Original assignee: Huawei Technologies Co., Ltd.
Priority date: 2023-01-11
Filing date: 2023-01-11
Publication date: 2024-07-18

Abstract

Disclosed are an arrangement (1) for performing wireless sensing of one or more sensing positions (3) and a method (2) of operating the same. The arrangement (1) comprises: a computer-controlled manipulator device (10); multiple first devices (11); and a second device (12). The multiple first devices (11) are respectively arranged on the manipulator device (10), and operable to transmit (23T) a respective signal to or receive (23R) a respective signal from a respective sensing position (3) of the sensing positions (3). The second device (12) is arranged on the manipulator device (10), aware of a position and orientation of the first devices (11); and operable to configure (21) one or more of the first devices (11) for transmitting (23T) the respective signal to or receiving (23R) the respective signal from the respective sensing position (3) of the sensing positions (3). This avoids an exhaustive beam sweep/search in response to movements of the manipulator device (10) or its parts.

Description

ARRANGEMENT FOR PERFORMING WIRELESS SENSING OF ONE OR MORE SENSING POSITIONS, AND METHOD OF OPERATING THE SAME

TECHNICAL FIELD

The present disclosure relates generally to the field of wireless communication, and specifically to an arrangement for performing wireless sensing in a vicinity of a computer-controlled manipulator device, and to a method of operating such an arrangement.

BACKGROUND ART

Current communications systems, like 3^rd generation partnership project (3GPP) Long Term Evolution (LTE) and New Radio (NR), support the localization of active devices, i.e. devices that are involved in the transmission (Tx) or reception (Rx) of the signal used for localization. However, it is envisioned that the functionality of sensing passive objects, i.e. objects that do not participate in the Tx/Rx of the signal used for sensing, will be integrated with the communication functionality of upcoming communication systems, e.g. 5G Advanced or 6G. As used herein, sensing may refer not only to the estimation of the position of an object, but also to its detection, as well as its shape and even its material.

From a transceiver deployment point of view, two different sensing approaches exist. Monostatic sensing involves a co-location of sensing transmitter and receiver, and the device may sense its environment. Full-duplex operation is required in this case. Multistatic sensing relates to the sensing transmitter and receiver being at different locations, and network-related operations being required for the sensing measurements. Multi-static sensing allows to view an object from different angular perspectives, which can be beneficial for an optimal passive object recognition and localization. As this approach does not require full-duplex operation and can re-use existing communication waveforms, e.g., orthogonal frequency division multiplexing (OFDM), discrete Fourier transform-spread-OFDM (DFT-s-OFDM), it can be more easily integrated to the current specification.

Sensing with radio signals may be beneficial in several robotic applications like for robots with multiple moving parts (e.g., manipulator devices). In such applications, multiple UEs can be placed on different parts of the robot (e.g., on the joints, extremities, etc.). A UE can be a Tx UE of a sensing signal and can also be a Rx UE of another sensing signal. To not limit the flexibility and motion of the different parts of the robot, cabling should be minimized, i.e. there may be no wired data link between UEs. For example, data cables may not support rotating joints or the robot’s parts can be removable, e.g., at the gripper, for having different tools.

The UEs on the robot can be used for sensing the area around the robot, i.e., to sense a sensing area in the vicinity of the robot. For example, for security purposes a robot may want to detect whether an object is in the sensing area, e.g., to avoid a collision of the object with the robot or with the robot’s moving parts. A robot may also want to know if there is an object at a certain sensing position in the sensing area. The sensing information can enable the robot to know how to update its motion, e.g., to know how to move its parts around a sensed object, or it can enable the robot to update its behavior, e.g., to fall back to a safety position for security purposes. The sensing area is relative to the robot, e.g. based on a reference point on the robot. The robot may be static or mobile (i.e., it can move around, it can maneuver). In case the robot is mobile, i.e. moving around, the sensing area can still be relative to the robot and thus, the sensing area may not change. Furthermore, the sensing area can be described by a set of sensing positions that the robot is interested in sensing, e.g. in a boundary or on a given line in the sensing area.

As the robot may not need to sense beyond a given area (i.e. beyond its vicinity), transmitting sensing signals with a larger power than necessary may generate unnecessary interference and power consumption.

To support higher sensing resolution, large bandwidth is needed. Large bandwidth is available at higher frequencies, i.e., at mmWave and sub-THz bands, and thus, beamforming may be needed to enable wideband sensing. To support sensing with beamforming, proper selection of the Tx beams used by a Tx UE and of the Rx beams used by a Rx UE is required. For this purpose, a beam alignment between the Tx UE and Rx UEs is needed, e.g. a Rx beam used to receive a sensing signal sent with a given Tx beam. For a sensing signal, if the alignment of a Tx beam and a Rx beam is not done properly, the measurements of the sensing signals may lead to an inaccurate sensing result.

A beam alignment based on measurements may require that after each motion of the robot the UEs need to send reference signals and collect measurements to determine an appropriate combinations of beams, which may add a significant delay/latency. SUMMARY

It is an object to overcome the above-mentioned and other drawbacks. The foregoing and other objects are achieved by the features of the independent claims. Further implementation forms are apparent from the dependent claims, the description and the figures.

According to a first aspect, an arrangement is provided for performing wireless sensing of one or more sensing positions. The arrangement comprises: a computer-controlled manipulator device; multiple first devices; and a second device. The multiple first devices are respectively arranged on the manipulator device, and operable to transmit a respective signal to or receive a respective signal from a respective sensing position of the sensing positions. The second device is arranged on the manipulator device, aware of a position and orientation of the first devices; and operable to configure one or more of the first devices for transmitting the respective signal to or receiving the respective signal from the respective sensing position of the sensing positions.

Sensing or wireless sensing as used herein may refer to sensing of sensing points/positions within a sensing area, i.e., in a vicinity of a manipulator device including a swiveling range of the same, from different perspectives, i.e. with signals sent from different parts of the manipulator device and intended to be received at other parts of the manipulator device.

A signal as used herein may refer to a sensing signal, an illumination signal, a reference signal (e.g., a positioning reference signal), a control signal, or a communication signal (e.g., a signal carrying a data transmission), for example.

A first device and a second device as used herein may respectively refer to a mobile terminal for a radio access technology (RAT) such as NR (5G New Radio) of a mobile/cellular communication system.

In a possible implementation form, the first devices may be operable to transmit the respective signal to the respective sensing position with a spatial filter.

A spatial filter or beam as used herein may interchangeably refer to a result of spatial filtering or beamforming, i.e., a signal processing technique used for directional signal transmission or reception (spatial directivity/selectivity), by combining elements (e.g., with certain phase shifts) in an antenna array in such a way that signals at particular angles experience constructive addition while others experience lower gain. The spatial filter can be a wide beam or a beam spanning a wide range of angles. The spatial filtering can be done in the analog or digital domain.

In a possible implementation form, the first devices may be operable to receive the respective signal from the respective sensing position with a spatial filter.

In a possible implementation form, the second device may be operable to configure the one or more of the first devices for transmitting the respective signal to the respective sensing position with a spatial filter.

In a possible implementation form, the second device may be operable to configure the one or more of the first devices for receiving the respective signal from the respective sensing position with a spatial filter.

In a possible implementation form, the manipulator device may comprise a robot.

A robot as used herein may refer to a computer-controlled device being capable of carrying out a complex series of actions automatically.

In a possible implementation form, the second device may comprise a user equipment, UE.

A user equipment as used herein may refer to a mobile terminal of a mobile/cellular communication system.

In a possible implementation form, the first devices may respectively comprise a UE.

In a possible implementation form, to be aware of the position and orientation of the first devices, the second device may be connected with a computer control of the manipulator device. The second device may be connected with a computer control or central controller of the manipulator device via an Application Programming Interface (API). In a possible implementation form, to configure the one or more of the first devices, the second device may be operable to indicate to the one or more of the first devices one or more of: timefrequency resources of a signal; positions of the first devices; an orientation of the respective first device; the sensing positions; and associations of one or more of the first devices. The respective association may relate to a respective sensing position and comprise: a transmit, Tx, device of the first devices for transmission of the respective signal to the respective sensing position; and a receive, Rx, device of the first devices for reception of the respective signal from the respective sensing position.

Associating Tx devices and Rx devices for a sensing signal via a respective sensing position results in a more compact configuration for multi-static sensing.

Indicating the positions of the first devices allows the respective first device to determine appropriate Tx / expected Rx power levels for the respective sensing position.

Indicating the orientations of the first devices allows the respective first device to determine the appropriate Tx/Rx beam for the respective sensing position.

Independent updates of position/orientation of first devices (i.e. after motion of robot parts) and sensing positions may result in sensing positions being indicated at different rates than positions/orientations of first devices, thereby reducing a signaling overhead.

In a possible implementation form, the positions of the first devices and the sensing positions may respectively comprise location indications in a coordinate system of or relative to the manipulator device.

In a possible implementation form, the orientation of the respective first device may comprise an orientation indication relative to an orientation of the manipulator device.

In a possible implementation form, to configure the one or more of the first devices, the second device may be operable to inform the first devices of one or more of: a minimum Rx power level, a path loss model, and a reflection loss coefficient. Indicating a minimum Rx power level and a path loss model to the first devices avoids an indication of a Tx power level for each sensing signal, and allows first devices to determine their expected Rx power level for detection.

In a possible implementation form, the minimum Rx power level may comprise a Reference Signal Received Power, RSRP, level.

In a possible implementation form, the first devices may further be operable to transmit the respective signal to and/or receive the respective signal from the respective sensing position in accordance with the configuration.

In a possible implementation form, to transmit the respective signal to the respective sensing position, the respective first device may be operable to configure a spatial filter for transmission in accordance with its position, its orientation, and the respective sensing position.

In a possible implementation form, to receive the respective signal from the respective sensing position, the respective first device may be operable to configure a spatial filter for reception in accordance with its position, its orientation, and the respective sensing position.

In a possible implementation form, to transmit the respective signal to the respective sensing position, the Tx device of the association relating to the respective sensing position may be operable to configure a Tx power level of the respective signal in accordance with a longest distance from its position via the respective sensing position to the positions of the Rx devices of the association.

In a possible implementation form, the Tx device of the association relating to the respective sensing position may be operable to configure the Tx power level of the respective signal in accordance with: the minimum Rx power level, a path loss due to the path loss model based on the longest distance, and the reflection loss coefficient.

In a possible implementation form, the Rx device of the respective association may further be operable to determine an expected Rx power level of the respective signal in accordance with the longest distance and a specific distance from the position of the Tx device of the respective association via the respective sensing position to its position. In a possible implementation form, the Rx device of the respective association may be operable to determine the expected Rx power level of the respective signal in accordance with: the minimum Rx power level, a path loss due to the path loss model based on the longest distance, and a path loss due to the path loss model based on the specific distance.

In a possible implementation form, the expected Rx power level of the respective signal may comprise a Reference Signal Received Power, RSRP, level.

In a possible implementation form, the Rx device of the respective association may further be operable to determine an expected delay of the respective signal in accordance with a speed of light and the specific distance.

In a possible implementation form, the first devices may respectively be configurable, by the second device, to send a respective measurement report for the respective sensing position.

Sending measurement reports based on a sensing position and expected Rx power level determined at the respective Rx device results in a selective measurement report in case of a detected object.

In a possible implementation form, the second device may be operable to collect respective measurement reports from the first devices.

In a possible implementation form, the respective measurement report for the respective sensing position may comprise: an Rx power level of the respective signal being equal to or above the expected Rx power level of the respective signal, and a delay of the respective signal being equal to or below the expected delay of the respective signal.

In a possible implementation form, the Rx power level may comprise a Reference Signal Received Power, RSRP, level.

According to a second aspect, a method of operating an arrangement for performing wireless sensing of one or more sensing positions is provided. The arrangement comprises a computer- controlled manipulator device; multiple first devices, and a second device. The first devices are respectively arranged on the manipulator device, and operable to transmit a respective signal to or receive a respective signal from a respective sensing position of the sensing positions. The second device is arranged on the manipulator device, and aware of a position and orientation of the first devices. The method comprises configuring one or more of the first devices for transmitting the respective signal to or receiving the respective signal from the respective sensing position of the sensing positions.

In a possible implementation form, the method may further comprise transmitting the respective signal to or receiving the respective signal from the respective sensing position of the sensing positions in accordance with the configuration.

In a possible implementation form, the method may further comprise configuring the first devices configured for receiving the respective signal to send a respective measurement report for the respective sensing position.

In a possible implementation form, the method may further comprise collecting respective measurement reports from the first devices.

According to a third aspect, a computer program is provided comprising a program code for performing the method of the second aspect or any of its implementations, when executed on a computer.

BRIEF DESCRIPTION OF DRAWINGS

The above-described aspects and implementations will now be explained with reference to the accompanying drawings, in which the same or similar reference numerals designate the same or similar elements.

The drawings are to be regarded as being schematic representations, and elements illustrated in the drawings are not necessarily shown to scale. Rather, the various elements are represented such that their function and general purpose become apparent to those skilled in the art.

FIG. 1 illustrates an arrangement in accordance with the present disclosure;

FIG. 2 illustrates the arrangement of FIG. 1 while performing wireless sensing; and FIG. 3 illustrates a method in accordance with the present disclosure of operating the arrangement of FIG. 1.

DETAILED DESCRIPTIONS OF DRAWINGS

In the following description, reference is made to the accompanying drawings, which form part of the disclosure, and which show, by way of illustration, specific aspects of implementations of the present disclosure or specific aspects in which implementations of the present disclosure may be used. It is understood that implementations of the present disclosure may be used in other aspects and comprise structural or logical changes not depicted in the figures. The following detailed description, therefore, is not to be taken in a limiting sense, and the scope of the present disclosure is defined by the appended claims.

For instance, it is understood that a disclosure in connection with a described method may also hold true for a corresponding apparatus or arrangement configured to perform the method and vice versa. For example, if one or a plurality of specific method steps are described, a corresponding device may include one or a plurality of units, e.g. functional units, to perform the described one or plurality of method steps (e.g. one unit performing the one or plurality of steps, or a plurality of units each performing one or more of the plurality of steps), even if such one or more units are not explicitly described or illustrated in the figures. On the other hand, for example, if a specific apparatus is described based on one or a plurality of units, e.g. functional units, a corresponding method may include one step to perform the functionality of the one or plurality of units (e.g. one step performing the functionality of the one or plurality of units, or a plurality of steps each performing the functionality of one or more of the plurality of units), even if such one or plurality of steps are not explicitly described or illustrated in the figures. Further, it is understood that the features of the various exemplary implementations and/or aspects described herein may be combined with each other, unless specifically noted otherwise.

FIG. 1 illustrates an arrangement 1 in accordance with the present disclosure.

The arrangement 1 is suitable for performing wireless sensing of one or more sensing positions 3 (see FIG. 2) and comprises a computer-controlled manipulator device 10; multiple first devices 11; and a second device 12. The manipulator device 10 may comprise a robot, for example.

The first devices 11 may respectively comprise a UE.

The first devices 11 are respectively arranged on the manipulator device 10.

The first devices 11 are operable to transmit 23T a respective signal to or receive 23R a respective signal from a respective sensing position 3 of the sensing positions 3, in particular with a spatial filter, and especially in accordance with a configuration by the second device 12 (see below).

To transmit 23 T the respective signal to the respective sensing position 3, the respective first device 11 may be operable to configure 23 IT a spatial filter for transmission in accordance with its position, its orientation, and the respective sensing position 3.

Likewise, to receive 23R the respective signal from the respective sensing position 3, the respective first device 11 may be operable to configure 231R a spatial filter for reception in accordance with its position, its orientation, and the respective sensing position 3.

The second device 12 may comprise a UE.

The second device 12 is arranged on the manipulator device 10, which may be configured to move its parts, i.e. with high precision, through a computer control 101.

The second device 12 may be connected with the computer control 101 of the manipulator device 10, whereby the second device 12 is configured to control or is aware of the motion of the parts of the manipulator device 10, to be aware of a position and orientation of the first devices 11.

Accordingly, the second device 12 is aware of the position and orientation of the first devices 11 after the motion of the parts of the manipulator device 10. In addition, the second device 12 is also aware of the sensing area, i.e. sensing positions, as it is connected with the computer control 101 (e.g., via API), which can determine the sensing area based on the application or based on the current task of the manipulator device 10. The first devices 11, however, may not be aware of their position and orientation after said motion of the manipulator device 10. In addition, the first devices 11 may also not be aware of the sensing area, i.e., of the sensing positions.

To enable a multi-static sensing by the first devices 11 on the manipulator device 10, the first devices 11 need to be configured to transmit and receive sensing signals while taking into account the motion of the first devices 11 on the manipulator device 10, i.e., considering changes in the position of the first devices 11. This configuration may include the configuration of Tx beams and Rx beams for the sensing signal, and a larger Tx power than necessary should be avoided.

Of note, knowing the sensing area, i.e. the sensing positions, avoids the need to perform an exhaustive beam sweep/search in all directions after each time the robot moves its parts. Note that such beam search may allow a manipulator device 10 to have a “broader” view of the environment. However, some applications may require just sensing in a certain region, i.e., sense certain sensing positions, so there may not be a need to perform an exhaustive beam search. In addition, an exhaustive beam search results in increased overhead, which may be unnecessary.

To enable the multi-static sensing with multiple first devices 11 on a manipulator device 10, the second device 12 can make use of the known position and orientation of the first devices 11, as well as the knowledge of the sensing area (i.e. sensing positions) provided by the computer control 101. In particular, it is assumed that the manipulator device 10 wants to sense certain positions in the sensing region, i.e., sensing positions. Based on the positions/orientations of the UEs and the sensing area, the second device 12 can configure the transmission and reception of the sensing signals to enable multi-static sensing with the multiple first devices 11.

In accordance with these considerations, the second device 12 is operable to configure 21 one or more of the first devices 11 for transmitting 23 T the respective signal to or receiving 23R the respective signal from the respective sensing position 3 of the sensing positions 3, in particular with a spatial filter. With the known positions and orientations of the UEs on the robot, as well as the known sensing positions, the second device 12 can determine a Tx angle at a given first device 11 for sending a sensing signal (e.g., towards a sensing position) and the corresponding Rx angles at other first devices 11 for receiving the sensing signal. The Tx and Rx angles may be determined based on the geometry from the position and orientation of the UEs, as well as from the sensing positions. A Tx angle corresponds to an angle with respect to an orientation of the transmitting first device 11, that the transmitting first device 11 shall use for sending a sensing signal, i.e., towards a sensing position. A Rx angle corresponds to an angle with respect to an orientation of a receiving first device 11, that the receiving first device 11 shall use for receiving the sensing signal.

As such, a first device 11 may send a sensing signal via a Tx angle (i.e., Tx beam) or receive a sensing signal via a Rx angle (i.e., Rx beam), respectively. This enables a beam alignment between a transmitting first device 11 and a receiving first device 11 for a given sensing signal aiming at a given sensing position within the sensing area. If a receiving first device 11 fails to receive any meaningful signal (i.e., low RSRP) based on the beam alignment, this may be an indication that there is no target or object that can be detected at the sensing position.

A first device 11 may send a sensing signal via a Tx angle with a wide beam or with an omnidirectional transmission. A first device 11 may receive a sensing signal via a Rx angle with a wide beam or with omnidirectional reception. A first device 11 may send a sensing signal via a Tx angle with a digital or analog transmitter. A first device 11 may receive a sensing signal via a Rx angle with a digital or analog receiver.

Furthermore, the second device 12 can determine a transmit power of each sensing signal based on a path loss models or prior measurements. The use of a path loss model can be beneficial as there may be no prior measurements or measurements after the parts of the manipulator device 10 have moved can be avoided. Such a path loss model can determine an estimate of the path loss from a transmitting first device 11 to a receiving first device 11 via a sensing position, e.g., assuming a line-of-sight (LOS) loss model (i.e., based on an attenuation coefficient) and based on a distance along the path from a position of the transmitting first device 11 to the receiving first device 11 via the sensing position. To configure 21 the one or more of the first devices 11 for wireless sensing, the second device 12 may be operable to indicate 211 to the one or more of the first devices 11 one or more of time-frequency resources of a signal; positions of the first devices 11; an orientation of the respective first device 11; the sensing positions 3; and associations of one or more of the first devices 11.

The positions of the first devices 11 and the sensing positions 3 may respectively comprise location indications in a coordinate system of or relative to the manipulator device 10.

The orientation of the respective first device 11 may comprise an orientation indication relative to an orientation of the manipulator device 10.

The respective association may relate to a respective sensing position 3 and comprise: a transmit, Tx, device of the first devices 11 for transmission of the respective signal to the respective sensing position 3; and a receive, Rx, device of the first devices 11 for reception of the respective signal from the respective sensing position 3. In particular, more than one Rx device of the first devices 11 may be associated with the Tx device of the first devices 11. In a respective association, a Tx device and a Rx device may correspond to a same first device 11, in which case said first device 11 shall perform monostatic sensing of the sensing position.

Generally, a first device 11 may be configured to transmit a signal to a sensing position 3 while it may be configured to receive a signal from the same or another sensing position 3, i.e., the sensing position(s) 3 for transmission may be different from the sensing position(s) 3 for reception. In addition, the configuration to transmit a signal to a sensing position 3 and to receive a signal from the same sensing position 3 may be specified in one association or in different associations. In case it is in one association, the first device 11 shall perform monostatic sensing of the sensing position 3, i.e., it shall transmit a signal to the sensing position 3 and receive from the sensing position 3 as well.

The second device 12 may indicate to all the UEs (i.e. via groupcast) the time-frequency resources of different sensing signals for the respective sensing position, the sensing positions (i.e. in the sensing area) that are to be targeted with a sensing signal transmitted by a given transmitting first device 11 and the receiving first device 11 that shall receive a sensing signal from a sensing position. For each sensing signal, the second device 12 may indicate to the first devices 11 the associations of one or more of the first devices 11 per sensing position 3 : (sensing position, Tx ID, Rx ID 1, . . . , Rx ID N). In addition, after a motion of the parts of the manipulator device 10, the second device 12 may indicate to all the first devices 11 of an association (i.e., via groupcast) the positions and orientations of the first devices 11 (wherein the latter only needs to be sent to the respective first device 11). In particular, the second device 12 only needs to indicate updated positions and orientations of the first devices 11, i.e., of those first devices 11 that have moved compared to a previous indication. With the provided associations, the first devices 11 can perform multi- static sensing given the provided positions and orientations of the UEs: a transmitting first device 11 can determine the Tx beam to send a sensing signal towards a sensing position and a receiving first device 11 can determine the Rx beam to receive a sensing signal from a sensing position.

Considering the example of FIG. 2, which illustrates the arrangement 1 of FIG. 1 while performing wireless sensing, the association relating to the indicated sensing/target position 3 comprises a Tx device of the first devices 11 identified as © for transmission of the signal to the sensing position 3, and Rx devices of the first devices 11 identified as ® through ® for reception of the respective signal from the sensing position 3.

Generally, different sensing/target positions 3 may be associated with different sets of first devices 11 as Tx device or Rx devices.

The association relating to the respective sensing/target position 3 only needs to be updated if said sensing position 3 has been changed, and necessarily after each motion of the parts of the manipulator device 10. Note that the manipulator device 10 can move, but its sensing area, i.e. the sensing positions 3, may not necessarily change as a result. This provides a more compact configuration for the multi-static sensing among the first devices 11 and reduces a signaling overhead.

The proposed scheme further avoids indicating a Tx power for each sensing as the Tx power can be determined by the first devices 11 on their own as described below. In more detail, to configure 21 the one or more of the first devices 11, the second device 12 may be operable to inform 212 the first devices 11 of one or more of a minimum Rx power level RSRP_min, a path loss model, and a reflection loss coefficient.

The minimum Rx power level may comprise a Reference Signal Received Power, RSRP, level.

Based on this information and the positions of the first devices 11 and the sensing position 3, a first device 11 can determine the Tx power of each sensing signal.

To transmit 23 T the respective signal to the respective sensing position 3, the Tx device of the association relating to the respective sensing position 3 may be operable to configure 232T a Tx power level of the respective signal in accordance with a longest distance from its position via the respective sensing position 3 to the positions of the Rx devices of the association.

More specifically, the Tx device of the association relating to the respective sensing position 3 may be operable to configure 232T the Tx power level of the respective signal in accordance with: the minimum Rx power level, a path loss due to the path loss model based on the longest distance, and the reflection loss coefficient.

As such, the Tx power level may be obtained by adding the minimum Rx power level RSRP_min, the path loss PL due to the path loss model based on the longest distance, and a power offset PO due to the reflection loss coefficient:

PT_X — RSRPmin

+ PLiC distance(Tx device -> sensing position

-> most distant Rx device)) + PO

In the example of FIG. 2, the transmitting first device 11 identified as © can determine its Tx power level P_Tx based on the positions of the receiving first devices 11 identified as ® through ® as well as based on the indicated sensing/target position 3. More specifically, it may establish that the longest distance extends from its own position via the sensing position 3 to the position of the Rx device identified as ®. As this information is also available to the receiving first devices 11, these can also determine the Tx power level P_Tx used by the transmitting first device 11 for sending the sensing signal targeting the sensing position 3.

Moreover, it is further proposed herein to establish a measurement report based on the sensing positions 3. Upon completion of a sensing transaction, the receiving first devices 11 may report back to the second device 12 those sensing positions 3 which fulfill certain criteria for an efficient measurement report.

Hence, the first devices 11 may respectively be configurable, by the second device 12, to send 24 a respective measurement report for the respective sensing position 3.

In particular, the receiving first devices 11 may indicate those sensing positions 3 for which a measured Rx power level (i.e., RSRP) meets an expected Rx power level and a measured delay meets an expected delay, wherein these thresholds are specific to the respective first device 11 and can be determined by the respective first device 11 in accordance with the provided configuration. This allows for selective measurement reports depending on the sensing position 3. If a measurement of a sensing signal fulfills the above criteria, a receiving first device 11 may report back the sensing position 3, the measured Rx power level and/or the measured delay associated with a sensing signal. The measurement report can be sent to the second device 12.

As such, the Rx device of the respective association may be operable to determine 233R an expected Rx power level of the respective signal in accordance with the longest distance and a specific distance from the position of the Tx device of the respective association via the respective sensing position 3 to its position.

The Rx power level and the expected Rx power level of the respective signal may comprise an RSRP level, respectively.

More specifically, the Rx device of the respective association may be operable to determine 233R the expected Rx power level RSRP_exp of the respective signal in accordance with: the minimum Rx power level RSRP_min, a path loss PL due to the path loss model based on the longest distance, and a path loss PL₂ due to the path loss model based on the specific distance: RSRP_exv — RSRP_min

+ PLiC distance^ Tx device -> sensing position

-> most distant Rx device))

— PL₂ distance^ Tx device -> sensing position -> specific Rx device))

Likewise, the Rx device of the respective association may further be operable to determine 234R an expected delay d_exp of the respective signal in accordance with a speed of light c and the specific distance: d_exp = c x distance^ Tx device -> sensing position -> specific Rx device)

On its part, the second device 12 may be operable to collect 25 respective measurement reports from the first devices 11.

The respective measurement report for the respective sensing position 3 may comprise: an Rx power level RSRP of the respective signal being equal to or above the expected Rx power level RSRP_exp of the respective signal, and a delay d of the respective signal being equal to or below the expected delay d_exp of the respective signal.

In summary, the first devices 11 being distributed around the manipulator device 10, i.e., arranged on different parts of the same, allow for multi-static sensing to be performed. Multistatic sensing allows to sense a sensing position 3 within a sensing area from different perspectives, i.e. with signals sent from different parts of the manipulator device 10 and intended to be received at other parts of the manipulator device 10. For this aim, different combinations of first devices 11 as Tx or Rx devices can be considered for sensing a part of the sensing area, e.g., a particular sensing position 3. The different combinations of Tx and Rx devices 11 in such a multi-static setup enable a multi-view of the sensing area. For example, a Tx device 11 can be configured to send a sensing signal while certain Rx devices 11 are configured to listen or receive such a signal. The Rx devices 11 can then feedback their measurements, e.g. to the second device 12. Based on the measurements of the Rx devices 11, the presence of a target or object based on the area illuminated by the sensing signal sent by the Tx device 11 can be determined. In particular, it can be sensed whether there is an object at a given sensing position 3, based on sensing measurements for that sensing position 3. As the second device 12 is aware of the location and orientation of the UEs (i.e. via the computer control 101), an appropriate configuration of a Tx device 11 and associated Rx devices 11 for a sensing position 3 can be determined, e.g. for the sensing signal targeting a given sensing position 3. Thus, an association of a Tx device 11 / Tx beam with multiple Rx devices 11 / respective Rx beams can be determined for supporting multi-static sensing of a particular sensing position 3.

In an alternative implementation, first and second devices 11, 12 may not be arranged on any manipulator device. The first and second devices 11, 12 may use sidelink positioning or the like to make the second device 12 aware of a position and orientation of the first devices 11. Furthermore, the second device 12 may be aware or configure the sensing area, i.e. sensing positions, for the multi-static sensing. As in the previous implementations, the first devices 11 may be configured and Rx devices 11 may send their measurement report as explained above.

In an alternative implementation, first and second devices 11, 12 may be arranged on different manipulator devices. The first and second devices 11, 12 may use sidelink positioning or the like to make the second device 12 aware of a position and orientation of the first devices 11. Furthermore, the second device 12 may be aware or configure the sensing area, i.e. sensing positions, for the multi-static sensing. As in the previous implementations, the first devices 11 may be configured and Rx devices 11 may send their measurement report as explained above.

In an alternative implementation, the second device 12 may comprise a base station of a mobile communication system, such as a gNB (5G base station), and would not be arranged on the manipulator device 10 accordingly. The first and second devices 11, 12 may use uplink positioning or the like to make the second device 12 aware of a position and orientation of the first devices 11. Furthermore, the second device 12 may be aware or configure the sensing area, i.e. sensing positions, for the multi-static sensing. As in the previous implementations, the first devices 11 may be configured and Rx devices 11 may send their measurement report as explained above.

In an alternative implementation, first and second devices 11, 12 may use sidelink positioning or the like to make the second device 12 aware of a position and orientation of the first devices 11. Furthermore, the second device 12 may be aware of the sensing area, i.e. sensing positions 3, for the multi-static sensing. As in the previous implementations, the first devices 11 may be configured and Rx devices 11 may send their measurement report as explained above.

FIG. 3 illustrates a method 2 in accordance with the present disclosure of operating the arrangement 1 of FIG. 1.

The method 2 defines substantially the same matter as explained in connection with FIGs. 1 and 2 in terms of method features, and is suitable for operating the arrangement 1 of the first aspect as explained above.

The method 2 comprises a step of configuring 21 one or more of the first devices 11 for transmitting 23 T the respective signal to or receiving 23R the respective signal from the respective sensing position 3 of the sensing positions 3.

More specifically, configuring 21 the one or more of the first devices 11 may comprise indicating 211 to the one or more of the first devices 11 one or more of time-frequency resources of a signal; positions of the first devices 11; an orientation of the respective first device 11; the sensing positions 3; and associations of one or more of the first devices 11; and may further comprise informing 212 the first devices 11 of one or more of a minimum Rx power level RSRP_min, a path loss model, and a reflection loss coefficient.

The method 2 may further comprise configuring 22 the first devices 11 configured for receiving 23R the respective signal to send 24 a respective measurement report for the respective sensing position 3.

The method 2 may further comprise transmitting 23T the respective signal to or receiving 23R the respective signal from the respective sensing position 3 of the sensing positions 3 in accordance with the configuration.

In more detail, transmitting 23 T the respective signal to the respective sensing position 3 may comprise configuring 23 IT a spatial filter for transmission in accordance with its position, its orientation, and the respective sensing position 3. Likewise, to receive 23R the respective signal from the respective sensing position 3, the respective first device 11 may be operable to configure 231R a spatial filter for reception in accordance with its position, its orientation, and the respective sensing position 3.

The method 2 may further comprise sending 24 a respective measurement report for the respective sensing position 3 by the first devices 11 being configured for receiving 23R the respective signal.

The method 2 may further comprise collecting 25 respective measurement reports from the first devices 11.

The present disclosure has been described in conjunction with various implementations as examples. However, other variations can be understood and effected by those persons skilled in the art and practicing the claimed matter, from the studies of the drawings, this disclosure and the independent claims. In the claims as well as in the description the word “comprising” does not exclude other elements or steps and the indefinite article “a” or “an” does not exclude a plurality. A single element or other unit may fulfill the functions of several entities or items recited in the claims. The mere fact that certain measures are recited in the mutual different dependent claims does not indicate that a combination of these measures cannot be used in an advantageous implementation. A computer program may be stored/distributed on a suitable medium, such as an optical storage medium or a solid-state medium supplied together with or as part of other hardware, but may also be distributed in other forms, such as via the Internet or other wired or wireless telecommunication systems.

Claims

1. An arrangement (1) for performing wireless sensing of one or more sensing positions (3), comprising

- a computer-controlled manipulator device (10);

- multiple first devices (11), respectively being arranged on the manipulator device (10), and being operable to transmit (23 T) a respective signal to or receive (23R) a respective signal from a respective sensing position (3) of the sensing positions (3); and

- a second device (12), being arranged on the manipulator device (10); being aware of a position and orientation of the first devices (11); and being operable to configure (21) one or more of the first devices (11) for transmitting (23 T) the respective signal to or receiving (23R) the respective signal from the respective sensing position (3) of the sensing positions (3).

2. The arrangement (1) of claim 1, the first devices (11) being operable to transmit (23T) the respective signal to the respective sensing position (3) with a spatial filter.

3. The arrangement (1) of claim 1 or claim 2, the first devices (11) being operable to receive (23R) the respective signal from the respective sensing position (3) with a spatial filter.

4. The arrangement (1) of any one of the claims 1 to 3, the second device (12) being operable to configure (21) the one or more of the first devices (11) for transmitting (23 T) the respective signal to the respective sensing position (3) with a spatial filter.

5. The arrangement (1) of any one of the claims 1 to 4, the second device (12) being operable to configure (21) the one or more of the first devices (11) for receiving (23R) the respective signal from the respective sensing position (3) with a spatial filter.

6. The arrangement (1) of any one of the claims 1 to 5, the manipulator device (10) comprising a robot.

7. The arrangement (1) of any one of the preceding claims, the second device (12) comprising a user equipment, UE.

8. The arrangement (1) of any one of the preceding claims, the first devices (11) respectively comprising a UE.

9. The arrangement (1) of any one of the preceding claims, to be aware of the position and orientation of the first devices (11), the second device (12) being connected with a computer control (101) of the manipulator device (10).

10. The arrangement (1) of any one of the preceding claims, to configure (21) the one or more of the first devices (11), the second device (12) being operable to indicate (211) to the one or more of the first devices (11) one or more of:

- time-frequency resources of a signal;

- positions of the first devices (11);

- an orientation of the respective first device (11);

- the sensing positions (3); and

- associations of one or more of the first devices (11), the respective association relating to a respective sensing position (3) and comprising

- a transmit, Tx, device of the first devices (11) for transmission of the respective signal to the respective sensing position (3); and

- a receive, Rx, device of the first devices (11) for reception of the respective signal from the respective sensing position (3).

11. The arrangement (1) of claim 10, the positions of the first devices (11) and the sensing positions (3) respectively comprising location indications in a coordinate system of or relative to the manipulator device (10).

12. The arrangement (1) of claim 10 or claim 11, the orientation of the respective first device (11) comprising an orientation indication relative to an orientation of the manipulator device (10).

13. The arrangement (1) of any one of the claims 10 to 12, to configure (21) the one or more of the first devices (11), the second device (12) being operable to inform (212) the first devices (11) of one or more of:

- a minimum Rx power level,

- a path loss model, and

- a reflection loss coefficient.

14. The arrangement (1) of claim 13, the minimum Rx power level comprising a Reference Signal Received Power, RSRP, level.

15. The arrangement (1) of claim 13 or claim 14, the first devices (11) further being operable to transmit (23T) the respective signal to and/or receive (23R) the respective signal from the respective sensing position (3) in accordance with the configuration.

16. The arrangement (1) of claim 15, to transmit (23T) the respective signal to the respective sensing position (3), the respective first device (11) being operable to configure (23 IT) a spatial filter for transmission in accordance with its position, its orientation, and the respective sensing position (3).

17. The arrangement (1) of claim 15 or claim 16, to receive (23R) the respective signal from the respective sensing position (3), the respective first device (11) being operable to configure (231R) a spatial filter for reception in accordance with its position, its orientation, and the respective sensing position (3).

18. The arrangement (1) of claim 16 or claim 17, to transmit (23T) the respective signal to the respective sensing position (3), the Tx device of the association relating to the respective sensing position (3) being operable to configure (232T) a Tx power level of the respective signal in accordance with a longest distance from its position via the respective sensing position (3) to the positions of the Rx devices of the association.

19. The arrangement (1) of claim 18, the Tx device of the association relating to the respective sensing position (3) being operable to configure (232T) the Tx power level of the respective signal in accordance with:

- the minimum Rx power level,

- a path loss due to the path loss model based on the longest distance, and

- the reflection loss coefficient.

20. The arrangement (1) of claim 18 or claim 19, the Rx device of the respective association further being operable to determine (233R) an expected Rx power level of the respective signal in accordance with the longest distance and a specific distance from the position of the Tx device of the respective association via the respective sensing position (3) to its position.

21. The arrangement (1) of claim 20, the Rx device of the respective association being operable to determine (233R) the expected Rx power level of the respective signal in accordance with:

- the minimum Rx power level,

- a path loss due to the path loss model based on the longest distance, and

- a path loss due to the path loss model based on the specific distance.

22. The arrangement (1) of claim 20 or claim 21, the expected Rx power level of the respective signal comprising a Reference Signal Received Power, RSRP, level.

23. The arrangement (1) of any one of the claims 20 to 22, the Rx device of the respective association further being operable to determine (234R) an expected delay of the respective signal in accordance with a speed of light and the specific distance.

24. The arrangement (1) of any one of the claims the first devices (11) respectively being configurable, by the second device (12), to send (24) a respective measurement report for the respective sensing position (3).

25. The arrangement (1) of any one of the claims 15 to 24, the second device (12) being operable to collect (25) respective measurement reports from the first devices (11).

26. The arrangement (1) of claim 24 or claim 25, the respective measurement report for the respective sensing position (3) comprising:

- an Rx power level of the respective signal being equal to or above the expected Rx power level of the respective signal, and

- a delay of the respective signal being equal to or below the expected delay of the respective signal.

27. The arrangement (1) of claim 26, the Rx power level comprising a Reference Signal Received Power, RSRP, level.

28. A method (2) of operating an arrangement (1) for performing wireless sensing of one or more sensing positions (3), the arrangement (1) comprising a computer-controlled manipulator device (10); multiple first devices (11), respectively being arranged on the manipulator device (10), and being operable to transmit (23 T) a respective signal to or receive (23R) a respective signal from a respective sensing position (3) of the sensing positions (3); and a second device (12), being arranged on the manipulator device (10); and being aware of a position and orientation of the first devices (11); the method (2) comprising

- configuring (21) one or more of the first devices (11) for transmitting (23 T) the respective signal to or receiving (23R) the respective signal from the respective sensing position (3) of the sensing positions (3).

29. The method (2) of claim 28, further comprising

- transmitting (23 T) the respective signal to or receiving (23R) the respective signal from the respective sensing position (3) of the sensing positions (3) in accordance with the configuration.

30. The method (2) of claim 28 or claim 29, further comprising

- configuring (22) the first devices (11) configured for receiving (23R) the respective signal to send (24) a respective measurement report for the respective sensing position (3).

31. The method (2) of claim 29 or claim 30, further comprising

- collecting (25) respective measurement reports from the first devices (11).

32. A computer program comprising a program code for performing the method (2) of any one of the claims 28 to 31, when executed on a computer.