Modulasr system for dynamic protection of a target element
Patent Information
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2024-05-27
- Publication Date
- 2026-04-08
AI Technical Summary
Current collaborative robotics systems have limitations in detecting obstacles and avoiding collisions due to reliance on contact-based sensors and vision systems affected by environmental conditions, leading to restricted movement speeds and weights, which hampers their efficiency and diffusion in industrial applications.
A modular system with multi-functional modules equipped with sensitive elements to detect distances and a control unit that generates virtual models of the target element's surface and spatial configurations, allowing for dynamic protection by adjusting the operation modes of the modules to prevent collisions and manage the protection volume effectively.
The modular system significantly reduces collisions and their consequences by dynamically managing the protection volume, enabling greater movement speeds and weights, thus enhancing the efficiency and safety of collaborative robotics systems.
Smart Images
Figure IB2024055144_28112024_PF_FP_ABST
Abstract
Description
TITLEModular system for dynamic protection of a target element DESCRIPTIONField of the invention
[0001] The present invention fits into the technical sector of industrial safety and, in particular, collaborative robotics .
[0002] In particular, the present invention refers to a modular system arranged to provide a dynamic protection of a target element .Description of the prior art
[0003] To date , in the field of robotics , collaborative applications are performed through anthropomorphic manipulators and other robotic systems with limited loading / handling capabilities , speeds and inertias .
[0004] The main reason for these limitations is that it is currently possible to obtain a robust and reliable " awareness" of the robot ' s working environment mainly through technologies used to monitor contact , or with vision sensors af fected by environmental conditions and obstacles in the traj ectory of sight .
[0005] Mainly, robotic systems are currently equipped with sensors capable of accurately detecting and measuring any contact , then defining its extent . Therefore , not being ableto avoid contact and wanting to respect the current ISO / TS15066 : 2016 , which defines the maximum energy trans ferable from the robot to the human being during a possible collision, the two characteristics that must be respected are therefore :- a reduced speed of the robot ;- movement of masses ( robot , gripper, gripper, etc . ) not exceeding a certain weight .
[0006] It is immediately clear that this solution, although enabling an initial collaboration between man and robot , presents limitations in terms of ef ficiency of the robotic system .
[0007] Although the collaborative robotics paradigm has to date made it possible to make the use of robotic cells nonfundamental , the inability to robustly evaluate the proximity of any obstacles is currently an important bottleneck that limits its di f fusion on a large scale .Summary of the invention
[0008] It is therefore a feature of the present invention to provide a modular system arranged to provide a dynamic protection of a target element which allows to avoid or signi ficantly reduce collisions o f the target element with operators and / or other equipment , even with relative movement speed and weight of the components of the target element greater than in prior art systems .
[0009] It is also a feature of the present invention to provide such a modular system which allows to signi ficantly reduce the consequences of a possible collision of the target element with operators and / or other equipment .
[0010] It is st ill a feature of the present invention to provide such a modular system that allows the dynamic protection volume around the target element to be appropriately managed .
[0011] These and other obj ects are achieved by a modular system arranged to provide a dynamic protection of a target element , said target element defining a reference surface Sref, said modular system comprising a number n of multi functional modules arranged to be placed at said reference surface Sre^, with i = 1,2,each i-th multi functional module defining a reference pointand comprising a relative i-th element sensible , said i-th sensitive element configured to detect the distanceof an external element than said reference pointi f said distanceis less than a predetermined value Dmax; said modular system also comprising a control unit arranged to :- acquire a virtual model of said reference surface Srey of said target element , said virtual model subdividing said reference surface Srein a number m of areas of interest Aj , with j = 1,2,- acquire a virtual model arranged to define the relative spatial position between said reference points Ci and said areas of interest Aj of said reference surface Sref , said virtual model being also arranged to associate each area of interest Aj to at least one i-th multi functional module ;- acquire a virtual model of a number p of spatial configurations Ckthat said target element is arranged to assume in relation to the external environment during a predetermined work mission, with k = 1,2,- acquire instructions relating to the dynamic protection of said target element to provide for each spatial configuration Ckand for each area of interest Aj ;- operate , between said n multi functional modules , a number n* < n of multi functional modules arranged to ensure said dynamic protection of said target element .
[0012] In particular, said instructions relating to the dynamic protection of said target element comprise the values of a number m * p of threshold distances djk, each threshold distance djkarranged to define , for each area of interest Aj and for each spatial configuration Ck, a minimum distance from said area of interest Aj
[0013] Advantageously, said control unit is arranged to operate said n* multi functional modules in such a way that the distancedetected by the sensitive elements of said n* multi functional modules allow said control unit to calculate , for each spatial configuration Ck, the distance dj of said external element by a relative area of interest Aj when said distance dj is less than the relative threshold distance djkacquired .
[0014] In particular, said instructions relating to the dynamic protection of said target element comprise , for each spatial configuration Ck, the selection of a numberof areas of interest Aj set in a proximity configuration, with 0 < mk< m .
[0015] Advantageously, for each area of interest Aj set in said proximity configuration, said control unit is arranged to generate a proximity signal when the distance dj of said external element is less than the relative threshold distance djk.
[0016] Alternatively, or in combination, the control unit is arranged to block the activity of said target element when the distance dj of said external element from said area of interest Aj is less than the relative threshold distance jk •
[0017] In particular, said i-th multi functional module also comprises a relative i-th elastic element comprising a i-thelastically deformable air chamber with elastic constant keiand having a volume Vei, said i-th elastic element arranged to pass between a non-expanded geometry, wherein said volume Veihas a minimum value Vei min, and an expanded geometry, wherein said volume Veihas a maximum value Vei max.
[0018] In particular, said instructions relating to the dynamic protection of said target element comprise , for each spatial configuration Ck, the selection of a number mkof areas of interest Aj set in a force configuration, with 0 < mkc< m .
[0019] Advantageously, for each area of interest Aj set in said force configuration, said control unit is arranged to calculate the force Fextthat said external element is exerting on a i-th elastic element of a i-th multi functional module associated with said area of interest Aj , said force Fextbeing calculated according to the equations :- Fext=kelfdj — xeimin) when said i-th elastic element is in said non-expanded geometry;- Fext=kelfdj — xei maxwhen said i-th elastic element is in said expanded geometry; where xet minand xet maxare predetermined values , said control unit being also arranged to generate a force signal when Fext> Fmax, where Fmaxis a predetermined value .
[0020] In particular, xet minand xet maxshow the maximum distance of the air chamber with respect to the respective area of interest Aj .
[0021] In particular, said instructions relating to the dynamic protection of said target element comprise , for each spatial configuration Ck, the selection of a number mkof areas of interest Aj set in an anti-shock configuration, with 0 < mk< m, and the consequent selection of a number mkb= m — mkof areas of interest Aj set in a non-anti-shock configuration .
[0022] Advantageously, for each area of interest Aj set in said anti-shock configuration, said control unit is arranged to operate a i-th multi functional module associated with said area of interest Aj by impulsively passing from said non-expanded geometry to said expanded geometry the relative i-th elastic element when the distance dj of said external element is less than the relative threshold distance djk.
[0023] Advantageously, for each area of interest Aj set in said non-anti-shock configuration, said control unit is arranged to constantly maintain in said non-expanded geometry each i-th elastic element of a i-th multi functional module associated with said area of interest Aj .
[0024] In particular, said instructions relating to the dynamic protection of said target element comprise , for eachspatial configuration Ck, the setting of each area of interest Aj alternatively, in :- a first operation mode , wherein said area of interest Aj is set in said proximity configuration and in said non-anti-shock configuration;- a second operation mode , wherein said area o f interest Aj is set in said proximity configuration and in said anti-shock configuration .
[0025] Alternatively, said instructions relating to the dynamic protection of said target element comprise , for each spatial configuration Ck, the setting of each area of interest Aj alternatively, in :- a first operation mode , wherein said area of interest Aj is set in said proximity configuration and in said non-anti-shock configuration;- a second operation mode , wherein said area o f interest Aj is set in said proximity configuration and in said anti-shock configuration ;- a third operation mode , wherein said area of interest Aj is set in said force configuration and in said non-anti-shock configuration ;- a fourth operation mode , wherein said area o f interest Aj is set in said force configuration and in said anti-shock configuration .
[0026] Advantageously, said control unit is also arranged to acquire a virtual model of the environment surrounding said target element .
[0027] In particular, said number n* of selected multi functional modules is the minimum number to ensure said dynamic protection of said target element .
[0028] Advantageously, in case that is not possible selecting a number n* of multi functional modules arranged to ensure said dynamic protection of said target element , said control unit is arranged to generate an alarm signal . This may be due to an insuf ficiency or maldistribution of the multi functional elements , or to damage to one or more multi functional elements .
[0029] Advantageously, a controller is also comprised arranged to move said target element , and said proximity signal and said force signal generated by said control unit cause the blocking of the movement of said target element by said controller .
[0030] In particular, said i-th sensitive element is a capacitive sensor .
[0031] In particular, at least one multi functional module is arranged to be worn by an operator arranged to interact with said target element . In this way, both the target element and the operator wear capacitive sensors and this allows increasing the maximum distance within which thepresence of the foreign element, i.e. the operator, can be detected .
[0032] In particular, the control unit can be programmed to detect external elements of specific materials, by setting the frequency of the electric field generated by the capacitive sensor.
[0033] Depending on the application, if it is important to discriminate the material of which an external element is made, the control unit can modify the working frequency of the various multifunctional units by carrying out a frequency analysis on the external element, going to define the electrical conductivity which is an intrinsic property of every material. Clearly only some subcategories of materials will be discriminable .
[0034] According to another aspect of the invention, a method is also claimed for arranging a number n of multifunctional modules in a modular system (10) arranged to provide a dynamic protection of a target element, according to one of the claims from 1 to 8, said method comprising the steps of:- prearranging a target element defining a reference surface Sref ;- prearranging a plurality of multifunctional modules arranged to be placed at said reference surface Sref, with i = l,2, each i-th multifunctional moduledefining a reference pointand comprising a relative i-th element sensible , said i-th sensitive element configured to detect the distance Di of an external element with respect to said reference point Ci i f said distance Di is less than a predetermined value Dmax;- generating a virtual model of said reference surface Srey of said target element , said virtual model subdividing said reference surface Srein a number m of areas of interest Aj , with j = 1,2, ... , m;- generating a virtual model of a number p of spatial configurations Ckthat said target element is arranged to assume in relation to the external environment during a predetermined work mission, with k = 1,2, ...,p ;- generating instructions relating to the dynamic protection of said target element to provide for each spatial configuration Ckand for each area of interest Aj ,-- computation of a virtual model arranged to define the optimal spatial positions of reference points Ci of a number n* of said multi functional modules with respect to said areas of interest Aj of said reference surface Sref in such a way that said n* multi functional modules are arranged to ensure saiddynamic protection of said target element , said virtual model being also arranged to associate each area of interest Aj to at least one i-th multi functional module ;- arranging said n* multi functional modules near said reference surface Srein such a way that said reference pointsof said n* multi functional modules correspond with said optimal spatial positions .Brief description of the drawings
[0035] The invention wi ll be illustrated below with the following description of some exemplary embodiments , exempli fying but not limitative , with reference to the attached drawings in which : figure 1 shows a first exemplary embodiment of the modular system according to the present invention, applied to a robotic arm; figures 2A and 2B show, in side and top views respectively, a second exemplary embodiment of the modular system according to the present invention, applied to an industrial machinery; figure 3 schematically shows the calculation of the threshold distances operated by the control unit to achieve dynamic protection of the target element ;figure 4 shows a top view of an exemplary embodiment of a multi functional module where the sensitive element is a capacitive sensor ; figure 4A shows a side view of an exemplary embodiment of the multi functional module , where a respective elastic element in the non-expanded geometry is present ; figure 4B shows a side view of an exemplary embodiment of the multi functional module of Fig . 4A, where the elastic element has passed into the expanded geometry due to the presence of an external element at a distance lower than the relative threshold distance .Description of some preferred exemplary embodiments
[0036] With reference to figures described above , the modular system 10 , according to the present invention, is arranged to provide a dynamic protection of a target element 20 , such as the arm robotic of Fig . 1 or the industrial machinery of Figs . 2A and 2B, on which it is pos sible to define a reference surface Srewith respect to which it is necessary to avoid a collision with an external element 50 , such as an operator or another machinery .
[0037] In particular, the modular system 10 comprises a number n of multi functional modules 100 , with i = 1,2,arranged to be placed at the reference surface Srey of the target element 20 .
[0038] With reference to Figs . 3 , 4A and 4B, each i-th multi functional module 100 defines a reference pointand comprises a relative i-th sensitive element 110 configured to detect the distanceof an external element 50 with respect to the reference pointi f this distanceis less than a predetermined value Dmax.
[0039] In particular, the sensitive element 110 can be a capacitive sensor of the type shown in Fig . 4 .
[0040] The modular system 10 then comprises a control unit arranged to acquire a virtual model of the reference surface Srey of the target element 20 , where the reference surface Srey is split into a number m of areas of interest Aj , with j = 1,2,and a virtual model arranged to define the relative spatial position between the reference pointsand the areas of interest Aj of the reference surface Sref , in order to associate each area of interest Aj to at least one i-th multi functional module 100 .
[0041] The control unit is also arranged to acquire a virtual model of a number p of spatial configurations Ckthat the target element 20 is arranged to assume in relation to the external environment during a predetermined work mission, with k = 1,2, ..., p .
[0042] For example , in case that the target element is a robotic arm, the various spatial configurations Ckof the virtual model concern the movements the target element 20 performs during the work mission and the geometries that it assumes .
[0043] In case that the target element 20 is a sel f- propelled robot , in addition to what has been said above , the various spatial configurations Ckof the virtual model can also concern the various positions that the robot covers during the mission in the workspace .
[0044] The control unit , finally, is arranged to acquire instructions relating to the dynamic protection of the target element 20 to provide for each spatial configuration Ckand for each area of interest Aj and to operate , among all the multi functional modules 100 , a number n* < n of multi functional modules 100 arranged to ensure this dynamic protection .
[0045] In particular, the instructions relating to the dynamic protection can comprise a number m * p of threshold distances djk, which define , for each area of interest Aj and for each spatial configuration Ck, a minimum distance to be maintained with respect to area of interest Aj .
[0046] For example , in case that the target element 20 is a robot or a robotic arm, there could be spatial configurations Ckof the target element in which the sensingelements 110 are located close to other parts of the target element 20 , due to a rotation of a link . In this case , the instructions provided will define very low threshold distances djkwith respect to areas Aj involved, so as to prevent the various sensitive elements 110 from perceiving the target element itsel f as an external element .
[0047] As a consequence of these instructions , the control unit is arranged to operate the n* multi functional modules 100 in such a way that the distancedetected by the sensitive elements 110 of such n* multi functional modules 100 allow the control unit to calculate , for each spatial configuration Ck, the distance dj of the external element 50 by a relative area of interest Aj when this distance dj is less than the relative threshold distance djkacquired .
[0048] An example of this operation is diagrammatically shown in Fig . 3 , wherein, in order to be able to set a threshold distance dlkwith respect to the relative area of interest Aj , the multi functional modules 100 having centers c and c2are activated by the control unit . This way, an external obj ect located at a distance d^ can be detected when it is less than the relative threshold distance dlk.
[0049] Advantageously, the control unit can be configured to emit a proximity signal when the distance dj of this external element 50 is less than the relative threshold distance djk. Alternatively, or in combination, the controlunit may also be able to interact with the target element20 to block its movement , for example i f it is a sel f- propelled robot .
[0050] With reference to Fig . 1 , the modular system 10 according to the present invention provides that at least one multi functional module 100 can also be worn by an operator or by other external elements present in the work area . In this way, since the capacitive sensors 110 are present both on the target element 20 and on the external element 50 , the maximum distance within which the presence of the foreign element can be detected is increased, increasing the sensitivity of the system and therefore the overall work safety .
[0051] With reference to Figs . 4A and 4B, each i-th multi functional module 100 can also comprise a relative i- th elastic element 120 comprising a i-th elastically deformable air chamber with elastic constant ketand having a volume Vei. In particular, this i-th elastic element 120 is arranged to pass between a non-expanded geometry, where the volume Veihas a minimum value Veimtm and an expanded geometry, where the volume Veihas a maximum value Vei max.
[0052] This allows both to impulsively activate the elastic element 120 in the event of an imminent impact with an external element 50 , and to be able to calculate the external force Fextthat this external element 50 is exertingon the elastic element 120 . The calculus of the force Fextcan, for example , allowing the control unit to emit a force signal when it exceeds a certain threshold value and / or to stop the movement of the target element 20 .
[0053] In essence , thanks to what has been described above , the present invention allows for an extremely versatile modular system 10 , programmable in relation to the work needs and the spatial configurations that the target element 20 assumes during its mission .
[0054] In particular, the instructions received by the control unit can comprise , for each spatial configuration Ck, the setting of each area of interest Aj alternatively in :- a first operation mode , wherein this area of interest Aj is set in the proximity configuration and in the non-anti-shock configuration, and therefore the system 10 is configured to detect the proximity without activating the elastic elements 120 ;- a second operation mode , wherein this area of interest Aj is set in the proximity configuration and in the anti-shock configuration, and therefore the system 10 is configured to detect the proximity and, possibly, to activate the resilient elements120 ;- a third operation mode , wherein this area of interest Aj is set in the force configuration and in the non-anti-shock configuration, and therefore the system 10 is configured to detect the force of the external element 50 without activating the elastic elements 120 ;- a fourth operation mode , wherein this area of interest Aj is set in the force configuration and in the anti-shock configuration, and therefore the system 10 is configured to detect the force of the external element 50 and, possibly, to activate the elastic elements 120 .
[0055] Furthermore , in particular, the control unit can be programmed to detect external elements 50 of speci fic materials , by setting the frequency of the electric field generated by the capacitive sensor 110 .
[0056] Depending on the application, i f it is important to discriminate the material of which an external element 50 is made , the control unit can modi fy the working frequency of the various multi functional units by carrying out a frequency analysis on the external element 50 and defining the electrical conductivity which is an intrinsic property of every material . Clearly only some subcategories of materials will be discriminable .
[0057] The foregoing description exemplary embodiments of the invention will so fully reveal the invention according to the conceptual point of view, so that others , by applying current knowledge , will be able to modi fy and / or adapt for various applications such embodiment without further research and without parting from the invention, and, accordingly, it is therefore to be understood that such adaptations and modi fications will have to be considered as equivalent to the speci fic embodiments . The means and the materials to realise the di f ferent functions described herein could have a di f ferent nature without , for this reason, departing from the field of the invention . It is to be understood that the phraseology or terminology that is employed herein is for the purpose of description and not of limitation .
Claims
CLAIMS1. A modular system (10) arranged to provide a dynamic protection of a target element (20) , said target element (20) defining a reference surface Sref, said modular system (10) comprising a number n of multifunctional modules (100) arranged to be placed at said reference surface Sref, with i = 1,2,each i-th multifunctional module (100) defining a reference point Ci and comprising a relative i-th sensitive element (110) , said i-th sensitive element (110) configured to detect the distance Di of an external element (50) with respect to said reference point Ci if said distance Di is less than a predetermined value Dmax, said modular system (10) characterized in that it comprises a control unit arranged to:- acquire a virtual model of said reference surface Srey of said target element (20) , said virtual model subdividing said reference surface Srein a number m of areas of interest Aj , with j = 1,2, ... ,m;- acquire a virtual model arranged to define the relative spatial position between said reference points Ci and said areas of interest Aj of said reference surface Sref, said virtual model being also arranged to associate each area of interest Aj to at least one i-th multifunctional module (100) ;- acquire a virtual model of a number p of spatial configurations Ckthat said target element (20) is arranged to assume in relation to the external environment during a predetermined work mission, with k = 1,2,- acquire instructions relating to the dynamic protection of said target element (20) to provide for each spatial configuration Ckand for each area of interest Aj ;- operate, between said n multifunctional modules (100) , a number n* < n of multifunctional modules (100) arranged to ensure said dynamic protection of said target element (20) ; in that said instructions relating to the dynamic protection of said target element (20) comprise the values of a number m*p of threshold distances djk, each threshold distance djkarranged to define, for each area of interest Aj and for each spatial configuration Ck, a minimum distance from said area of interest Aj , and in that said control unit is arranged to operate said n* multifunctional modules (100) in such a way that the distancedetected by the sensitive elements (110) of said n* multifunctional modules (100) allow said control unit to calculate, for each spatial configuration Ck, the distance dj of said externalelement (50) by a relative area of interest Aj when said distance dj is less than the relative threshold distance djkacquired.
2. The modular system (10) , according to claim 1, wherein:- said instructions relating to the dynamic protection of said target element (20) comprise, for each spatial configuration Ck, the selection of a number mkpof areas of interest Aj set in a proximity configuration, with 0 < mp< m, for each area of interest Aj set in said proximity configuration, said control unit is arranged to generate a proximity signal when the distance dj of said external element (50) is less than the relative threshold distance djk.
3. The modular system (10) , according to claim 1, wherein said i-th multifunctional module (100) also comprises a relative i-th elastic element (120) comprising a i-th elastically deformable air chamber with elastic constant ketand having a volume Vei, said i-th elastic element (120) arranged to pass between a non-expanded geometry, wherein said volume Veihas a minimum value Vei min, and an expanded geometry, wherein said volume Veihas a maximum value Vei max.
4. The modular system (10) , according to claim 3, wherein:- said instructions relating to the dynamicprotection of said target element (20) comprise, for each spatial configuration Ck, the selection of a number mkof areas of interest Aj set in a force configuration, with 0 < mk< m, for each area of interest Aj set in said force configuration, said control unit is arranged to calculate the force Fextthat said external element (50) is exerting on a i-th elastic element (120) of a i-th multifunctional module (100) associated with said area of interest Aj , said force Fextbeing calculated according to the equations:—Fext=kelfdj — xeimin) when said i-th elastic element (120) is in said non-expanded geometry;-when said i-th elastic element (120) is in said expanded geometry; where xet minand xet maxare predetermined values, said control unit being also arranged to generate a force signal when Fext> Fmax, where Fmaxis a predetermined value .
5. The modular system (10) , according to claim 3, wherein:- said instructions relating to the dynamic protection of said target element (20) comprise, for each spatial configuration Ck, the selection of a number mkof areas of interest Aj set in an anti- shock configuration, with 0 < mk< m, and theconsequent selection of a number mkb= m — mkof areas of interest Aj set in a non-anti-shock configuration; for each area of interest Aj set in said anti-shock configuration, said control unit is arranged to operate a i-th multifunctional module (100) associated with said area of interest Aj by impulsively passing the relative i-th elastic element (120) from said non-expanded geometry to said expanded geometry when the distance dj of said external element (50) is less than the relative threshold distance djk; for each area of interest Aj set in said non-antishock configuration, said control unit is arranged to constantly maintain in said non-expanded geometry each i-th elastic element (120) of a i-th multifunctional module (100) associated with said area of interest Aj .
6. The modular system (10) , according to claims 2, 3 and 5, wherein said instructions relating to the dynamic protection of said target element (20) comprise, for each spatial configuration Ck, the setting of each area of interest Aj , alternatively, in:- a first operation mode, wherein said area of interest Aj is set in said proximity configurationand in said non-anti-shock configuration;- a second operation mode, wherein said area of interest Aj is set in said proximity configuration and in said anti-shock configuration.
7. The modular system (10) , according to claims from 1 to5, wherein said instructions relating to the dynamic protection of said target element (20) comprise, for each spatial configuration Ck, the setting of each area of interest Aj alternatively, in:- a first operation mode, wherein said area of interest Aj is set in said proximity configuration and in said non-anti-shock configuration;- a second operation mode, wherein said area of interest Aj is set in said proximity configuration and in said anti-shock configuration;- a third operation mode, wherein said area of interest Aj is set in said force configuration and in said non-anti-shock configuration;- a fourth operation mode, wherein said area of interest Aj is set in said force configuration and in said anti-shock configuration.
8. The modular system (10) , according to any of the previous claims, wherein said i-th sensitive element (110) is a capacitive sensor.
9. A method for arranging a number n of multifunctionalmodules (100) in a modular system (10) arranged to provide a dynamic protection of a target element (20) , according to any of the previous claims, said method comprising the steps of:- prearranging a target element (20) defining a reference surface Sref ;- prearranging a plurality of multifunctional modules(100) arranged to be placed at said reference surface Sref? with i = 1,2,each i-th multifunctional module (100) defining a reference point Ci and comprising a relative i-th sensitive element (110) , said i-th sensitive element (110) configured to detect the distance Di of an external element (50) with respect to said reference point Ci if said distance Di is less than a predetermined value Dmax;- generating a virtual model of said reference surface Srey of said target element (20) , said virtual model subdividing said reference surface Srey in a number m of areas of interest Aj , with j = 1,2,- generating a virtual model of a number p of spatial configurations Ckthat said target element (20) is arranged to assume in relation to the external environment during a predetermined work mission,with k = 1,2, ...,p;- generating instructions relating to the dynamic protection of said target element (20) to provide for each spatial configuration Ckand for each area of interest Aj ;- computation of a virtual model arranged to define the optimal spatial positions of reference points Ci of a number n* of said multifunctional modules (100) with respect to said areas of interest Aj of said reference surface Sref in such a way that said n* multifunctional modules (100) are arranged to ensure said dynamic protection of said target element (20) , said virtual model being also arranged to associate each area of interest Aj to at least one i-th multifunctional module (100) ;- arranging said n* multifunctional modules (100) near said reference surface Sref in such a way that said reference points Ci of said n* multifunctional modules (100) correspond with said optimal spatial positions .