Mobile Robot Hazard Detection Using Onboard Subject Positioning
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Solution Overview
Problem
Existing systems for determining the position of subjects and detecting hazardous conditions in industrial plants require complex sensor infrastructures, which can be obstructed by metallic objects and necessitate dense networks, and often require subjects to wear tags, complicating the detection process.
Innovation Solution
A system using a mobile robot equipped with a sensor that acquires data from its environment to determine the absolute and relative positions of subjects, allowing for continuous tracking without stationary sensors, and switches to a safe control mode upon detection of hazardous conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If radio anchor or camera-based solutions are used to determine subject positions, then position determination capability is improved, but device complexity increases due to complex sensor infrastructure requirements
Solution Approach 1:
The patent extracts the position determination function from the stationary infrastructure and relocates it to the mobile robot itself. The robot carries sensors (laser scanner, camera, ultrasonic sensor) that actively scan and determine positions of subjects and objects, eliminating the need for permanently installed sensor networks while maintaining position determination capability.
Solution Approach 2:
The mobile robot performs position determination autonomously using its own onboard sensors. The robot's processing device evaluates sensor data to determine positions of subjects and objects in its environment, enabling the system to serve itself without requiring external stationary sensor infrastructure.
2Reliability
If dense networks of stationary sensors or cameras are deployed to ensure adequate coverage, then detection reliability is improved, but device complexity and installation cost increase
Solution Approach 1:
The patent transitions from static sensor networks to dynamic position determination. The mobile robot moves through the environment, actively scanning and determining positions only where needed. This dynamic approach provides reliable detection coverage without requiring dense static sensor deployment throughout the entire area.
Solution Approach 2:
The mobile robot serves multiple functions: it performs its primary task while simultaneously determining positions of subjects and objects using its onboard sensors. This multi-functionality eliminates the need for dedicated stationary sensor networks, as the robot's sensors serve both navigation and position determination purposes.
3Measurement precision
If marker-based solutions with tags are used to track subjects, then position tracking accuracy is improved, but ease of operation deteriorates due to requirement for subjects to wear tags
Solution Approach 1:
The patent replaces the mechanical/tag-based system with an optical and sensor-based detection system. The mobile robot's sensors (camera, laser scanner) detect subjects and objects directly through their visual and physical characteristics without requiring attached tags, eliminating the need for subject preparation while maintaining tracking accuracy.
Solution Approach 2:
Instead of requiring physical tags on subjects, the system creates sensor-based representations (images, point clouds) of subjects and objects. The processing device processes these sensor copies to determine positions, eliminating the need for physical tag attachment while preserving position tracking capability.
Data Source
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AI summary
System for determining the position of at least one subject in a monitoring area of an industrial plant and/or for detecting a hazardous condition for the safe control of at least one robot in the monitoring area of the industrial plant, comprising: - the robot, wherein the robot is mobile, - at least one sensor, wherein the sensor is attached to the robot and can move with the robot, wherein the sensor is designed to capture data from the robot's environment;- a processing device, wherein the processing device comprises a processor with associated memory, is connected to the robot and to the sensor, and is configured to receive the data acquired by the sensor, to determine an absolute position of the robot in the monitoring area based on the acquired data, to determine a relative position of the at least one subject, in particular a person, who may be located in the monitoring area, relative to the robot, and/or to determine an absolute position of the subject in the monitoring area, to detect a hazardous condition based at least on the determined relative position of the subject relative to the robot and/or the determined absolute position of the subject, and, upon detection of the hazardous condition, to put the robot into a safe control mode.