Mobile Robot Sensor Duplexing With Dynamic Safety Zones
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Solution Overview
Problem
The high cost and limited flexibility of implementing a duplex system for robot functional safety using LiDAR sensors certified for performance level d (pl-d) pose challenges in achieving the required safety standards, as only manufacturer-specific functions can be utilized.
Innovation Solution
A sensor duplexing apparatus and method for mobile robots that utilize multiple sensors and logic boards to duplex obstacle information, allowing for the implementation of a duplex system using cheaper, non-certified LiDAR sensors by determining successful duplexing based on matching obstacle information and generating dynamic safety zones.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If LiDAR sensors certified for performance level d (pl-d) are used to implement a duplex system for robot functional safety, then the safety performance is improved, but the cost increases significantly
Solution Approach 1:
The patent divides the sensing area into multiple duplexing areas and assigns different sensor pairs to each area. This segmentation allows the system to achieve pl-d safety performance through coordinated operation of multiple sensors rather than requiring all sensors to be certified pl-d sensors, thereby reducing overall system cost while maintaining safety requirements.
Solution Approach 2:
The patent changes the operational parameters of non-certified LiDAR sensors by configuring them to operate in coordinated pairs with specific timing and validation parameters. By adjusting detection parameters, validation thresholds, and operational modes, the system enables non-pl-d certified sensors to function within a pl-d safety framework through software-controlled parameter management.
2Reliability
If LiDAR sensors certified for performance level d (pl-d) are used to implement a duplex system, then the safety performance is improved, but the flexibility of function implementation is reduced
Solution Approach 1:
The patent creates a universal duplexing framework that can accommodate multiple types of LiDAR sensors (both pl-d certified and non-certified) through a common control architecture. The system provides multi-functionality by supporting various sensor configurations, duplexing modes, and application scenarios, allowing the same hardware platform to adapt to different functional requirements while maintaining safety performance.
Solution Approach 2:
The patent implements dynamic sensor pairing and validation mechanisms that can adapt in real-time based on operational conditions. The system dynamically adjusts which sensors are paired together, modifies validation parameters, and reconfigures duplexing areas based on current safety requirements and operational context, providing flexibility in function implementation while maintaining pl-d safety performance.
3Reliability
If multiple sensors are duplexed in predetermined areas with obstacle information validation, then the safety reliability is improved, but the device complexity increases
Solution Approach 1:
The patent segments the validation process into area-specific operations where each duplexing area has dedicated validation logic. By dividing the sensing space into discrete areas and handling validation independently for each area, the system manages complexity through modular processing rather than requiring a single complex validation system for all sensors simultaneously.
Solution Approach 2:
The patent introduces a controller as an intermediary that manages the complex coordination between multiple sensors, logic boards, and validation processes. The controller acts as a central mediator that handles sensor pairing, data validation, and safety determination, simplifying the overall system architecture by centralizing control functions rather than requiring direct peer-to-peer communication between all sensor components.
Data Source
AI summary
A functional safety system of a robot according to an exemplary embodiment of the present disclosure can duplicate modules so as to satisfy a performance level d (pl-d) required for the functional satisfy of a robot.