Mobile Robot Sensor Positioning for Volumetric Safety Zone Coverage
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Solution Overview
Problem
Existing mobile robots often require multiple fixed-mounted safety sensors to cover all regions around them, which is not an optimal approach due to limited monitored space and inefficient coverage.
Innovation Solution
A robot system with sensors mounted on rotary and/or linear joints, controlled by a control unit to dynamically adjust their fields of view to cover volumetric safety zones, allowing for continuous monitoring of the robot's movement and triggering safety responses upon detecting objects or humans within these zones.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If multiple fixed-mounted sensors are used to cover all regions around the mobile robot, then the monitored space is comprehensive, but the device complexity and cost increase
Solution Approach 1:
The patent applies the dynamics principle by mounting sensors on movable joints (rotary and/or linear) instead of fixed positions. The control unit dynamically adjusts the sensor positions and orientations to track the robot's movement and maintain coverage of the safety zone, transforming static sensor coverage into dynamic adaptive coverage with fewer sensors
Solution Approach 2:
The patent implements multi-functionality by using a single sensor system that performs multiple functions: collision detection, proximity sensing, and safety monitoring. The sensor mounted on movable joints can cover different spatial regions as the joint moves, allowing one sensor to replace what would traditionally require multiple fixed sensors
2Reliability
If multiple fixed-mounted sensors are used to cover all regions around the mobile robot, then the safety coverage is complete, but the system efficiency decreases
Solution Approach 1:
The system achieves dynamic safety monitoring where the sensor on the movable joint continuously tracks the robot's motion. The control unit coordinates the sensor movement with robot movement, ensuring the safety zone remains monitored without requiring multiple static sensors, thereby improving system efficiency while maintaining safety coverage
Solution Approach 2:
The sensor system performs self-adjustment through the movable joint mechanism. As the robot moves, the sensor automatically repositions itself relative to the robot body, and the control unit dynamically redirects the sensor's field of view to maintain safety zone coverage without external intervention, reducing the need for complex multi-sensor arrangements
3Ease of manufacture
If sensors are fixed-mounted on the robot, then the installation is simple, but the monitored space is limited
Solution Approach 1:
The patent transforms fixed mounting into dynamic mounting where sensors are attached to movable joints. This allows the sensor to cover a larger effective monitored space as the joint moves through its range of motion, while the installation remains relatively simple by utilizing existing robot joint structures rather than requiring complex multi-sensor mounting arrangements
Data Source
AI summary
A robot system includes a robot having a sensor mounted thereon and a control unit, wherein the sensor acquires sensor data within at least one field of view, wherein the control unit defines or selects a volumetric safety zone located at a position relative to the robot; wherein the control unit controls the sensor to move such that the field of view covers the safety zone; wherein the control unit controls the robot to move in a movement direction; and wherein the control unit triggers a safety response upon detection of an object or body part of a human within the safety zone.