Dependable Systems Research Team, Industrial Cyber-Physical Systems Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki 305-8560, Japan.
Sensors (Basel). 2020 May 15;20(10):2812. doi: 10.3390/s20102812.
Mobile service robots are expanding their use to outdoor areas affected by various weather conditions, but the outdoor environment directly affects the functional safety of robots implemented by vision-based safety-related sensors (SRSs). Therefore, this paper aims to set the fog as the environmental condition of the robot and to understand the relationship between the quantified value of the environmental conditions and the functional safety performance of the robot. To this end, the safety functions of the robot built using SRS and the requirements for the outdoor environment affecting them are described first. The method of controlling visibility for evaluating the safety function of SRS is described through the measurement and control of visibility, a quantitative means of expressing the concentration of fog, and wavelength analysis of various SRS light sources. Finally, object recognition experiments using vision-based SRS for robots are conducted at low visibility. Through this, it is verified that the proposed method is a specific and effective method for verifying the functional safety of the robot using the vision-based SRS, for low visibility environmental requirements.
移动服务机器人正在将其应用扩展到受各种天气条件影响的户外区域，但户外环境直接影响基于视觉的安全相关传感器（SRS）实现的机器人的功能安全。因此，本文旨在将雾作为机器人的环境条件，并了解环境条件的量化值与机器人功能安全性能之间的关系。为此，首先描述了使用 SRS 构建的机器人的安全功能以及影响它们的室外环境要求。通过测量和控制能见度，即表达雾浓度的定量手段，以及对各种 SRS 光源的波长分析，描述了用于评估 SRS 安全功能的能见度控制方法。最后，在低能见度下对机器人进行了基于视觉的 SRS 的物体识别实验。通过这一点，验证了该方法对于验证基于视觉的 SRS 的机器人在低能见度环境要求下的功能安全是一种具体而有效的方法。
