Vision-Based Safety-Related Sensors in Low Visibility by Fog

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.