SeReVi: A Self-Reconfigurable Vision Module for Mobile Robots

Autonomous mobile robots are conventionally designed to transport objects of predetermined dimensions and geometric configurations within industrial production and logistics domains. Deviations from these set specifications can result in a single point of failure. For instance, obstruction of vision sensors due to non-conforming object geometries. To mitigate such operational bottlenecks and single points of failures, SeReVi is developed in this work. The novel aspect of the vision module lies in its attachable and detachable capabilities, allowing it to be repositioned on both the robot and the objects. The reconfiguration of its new position is determined automatically utilizing the integrated 3D Lidar. SeReVi encompasses multiple components, enabling it to function as a standalone module or along with a robot. The module's capability to communicate with both the robot and the user facilitates its repositioning. These findings illustrate that the integration of a self-reconfigurable vision module could enhance the adaptability and operational flexibility of mobile robots, thereby obviating functional limitations imposed by object geometries.