A multi-sensor fusion underwater robot collision detection method and device
By introducing a dual verification mechanism of inertial measurement unit and driven wheel speed in an underwater pool cleaning robot, combined with multi-source sensor data, the problems of accuracy and environmental adaptability of edge detection in existing technologies are solved, achieving highly reliable and efficient collision detection.
Patent Information
- Application Number
- CN202610321007.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-03-16
- Publication Date
- 2026-07-17
AI Technical Summary
Existing underwater pool cleaning robots have several problems in edge detection, including inability to accurately identify collision direction, fixed detection threshold, difficulty in adapting to different movement speeds and pool wall materials, inability to distinguish between edge collisions and underwater obstacles, decreased detection performance in turbid water, and failure of detection function when a single sensor malfunctions.
A dual verification mechanism using an inertial measurement unit and driven wheel speed is adopted. By acquiring multi-source sensor data, including inertial data, driven wheel speed and driving wheel speed data, collision is judged by combining acceleration changes and speed differences. The collision direction is determined by using the proportional relationship of acceleration difference values, and the detection threshold is dynamically adjusted to adapt to different environments.
It improves the reliability and accuracy of collision detection, can accurately identify the collision direction, optimize the cleaning path, enhance the robot's intelligence level and operating efficiency, and reduce the false judgment rate and missed detection rate.
Smart Images
Figure CN122408760A_ABST