Air-Bag Collision Sensing for Soft-Impact Robot Detection
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Solution Overview
Problem
Existing collision detection methods for mobile robots and vacuum cleaners are inadequate in detecting collision force, orientation, and soft collisions, often causing damage to objects or false judgments, and require complex setups or high computational power.
Innovation Solution
A collision detection apparatus using air bags with baro sensors that communicate through through holes to measure pressure variations, allowing for accurate detection of collision force, orientation, and position, and incorporating a method to calculate these parameters using pressure wave speed equations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If contact-type collision detection method using anti-collision retraction lever is used, then collision occurrence can be detected, but collision force and orientation cannot be accurately detected and the structure becomes complex
Solution Approach 1:
The patent replaces the mechanical anti-collision retraction lever system with an acoustic wave-based detection system. Acoustic sensors detect collision forces by measuring sound waves generated during impact, eliminating the need for complex mechanical linkages, light-blocking sensors, and multiple retraction levers. This substitution maintains collision detection reliability while significantly reducing structural complexity.
Solution Approach 2:
The patent utilizes acoustic wave propagation through air (gas medium) to transmit collision information from the collision point to the sensors. The air acts as a pneumatic medium carrying the collision signal, replacing the need for solid mechanical transmission components and simplifying the overall detection apparatus structure.
2Speed
If optical sensor is used for collision detection, then detection speed is fast, but detection fails when obstructing object is blackbody or reflects light away from robot
Solution Approach 1:
The patent replaces optical detection with acoustic wave detection. Acoustic sensors detect collision forces by measuring sound waves generated during impact, which are independent of the obstructing object's optical properties such as color or light reflection characteristics. This substitution maintains fast detection speed while eliminating the reliability issues associated with optical methods.
3Reliability
If acoustic sensor is used for collision detection, then detection is performed, but huge computation is needed making it unsuitable for fast moving circumstances
Solution Approach 1:
The patent extracts only the essential collision detection function from complex acoustic processing. By using acoustic sensors to directly measure collision forces and orientations through sound wave characteristics, the system eliminates the need for huge computational resources required for full acoustic scene analysis, making it suitable for fast-moving robot applications.
4Reliability
If impedance sensor is used for collision detection, then voltage/current variations are monitored, but false judgment occurs when robot walks on lawn, carpet or hill
Solution Approach 1:
The patent replaces impedance-based detection with acoustic wave-based detection. Acoustic sensors directly measure the sound waves generated during collision events, providing a clear distinction between collision forces and normal operational forces encountered when walking on different surfaces. This substitution eliminates false judgments while maintaining reliable collision detection capability.
5Measurement precision
If air bags with baro sensors are used, then collision force and orientation are accurately detected, but additional components are required
Solution Approach 1:
The patent makes the acoustic sensors serve multiple functions: detecting collision force magnitude, determining collision orientation, and identifying collision position. By using the same acoustic sensing mechanism for all these measurement tasks, the system achieves high measurement precision without proportionally increasing the number of components.
Solution Approach 2:
The patent combines multiple detection functions into a single acoustic sensing system. Instead of using separate sensors for force detection, orientation detection, and position detection, the system uses acoustic wave characteristics to simultaneously provide all this information, reducing the overall component count while maintaining high measurement precision.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution provides high sensitivity and accuracy in collision detection, reduces the risk of damage to objects, and eliminates the need for additional shock-absorbing structures, while requiring fewer components and being cost-effective.
Implementation Method 1
at least a baro sensor connected to the air bag for detecting the pressure variation of the air bag
Implementation Method 2
the air bags are positioned adjacent to each other and arranged in a sector and fixed along the periphery of the main body... the air bags communicate with each other... by means of at least two through holes so as to transmit the pressure between the air bags and delay the pressure transmission
Data Source
AI summary
A collision detection apparatus is provided, which includes a main body, at least an air bag disposed at the periphery of the main body and at least a baro sensor. The air bags communicate with each other. The air bag is connected to the baro sensor to detect the pressure at different time points and the pressure variations. The apparatus judges whether a collision has occurred and the collision force is detected by the baro sensors. The time point of collision occurrence and the collision position according to the pressures of the air bags at different time points are determined.