Collision detection for a robotic work tool
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Solution Overview
Problem
Existing robotic work tools, such as lawnmowers, face issues with collision detection due to high false positive rates when navigating varied surfaces, leading to erratic behavior and increased wear on the work area, as well as safety concerns with potential collisions with living objects.
Innovation Solution
A robotic work tool equipped with a motor, inclination sensor, and controller that adapts the collision threshold based on inclination data, allowing for more accurate collision detection and reduced power usage to prevent abrupt collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a high collision threshold is set to reduce false positives, then false positive rate is reduced, but collision detection accuracy deteriorates and wear on work area increases
Solution Approach 1:
The patent applies dynamics by making the collision threshold adaptive rather than fixed. The controller dynamically adjusts the threshold based on real-time inclination data from the inclination sensor. When the robotic work tool is on a slope, the threshold is increased to account for the additional force required to climb, preventing false positives. When on flat terrain, the threshold returns to normal levels for accurate collision detection.
Solution Approach 2:
The patent changes the parameter of collision threshold based on inclination conditions. By introducing inclination as a variable parameter, the system transforms from using a single fixed threshold to using multiple context-dependent thresholds, thereby resolving the contradiction between reducing false positives and maintaining detection accuracy.
2Reliability
If a high collision threshold is set, then false positive rate is reduced, but wear and tear on work area surface increases
Solution Approach 1:
The system dynamically adjusts the collision threshold based on inclination, allowing the robotic work tool to operate with lower thresholds on flat surfaces (reducing wear through gentler operation) while maintaining higher thresholds on slopes (preventing false positives that would cause erratic behavior and unnecessary stopping).
Solution Approach 2:
By changing the collision threshold parameter according to inclination conditions, the system optimizes the balance between detection sensitivity and operational smoothness, thereby reducing harmful wear on the work area surface while maintaining reliability.
3Measurement precision
If a low collision threshold is set to improve collision detection accuracy, then measurement precision is improved, but false positive rate increases
Solution Approach 1:
The system uses dynamic threshold adjustment based on inclination sensor data to achieve both high measurement precision and low false positive rates. On flat terrain, the lower threshold enables accurate collision detection, while on slopes, the elevated threshold prevents false positives caused by the additional force needed to climb.
4Device complexity
If fixed collision threshold is used, then device complexity is reduced, but adaptability to different surfaces deteriorates
Solution Approach 1:
The system achieves multi-functionality by combining the inclination sensor with the collision detection system. This single addition enables the system to adapt to multiple surface conditions (slopes, flat terrain, bumps) without requiring separate detection systems for each condition, thereby maintaining simplicity while improving adaptability.
Solution Approach 2:
By introducing inclination as a variable parameter that modifies the collision threshold, the system gains adaptability to different surface conditions without adding complex hardware. The parameter change approach allows one simple sensor to enable versatile operation across varied terrains.
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
Enhances the accuracy of collision detection, reduces wear on the work area, and ensures safer operation by dynamically adjusting the collision threshold according to surface inclines, thereby improving the robotic tool's navigation and operational efficiency.
Implementation Method 1
an inclination sensor and a controller for controlling the operation of the robotic work tool, the controller being configured to: receive an indication of an inclination
Data Source
AI summary
A robotic work tool comprising a motor for driving at least one wheel, an inclination sensor and a controller for controlling the operation of the robotic work tool, the controller being configured to; receive a signal indicating a collision; determine if the signal indicating a collision is above a collision threshold level and, if so, determine that a collision has been detected, the robotic work tool being characterized in that the controller is further configured to: receive an indication of an inclination; and to adapt the collision threshold accordingly based on said indication of an inclination.