Lawn-mower Anomaly Detection via Wheel Speed Comparison
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Solution Overview
Problem
Existing grass-cutting apparatuses, such as robotic lawn-mowers, are inefficient in detecting and addressing operating anomalies like sliding, stoppage, and lifting, which can lead to unsafe and inefficient operation.
Innovation Solution
A method and apparatus that continuously monitor the speed of drive and driven wheels using a magnetic induction-type encoder and contactless sensor to detect anomalies, identifying irregular conditions and restoring safe operation by adjusting the lawn-mower's movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a strain gauge is used to detect the position of the lawn-mower, then the position can be monitored, but the system cannot detect all possible irregular conditions and operating anomalies
Solution Approach 1:
The anomaly detection system is segmented into multiple independent sensing channels: drive wheel speed sensing, driven wheel speed sensing, and comparison logic. Each segment detects specific aspects of operation, and together they provide comprehensive anomaly detection coverage including sliding, stoppage, lifting, and other irregular conditions.
Solution Approach 2:
The speed comparison system serves multiple functions simultaneously: it detects sliding anomalies, identifies stoppage conditions, recognizes lifting events, and monitors overall operational regularity. This multi-functional approach allows a single detection mechanism to handle diverse anomaly types that a strain gauge alone could not detect.
2Productivity
If the lawn-mower operates under anomalous conditions, then cutting function may continue, but safety is compromised and energy consumption increases
Solution Approach 1:
The system continuously compares actual wheel speeds with expected speeds and provides real-time feedback on operational status. When anomalies such as sliding, stoppage, or lifting are detected through speed discrepancies, the system can immediately respond by adjusting operation or halting, ensuring safety while maintaining productivity during normal conditions.
Solution Approach 2:
The speed monitoring and comparison system operates continuously before anomalies cause safety issues or excessive energy consumption. By detecting irregularities in advance through wheel speed analysis, the system can take preliminary corrective actions to prevent unsafe operation and energy waste while maintaining cutting productivity.
3Productivity
If the lawn-mower operates under anomalous conditions, then cutting function may continue, but energy consumption increases
Solution Approach 1:
The continuous speed comparison provides real-time feedback on operational efficiency. When anomalies like sliding or lifting are detected through speed discrepancies, the system can immediately adjust operation to minimize energy consumption while maintaining cutting productivity during normal operation.
Solution Approach 2:
The monitoring system detects energy-wasting anomalies in advance by analyzing wheel speed patterns before significant energy consumption occurs. By identifying sliding, stoppage, or lifting conditions early through speed comparison, the system can take preliminary corrective actions to minimize energy waste while maintaining cutting operation continuity.
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
Enables accurate detection of anomalies, ensuring safety and minimizing energy consumption by identifying and addressing irregular conditions in real-time.
Implementation Method 1
a magnetic induction-type encoder configured to detect magnetic field variations as a function of a movement of permanent magnets in the at least one driven wheel
Data Source
Figure 1a~1b
Figure 2
Figure 3
AI summary
The invention describes a method of identifying an anomalous position of an apparatus (100) for cutting grass, in which the apparatus comprises a lawn-mower (1) provided with one or more blades for cutting grass and a movement means (20) comprising at least one drive wheel (20m) and at least one driven wheel (20c), a control unit (200) configured to continuously control the movement of the lawn-mower (1) and configured to identify an anomalous operating status (AW) of the lawn-mower and identify a corresponding type of operating anomaly (Ta1, Ta2, Ta3). The invention further describes an apparatus adapted to implement the method of identifying an anomalous position.