Motor-Based Collision Detection for Self-Propelled Mowers
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Solution Overview
Problem
Conventional self-propelled apparatuses, such as intelligent mowers, require additional housing layers and Hall sensors for collision detection, increasing production costs and volume, which is inefficient.
Innovation Solution
A collision detection method that utilizes real-time monitoring of the self-propelled electric motor's current and rotational speed, along with acceleration data, to determine collisions without the need for additional hardware, using thresholds that can be dynamically adjusted based on acceleration changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a double-layer housing structure with Hall sensor is used for collision detection, then collision detection capability is achieved, but production cost and apparatus volume increase
Solution Approach 1:
The patent extracts the collision detection function from the mechanical housing structure and relocates it to the control system. Instead of using physical sensors mounted on the housing, the invention monitors motor parameters (current, speed, acceleration) to detect collisions, thereby eliminating the need for additional housing layers and Hall sensors.
Solution Approach 2:
The patent replaces the mechanical sensing system (Hall sensor detecting physical displacement) with an electrical control system that monitors motor parameters. The collision detection is achieved through analyzing changes in current, speed, and acceleration data from the motor controller, substituting mechanical detection with electrical parameter monitoring.
2Reliability
If a double-layer housing structure with Hall sensor is used for collision detection, then collision detection capability is achieved, but production cost increases
Solution Approach 1:
The patent enables the motor control system to perform dual functions: both motor control and collision detection. The existing motor controller hardware and software are utilized to monitor motor parameters and detect collisions, eliminating the need for separate detection hardware and reducing overall system cost.
Solution Approach 2:
The patent makes the motor control system multi-functional by enabling it to perform both motor control and collision detection tasks. The same processor and sensor infrastructure used for motor control are also used for collision detection, maximizing resource utilization and reducing component count.
3Device complexity
If motor current and speed monitoring is used for collision detection, then additional components are eliminated, but detection accuracy may be affected
Solution Approach 1:
The patent implements feedback mechanisms by continuously monitoring motor current, speed, and acceleration parameters and comparing them against expected values. When deviations exceed thresholds, the system triggers collision detection algorithms, using feedback loops to maintain detection accuracy despite using existing sensors.
Solution Approach 2:
The patent employs dynamic threshold adjustment and adaptive detection algorithms that respond to changing operating conditions. The collision detection sensitivity is dynamically adjusted based on motor load, speed, and operational context, maintaining high detection accuracy across varying working conditions.
Data Source
AI summary
A self-propelled apparatus includes a self-propelled electric motor for driving wheels to rotate. A collision detection method includes: detecting a current of the self-propelled electric motor in real time and calculating a change rate of the current of the self-propelled electric motor; detecting a rotational speed of the self-propelled electric motor in real time and calculating a change rate of the rotational speed of the self-propelled electric motor; and determining, according to at least the change rate of the current and the change rate of the rotational speed, whether the self-propelled apparatus collides.