Robot Contact Element for Height-Based Obstacle Avoidance
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Solution Overview
Problem
Existing outdoor treatment systems face challenges in distinguishing between high and low obstacles, leading to faulty triggering of protective functions and inefficient operation of outdoor treatment robots.
Innovation Solution
An outdoor treatment system comprising an autonomous mobile robot with a contact element that moves differently relative to its chassis for avoiding and detection movements, and a sensor and control device that only detects and controls the protective function based on the height of obstacles, preventing false triggers and enabling robust operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the sensor and control device detects all contact movements with obstacles, then the protective function is triggered for all obstacles, but this causes faulty triggering for low obstacles and reduces operational reliability
Solution Approach 1:
The contact element is divided into two distinct contact zones: an upper contact zone above the height limit that triggers protective functions, and a lower contact zone below the height limit that does not trigger protective functions. This local differentiation in functionality resolves the contradiction by making the detection system selectively responsive based on obstacle height, preventing faulty triggering while maintaining protection where needed.
Solution Approach 2:
The system changes the detection parameter by introducing a height limit threshold. The sensor and control device are configured to detect only contact movements exceeding this threshold parameter. By changing from detecting all contact movements to detecting only those above a specific height parameter, the system eliminates faulty triggering for low obstacles while maintaining reliable protection for high obstacles.
2Measurement precision
If the contact element is designed to detect all obstacles regardless of height, then comprehensive obstacle detection is achieved, but this leads to unnecessary protective function activation and reduced productivity
Solution Approach 1:
The contact element features localized functional zones: the upper contact zone provides precise detection for high obstacles that require protective activation, while the lower contact zone provides contact capability without triggering protection. This local quality differentiation enables measurement precision for obstacle height discrimination while preventing unnecessary protective function activation, thereby maintaining productivity.
Solution Approach 2:
The contact element is segmented into functionally distinct regions based on height: above the height limit and below the height limit. Each segment has different detection characteristics - the upper segment triggers protective functions while the lower segment does not. This segmentation allows the system to achieve precise obstacle detection while avoiding unnecessary protective activations that would reduce productivity.
3Reliability
If the sensor and control device triggers protective function for every contact movement, then maximum safety is ensured, but this causes unnecessary interruptions for insignificant obstacles and reduces ease of operation
Solution Approach 1:
The system introduces a height limit parameter that changes the triggering condition from any contact movement to only contact movements exceeding the height threshold. This parameter change ensures that protective functions are reliably triggered for significant obstacles (maintaining safety) while preventing unnecessary interruptions for insignificant low obstacles (improving ease of operation).
Solution Approach 2:
The contact element's upper and lower zones have different triggering qualities: the upper zone above the height limit triggers protective functions for reliable safety, while the lower zone below the height limit provides contact without triggering for uninterrupted operation. This local quality differentiation resolves the contradiction between protective reliability and operational continuity.
Data Source
AI summary
An outdoor treatment system has an autonomous mobile outdoor treatment robot and a sensor and control device. The robot has a chassis and a contact element. The chassis executes a travelling movement in a direction of travel. The contact element executes an avoiding movement in an avoiding direction as a result of the travelling movement and contact between an obstacle and a lower contact point below a height limit, and executes a detection movement in a detection direction as a result of the travelling movement and contact between an obstacle and an upper contact point at or above the height limit. The contact element is mounted to move with respect to the chassis. The avoiding direction and the detection direction are different. The sensor and control device detects the detection movement and controls a robot protective function, and does not detect or evaluate the avoiding movement.