Robotic Work Tool Collision Threshold Adaptation for False Detection Control
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Solution Overview
Problem
Existing robotic work tools face challenges in accurately detecting collisions, leading to false detections and incorrect operations, especially due to factors like operation conditions and sensor misalignments.
Innovation Solution
The robotic work tool incorporates a controller that adapts a collision threshold based on input data related to its operation and the direction of movement indicative of a collision, using multiple collision sensor arrangements and input units to enhance accuracy and flexibility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If collision sensor arrangements are used to detect collisions, then the robotic work tool can avoid stopping when objects are encountered, but false collision detections occur leading to incorrect operations
Solution Approach 1:
The patent adapts the collision threshold dynamically based on operational parameters such as linear speed, angular speed, and operation mode. By changing the threshold parameter according to current operating conditions, the system distinguishes between actual collisions and normal operational variations, thereby reducing false detections while maintaining reliable collision detection.
Solution Approach 2:
The collision threshold is not fixed but dynamically adjusted based on real-time operational data. The controller modifies the threshold according to varying speeds and operation modes, making the collision detection system adaptive to different working conditions and reducing false positives.
2Adaptability or versatility
If a fixed collision threshold is used, then the collision detection is simple, but it cannot account for varying operation conditions and sensor misalignments
Solution Approach 1:
The system changes the collision threshold parameter dynamically based on operational conditions such as speed and operation mode. This allows the simple collision detection mechanism to adapt to varying conditions without requiring complex hardware modifications.
Solution Approach 2:
The controller receives feedback from sensors about linear speed, angular speed, and operation mode, and uses this feedback to adjust the collision threshold accordingly. This closed-loop approach enables adaptation to different operating conditions while maintaining system simplicity.
Data Source
AI summary
A robotic work tool (100) comprising a chassis (110) and a body (120). The robotic work tool (100) further comprises at least one input unit (170, 180) for receiving input data relating to an operation of the robotic work tool (100), and at least one collision sensor arrangement (140) for detecting a direction of a movement of the chassis (110) with respect to the body (120). The movement is indicative of a collision. The robotic work tool (100) further comprises at least one controller (130) for controlling operation of the robotic work tool (100). The at least one controller (130) is configured to receive, from the at least one input unit (170, 180), said input data relating to the operation of the robotic work tool (100). The at least one controller (130) is further configured to adapt a collision threshold based on said input data relating to the operation of the robotic work tool (100). The collision threshold is related to said movement of the chassis (110) with respect to the body (120) detected by the at least one collision sensor arrangement (140).