Robotic Collision Threshold Control for Terrain-Aware Detection
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Solution Overview
Problem
Existing robotic work tools face challenges in accurately detecting collisions, leading to false detections and inefficient operation due to factors like terrain and sensor misalignments, which affect their ability to navigate effectively within defined work areas.
Innovation Solution
A robotic work tool with a chassis and body, equipped with collision sensors and a controller that adapts collision thresholds based on input data related to operation and movement direction, using reference collision values and multiple sensor arrangements to improve collision detection accuracy and reduce false positives.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a fixed collision threshold is used for collision detection, then the collision sensor arrangement is simple to implement, but false detections occur due to terrain variations and sensor misalignments
Solution Approach 1:
The patent implements dynamic adaptation of the collision threshold based on operational conditions. The controller continuously adjusts the threshold value according to detected terrain characteristics and sensor performance, transforming a static detection system into a dynamic one that adapts to changing environmental conditions, thereby reducing false detections while maintaining system simplicity
Solution Approach 2:
The patent changes the parameter of collision threshold from a fixed value to a dynamically adjustable parameter. By modifying the threshold parameter based on operational data such as terrain type and sensor alignment status, the system achieves higher detection accuracy without requiring complex additional hardware
2Reliability
If the collision threshold is increased to avoid mistaking rolling resistance for collision, then false detections on uphill terrain are reduced, but sensitivity to actual collisions decreases
Solution Approach 1:
The system dynamically adjusts the collision threshold based on terrain detection. When uphill terrain is detected, the threshold is increased to prevent false detections from rolling resistance. When flat terrain is detected, the threshold is lowered to maintain high sensitivity for collision detection, thus achieving both reliability and precision adaptively
Solution Approach 2:
The collision threshold parameter is made variable and is changed based on detected terrain conditions. The controller modifies this parameter in real-time to optimize the balance between avoiding false detections and maintaining collision sensitivity, rather than using a fixed threshold value
3Measurement precision
If collision sensor arrangement is highly sensitive to detect all collisions, then collision detection coverage is improved, but false detections increase due to terrain and misalignments
Solution Approach 1:
The system uses feedback from operational data to continuously adjust the collision threshold. By monitoring terrain characteristics and sensor performance metrics, the controller provides feedback that optimizes the threshold setting, achieving high detection coverage while filtering out false signals through adaptive learning
Data Source
Figure 1a~1b
Figure 1c~2
Figure 3~4b
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).