Robotic Tool Hall Sensor Layout for Collision and Lift Detection
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Solution Overview
Problem
Robotic work tools face challenges in efficiently detecting collisions and lifts using multiple sensors, which increases complexity and cost, and existing solutions cannot combine collision and lift detection without significant modification.
Innovation Solution
An array of Hall sensors integrated into the robotic work tool's chassis and a magnet in its body allows for the detection of collisions and lifts using a single collision detection sensor, enabling the determination of the direction and side of collisions and temporary deactivation during lifts.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple collision detection sensors are used to detect collisions in all directions and partial lifts in different parts, then the detection capability is improved, but the device complexity and cost increase significantly
Solution Approach 1:
A single collision detection sensor is designed to perform multiple functions: detecting collisions from different directions and detecting partial lifts at different locations. The sensor is positioned and configured to monitor both horizontal collision forces and vertical lift forces, replacing what would traditionally require multiple separate sensors
Solution Approach 2:
The patent combines collision detection and lift detection functions into a single sensor unit. By merging these two detection capabilities into one sensor, the system reduces the total number of sensors needed while maintaining comprehensive detection coverage for both collisions and lifts
2Device complexity
If a single collision detection sensor is used to detect both collisions and lifts, then the device complexity is reduced, but the difficulty of detecting and measuring different types of events increases
Solution Approach 1:
The detection process is segmented into distinct analysis steps: the controller separately evaluates collision detection criteria (horizontal force thresholds) and lift detection criteria (vertical force thresholds) based on the single sensor's output. This segmentation allows clear differentiation between collision and lift events despite using one sensor
Solution Approach 2:
The system uses dynamic detection criteria that adapt to the type of event being detected. Different force thresholds and detection algorithms are applied dynamically based on the sensor signal pattern, enabling the single sensor to accurately distinguish between collisions and lifts through adaptive measurement parameters
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
This solution reduces the number of sensors needed, lowers assembly and maintenance costs, and allows for precise detection of collisions and lifts, including partial lifts, while ensuring safety by temporarily deactivating the work tool during lifting.
Implementation Method 1
an array of for example Hall sensors in one part of the robotic work tool, such as the chassis, and a magnet in another part of the robotic work tool
Data Source
Figure 1~2
Figure 3~4C
AI summary
A robotic work tool system (200) comprising a robotic work tool (100) comprising a collision detection sensor (190), said collision detection sensor (190) comprising a first sensor element (191) and a plurality of second sensor elements (192), wherein said first sensor element (191) is movably arranged with respect to said plurality of second sensor elements (192), wherein said robotic work tool (100) is configured to detect that said first sensor element (191) is proximate a peripheral second sensor element (192) and in response thereto determine that a collision has been detected, and detect that said first sensor element (191) is not proximate any peripheral second sensor element (192) and in response thereto determine that a lift has been detected.