Work Robot Collision-Side Detouring to Avoid Re-Traversal
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Solution Overview
Problem
Conventional work robots face inefficiencies when encountering obstacles, as they often re-travel areas where work has already been completed, leading to prolonged completion times for tasks like lawn mowing or cleaning.
Innovation Solution
A work robot equipped with a collision sensor system that determines the side of collision and adjusts its orientation by less than 90 degrees to detour around obstacles, minimizing re-traversal of completed areas, using a combination of magnets and hall sensors to accurately detect collisions and control movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the work robot changes traveling direction to detour around an obstacle, then the robot can avoid the obstacle and continue working, but the robot is likely to travel again on areas where work has already been completed, causing a decrease in work efficiency
Solution Approach 1:
The patent segments the collision detection into multiple sensors positioned at different locations (front, rear, left, right sides) of the robot. This segmentation allows the control device to determine not only that a collision occurred but also the specific side of collision, enabling more precise detour direction selection and preventing re-traversal of completed work areas.
Solution Approach 2:
The patent applies inversion by determining the detour direction opposite to the collision side. When collision is detected on a specific side, the robot intentionally turns toward the opposite side to detour, ensuring it moves away from the obstacle while avoiding previously worked areas. This inverse relationship between collision side and detour direction optimizes work efficiency.
2Device complexity
If the work robot uses a simple contact detection mechanism to detect obstacles, then the device complexity is reduced, but the robot cannot accurately determine the collision side, leading to inefficient detour paths
Solution Approach 1:
The detection mechanism is segmented into multiple collision sensors positioned at different sides of the robot body. Each sensor independently detects collisions on its respective side, providing the control device with precise spatial information about collision location without requiring complex sensor systems.
Solution Approach 2:
The patent employs asymmetric sensor placement with sensors positioned at front, rear, left, and right sides of the robot. This asymmetric configuration enables the system to distinguish collision direction and side accurately, transforming a simple detection task into a directional measurement capability.
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 approach enables the robot to efficiently complete tasks by avoiding re-traveled areas, thus reducing overall completion time and maintaining work efficiency even in the presence of obstacles.
Implementation Method 1
a hall sensor configured to output a signal regarding a collision between the work robot and an obstacle
Data Source
Figure 1A~1B
Figure 2
Figure 3A~3B
AI summary
Provided is a work robot capable of suppressing a decrease in work efficiency in an area where an obstacle exists. The work robot 1 comprises a traveling device 3, first and second collision sensors 5, 6, and a control device 7. The control device 7 is configured to determine, based on signals received from the first and second collision sensors 5, 6, whether or not the work robot 1 has collided with an obstacle 9, and further determine a collision side indicative of whether the work robot 1 has collided with the obstacle 9 on the left side with respect to the center C of the work robot 1, or has collided with the obstacle 9 on the right side with respect to the center C of the work robot 1, so as to control the traveling device 3. The control device 7 is operable, when it determines that the work robot 1 has collided with the obstacle 9, to control the traveling device 3 to change the orientation of the work robot 1 toward a side opposite to the collision side, and then move the work robot 1 forwardly.