A METHOD FOR COLLISION DETECTION IN A SELF-PROPELLED ROBOTIC TOOL AND A SELF-PROPELLED ROBOTIC TOOL

A METHOD FOR COLLISION DETECTION IN A SELF-PROPELLED ROBOTIC TOOL AND A SELF-PROPELLED ROBOTIC TOOL

The present disclosure relates to a self-propelled robotic work tool (1) and a corresponding method. The robotic work tool detects a collision by measuring (25) IMU parameters, predicting (27) required motor currents for driving the robotic work tool's wheels based on the measured parameters an...

Ausführliche Beschreibung

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Bibliographische Detailangaben
1. Verfasser: HOLGERSSON, Jonas
Format: Patent
Sprache:eng
Schlagworte:
AGRICULTURE
ANIMAL HUSBANDRY
CONTROLLING
FISHING
FORESTRY
HARVESTING
HUMAN NECESSITIES
HUNTING
MOWING
PHYSICS
REGULATING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
TRAPPING
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Beschreibung
Zusammenfassung:The present disclosure relates to a self-propelled robotic work tool (1) and a corresponding method. The robotic work tool detects a collision by measuring (25) IMU parameters, predicting (27) required motor currents for driving the robotic work tool's wheels based on the measured parameters and a prediction algorithm, comparing (29) predicted currents with actual currents to provide a current error, and carrying out a collision detection (31) based on the current error. The prediction algorithm is repeatedly updated based on the current error exceeding a threshold.