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1. WO2022076213 - SENSOR SYSTEM AND A SENSING METHOD FOR AN AUTONOMOUS DEVICE

Publication Number WO/2022/076213
Publication Date 14.04.2022
International Application No. PCT/US2021/052516
International Filing Date 29.09.2021
IPC
A01D 34/00 2006.1
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
DHARVESTING; MOWING
34Mowers; Mowing apparatus of harvesters
CPC
A01D 2101/00
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
DHARVESTING; MOWING
2101Lawn-mowers
A01D 34/008
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
DHARVESTING; MOWING
34Mowers
006Control or measuring arrangements
008for automated or remotely controlled operation
B60W 2420/50
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
2420Indexing codes relating to the type of sensors based on the principle of their operation
50Magnetic or electromagnetic sensors
B60W 60/0025
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
60Drive control systems specially adapted for autonomous road vehicles
001Planning or execution of driving tasks
0025specially adapted for specific operations
G05D 1/0259
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0259using magnetic or electromagnetic means
G05D 2201/0208
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
2201Application
02Control of position of land vehicles
0208Lawn mower
Applicants
  • MTD PRODUCTS INC [US]/[US]
Inventors
  • CHURAVY, Christopher
  • RAANAN, Ayala
Agents
  • HAWK, Julie
Priority Data
63/087,40005.10.2020US
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) SENSOR SYSTEM AND A SENSING METHOD FOR AN AUTONOMOUS DEVICE
(FR) SYSTÈME DE CAPTEUR ET PROCÉDÉ DE DÉTECTION POUR UN DISPOSITIF AUTONOME
Abstract
(EN) An obstruction sensing system for an autonomous device (100) can include a chassis (102) including a drive system for movement relative to a working surface, a shell (104) resiliently mounted to the chassis (102) and movable relative to the chassis (102) in response to a force applied to the shell (104), a sensor assembly (200) comprising a single sensor (202) disposed on the chassis (102) and a magnet (204) disposed on and movable with the shell (104) in response to the force applied to the shell (104), wherein the sensor (202) is configured to output a three-axis magnetic flux vector in response to a movement of the magnet (204). A sensing method for an autonomous device (100) can include detecting a polarity change in the sensor (202) and in response determining that an obstruction has been detected, evaluating, by a processing component (116), a three-axis magnetic flux vector, and calculating at least one of a direction and a magnitude of a deflection based on the evaluation.
(FR) Un système de détection d'obstruction pour un dispositif autonome (100) peut comprendre un châssis (102) comprenant un système d'entraînement pour un mouvement par rapport à une surface de travail, une coque (104) montée élastique sur le châssis (102) et mobile par rapport au châssis (102) en réponse à une force appliquée à la coque (104), un ensemble de capteur (200) comprenant un seul capteur (202) disposé sur le châssis (102) et un aimant (204) disposé sur la coque et mobile avec celle-ci (104) en réponse à la force appliquée à la coque (104), le capteur (202) étant conçu pour délivrer un vecteur de flux magnétique à trois axes en réponse à un mouvement de l'aimant (204). Un procédé de détection pour un dispositif autonome (100) peut comprendre la détection d'un changement de polarité dans le capteur (202) et, en réponse, la détermination du fait qu'une obstruction a été détectée, l'évaluation, par un composant de traitement (116), d’un vecteur de flux magnétique à trois axes, et le calcul d’une direction et/ou d’une amplitude d'une déviation sur la base de l'évaluation.
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