SELF-PROPELLED DEVICE AND COLLISION DETECTION METHOD THEREOF

Title:

SELF-PROPELLED DEVICE AND COLLISION DETECTION METHOD THEREOF

Document Type and Number:

WIPO Patent Application WO/2022/199250

Kind Code:

A1

Abstract:

The present application discloses a collision detection method of a self-propelled device. The automatic traveling device comprises a self-propelled motor driving wheels to rotate. The collision detection method comprises: measuring a current of a self-propelled motor in real time, and calculating a change rate of the current of the self-propelled motor; measuring a rotating speed of the self-propelled motor in real time, and calculating a change rate of the rotating speed of the self-propelled motor; and determining, at least according to the change rate of the current and the change rate of the rotating speed, whether collision with the self-propelled motor occurs.

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Inventors:

WANG KANG (CN)

Application Number:

PCT/CN2022/074590

Publication Date:

September 29, 2022

Filing Date:

January 28, 2022

Export Citation:

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Assignee:

NANJING CHERVON IND CO LTD (CN)

International Classes:

B25J13/00; B25J9/16; B25J19/00

Foreign References:

CN112405523A	2021-02-26
CN112405524A	2021-02-26
CN109397283A	2019-03-01
CN109049006A	2018-12-21
US20080109136A1	2008-05-08
CN202110316484A	2021-03-25