Autonomous navigating system having obstacle recognition
First Claim
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1. An autonomous navigating system with obstacle recognition comprising:
- a sensor having a contact element prestressed in a direction of movement and movable against a prestressed force and a detector measuring a change in position of the contact element, and providing a sensor signal depending on said change in position, an evaluating device connected with the sensor, which provides a first obstacle signal representing an obstacle that cannot be moved by the system, when the sensor signal is greater or equal to a limit value (UG), and which provides a second obstacle signal representing an obstacle that can be moved by the system, when the sensor signal is lower than the limit value (UG), wherein the system stops in response to a first obstacle signal or moves around the obstacle and, upon a second obstacle signal, has an additional option to move on and thereby displace the obstacle.
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Abstract
An autonomous navigating system with obstacle recognition or a method for handling obstacles for an autonomous navigating comprises a sensor having a contact element prestressed in the direction of movement and movable against the prestressed force and a detector measuring the change in position of the contact element, and an evaluating device connected with the sensor which causes the system to stop when the sensor signal is greater or equal to a limit value (UG), and which causes the system to stop, move around the obstacle or move on and thereby displace the obstacle, when the sensor signal is lower than the limit value (UG).
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Citations
6 Claims
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1. An autonomous navigating system with obstacle recognition comprising:
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a sensor having a contact element prestressed in a direction of movement and movable against a prestressed force and a detector measuring a change in position of the contact element, and providing a sensor signal depending on said change in position, an evaluating device connected with the sensor, which provides a first obstacle signal representing an obstacle that cannot be moved by the system, when the sensor signal is greater or equal to a limit value (UG), and which provides a second obstacle signal representing an obstacle that can be moved by the system, when the sensor signal is lower than the limit value (UG), wherein the system stops in response to a first obstacle signal or moves around the obstacle and, upon a second obstacle signal, has an additional option to move on and thereby displace the obstacle. - View Dependent Claims (2, 3, 4, 5)
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6. A method for the handling of obstacles for an autonomous navigating system moving in a direction of movement, comprising the following steps:
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measuring a force between the autonomous navigating system and an obstacle upon contact, classifying the obstacle based on said force, where with said force greater than a limit value (UG), the obstacle is recognized as not being movable by the autonomous navigating system, and with said force lower than the limit value (UG), the obstacle is recognized as being movable by the autonomous navigating system, stopping the autonomous navigating system or moving around the obstacle if the obstacle has been recognized as not movable, stopping the autonomous navigating system, moving around the obstacle or moving the autonomous navigating system on and thereby displacing the obstacle if the obstacle has been recognized as movable.
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Specification