公开(公告)号：US20220107653A1

公开(公告)日：2022-04-07

申请号：US17488507

申请日：2021-09-29

Applicant: MTD Products Inc

Inventor： Christopher J. Churavy ,  Ayala Raanan

IPC: G05D1/02 ,  B60W60/00 ,  A01D34/00

Abstract: An obstruction sensing system for an autonomous device can include a chassis including a drive system for movement relative to a working surface, a shell resiliently mounted to the chassis and movable relative to the chassis in response to a force applied to the shell, a sensor assembly comprising a single sensor disposed on the chassis and a magnet disposed on and movable with the shell in response to the force applied to the shell, wherein the sensor is configured to output a three-axis magnetic flux vector in response to a movement of the magnet. A sensing method for an autonomous device can include detecting a polarity change in the sensor and in response determining that an obstruction has been detected, evaluating, by a processing component, a three-axis magnetic flux vector, and calculating at least one of a direction and a magnitude of a deflection based on the evaluation.