Obstacle-detection bumper for a semi-automatic mower robot suitable for steep slope field

摘要

This paper reports a mechanism of bumper excluding obstacles such as big stones and how to estimate physical properties of obstacles to distinguish the obstacles when a mower robot is working. The mower robot has been developed for the mowing the grass on steep slope. The mechanical bumper consists of exclusion mechanism of obstacles and fitting mechanism for terrain. The bumper has also sensors to know what kind of obstacles colliding with the bumper part. The paper explain the mechanism and how to distinguish the obstacle.