Acconeer Ab

Rikard Nelander

Bo Lincoln

Peter Almers

Mikael Egard

Andreas Axholt

Hans Grubeck

David Montgomery

Per Atlevi

Gaston Holmén

Erik Månsson

The disclosure relates to an autonomous moving object comprising: a radar sensor configured to scan a volume in front of the object, and a radar signal processor configured to: acquire a sequence of radar responses, each radar response of the sequence being acquired at a different position (P) of the autonomous moving object, and perform synthetic aperture radar processing of at least parts of the acquired sequence of radar responses to obtain a synthetic aperture radar image representing response amplitude as a function of at least distance and angle with respect to the radar sensor, the autonomous moving object further comprising: a controller configured to detect presence of a potential obstacle within a pre-defined sub-volume in front of the autonomous moving object by analyzing the synthetic aperture radar image and, in response to detecting presence of a potential obstacle, output a control command configured to cause a changed movement of the autonomous moving object.

Autonomous moving object

An autonomous moving object comprising a radar sensor is provided. The radar sensor is configured to, during movement, acquire data sets representing reflections from surface portions located within a distance range, and, at least at a sequence of occasions, illuminate a surface region and acquire a data set representing, for each of a set of distances within said distance range, an amplitude and a phase of reflected radar signals received from surface portions located at said distance. Said surface regions comprise common sub-region illuminated at each of said occasions. A radar signal processor is configured to receive the data sets acquired at each of said sequence of occasions. The received data sets form a collection of data sets, wherein each data set of said collection comprises a data subset pertaining to said common sub-region. A surface classifier processor is configured to output a classification of a surface type of the surface based on said collection of data subsets.

Autonomous moving object with radar sensor

The disclosure relates to an autonomous moving object comprising: a radar sensor configured to scan a volume in front of the object, and a radar signal processor configured to: acquire a sequence of radar responses, each radar response of the sequence being acquired at a different position of the autonomous moving object, and perform synthetic aperture radar processing of at least parts of the acquired sequence of radar responses to obtain a synthetic aperture radar image representing response amplitude as a function of at least distance and angle with respect to the radar sensor, the autonomous moving object further comprising: a controller configured to detect presence of a potential obstacle within a pre-defined sub-volume in front of the autonomous moving object by analyzing the synthetic aperture radar image and, in response to detecting presence of a potential obstacle, output a control command configured to cause a changed movement of the autonomous moving object.

According to a first aspect of the present inventive concept there is provided an autonomous mobile cleaning robot, comprising: a radar sensor configured to scan a surface, during a movement of the robot along the surface, by transmitting radar signals towards the surface and acquiring, at different positions along said movement, radar responses from the surface, a radar signal processor configured to extract one or more features of each acquired radar response from the surface, and a controller configured to control an operation of the robot based on the extracted one or more features.

Growing community of inventors

Lund, Sweden

Rikard Nelander