A robotic work tool system (200) comprising a robotic work tool (100) comprising a lift/collision detection sensor (190), said lift/collision detection sensor (190) comprising a polarity element (191) and at least a first sensing element (192′) and a second sensing element (192″), wherein the polari
A robotic work tool system (200) comprising a robotic work tool (100) comprising a lift/collision detection sensor (190), said lift/collision detection sensor (190) comprising a polarity element (191) and at least a first sensing element (192′) and a second sensing element (192″), wherein the polarity element (191) has a first and a second polarity and wherein the first and second sensing elements are configured to each sense a polarity of the first polarity element (191). The robotic work tool (100) is configured to detect a polarity change in the first sensing element (192′) and in the second sensing element (192″) and in response thereto determine that a lift has been detected, or detect a polarity change in the first sensing element (192′) but not in the second sensing element (192″) and in response thereto determine that a collision has been detected.
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1. A robotic work tool system comprising a robotic work tool comprising a lift/collision detection sensor, said lift/collision detection sensor comprising a polarity element and at least a first sensing element and a second sensing element, wherein the polarity element has a first and a second polar
1. A robotic work tool system comprising a robotic work tool comprising a lift/collision detection sensor, said lift/collision detection sensor comprising a polarity element and at least a first sensing element and a second sensing element, wherein the polarity element has a first and a second polarity and wherein the first and second sensing elements are configured to each sense a polarity of the first polarity element, wherein said robotic work tool is configured to detect a polarity change in the first sensing element and in the second sensing element and in response thereto determine that a lift has been detected, ordetect a polarity change in the first sensing element but not in the second sensing element and in response thereto determine that a collision has been detected. 2. The robotic work tool system according to claim 1, wherein said polarity element is movably arranged with respect to said first sensing element and said second sensing element, so that a polarity change can be detected during a lift and/or collision. 3. The robotic work tool system according to claim 1, wherein the polarity element is a magnet and wherein said first sensing element and said second sensing element are hall sensors. 4. The robotic work tool system according to claim 1, wherein the robotic work tool further comprises a body and a chassis, wherein said body is attached to said chassis by means of elastic fittings. 5. The robotic work tool system according to claim 4, wherein said body is movable both in a direction in a same plane as a direction of movement of the robotic work tool as well as in a direction perpendicular to such a plane. 6. The robotic work tool system according to claim 4, wherein said polarity element is arranged in said body and said at least two sensing elements is arranged in said chassis. 7. The robotic work tool system according to claim 4, wherein said polarity element is arranged in said chassis and said at least two sensing elements is arranged in said body. 8. The robotic work tool system according to claim 1, wherein the lift/collision detection sensor further comprises one or more third sensing elements. 9. The robotic work tool system according to claim 1, wherein the robotic work tool comprises only one lift/collision detection sensor. 10. The robotic work tool system according to claim 1, wherein the robotic work tool comprises a plurality of lift/collision detection sensors. 11. The robotic work tool system according to claim 10, wherein the robotic work tool is further configured to: detect a lift in at least one of the lift/collision detection sensors and in response thereto determine that a lift has been detected for the robotic work tool, ordetect a collision in at least one of the plurality of lift/collision detection sensors while not detecting a lift in any of the other lift/collision detection sensors and in response thereto determine that a collision has been detected for the robotic work tool. 12. The robotic work tool system according to claim 1, wherein the robotic work tool is a robotic lawnmower. 13. The robotic work tool system according to claim 1, wherein the robotic work tool is a farming equipment, a vacuum cleaner, a floor cleaner, a street sweeper, a snow removal tool, a golf ball retriever robot, a cleaner robot, a leaves blower robot, a leaves collector robot, snow thrower robot, a demolition robot or a mine clearance robot. 14. A method for use in a robotic work tool system comprising a robotic work tool comprising a lift/collision detection sensor, said lift/collision detection sensor comprising a polarity element and at least a first sensing element and a second sensing element, wherein the polarity element has a first and a second polarity and wherein the first and second sensing elements are configured to each sense a polarity of the first polarity element, wherein said method comprises: detecting a polarity change in the first sensing element and in the second sensing element and in response thereto determine that a lift has been detected, ordetecting a polarity change in the first sensing element but not in the second sensing element and in response thereto determine that a collision has been detected. 15. The method according to claim 14, wherein said polarity element is movably arranged with respect to said at least two sensing elements.
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이 특허에 인용된 특허 (2)
Kawashima Toshiaki,JPX, DC brushless motor, magnetic bearing device and turbomolecular pump device.
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