Collisions, Obstacle Detection and Floor-Pattern Stops
When Kachaka is moving, problems with obstacles tend to fall into two opposite buckets: it hits something it should have avoided (bumping furniture or table legs), or it stops when it shouldn’t (pausing on patterned or color-changing floors). Both come down to the same set of safety detections being too loose or too strict, so treat each case accordingly.
Case 1: Kachaka bumps furniture or obstacles while moving
If Kachaka knocks into nearby furniture as it drives, the most common cause is that the relevant safety detection has been turned off. These detections can be toggled on or off to suit your environment, so first confirm the following two are set to ON:
- Protruding obstacle detection: When there is a tall tabletop ahead, or a table edge / leg that juts out overhead, turning this on lets Kachaka steer clear before it makes contact. See Protruding Obstacle Detection for setup.
- Floor obstacle detection: When paper, debris, or cables are lying on the floor, turning this on lets Kachaka drive around them.
For a fuller explanation of both detections and where to find each setting, see Safety Detection: Floor Obstacles, Drop-offs & Body Detection Height.
Still collides even with detection on
If both detections are already on and Kachaka still hits one particular obstacle, draw a no-go zone around it so the robot never approaches it in the first place. See No-Go Zones and Enterable Areas.
Case 2: Stops for no reason on patterned or color-changing floors
Where the floor has a pattern, or changes from one material/color to another (for example a tile-to-wood boundary, or floor with a printed design), Kachaka may briefly pause at that spot or fail to drive across it. This happens because floor obstacle detection misreads the floor pattern as an obstacle. Either of the two methods below resolves it — after applying one, try a test run to confirm Kachaka passes through smoothly.
Method A: Turn off floor obstacle detection
- Open the Kachaka app and go to the Settings tab.
- Under “Kachaka settings,” tap the Kachaka in question.
- Tap “Safety features” in the center of the screen.
- Switch the “Floor obstacle detection” toggle to OFF.
With this off, Kachaka is more likely to bump thin objects such as chair legs. We recommend also enclosing those obstacles with a no-go zone.
Method B: Set an enterable area
If you would rather not disable detection entirely, set an “enterable area” only over the floor patch that triggers the false reading, telling Kachaka that this spot is fine to cross:
- Open the Kachaka app and go to the Map tab.
- Tap the ”+” icon in the top right.
- Choose “Set enterable area.”
- Use the green frame to enclose the area you want Kachaka to pass through. The frame shape is freely adjustable, so size it to match the spot.
Still not resolved
If neither method helps, contact Sigma for assistance. Before reaching out, have your robot’s serial number and a photo or video of the issue ready so we can diagnose it faster — see Reporting Faults and Providing Investigation Info.