CN111830988A - Automatic walking equipment, control method and system thereof and readable storage medium - Google Patents
Automatic walking equipment, control method and system thereof and readable storage medium Download PDFInfo
- Publication number
- CN111830988A CN111830988A CN202010740721.1A CN202010740721A CN111830988A CN 111830988 A CN111830988 A CN 111830988A CN 202010740721 A CN202010740721 A CN 202010740721A CN 111830988 A CN111830988 A CN 111830988A
- Authority
- CN
- China
- Prior art keywords
- automatic walking
- control method
- shot image
- histogram
- image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000004590 computer program Methods 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 8
- 238000010606 normalization Methods 0.000 claims description 5
- 239000003086 colorant Substances 0.000 description 9
- 230000003595 spectral effect Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 244000025254 Cannabis sativa Species 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Abstract
An automatic walking device, a control method and a system thereof, and a computer-readable storage medium, the control method comprising: acquiring a shot image; extracting an h-channel image in the shot image; converting the h-channel image into a histogram; dividing the histogram into N intervals; counting the number pixnum (N) of pixels in each interval; counting a minimum value minPix in pixnum (N); if minPix is larger than Vc, judging that the shot image belongs to a non-complete lawn area; if minPix is less than Vc, judging that the shot image belongs to the lawn area; wherein Vc is a preset comparison threshold. Therefore, whether the automatic walking equipment meets a boundary or moves to the outer side of a working area can be analyzed through analyzing the shot image, and the automatic walking equipment is more convenient and is more sensitive and effective to control.
Description
Technical Field
The invention relates to the field of intelligent control, in particular to automatic walking equipment, a control method and a control system thereof and a readable storage medium.
Background
With the continuous progress of computer technology and artificial intelligence technology, the automatic walking equipment and the automatic walking system of the intelligent robot have slowly entered the lives of people, such as an intelligent sweeping robot, an intelligent mowing robot and the like. Generally, such an intelligent robot is small in size, integrates a sensing device, a driving device, a battery and the like, does not need manual operation, and can travel and work in a specified area. And when the electric quantity of the battery is insufficient, the battery can automatically return to the charging station, is in butt joint with the charging station and is charged, and continues to move and work after charging is finished.
For the existing intelligent mowing robot, the working areas of the existing automatic walking systems are all large lawns, and most of boundaries are electrified equipment buried under the ground, so that the intelligent mowing robot can feel the lawn. However, if the boundary line is buried under the ground, it takes a lot of labor and material resources. Furthermore, the burying boundary line requires a certain requirement, for example, the angle of the corner cannot be smaller than 90 degrees, and thus the shape of the lawn on which the intelligent mowing robot works is limited to some extent.
Therefore, aiming at the problems, an automatic walking system built on the ground can be designed, and a visual identification method is adopted to identify the boundary line. However, due to the influence of sunlight in different kinds of lawns, different seasons or the morning and evening, the lawns may have different colors such as yellow green, light green, dark green, and gray green, and there may be hay or small bare pieces of ground skin in the lawns. These factors all affect the accuracy of visual recognition by the automated walking device.
Therefore, it is necessary to design an automatic walking apparatus having higher accuracy of visual recognition, a control method and system thereof, and a readable storage medium.
Disclosure of Invention
In order to solve one of the above problems, the present invention provides a control method for an automatic walking device, including:
acquiring a shot image;
extracting an h-channel image in the shot image;
converting the h-channel image into a histogram;
dividing the histogram into N intervals;
counting the number pixnum (N) of pixels in each interval;
counting a minimum value minPix in pixnum (N);
if minPix is larger than Vc, judging that the shot image belongs to a non-complete lawn area;
if minPix is less than Vc, judging that the shot image belongs to the lawn area;
wherein Vc is a preset comparison threshold.
As a further improvement of the present invention, the step of dividing the histogram into N intervals "and" counting the number of pixels pixnum (N) in each interval "includes: and carrying out normalization processing on the histogram.
As a further improvement of the present invention, the step of "dividing the histogram into N bins" specifically includes: the histogram is equally divided into N bins along the abscissa.
As a further improvement of the present invention, the control method further includes:
if the shot image is judged to belong to the incomplete lawn area, controlling the automatic walking equipment to stop advancing or perform retreating or steering operation;
and if the shot image is judged to belong to the lawn area, controlling the automatic walking equipment to continue to move.
As a further improvement of the present invention, the step of "acquiring a captured image" includes: and acquiring a shot image in an RGB format and converting the shot image into a shot image in an HSV format.
As a further improvement of the present invention, N ═ 18.
As a further improvement of the present invention, Vc is 30.
In order to solve one of the above problems, the present invention further provides an automatic walking device, including a body, a walking module, a power module, a memory and a processor, which are arranged in the body, wherein the memory stores a computer program capable of running on the processor, the automatic walking device further includes a camera arranged on the body, and a shooting direction of the camera faces to a front side of the automatic walking device along a traveling direction; the steps of the control method of the automatic walking device as described above can be implemented by the processor when the computer program is executed.
In order to solve one of the above problems, the present invention further provides an automatic traveling system, including a charging station, and the system further includes the automatic traveling device described above, where the automatic traveling device starts to operate from the charging station, and returns to the charging station when the operation is completed or charging is required.
In order to solve one of the above problems, the present invention also provides a computer-readable storage medium storing a computer program which, when executed by a processor, can implement the steps in the control method of an automatic walking device as described above.
Compared with the prior art, the invention provides the automatic walking equipment, the control method and the system thereof and the readable storage medium, firstly, the image shot by the automatic walking equipment is processed and analyzed, the h-channel image is extracted, and then the h-channel image is converted into the histogram for subsequent analysis and processing. If the minimum value of the number of the pixel points in each interval of the histogram is more than a preset comparison threshold value Vc, the shot image can be judged to belong to a non-complete lawn area and possibly meet a boundary or a large obstacle. Therefore, whether the automatic walking equipment meets a boundary or a large obstacle or not can be analyzed by analyzing the shot image, and whether the automatic walking equipment moves to the outer side of the working area or not can be analyzed. And the HSV color space can express colors very intuitively, and lawns with different colors can be identified relatively accurately by extracting the chromaticity characteristics.
Drawings
FIG. 1 is a schematic structural view of an automatic walking system according to a first embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram of an embodiment of an automated process of the present invention;
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the various illustrations of the present application, certain dimensions of structures or portions may be exaggerated relative to other structures or portions for ease of illustration and, thus, are provided to illustrate only the basic structure of the subject matter of the present application.
The automatic walking device 1 of the present invention may be an automatic mower, or an automatic vacuum cleaner, which automatically walks in a working area to perform mowing and dust suction work. Of course, the automatic walking device 1 is not limited to the lawn mower and the vacuum cleaner, but may be other devices such as a spraying device, a snow removing device, a monitoring device, and the like suitable for unattended operation.
As shown in fig. 1 and 2, in the present invention, there is provided a control method of an automatic walking apparatus 1, the control method including:
acquiring a shot image hsvImage;
extracting an h-channel image hImage in the shot image hsvImage;
converting the h-channel image hImage into a histogram hist;
dividing the histogram hist into N intervals;
counting the number pixnum (N) of pixels in each interval;
counting a minimum value minPix in pixnum (N);
if minPix is larger than Vc, judging that the shot image belongs to a non-complete lawn area;
if minPix is less than Vc, judging that the shot image belongs to the lawn area;
wherein Vc is a preset comparison threshold.
Therefore, in the present invention, the captured image hsvmmage captured by the automatic walking device 1 is processed and analyzed, the h-channel image hmmage is extracted, and then the h-channel image hmmage is converted into the histogram hist for subsequent analysis and processing. Since the h-channel image hmmage reflects the chromaticity characteristics of the image, it is obvious that the geological difference between obstacles such as boundaries and stones of non-grasslands and grasslands is large, and the color difference is also large, so if there is an obstacle in the captured image hsvmmage, the difference between the pixel value interval of the obstacle and the pixel value interval of the common grassland is large on the histogram hist. Moreover, the chroma of the grassland is uniform, and the number of pixel points is bound to be large; if the automatic walking device encounters an obstacle in the process of traveling, the automatic walking device is judged to be a non-lawn area only when the automatic walking device is closer to the obstacle, namely the obstacle occupies a larger area in the photographed image hsvImage, so that the interval with the least number of pixel points in the histogram hist can be calculated to be judged to be the interval of the obstacle. If the number of the pixel points in the interval of the obstacle is more than the preset comparison threshold value Vc, the shot image can be judged to belong to the non-lawn area.
In the present embodiment, when minPix is equal to Vc, it is also determined that the captured image belongs to a non-lawn area.
In the field of image processing and image recognition, the histogram can reflect the proportion of different colors in the whole image, but does not reflect the spatial position of each color, and is suitable for describing images which cannot be automatically segmented. Since the automatic walking device 1 of the present invention travels in the lawn, the image captured by the automatic walking device 1 is related to the lawn in the working area thereof, and thus the colors are uniform as a whole and are approximately green, so that the section with the smallest number of pixels in the section of the histogram hist can be determined as the section of the obstacle, and if the number of pixels in the section of the obstacle is large, it is determined that the captured image hsvmmage occupies a large area of the image of the obstacle, and it is determined that the captured image hsvmmage belongs to the incomplete lawn area.
Further, the step of dividing the histogram into N intervals and the step of counting the number of pixels pixnum (N) in each interval includes:
and carrying out normalization processing on the histogram.
Because the histogram hist reflects the proportion of different colors in the whole image and the abscissa of the histogram reflects the pixel value, the histogram is normalized, and the number pixnum (N) of pixels in different intervals can be conveniently counted. In the expression "normalization process is performed on the histogram", the normalization process refers to a process of converting an image into a fixed standard format by performing a series of standard process conversion on the image.
In general, a captured image captured by a camera is generally an RGB format image, and thus the step "acquiring a captured image hsvmmage" includes: the captured image orgImage in the RGB format is acquired and converted into the captured image hsvmimage in the HSV format. Of course, if the image shot by the camera is in the HSV format, no additional format conversion is needed, and the purpose of the invention can be achieved.
It should be noted that the HSV format is a color space including a chromaticity H, a saturation S, and a lightness V. The chroma H is measured by an angle, and the value range of the chroma H is 0-180 degrees. The saturation S represents the degree of the color approaching the spectral color, and the larger the proportion of the spectral color is, the higher the degree of the color approaching the spectral color is, and the higher the saturation of the color is. The saturation ranges from 0% to 100%, the larger the value, the more saturated the color. Lightness V represents the degree to which a color is bright, and for object colors, the lightness value V is related to the transmittance or reflectance of the object. The typical range is 0% to 100%, 0% black and 100% white. Therefore, in the present invention, only the h-channel image hmmage is extracted. In addition, the step of "dividing the histogram into N bins" specifically includes: the histogram is equally divided into N bins along the abscissa.
The histogram is distinguished along the abscissa because the chromaticity H is on the abscissa of the histogram and the chromaticity H is arranged from small to large or from large to small. And, the average score is needed to ensure that the number of the pixels is more reasonable subsequently.
Of course, after determining whether the captured image belongs to the lawn area, the automatic walking device 1 needs to be controlled to perform corresponding operations. Specifically, the control method further includes:
if the shot image is judged to belong to the incomplete lawn area, controlling the automatic walking equipment 1 to stop advancing or perform retreating or steering operation;
if the shot image is judged to belong to the lawn area, the automatic walking device 1 is controlled to continue to move.
Obviously, when the shot image is judged to belong to the incomplete lawn area, if the shot image indicates that the traveling route of the automatic traveling device 1 has obstacles such as boundaries or stones, the automatic traveling device 1 is controlled to stop traveling, or the automatic traveling device can retreat or turn; of course, the steering operation may be performed after the backward operation. When it is determined that the captured image belongs to the lawn area, it indicates that there is no obstacle on the traveling path of the automatic traveling apparatus 1, and the automatic traveling apparatus 1 may be controlled to continue traveling. When it is determined that the traveling apparatus 1 is "belonging to the non-lawn area", the operation of the traveling apparatus 1 is also stopped, and for example, when the traveling apparatus 1 is an automatic lawn mower, the automatic lawn mower stops the mowing operation.
Further, in this embodiment, N is 18, that is, the histogram is equally divided into 18 intervals along the abscissa. The chromaticity values on the abscissa of the histogram are arranged from small to large or from large to small and divided into 18 bins. Since the chromaticity value H has a value range of [0 to 180], it is equivalent to that the difference between the chromaticity values in each interval is within 10. Of course, if N is other values, such as 20, 30, etc., the object of the present invention can be achieved. The value of N can be preset according to the situation of the grassland, and if the colors of the grassland are relatively average and the influence of illumination on the grassland is relatively small, the value of N can be a relatively small value; if the color of the grass is not average enough and the illumination has a large effect on the shooting of the grass, the value of N may take a large value.
Further, in this embodiment, Vc is 30, that is, the number of the pixels in the preset comparison threshold is 30. Of course, the value of Vc may be other values. Vc is also related to the value of N, and the smaller the value of N is, the larger the value of Vc is.
The invention also provides an automatic traveling system, which comprises a charging station and the automatic traveling equipment 1, wherein the automatic traveling equipment 1 starts to work from the charging station and returns to the charging station when the work is finished or the charging is needed.
Furthermore, in order to enable the automatic walking device 1 to identify the boundary 2 or the working area thereof during the walking process, and to better calculate the similarity in the present invention, two embodiments of the automatic walking system are provided in the present invention.
Specifically, in a first embodiment, the automatic walking system includes:
the automatic walking device 1 can work according to the control method;
the automatic walking equipment comprises a working area, the automatic walking equipment 1 can move and work in the working area, a non-working area is arranged on the outer side of the edge of the working area, and the working area and the non-working area are different in color.
In the present invention, the boundary 2 or obstacles such as stones and grasslands are discriminated from each other by using the colorimetric values H, and the boundary 2 may not be separately provided in the present invention. Since the automatic walking device 1 of the present invention is applied to a lawn mower, a lawn is a working area, and obviously, a non-working area may be bare soil, a floor, a cement board, etc., which have a geology different from a lawn and a color different from a lawn. Therefore, the control method of the present invention can be applied to analyze whether the automatic walking device 1 reaches the edge of the work area.
Alternatively, in a second embodiment, the automated walking system comprises:
the automatic walking device 1 can work according to the control method;
and a boundary which is formed in a ring shape and forms a working area for limiting the automatic walking device 1, and the boundary extends upwards from the ground.
In this embodiment, the automatic walking device 1 obtains the area where the automatic walking device 1 travels by obtaining the photographed image hsvmmage in the HSV format and then processing and analyzing the photographed image hsvmmage, so that the boundary of the automatic walking system of the present invention may extend upward from the ground, and thus may be photographed and recognized by the automatic walking device 1.
The invention also provides automatic walking equipment 1, which comprises a body, a walking module, a power supply module, a memory and a processor, wherein the memory and the processor are arranged in the body, the memory stores a computer program capable of running on the processor, the automatic walking equipment 1 further comprises a camera which is arranged on the body, and the shooting direction of the camera faces to the front side of the automatic walking equipment 1 along the walking direction; the steps of the control method of the automatic walking device 1 as described above can be implemented by the processor when executing the computer program. That is, the processor, when executing the computer program, may implement the steps of the control method of any one of the embodiments of the automatic walking device 1 as described above.
As described above, the camera is provided on the body of the automatic walking device 1 in the present invention, so that the captured image orgImage in the RGB format can be captured and acquired. And, the shooting direction of the camera is directed to the front side of the automatic traveling apparatus 1 in the traveling direction, so that the camera shoots a scene obtained by the front side of the automatic traveling apparatus 1. Thus, the following movement trajectory of the automatic walking apparatus 1 can be analyzed from the captured image orgImage captured by the automatic walking apparatus 1: if the shot image orgImage is judged to belong to the lawn area, controlling the automatic walking equipment 1 to further walk and work; if the captured image orgImage is determined to belong to the non-lawn area, the automatic walking apparatus 1 is controlled to perform operations such as stopping, turning, or reversing.
Also, the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, can implement the steps in the control method of the automatic walking device 1 as described above. That is, the processor, when executing the computer program, may implement the steps of the control method of any one of the embodiments of the automatic walking device 1 as described above.
In summary, the present invention provides an automatic walking device 1, a control method and system thereof, and a computer readable storage medium, where an HSV-format captured image hsvmmage captured by the automatic walking device 1 is processed and analyzed, an h-channel image hmmage of the HSV-format captured image is extracted, and the h-channel image hmmage is converted into a histogram hist for subsequent analysis and processing. Since the h-channel image hmmage reflects the chromaticity characteristics of the image, and obviously, the geological difference between obstacles such as boundaries, stones and the like and grasslands is large, and the color difference is also large, if an obstacle exists in the HSV-format captured image hsvmmage, the difference between the pixel value interval of the obstacle and the pixel value interval of the common grassland on the abscissa of the histogram hist is large. Moreover, the chroma of the grassland is uniform, and the number of pixel points is bound to be large; if the automatic walking device encounters an obstacle in the process of traveling, the automatic walking device is judged to be a non-lawn area only when the obstacle is closer to the obstacle, namely the obstacle occupies a larger area on the HSV-format shot image hsvmmage, so that the interval with the least number of pixel points in the histogram hist can be calculated to be judged as the interval of the obstacle. If the number of the pixel points in the interval of the obstacle is more than the preset comparison threshold value Vc, the shot image can be judged to belong to the non-lawn area. Therefore, whether the automatic walking equipment 1 meets the boundary 2 or moves to the outer side of the working area can be analyzed by analyzing the HSV-format shot image hsvImage, so that the operation is more convenient, and the control is more sensitive and effective.
Furthermore, the photographed image in the HSV format is converted into the histogram format, the histogram can effectively describe the global distribution characteristics of colors in the image, and the image has invariance of translation, scale and rotation, so that the identification is more accurate, and the working efficiency of the automatic walking equipment 1 is improved.
In addition, the automatic walking system does not need to arrange a boundary line additionally under the ground, so that the cost of manpower and material resources is reduced, the shape of a working area is flexible and not limited, the recognition speed is high, the precision is high, and the working efficiency of the automatic walking equipment 1, particularly the automatic mowing robot, can be improved.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the embodiments may be appropriately combined to form other embodiments understood by those skilled in the art.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention and is not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention are included in the scope of the present invention.
Claims (9)
1. A control method of an automatic walking device, characterized by comprising:
acquiring a shot image;
extracting an h-channel image in the shot image;
converting the h-channel image into a histogram;
dividing the histogram into N intervals;
counting the number pixnum (N) of pixels in each interval;
counting a minimum value minPix in pixnum (N);
if minPix is larger than Vc, judging that the shot image belongs to a non-complete lawn area;
if minPix is less than Vc, judging that the shot image belongs to the lawn area;
if the shot image is judged to belong to the incomplete lawn area, controlling the automatic walking equipment to stop advancing or perform retreating or steering operation;
if the shot image is judged to belong to the lawn area, controlling the automatic walking equipment to continue to move;
wherein Vc is a preset comparison threshold.
2. The control method according to claim 1, wherein the step of dividing the histogram into N bins and the step of counting the number of pixels pixnum (N) in each bin comprises: and carrying out normalization processing on the histogram.
3. The control method according to claim 1, wherein the step of "dividing the histogram into N bins" specifically comprises: the histogram is equally divided into N bins along the abscissa.
4. The control method according to claim 1, wherein the step of "acquiring a captured image" includes: and acquiring the shot image in the RGB format and converting the shot image into the shot image in the HSV format.
5. The control method of claim 1, wherein N-18.
6. The control method of claim 1, wherein Vc is 30.
7. The automatic walking equipment is characterized by further comprising a camera arranged on the body, and the shooting direction of the camera faces to the front side of the automatic walking equipment along the traveling direction; the steps of the control method of the automatic walking device of any one of claims 1 to 6 can be implemented when said processor executes said computer program.
8. An autonomous walking system including a charging station, characterized in that the system further comprises the autonomous walking apparatus of claim 7, starting from the charging station and starting to work and returning to the charging station when the work is completed or charging is required.
9. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps in the control method of an automatic walking device according to any one of claims 1 to 6.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010740721.1A CN111830988A (en) | 2020-07-29 | 2020-07-29 | Automatic walking equipment, control method and system thereof and readable storage medium |
| PCT/CN2020/123241 WO2022021630A1 (en) | 2020-07-29 | 2020-10-23 | Autonomous walking device and control method and system therefor, and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010740721.1A CN111830988A (en) | 2020-07-29 | 2020-07-29 | Automatic walking equipment, control method and system thereof and readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111830988A true CN111830988A (en) | 2020-10-27 |
Family
ID=72920066
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010740721.1A Pending CN111830988A (en) | 2020-07-29 | 2020-07-29 | Automatic walking equipment, control method and system thereof and readable storage medium |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111830988A (en) |
| WO (1) | WO2022021630A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022095161A1 (en) * | 2020-11-09 | 2022-05-12 | 苏州科瓴精密机械科技有限公司 | Obstacle recognition method and apparatus, device, medium and weeding robot |
| WO2022135444A1 (en) * | 2020-12-24 | 2022-06-30 | 苏州科瓴精密机械科技有限公司 | Obstacle recognition method, apparatus, device, medium and weeding robot |
| WO2022135437A1 (en) * | 2020-12-24 | 2022-06-30 | 苏州科瓴精密机械科技有限公司 | Obstacle recognition method and apparatus, device, medium and weeding robot |
| WO2022135434A1 (en) * | 2020-12-24 | 2022-06-30 | 苏州科瓴精密机械科技有限公司 | Obstacle identification method, apparatus and device, and medium and weeding robot |
| WO2022135342A1 (en) * | 2020-12-21 | 2022-06-30 | 苏州科瓴精密机械科技有限公司 | Obstacle recognition method and apparatus, device, medium and weeding robot |
| WO2022135361A1 (en) * | 2020-12-21 | 2022-06-30 | 苏州科瓴精密机械科技有限公司 | Method and apparatus for obstacle recognition, device, medium, and robot lawn mower |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200977121Y (en) * | 2006-08-11 | 2007-11-21 | 上海罗宝信息技术有限公司 | Intelligent vacuum cleaner device |
| JP5271157B2 (en) * | 2009-06-04 | 2013-08-21 | 株式会社トプコン | Fundus image analyzing apparatus, fundus photographing apparatus, and program |
| CN104111460A (en) * | 2013-04-22 | 2014-10-22 | 苏州宝时得电动工具有限公司 | Automatic walking equipment and obstacle detection method thereof |
| CN106600812A (en) * | 2016-12-14 | 2017-04-26 | 深圳怡化电脑股份有限公司 | Paper currency recognition method and paper currency recognition device |
| CN108038476A (en) * | 2018-01-03 | 2018-05-15 | 东北大学 | A kind of expression recognition feature extracting method based on edge detection and SIFT |
| CN109002851A (en) * | 2018-07-06 | 2018-12-14 | 东北大学 | It is a kind of based on the fruit classification method of image multiple features fusion and application |
| CN111210429A (en) * | 2020-04-17 | 2020-05-29 | 中联重科股份有限公司 | Point cloud data partitioning method and device and obstacle detection method and device |
| CN111324122A (en) * | 2020-02-28 | 2020-06-23 | 苏州科瓴精密机械科技有限公司 | Automatic work system, automatic walking device, control method thereof, and computer-readable storage medium |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW201351301A (en) * | 2012-06-08 | 2013-12-16 | Automotive Res & Testing Ct | Self-adaptive obstacle image detection method |
| JP6420657B2 (en) * | 2014-12-17 | 2018-11-07 | 日立建機株式会社 | Work machine and surrounding monitoring device |
| CN111353431B (en) * | 2020-02-28 | 2024-03-08 | 苏州科瓴精密机械科技有限公司 | Automatic working system, automatic walking equipment, control method thereof and computer readable storage medium |
| CN111339961A (en) * | 2020-02-28 | 2020-06-26 | 苏州科瓴精密机械科技有限公司 | Automatic work system, automatic walking device, control method thereof, and computer-readable storage medium |
-
2020
- 2020-07-29 CN CN202010740721.1A patent/CN111830988A/en active Pending
- 2020-10-23 WO PCT/CN2020/123241 patent/WO2022021630A1/en active Application Filing
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200977121Y (en) * | 2006-08-11 | 2007-11-21 | 上海罗宝信息技术有限公司 | Intelligent vacuum cleaner device |
| JP5271157B2 (en) * | 2009-06-04 | 2013-08-21 | 株式会社トプコン | Fundus image analyzing apparatus, fundus photographing apparatus, and program |
| CN104111460A (en) * | 2013-04-22 | 2014-10-22 | 苏州宝时得电动工具有限公司 | Automatic walking equipment and obstacle detection method thereof |
| CN106600812A (en) * | 2016-12-14 | 2017-04-26 | 深圳怡化电脑股份有限公司 | Paper currency recognition method and paper currency recognition device |
| CN108038476A (en) * | 2018-01-03 | 2018-05-15 | 东北大学 | A kind of expression recognition feature extracting method based on edge detection and SIFT |
| CN109002851A (en) * | 2018-07-06 | 2018-12-14 | 东北大学 | It is a kind of based on the fruit classification method of image multiple features fusion and application |
| CN111324122A (en) * | 2020-02-28 | 2020-06-23 | 苏州科瓴精密机械科技有限公司 | Automatic work system, automatic walking device, control method thereof, and computer-readable storage medium |
| CN111210429A (en) * | 2020-04-17 | 2020-05-29 | 中联重科股份有限公司 | Point cloud data partitioning method and device and obstacle detection method and device |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022095161A1 (en) * | 2020-11-09 | 2022-05-12 | 苏州科瓴精密机械科技有限公司 | Obstacle recognition method and apparatus, device, medium and weeding robot |
| WO2022135342A1 (en) * | 2020-12-21 | 2022-06-30 | 苏州科瓴精密机械科技有限公司 | Obstacle recognition method and apparatus, device, medium and weeding robot |
| WO2022135361A1 (en) * | 2020-12-21 | 2022-06-30 | 苏州科瓴精密机械科技有限公司 | Method and apparatus for obstacle recognition, device, medium, and robot lawn mower |
| WO2022135444A1 (en) * | 2020-12-24 | 2022-06-30 | 苏州科瓴精密机械科技有限公司 | Obstacle recognition method, apparatus, device, medium and weeding robot |
| WO2022135437A1 (en) * | 2020-12-24 | 2022-06-30 | 苏州科瓴精密机械科技有限公司 | Obstacle recognition method and apparatus, device, medium and weeding robot |
| WO2022135434A1 (en) * | 2020-12-24 | 2022-06-30 | 苏州科瓴精密机械科技有限公司 | Obstacle identification method, apparatus and device, and medium and weeding robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022021630A1 (en) | 2022-02-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111830988A (en) | Automatic walking equipment, control method and system thereof and readable storage medium | |
| CN111324122B (en) | Automatic work system, automatic walking device, control method thereof, and computer-readable storage medium | |
| CN109063575B (en) | Intelligent mower autonomous and orderly mowing method based on monocular vision | |
| CN111339961A (en) | Automatic work system, automatic walking device, control method thereof, and computer-readable storage medium | |
| CN111353431B (en) | Automatic working system, automatic walking equipment, control method thereof and computer readable storage medium | |
| US7248968B2 (en) | Obstacle detection using stereo vision | |
| CN105785986A (en) | Automatic working equipment | |
| US20240071094A1 (en) | Obstacle recongnition method applied to automatic traveling device and automatic traveling device | |
| CN213424010U (en) | Mowing range recognition device of mowing robot | |
| CN111413977A (en) | Path planning system and method of mowing robot based on machine vision | |
| US20240094739A1 (en) | Automatic Working System, Automatic Walking Device, and Method for Controlling Same, and Computer-Readable Storage Medium | |
| WO2021042487A1 (en) | Automatic working system, automatic travelling device and control method therefor, and computer readable storage medium | |
| WO2021139683A1 (en) | Self-moving device | |
| US20240087321A1 (en) | Obstacle recognition method and apparatus, and device, medium and weeding robot | |
| US20240013548A1 (en) | Obstacle recognition method, apparatus, and device, medium and weeding robot | |
| US20240099186A1 (en) | Automatic Working System, Automatic Walking Device and Control Method Therefor, and Computer-Readable Storage Medium | |
| WO2022000878A1 (en) | Automatic walking device and control method therefor, and readable storage medium | |
| CN112558595A (en) | Automatic work system, automatic walking device, control method thereof, and computer-readable storage medium | |
| Langer et al. | Geometrical stem detection from image data for precision agriculture | |
| WO2017206950A1 (en) | Automatic walking device and method for controlling the walking thereof | |
| WO2021184664A1 (en) | Automatic working system, automatic walking device and control method therefor, and computer-readable storage medium | |
| WO2021031406A1 (en) | Automatic working system, and automatic walking device and control method therefor | |
| CN117274949A (en) | Obstacle based on camera, boundary detection method and automatic walking equipment | |
| CN115147712A (en) | Method and system for identifying non-working area based on image | |
| CN117730685A (en) | Mowing method and device, mower and medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20230531 Address after: 215000 No. 8 Ting Rong Street, Suzhou Industrial Park, Jiangsu, China Applicant after: Suzhou Cleva Precision Machinery & Technology Co.,Ltd. Applicant after: SKYBEST ELECTRIC APPLIANCE (SUZHOU) Co.,Ltd. Address before: 215000 Huahong street, Suzhou Industrial Park, Jiangsu 18 Applicant before: Suzhou Cleva Precision Machinery & Technology Co.,Ltd. |