CN111868743A - 自移动设备、服务器及其自动工作系统 - Google Patents
自移动设备、服务器及其自动工作系统 Download PDFInfo
- Publication number
- CN111868743A CN111868743A CN201980019807.0A CN201980019807A CN111868743A CN 111868743 A CN111868743 A CN 111868743A CN 201980019807 A CN201980019807 A CN 201980019807A CN 111868743 A CN111868743 A CN 111868743A
- Authority
- CN
- China
- Prior art keywords
- module
- identification signal
- self
- communication module
- 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
- 238000004891 communication Methods 0.000 claims abstract description 129
- 238000001514 detection method Methods 0.000 claims abstract description 20
- 230000009471 action Effects 0.000 claims abstract description 13
- 238000000034 method Methods 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 13
- 238000013136 deep learning model Methods 0.000 claims description 13
- 238000010295 mobile communication Methods 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000012545 processing Methods 0.000 description 76
- 238000012549 training Methods 0.000 description 12
- 238000013475 authorization Methods 0.000 description 10
- 238000013461 design Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 9
- 244000025254 Cannabis sativa Species 0.000 description 8
- 238000003062 neural network model Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000012937 correction Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 238000013528 artificial neural network Methods 0.000 description 5
- 230000001413 cellular effect Effects 0.000 description 5
- 230000007613 environmental effect Effects 0.000 description 5
- 230000003993 interaction Effects 0.000 description 5
- 241001417527 Pempheridae Species 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 238000013527 convolutional neural network Methods 0.000 description 3
- 239000003607 modifier Substances 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 210000004027 cell Anatomy 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 208000028257 Joubert syndrome with oculorenal defect Diseases 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000010267 cellular communication Effects 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 210000002569 neuron Anatomy 0.000 description 1
- 238000010408 sweeping 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/94—Hardware or software architectures specially adapted for image or video understanding
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Software Systems (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Artificial Intelligence (AREA)
- Biomedical Technology (AREA)
- Biophysics (AREA)
- Computational Linguistics (AREA)
- Data Mining & Analysis (AREA)
- Evolutionary Computation (AREA)
- General Health & Medical Sciences (AREA)
- Molecular Biology (AREA)
- Computing Systems (AREA)
- General Engineering & Computer Science (AREA)
- Mathematical Physics (AREA)
Abstract
本发明涉及一种自移动设备，在工作区域内移动和工作，包括：图像检测模块，检测自移动设备的环境，生成环境图像；第一识别模块，基于环境图像识别图像中的特定对象，生成第一识别信号；第一通信模块，可选择地发送环境图像和/或第一识别信号至服务器并接收与环境图像相对应的第二识别信号；控制模块，根据第一识别信号和/或第二识别信号控制自移动设备的动作。本发明的有益效果是：保证自移动设备能够及时地获取准确的识别结果，并据此进行动作。
Description
PCT国内申请，说明书已公开。
Claims (22)
- PCT国内申请，权利要求书已公开。
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810354642 | 2018-04-19 | ||
| CN201810354642X | 2018-04-19 | ||
| PCT/CN2019/083539 WO2019201346A1 (zh) | 2018-04-19 | 2019-04-19 | 自移动设备、服务器及其自动工作系统 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111868743A true CN111868743A (zh) | 2020-10-30 |
Family
ID=68240568
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980019807.0A Pending CN111868743A (zh) | 2018-04-19 | 2019-04-19 | 自移动设备、服务器及其自动工作系统 |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US20210157331A1 (zh) |
| EP (1) | EP3783534B1 (zh) |
| CN (1) | CN111868743A (zh) |
| WO (1) | WO2019201346A1 (zh) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024077708A1 (zh) * | 2022-10-14 | 2024-04-18 | 深圳市正浩创新科技股份有限公司 | 自移动设备的沿边控制方法、介质及自移动设备 |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190332848A1 (en) * | 2018-04-27 | 2019-10-31 | Honeywell International Inc. | Facial enrollment and recognition system |
| CN110989689A (zh) * | 2019-12-16 | 2020-04-10 | 兰州理工大学 | 一种基于自动追踪的机器人系统 |
| USD988372S1 (en) * | 2020-03-24 | 2023-06-06 | Husqvarna Ab | Reference station for robotic mower |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104575489A (zh) * | 2014-12-03 | 2015-04-29 | 嘉兴市德宝威微电子有限公司 | 机器人识别系统 |
| US20180018518A1 (en) * | 2016-07-18 | 2018-01-18 | X Development Llc | Delegation of object and pose detection |
| CN107708938A (zh) * | 2016-04-15 | 2018-02-16 | 深圳前海达闼云端智能科技有限公司 | 一种云机器人系统、机器人及机器人云平台 |
| CN107744370A (zh) * | 2016-07-13 | 2018-03-02 | 艾罗伯特公司 | 自主机器人自动坞接和能量管理系统和方法 |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100437372B1 (ko) * | 2001-04-18 | 2004-06-25 | 삼성광주전자 주식회사 | 이동통신망을 이용한 로봇 청소 시스템 |
| US10115185B2 (en) * | 2014-12-05 | 2018-10-30 | At&T Intellectual Property I, L.P. | Dynamic image recognition model updates |
| CN105095919A (zh) * | 2015-09-08 | 2015-11-25 | 北京百度网讯科技有限公司 | 图像识别方法和装置 |
| CN106407993A (zh) * | 2016-09-13 | 2017-02-15 | 成都创慧科达科技有限公司 | 一种基于图像识别技术的智能语音机器人系统及方法 |
| US10261513B2 (en) * | 2016-12-19 | 2019-04-16 | drive.ai Inc. | Methods for communicating state, intent, and context of an autonomous vehicle |
| US10671925B2 (en) * | 2016-12-28 | 2020-06-02 | Intel Corporation | Cloud-assisted perceptual computing analytics |
| CN106940562B (zh) * | 2017-03-09 | 2023-04-28 | 华南理工大学 | 一种移动机器人无线集群系统及神经网络视觉导航方法 |
-
2019
- 2019-04-19 EP EP19788531.2A patent/EP3783534B1/en active Active
- 2019-04-19 WO PCT/CN2019/083539 patent/WO2019201346A1/zh active Application Filing
- 2019-04-19 US US17/048,566 patent/US20210157331A1/en active Pending
- 2019-04-19 CN CN201980019807.0A patent/CN111868743A/zh active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104575489A (zh) * | 2014-12-03 | 2015-04-29 | 嘉兴市德宝威微电子有限公司 | 机器人识别系统 |
| CN107708938A (zh) * | 2016-04-15 | 2018-02-16 | 深圳前海达闼云端智能科技有限公司 | 一种云机器人系统、机器人及机器人云平台 |
| CN107744370A (zh) * | 2016-07-13 | 2018-03-02 | 艾罗伯特公司 | 自主机器人自动坞接和能量管理系统和方法 |
| US20180018518A1 (en) * | 2016-07-18 | 2018-01-18 | X Development Llc | Delegation of object and pose detection |
| WO2018017499A1 (en) * | 2016-07-18 | 2018-01-25 | X Development Llc | Delegation of object and pose detection |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024077708A1 (zh) * | 2022-10-14 | 2024-04-18 | 深圳市正浩创新科技股份有限公司 | 自移动设备的沿边控制方法、介质及自移动设备 |
Also Published As
| Publication number | Publication date |
|---|---|
| EP3783534B1 (en) | 2024-09-04 |
| US20210157331A1 (en) | 2021-05-27 |
| EP3783534A4 (en) | 2022-01-05 |
| WO2019201346A1 (zh) | 2019-10-24 |
| EP3783534A1 (en) | 2021-02-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111868743A (zh) | 自移动设备、服务器及其自动工作系统 | |
| US11841710B2 (en) | Automatic working system, self-moving device, and methods for controlling same | |
| EP3324261B1 (en) | Automatic lawn mower robot and controlling method associated | |
| EP3373097B1 (en) | Robotic mower with object detection system | |
| CN105070005B (zh) | 一种多旋翼无人飞行器及遥测遥控方法 | |
| US20190049984A1 (en) | Automatic Working System and Control Method Thereof | |
| EP2689650B1 (en) | Trainable autonomous lawn mower | |
| US20230042867A1 (en) | Autonomous electric mower system and related methods | |
| US11882787B1 (en) | Automatic sensitivity adjustment for an autonomous mower | |
| EP4293468A2 (en) | Robotic mower and control method thereof | |
| EP3549422B1 (en) | Work system and work method | |
| CN115279170B (zh) | 一种自动工作系统 | |
| CN114937258A (zh) | 割草机器人的控制方法、割草机器人以及计算机存储介质 | |
| CN211293749U (zh) | 一种用于育种小区测产的田间自行走机器人 | |
| CN111109237A (zh) | 一种基于相机识别的除草机器人系统及其除草方法 | |
| CN116466724A (zh) | 一种机器人的移动定位方法、装置和机器人 | |
| CN110989505A (zh) | 一种基于地面设备机器视觉的无人驾驶指挥调度系统 | |
| US20210263529A1 (en) | Autonomous work machine, control method of autonomous work machine, and storage medium | |
| US20220151146A1 (en) | Energy Efficient Robotic Lawn Mower | |
| CN111474937A (zh) | 一种基于北斗定位的农耕机器人行走控制系统及方法 | |
| US20240119842A1 (en) | Methods and Systems for Coupling Vehicles | |
| US20230086392A1 (en) | Navigation for a robotic work tool system | |
| CN115359340A (zh) | 一种缩小除草机器人系统延时的方法 | |
| WO2023146451A1 (en) | Improved operation for a robotic work tool system | |
| CN114545916A (zh) | 对象检测系统及方法 |
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 |