CN113163126A - Image acquisition system and method - Google Patents
Image acquisition system and method Download PDFInfo
- Publication number
- CN113163126A CN113163126A CN202011564893.4A CN202011564893A CN113163126A CN 113163126 A CN113163126 A CN 113163126A CN 202011564893 A CN202011564893 A CN 202011564893A CN 113163126 A CN113163126 A CN 113163126A
- Authority
- CN
- China
- Prior art keywords
- light source
- light
- image acquisition
- module
- acquisition module
- 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 description 13
- 241000238631 Hexapoda Species 0.000 claims abstract description 19
- 230000002319 phototactic effect Effects 0.000 claims abstract description 12
- 238000005286 illumination Methods 0.000 claims abstract description 10
- 241000256626 Pterygota <winged insects> Species 0.000 abstract description 12
- 230000029264 phototaxis Effects 0.000 abstract description 5
- 230000003287 optical effect Effects 0.000 abstract description 2
- 238000004140 cleaning Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 239000013589 supplement Substances 0.000 description 3
- 241001417527 Pempheridae Species 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241000255925 Diptera Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004313 glare Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/71—Circuitry for evaluating the brightness variation
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
- H04N23/84—Camera processing pipelines; Components thereof for processing colour signals
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Studio Devices (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention relates to an image acquisition system, which is applied to self-moving equipment and comprises: the image acquisition module is used for acquiring image information of the working environment of the mobile equipment; the light source module comprises a first light source and a second light source, the first light source is used for providing illumination for the image acquisition module, and the second light source is used for attracting phototactic flying insects; and the control module is electrically connected with the image acquisition module, the optical sensor and the light source module and is used for controlling the second light source to be started or to be started under the condition of meeting the preset condition according to the working state of the first light source and/or the image information. By the image acquisition system provided by the invention, phototaxis winged insects can be attracted to the side far away from the image acquisition module, so that the winged insects are prevented from influencing the normal work of the image acquisition module.
Description
Technical Field
The invention relates to the technical field of image acquisition, in particular to an image acquisition system and method.
Background
Currently, with the development of digital image technology and automation technology, an image acquisition module is often installed on a self-moving device. The self-moving equipment with the image acquisition module not only can acquire the working environment information in real time, but also can save a large number of various sensors configured for acquiring the working environment information in the past. Therefore, the application fields of the method are wider and wider, such as the fields of automatic house cleaning, lawn trimming and the like.
The working condition environment is more complex especially for the self-moving equipment working outdoors. For example, when the self-moving device with the image acquisition module operates in dark environments such as at night, extra light is often needed to be supplemented, but bright light enables outdoor phototaxis winged insects to surround the image acquisition module all the time, so that the main controller misjudges that obstacles exist around the automatic walking device, the device always performs obstacle avoidance or shutdown operation, and misjudgment is generated.
The common solution is to reduce the intensity of the fill-in light, but insufficient light intensity will affect the quality of the image collected by the image collection module, and also affect the accuracy of the detection result. Therefore, a new technical solution is needed to solve the above technical problems.
Disclosure of Invention
In order to solve the above technical problem, a technical solution of the present invention is to provide an image capturing system applied to a self-moving device, including: the image acquisition module is used for acquiring image information of the working environment of the mobile equipment; the light source module comprises a first light source and a second light source, the first light source is used for providing illumination for the image acquisition module, and the second light source is used for attracting phototactic flying insects; and the control module is electrically connected with the image acquisition module and the light source module and is used for controlling the second light source to be started or started under the condition of meeting the preset condition according to the working state of the first light source and/or the image information.
In a specific embodiment, the first light source includes visible light and/or invisible light, and the second light source is any one of ultraviolet light or a combination of ultraviolet light and at least one of visible light and near infrared light.
In a specific embodiment, the system further includes an ambient light sensor for detecting light intensity of the working environment, and if the detected light intensity is smaller than a preset value, the first light source is controlled to be turned on.
In a specific embodiment, the controlling the second light source to turn on according to the working state of the first light source includes: and if the first light source is started, controlling the second light source to be started.
In a specific embodiment, the preset condition is that the image information indicates that phototactic flying insects exist around the automatic walking device.
In a specific embodiment, after the controlling the second light source to turn on under the preset condition is met, the controlling further includes: reducing the brightness of the second light source.
In a specific embodiment, the light source module further includes a reflector disposed between the first light source and the second light source, for reflecting the light irradiation direction of the second light source to a direction deviating from the light irradiation direction of the first light source.
In a specific embodiment, the second light source is detachably mounted on the automatic walking device.
In a specific embodiment, the light source module includes a coaxial annular light source, a first light source and a second light source of the annular light source are arranged around the circumference of the image acquisition module, the first light source is arranged at a side close to the image acquisition module, and the second light source is arranged at a side far from the image acquisition module.
In a specific embodiment, the light source module is a strip-shaped combined light source, the first light source is arranged near the circumferential direction of the image acquisition module, and the second light source is arranged at one side far away from the image acquisition module.
The invention also provides a method for using the image acquisition system, which is applied to an automatic walking device, wherein the automatic walking device comprises a light source module, the light source module comprises a first light source and a second light source, the first light source is used for providing illumination for the image acquisition module, the second light source is used for attracting phototactic flying insects, and the method comprises the following steps: acquiring image information of the working environment of the self-mobile equipment; and controlling the second light source to be started or started under the condition of meeting a preset condition according to the working state of the first light source and/or the image information.
According to the image acquisition system applied to the self-moving equipment, the first light source and the second light source are matched for use, so that when the equipment works for light supplement in a dark environment, phototaxis flying insects surround the lens or are adhered to the lens, the quality of acquired image information is not influenced, and further misjudgment of the automatic walking equipment on the surrounding environment due to the influence of the flying insects is avoided.
Drawings
The technical problems, technical solutions, and advantages of the present invention described above will be clearly understood from the following detailed description of preferred embodiments of the present invention, which is to be read in connection with the accompanying drawings.
The same reference numbers and symbols in the drawings and the description are used to indicate the same or equivalent elements.
FIG. 1 is a schematic diagram of a self-moving device in an embodiment of the invention;
FIG. 2 is a schematic diagram of a self-moving device from another perspective in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a light source module in an embodiment of the invention;
fig. 4 is a schematic diagram of a light source module using a ring light source according to an embodiment of the present invention.
Detailed Description
The following detailed description and technical contents of the present invention are described with reference to the accompanying drawings, however, the accompanying drawings only provide references and explanations, and do not limit the present invention.
As shown in fig. 1-2, an embodiment of the present invention provides a self-moving device 100, which includes a housing 10, a moving module 20 mounted on the housing, the moving module being configured to support the self-moving device and move the self-moving device, the moving module including a wheel set mounted on the housing and a driving motor for driving the wheel set to operate; also included is a work module mounted on the housing 10 for performing work tasks, the work module being of a different type in different types of self-moving equipment, such as a cutting module for performing cutting tasks when the self-moving equipment is garden lawnmower, robotic lawnmower, or the like. For example, when the self-moving device is a cleaning robot such as a floor sweeper, a mopping machine, etc., the work module is a cleaning module for performing cleaning tasks.
The self-moving device 100 in the embodiment of the present invention further includes an image capturing module 30 mounted on the housing, and the image capturing module 30 is used for obtaining image information of the working environment of the self-moving device 100, understandably, the image capturing module 30 is, for example, a camera rotatably mounted on the housing, and captures an image of a target through the camera, so as to identify the target to identify a boundary of a working area, or to establish a map of the working area, or to identify an obstacle to avoid the obstacle, and the specific function of the image capturing module is not limited.
The self-moving device 100 in the embodiment of the present invention further includes a light source module 40, the light source module 40 includes a first light source 41 and a second light source 42, the first light source 41 is used for providing illumination for the image acquisition module, and the second light source 42 is used for attracting the phototactic flying insects, for example, at night. Under the working scene of uneven light or insufficient brightness, auxiliary illumination is provided for image acquisition of the image acquisition module 30 through the first light source 41, the image quality acquired by the image acquisition module 30 is improved, the accuracy of a detection result is improved, meanwhile, the first light source and the second light source are matched for use, when the first light source is started, the second light source is used for attracting phototaxis winged insects, so that when the equipment is used for light supplement operation in a dark environment, the quality of acquired image information cannot be influenced due to the fact that the phototaxis winged insects surround the lens or are adhered to the lens, and further misjudgment of the automatic walking equipment on the surrounding environment due to the influence of the winged insects is avoided.
The self-moving device 100 further includes a control module 50 electrically connected to the image capturing module 30 and the light source module 40, and configured to control the second light source to be turned on or turned on when a preset condition is met according to the operating state of the first light source and/or the image information. The influence of the phototactic flying insects on image shooting under the light supplement condition has the following aspects: 1) the winged insects are too close to the lens or fly around the machine all the time, the winged insects can exist in the pictures or videos shot by the camera of the image acquisition module, and obstacles exist in the image information calculated through an image recognition algorithm, so that the equipment makes wrong obstacle avoidance actions. 2) Flying insects adhere to the lens, resulting in deterioration of image quality, thereby reducing the rate of obstacle recognition. In order to solve the above problem, the technical solution proposed by the present invention controls the second light source to be turned on or turned on under a condition that a preset condition is satisfied according to the operating state of the first light source and/or the image information. The beneficial effect of expelling winged insects can be achieved, interference can not be generated between the first light source and the second light source, and the shooting quality of images is guaranteed.
Understandably, a working module, a moving module, etc. electrically connected to the above modules may be further provided in the housing 10. The self-moving device 100 may be an automatic or semi-automatic machine such as an intelligent lawn mower, a cleaning robot, an intelligent snow sweeper, an intelligent sprinkler, an intelligent camera robot, or the like. In embodiments described herein below, the self-moving device is a smart lawn mower. The self-moving device further includes a power module and the like, which are not described herein again.
In another embodiment of the present invention, as shown in fig. 3, the light source module 41 includes a first light source 41, a second light source 42, a control circuit 43, and an ambient light sensor 44 electrically connected to a control circuit 60. The ambient light sensor 43 detects the intensity of the ambient light, and transmits the detection result to the control circuit 42, and the control circuit controls whether the first light source 41 and the second light source 42 emit light outwards or stop emitting light outwards. And the ambient light sensor is used for detecting the light intensity of the working environment, and if the light intensity is weaker, the control circuit 43 controls to turn on the first light source when detecting that the current is lower than a preset value, and the first light source is used for providing illumination for the image acquisition module. The control circuit 43 controls the second light source to be turned on according to the working state of the first light source. For example: and if the first light source is started, controlling the second light source to be directly started. The light source module 40 can be powered by the power module of the mobile device 100, and the light source module 40 includes a conversion circuit for converting the power provided by the power module of the mobile device 100 into its own available constant current power. A power supply module can be independently arranged to supply power to the power supply module.
Preferably, the wavelengths of the light sources generated by the first light source 41 and the second light source 42 are different. The first light source comprises visible light and/or invisible light, and the second light source is any one of ultraviolet light or combination light of ultraviolet light and at least one of visible light and near infrared light. The first light source is used to provide illumination for the image acquisition module, for example: the light source emitted by the first light source is invisible, such as near infrared light, and the wavelength range is 780-2526 nm. The near-infrared light is one of invisible light sources, and can prevent the light emitted by the light source module 40 from entering human eyes to cause glare and the like. The second light source is any one of ultraviolet light or combination light of ultraviolet light and at least one of visible light and near infrared light, the wavelength range of long-wave ultraviolet light is about 315-400 nanometers, the second light source has a good effect on attracting flying insects, and the second light source can adopt the ultraviolet light alone. In addition, because different types of flying insects have different sensitivities to light with different wavelengths, only the second light source 42 with the same wavelength is difficult to attract all types of mosquitoes, so the second light source 42 can be any one of the combination of ultraviolet light and visible light, the combination of ultraviolet light and near infrared light or the combination of ultraviolet light, visible light and near infrared light, the combination of multi-band light sources is realized, and the flying insects are better attracted.
In another embodiment of the present invention, the second light source 42 is controlled to be turned on or turned on when a preset condition is satisfied according to the operating state of the first light source 41 and/or the image information. As described above, when the first light source 41 is turned on, the second light source 42 is also turned on, and although the solution can achieve the object of the present invention, the turning on of the dual light sources can increase the energy consumption of the battery and reduce the working time of the automatic walking device. The present invention further provides a preferred embodiment, when the first light source 41 is turned on, the image detection module is first activated to capture an environmental image around the automatic walking device, and when the image information indicates that phototactic flying insects exist around the automatic walking device, the second light source 42 is then turned on. For example: optical flow methods can be used to detect the presence of small objects moving rapidly in the field of view from the pictures or videos taken. After the second light source is controlled to be started under the condition that the preset condition is met, if the situation that the number of winged insects in the image information acquired by the image acquisition module is less is detected, the brightness of the second light source can be reduced.
In an embodiment of the present invention, the light source module 40 further includes a reflector disposed between the first light source 41 and the second light source 42, and configured to reflect the light irradiation direction of the second light source 42 to a direction deviating from the light irradiation direction of the first light source 41. If the first light source 41, the second light source 42 and the image capturing module 30 are disposed on the same module or the second light source 42 is disposed near the first light source 41, the dual light sources may interfere with or negatively affect the normal operation of the image capturing module, and for this reason, a reflector is disposed between the first light source 41 and the second light source 42 to reflect the light of the second light source 42 to a direction deviating from the light of the first light source 41, so that the flying insects tend to the direction of the second light source 42.
The light source module 40 of this embodiment may also be integrated with the image capturing module 30 or the second light source may be detachably mounted on the automatic walking device. For example, the light source module is disposed around the image capturing module 30, so as to improve the uniformity of the light emitted from the light source module 40 and facilitate the control of the first light source and the second light source. Specifically, as shown in the embodiment of fig. 4, the light emitting bodies 41 of the light source module 40 are disposed around the circumference of the image capturing module 30 to form a ring-shaped light source, and the uniformity of the light emitted from the ring-shaped light source to the working environment is high, and specifically, the ring-shaped light source and the image capturing module 30 may be disposed in front of the mobile device 100. The first light source 41 and the second light source 42 of the annular light source are arranged around the circumference of the image acquisition module, the first light source 41 is arranged at one side close to the image acquisition module, and the second light source 42 is arranged at one side far away from the image acquisition module. In addition, a reflector may be disposed between the first light source 41 and the second light source 42 to control the second light source 42 to project in a different direction from the first light source 41. With the configuration shown in fig. 4, the second light source 42 can be attached/detached to/from the entire ring-shaped light source module as needed.
In another embodiment of the present application, the light source module 40 is a bar-shaped combined light source, which is disposed around the circumference of the image capturing module 30, and like a ring-shaped light source, the uniformity of the light emitted to the working environment is high. The light source system is a strip-shaped combined light source, the first light source is close to the circumferential direction of the image acquisition module, and the second light source is arranged on one side far away from the image acquisition module.
The light source module 40 of the above-mentioned several kinds of structures emits the light source uniformity all higher, simple structure, simple to operate, saving space, and can realize relying on the second light source to attract the phototactic winged insect, avoid the winged insect to influence the effect of the normal work of the image acquisition module, can improve the image acquisition quality of the image acquisition module effectively, guarantee the recognition rate.
Another embodiment of the present invention also provides a method using the image capturing system as described above, the method being applied to an automatic walking device, the automatic walking device including a light source module, the light source module including a first light source and a second light source, the first light source being used for providing illumination for the image capturing module, the second light source being used for attracting phototactic flying insects, the method including: acquiring image information of the working environment of the self-mobile equipment; and controlling the second light source to be started or started under the condition of meeting a preset condition according to the working state of the first light source and/or the image information.
In addition, the image capturing system includes a light sensor that can automatically detect the intensity of the external light, transmit the detection result to the control circuit, analyze the brightness of the external light source, automatically adjust the brightness and/or color temperature of the light source emitted from the first light source 41 of the light source module 40, for example, when the brightness of the external light is high enough for the image acquisition module to acquire the required brightness, the control circuit automatically reduces the brightness and/or color temperature of the light source emitted by the first light source 41 or turns off the first light source 41, so as to achieve the purpose of energy saving, meanwhile, the second light source 42 can change with the adjustment of the brightness and/or color temperature of the first light source 41, does not affect the normal collection of the environment image by the image collection module, in the event that fewer nearby flying insects are detected, the second light source 42 is suitably turned off or turned on intermittently/periodically.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. An image acquisition system applied to a self-moving device comprises:
the image acquisition module is used for acquiring image information of the working environment of the mobile equipment;
the light source module comprises a first light source and a second light source, the first light source is used for providing illumination for the image acquisition module, and the second light source is used for attracting phototactic flying insects;
and the control module is electrically connected with the image acquisition module and the light source module and is used for controlling the second light source to be started or started under the condition of meeting the preset condition according to the working state of the first light source and/or the image information.
2. The system of claim 1, wherein the first light source comprises visible light and/or invisible light and the second light source is any one of ultraviolet light or a combination of ultraviolet light and at least one of visible light and near infrared light.
3. The system of claim 1, further comprising an ambient light sensor for detecting a light intensity of the working environment and controlling the first light source to be turned on if the detected light intensity is less than a predetermined value.
4. The system of claim 3, wherein the means for controlling the second light source to turn on based on the operating status of the first light source comprises:
and if the first light source is started, controlling the second light source to be started.
5. The self-moving device according to claim 1, wherein the preset condition is that the image information indicates that phototactic flying insects exist around the self-moving device.
6. The self-moving device as claimed in claim 1 or 5, wherein the controlling the second light source further comprises, after the preset condition is satisfied, turning on: reducing the brightness of the second light source.
7. The mobile device of claim 1, wherein the light source module further comprises a reflector disposed between the first light source and the second light source for reflecting the light irradiation direction of the second light source to a direction away from the light irradiation direction of the first light source.
8. The self-propelled device of claim 1, wherein the second light source is removably mounted on the self-propelled device.
9. The self-moving apparatus according to claim 1, wherein the light source system comprises a coaxial ring light source, a first light source and a second light source of the ring light source are arranged around the circumference of the image acquisition module, the first light source is arranged at a side close to the image acquisition module, and the second light source is arranged at a side far from the image acquisition module.
10. The self-moving device as claimed in claim 1, wherein the light source system is a bar-shaped combined light source, the first light source is disposed near the circumference of the image acquisition module, and the second light source is disposed at a side far from the image acquisition module.
11. A method of using the image acquisition system of any one of claims 1-10, the method applied to an autonomous walking device comprising a light source module comprising a first light source for providing illumination to the image acquisition module and a second light source for attracting phototactic flying insects, the method comprising:
acquiring image information of the working environment of the self-mobile equipment;
and controlling the second light source to be started or started under the condition of meeting a preset condition according to the working state of the first light source and/or the image information.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010006580 | 2020-01-03 | ||
| CN2020100065800 | 2020-01-03 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113163126A true CN113163126A (en) | 2021-07-23 |
Family
ID=76878042
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010116164.6A Pending CN113163125A (en) | 2020-01-03 | 2020-02-25 | Self-moving equipment |
| CN202011564893.4A Pending CN113163126A (en) | 2020-01-03 | 2020-12-25 | Image acquisition system and method |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010116164.6A Pending CN113163125A (en) | 2020-01-03 | 2020-02-25 | Self-moving equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN113163125A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114680732A (en) * | 2020-12-25 | 2022-07-01 | 苏州宝时得电动工具有限公司 | Cleaning robot and cleaning control method thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104797033A (en) * | 2014-01-17 | 2015-07-22 | 苏州宝时得电动工具有限公司 | Automatic working equipment |
| CN108777782A (en) * | 2018-07-27 | 2018-11-09 | 黄小翠 | A kind of outdoor monitoring device of computer control |
| CN110363754A (en) * | 2019-07-16 | 2019-10-22 | 上海秒针网络科技有限公司 | Mosquito killer lamp adjusting method and device, storage medium and electronic device |
| WO2019234384A1 (en) * | 2018-06-05 | 2019-12-12 | Dyson Technology Limited | A mobile robot and method of controlling a mobile robot illumination system |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101398142B1 (en) * | 2012-09-04 | 2014-06-27 | 엘지전자 주식회사 | Moving robot and driving method of the same |
| CN106258166A (en) * | 2015-05-14 | 2017-01-04 | 苏州宝时得电动工具有限公司 | Self-movement robot |
| CN108574804A (en) * | 2018-07-04 | 2018-09-25 | 珠海市微半导体有限公司 | A kind of Light Source Compensation system and method for vision robot |
-
2020
- 2020-02-25 CN CN202010116164.6A patent/CN113163125A/en active Pending
- 2020-12-25 CN CN202011564893.4A patent/CN113163126A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104797033A (en) * | 2014-01-17 | 2015-07-22 | 苏州宝时得电动工具有限公司 | Automatic working equipment |
| WO2019234384A1 (en) * | 2018-06-05 | 2019-12-12 | Dyson Technology Limited | A mobile robot and method of controlling a mobile robot illumination system |
| CN108777782A (en) * | 2018-07-27 | 2018-11-09 | 黄小翠 | A kind of outdoor monitoring device of computer control |
| CN110363754A (en) * | 2019-07-16 | 2019-10-22 | 上海秒针网络科技有限公司 | Mosquito killer lamp adjusting method and device, storage medium and electronic device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113163125A (en) | 2021-07-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2620050B1 (en) | System, method and apparatus for unsupervised adaptation of the perception of an autonomous mower | |
| CN106102446A (en) | Automatic mower | |
| US10669040B2 (en) | Aircraft control method and apparatus and aircraft | |
| US10341573B1 (en) | Aircraft control method and apparatus and aircraft | |
| WO2019080943A1 (en) | Self-moving apparatus, charging station, automatic working system and insect inhibition device | |
| US20210394923A1 (en) | Aircraft control method and apparatus and aircraft | |
| Franzius et al. | Embedded robust visual obstacle detection on autonomous lawn mowers | |
| KR101457985B1 (en) | A Smart Control System for Chicken Firm Lighting | |
| US11136138B2 (en) | Aircraft control method and apparatus and aircraft | |
| CN113163126A (en) | Image acquisition system and method | |
| CN113519485A (en) | Insect suppression device and self-moving equipment | |
| CN113156924A (en) | Control method of self-moving equipment | |
| CN110689507A (en) | Insect type identification device, system and method | |
| WO2021136122A1 (en) | Image acquisition system and method | |
| KR20100033001A (en) | The circuit extirpating the nocturnal animal | |
| CN201955679U (en) | Intelligent household service robot | |
| KR100895486B1 (en) | Apparatus of capturing flyig insect with automatic on-off control using photo diode | |
| CN113064452B (en) | Aircraft lighting method and device and aircraft | |
| CN115668969A (en) | Self-propelled carrier | |
| JP2022104060A (en) | Flight type robot, control program of flight type robot, and control method of flight type robot | |
| CN111735015A (en) | Landscape type solar street lamp and insect killing lamp integrated lamp | |
| WO2021056179A1 (en) | Intelligent auxiliary lighting system, method and device, and movable platform | |
| KR20170071852A (en) | House for an unmanned device hydatid | |
| CN220156585U (en) | Self-moving equipment and light supplementing assembly | |
| CN108382584A (en) | A kind of agricultural deinsectization bird repellent UAV system |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210723 |
|
| RJ01 | Rejection of invention patent application after publication |