CN114868095A - 自移动设备 - Google Patents
自移动设备 Download PDFInfo
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- CN114868095A CN114868095A CN202180005855.1A CN202180005855A CN114868095A CN 114868095 A CN114868095 A CN 114868095A CN 202180005855 A CN202180005855 A CN 202180005855A CN 114868095 A CN114868095 A CN 114868095A
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Classifications
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- 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
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
一种自移动设备(100)，包括：壳体(110)、移动模块(130)、工作模块(102)、图像采集装置(140)及用于自主控制移动模块(130)带动所述壳体(110)移动，并自主控制工作模块(102)执行预设工作任务的控制模块(101)；自移动设备(100)包括沿边模式，在沿边模式下，控制模块(101)被配置为：根据图像采集装置(140)采集的所处环境图像，判断环境图像中非工作区域与工作区域的占比是否超过阈值；若超过，则：将环境图像中的工作区域边界拟合成拟合边界线(31)；根据拟合边界线(31)生成一个目标点(D)；控制自移动设备(100)移动到目标点(D)；控制自移动设备(100)沿工作区域边界移动。
Description
PCT国内申请，说明书已公开。
Claims (25)
- PCT国内申请，权利要求书已公开。
Applications Claiming Priority (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2020100112002 | 2020-01-06 | ||
| CN202010011200 | 2020-01-06 | ||
| CN202010565814 | 2020-06-19 | ||
| CN2020105658145 | 2020-06-19 | ||
| CN2020106421194 | 2020-07-06 | ||
| CN202010642119.4A CN113156929B (zh) | 2020-01-06 | 2020-07-06 | 自移动设备 |
| PCT/CN2021/070477 WO2021139683A1 (zh) | 2020-01-06 | 2021-01-06 | 自移动设备 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114868095A true CN114868095A (zh) | 2022-08-05 |
Family
ID=76787451
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202180005855.1A Pending CN114868095A (zh) | 2020-01-06 | 2021-01-06 | 自移动设备 |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114868095A (zh) |
| WO (2) | WO2021139414A1 (zh) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118707934A (zh) * | 2023-03-22 | 2024-09-27 | 苏州科瓴精密机械科技有限公司 | 自移动设备控制方法及自移动设备 |
| CN116901085B (zh) * | 2023-09-01 | 2023-12-22 | 苏州立构机器人有限公司 | 智能机器人避障方法、装置、智能机器人及可读存储介质 |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102682292B (zh) * | 2012-05-10 | 2014-01-29 | 清华大学 | 基于单目视觉的道路边缘检测及粗定位方法 |
| CN102929280B (zh) * | 2012-11-13 | 2015-07-01 | 朱绍明 | 移动式机器人分离式视觉定位导航方法及其定位导航系统 |
| CN104111651A (zh) * | 2013-04-22 | 2014-10-22 | 苏州宝时得电动工具有限公司 | 自动行走设备及其向停靠站回归的方法 |
| JP6280020B2 (ja) * | 2014-10-28 | 2018-02-14 | セコム株式会社 | 移動物体追跡装置 |
| CN106325271A (zh) * | 2016-08-19 | 2017-01-11 | 深圳市银星智能科技股份有限公司 | 智能割草装置及智能割草装置定位方法 |
| CN106371459B (zh) * | 2016-08-31 | 2018-01-30 | 京东方科技集团股份有限公司 | 目标跟踪方法及装置 |
| JP2018097526A (ja) * | 2016-12-12 | 2018-06-21 | 株式会社クボタ | 作業車 |
| CN110362069A (zh) * | 2018-03-26 | 2019-10-22 | 智棋科技股份有限公司 | 控制机器人的方法 |
| CN110612806B (zh) * | 2018-06-19 | 2021-04-20 | 灵动科技（北京）有限公司 | 一种智能割草机 |
| CN110597253B (zh) * | 2019-09-05 | 2022-12-09 | 珠海一微半导体股份有限公司 | 机器人的控制方法和芯片及激光式清洁机器人 |
| CN110580047B (zh) * | 2019-09-17 | 2022-09-09 | 尚科宁家(中国)科技有限公司 | 一种自主机器人的防跌落行进方法及自主机器人 |
| CN110632929B (zh) * | 2019-09-27 | 2022-10-14 | 珠海一微半导体股份有限公司 | 一种自动遛娃过程中的危险规避方法 |
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2020
- 2020-11-18 WO PCT/CN2020/129821 patent/WO2021139414A1/zh active Application Filing
-
2021
- 2021-01-06 WO PCT/CN2021/070477 patent/WO2021139683A1/zh active Application Filing
- 2021-01-06 CN CN202180005855.1A patent/CN114868095A/zh active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021139683A1 (zh) | 2021-07-15 |
| WO2021139414A1 (zh) | 2021-07-15 |
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