Title:
AUTOMATIC WALKING DEVICE AND CONTROL METHOD THEREFOR, AND READABLE STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2022/000878
Kind Code:
A1
Abstract:
An automatic walking device (1) and a control method therefor, and a computer-readable storage medium. The control method comprises: performing contour detection on an acquired photographed image to obtain a boundary (2), the center position O of the automatic walking device (1) being located on one edge of the photographed image; obtaining intersection points P1(xr, Yr) and P2(xl, yl) between the boundary (2) and the edge of the photographed image; respectively obtaining the shortest distances lr and ll between P1(xr, Yr) and P2(xl, yl) and the edge where the center position O of the automatic walking device (1) is located; and controlling the rotation direction and the rotation angle of the automatic walking device (1) according to the values of lr and ll. The present invention can not only achieve the function of walking and operating the automatic walking device (1) along the edge, but also achieve the function of operating same according to a predetermined path inside a working area. The two rotation modes of the automatic walking device after encountering the boundary can completely cover the working area, which improves the efficiency.
Inventors:
ZHU SHAOMING (CN)
REN XUE (CN)
REN XUE (CN)
Application Number:
PCT/CN2020/123199
Publication Date:
January 06, 2022
Filing Date:
October 23, 2020
Export Citation:
Assignee:
SUZHOU CLEVA PRECISION MACHINERY & TECH CO LTD (CN)
International Classes:
G05D1/02
Foreign References:
| CN106155053A | 2016-11-23 | |||
| CN111324122A | 2020-06-23 | |||
| CN102771246A | 2012-11-14 | |||
| CN109063575A | 2018-12-21 | |||
| US20080201014A1 | 2008-08-21 | |||
| US20100070125A1 | 2010-03-18 |
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