Title:
SELF-MOVING SURFACE WALKING ROBOT AND IMAGE PROCESSING METHOD THEREFOR
Document Type and Number:
WIPO Patent Application WO/2016/034104
Kind Code:
A1
Abstract:
A self-moving surface walking robot and an image processing method therefor. The method comprises: S1: acquiring, by a robot, an environmental image; S2: carrying out edge binarization processing on the environmental image to obtain a binary image containing edge pixel points and background pixel points; S3: scanning the binary image to obtain two adjacent edge pixel points A and B with a distance therebetween less than or equal to a maximum pixel width threshold value of the edge pixel point; S4: judging whether the pixel points A and B are two adjacent floor edge pixel points; if so, entering S5; otherwise, returning to S3; S5: eliminating the floor edge pixel points A and B in S4; and S6: repeating the steps S3, S4 and S5 until all floor edge pixel points in the binary image are eliminated. The method can effectively remove a floor edge line and can help to improve the accuracy and reliability for identifying an obstacle.
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Inventors:
TANG JINJU (CN)
Application Number:
PCT/CN2015/088757
Publication Date:
March 10, 2016
Filing Date:
September 01, 2015
Export Citation:
Assignee:
ECOVACS ROBOTICS CO LTD (CN)
International Classes:
G05D1/02; G06K9/00
Foreign References:
| CN102613944A | 2012-08-01 | |||
| CN103853154A | 2014-06-11 | |||
| CN102541063A | 2012-07-04 | |||
| US20130338831A1 | 2013-12-19 | |||
| JP3922126B2 | 2007-05-30 |
Attorney, Agent or Firm:
BEIJING SUNHOPE INTELLECTUAL PROPERTY LTD. (CN)
北京信慧永光知识产权代理有限责任公司 (CN)
北京信慧永光知识产权代理有限责任公司 (CN)
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