Title:
AUTOMATIC WORKING SYSTEM, AUTOMATIC WALKING DEVICE AND CONTROL METHOD THEREFOR, AND COMPUTER-READABLE STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2021/184664
Kind Code:
A1
Abstract:
An automatic working system, an automatic walking device (1) and a control method therefor, and a computer-readable storage medium. The control method comprises: obtaining a captured image; processing the captured image to obtain a processed image; dividing the processed image into at least one sub-region; obtaining a region length Ln of each sub-region; counting the number of sub-regions in the processed image that meet Ln>VL, and recording the number as the number Nb of special sub-regions, wherein VL is a preset length threshold; if Nb≤1, determining that the captured image belongs to a lawn region; and if Nb>1, determining that the captured image belongs to a non-complete lawn region. If the number Nb of the special sub-regions is greater than one, it can be determined that there is a large obstacle or boundary (2) and the like in the captured image, the automatic walking device (1) is required to perform operations, such as retreating and turning, for avoidance. Therefore, whether the automatic walking device encounters a boundary (2) or an obstacle during automatic walking can be analyzed more conveniently by analyzing a captured image, and thus the control is also more sensitive and effective.
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Inventors:
ZHU SHAOMING (CN)
REN XUE (CN)
REN XUE (CN)
Application Number:
PCT/CN2020/109283
Publication Date:
September 23, 2021
Filing Date:
August 14, 2020
Export Citation:
Assignee:
SUZHOU CLEVA PRECISION MACHINERY & TECH CO LTD (CN)
International Classes:
G05D1/02
Foreign References:
| CN104111460A | 2014-10-22 | |||
| CN109658432A | 2019-04-19 | |||
| CN108267752A | 2018-07-10 | |||
| CN106489103A | 2017-03-08 | |||
| CN104239886A | 2014-12-24 | |||
| EP3603371A2 | 2020-02-05 |
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