Title:
METHOD FOR CONTROLLING SELF-MOVING DEVICE TO MOVE ALONG EDGE, AND MEDIUM AND SELF-MOVING DEVICE
Document Type and Number:
WIPO Patent Application WO/2024/077708
Kind Code:
A1
Abstract:
A method for controlling a self-moving device to move along an edge. The method comprises: when it is detected that a self-moving device has moved to a specified area, acquiring an environment image; performing image segmentation processing on the environment image, so as to obtain a segmented image, wherein the image segmentation processing comprises multiple serial target feature extraction operations, each of which comprises multiple parallel convolution operations and a fusion operation for results of the multiple convolution operations, and the segmented image is used for indicating a working area in the environment image and a non-working area in same; extracting a plurality of boundary pixel points between the working area and non-working area in the segmented image, so as to obtain a boundary image; and according to the boundary image, controlling the self-moving device to move along an edge.
Inventors:
ZHANG XUANSHUN (CN)
LIU YUANCAI (CN)
WANG LEI (CN)
CHEN XI (CN)
LIU YUANCAI (CN)
WANG LEI (CN)
CHEN XI (CN)
Application Number:
PCT/CN2022/132388
Publication Date:
April 18, 2024
Filing Date:
November 16, 2022
Export Citation:
Assignee:
ECOFLOW INC (CN)
International Classes:
G05D1/02
Foreign References:
| CN113156924A | 2021-07-23 | |||
| CN113296495A | 2021-08-24 | |||
| CN111868743A | 2020-10-30 | |||
| US20200233413A1 | 2020-07-23 |
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