Automatic walking equipment and working region judgment method thereof

A technology of automatic walking equipment and working area, which is applied in the direction of instruments, character and pattern recognition, two-dimensional position/channel control, etc., can solve the problems of inflexibility, trouble, time-consuming and laborious, etc., and achieve the effect of flexible recognition

Inactive Publication Date: 2014-10-22
POSITEC POWER TOOLS (SUZHOU) CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The process of boundary wiring is cumbersome, time-consuming and laborious, and there may be non-grass areas within the boundary line, or areas that need to be mowed outside the boundary line. The method of using a physical boundary line is inflexible and inconvenient

Method used

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  • Automatic walking equipment and working region judgment method thereof
  • Automatic walking equipment and working region judgment method thereof
  • Automatic walking equipment and working region judgment method thereof

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Experimental program
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other Embodiment approach

[0076] In other embodiments, the main control module 31 can also perform texture analysis first, and then perform color recognition, as long as the proportion of the predetermined color in a sub-image block reaches or exceeds the first preset value and the texture feature value reaches or exceeds the second preset value. preset value, the main control module 32 identifies the sub-area corresponding to the sub-image block as the working area 5 . The above method of distinguishing the working area 5 and the non-working area 7 is only exemplary, and in a similar way, the main control module 31 can also use other algorithms to process the image to distinguish the working area 5 and the non-working area 7 . For example, the predetermined block is divided into more sub-regions to improve the accuracy of location recognition, and the shape of the predetermined block is changed, such as fanned to cover a wider field of view, and so on.

[0077] The process of controlling the walking d...

other Embodiment approach

[0080] In other embodiments, the steering control unit 319 further adjusts the walking direction of the automatic walking device 1 according to the change trend of the green proportion or the change trend of the green dispersion in the middle area a when turning. When the self-propelled device 1 turns to the right, the green ratio in the middle area a becomes larger or the green dispersion becomes larger, then the steering control unit 319 controls the self-propelled device 1 to continue to turn to the right; on the contrary, if the self-propelled device 1 turns right When turning, if the proportion of green in the middle area a becomes smaller or the green dispersion becomes smaller, the steering control unit 319 controls the automatic walking device 1 to stop turning to the right, and then turn to the left.

[0081] Please refer to Figure 6 , the present invention also provides a kind of working area judging method of self-propelled equipment 1, the first preferred embodime...

other Embodiment approach

[0113]In other embodiments, the main control module 31 further adjusts the walking direction of the automatic walking device 1 according to the change trend of the green proportion or the change trend of the green dispersion in the middle area a when turning.

[0114] Please refer to Figure 9 , when the automatic walking device 1 turns to the right, the proportion of green in the middle area a becomes larger or the green dispersion becomes larger, then the main control module 31 controls the automatic walking device 1 to continue to turn right; on the contrary, if the automatic walking device 1 turns to the right When turning right, if the proportion of green in the middle area a becomes smaller or the green dispersion becomes smaller, the main control module 31 controls the automatic walking device 1 to stop turning right, and then turn left.

[0115] In the method for judging the working area of ​​the present invention, the image in front of the automatic walking device 1 i...

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Abstract

The invention discloses a piece of automatic walking equipment and a working region judgment method thereof. The method comprises the following steps: an image of a target region is shot; the image is divided into a plurality of sub image blocks; colors of pixels of at least one sub image block are extracted; the proportion of a predetermined color in the sub image block is calculated and compared with a first preset value; the texture feature value of the sub image block is extracted and compared with a second preset value; and a sub region corresponding to the sub image block is judged as the working region when the proportion of the predetermined color in one sub image block of the image reaches or exceeds the first preset value and the texture feature value reaches or exceeds the second preset value. Therefore, the working system is enabled to be simple and user-friendly, and working region identification is flexible and convenient.

Description

technical field [0001] The invention relates to an automatic walking device and a method for judging its working area. Background technique [0002] With the continuous advancement of computer technology and artificial intelligence technology, automatic walking equipment similar to intelligent robots has slowly entered people's lives. Companies such as Samsung and Electrolux have developed fully automatic vacuum cleaners and have put them into the market. This kind of fully automatic vacuum cleaner is usually small in size and integrates environmental sensors, self-driving system, vacuum system, battery and charging system. It can cruise indoors by itself without manual control, and automatically return to the docking station when the energy is low, docking and charging. Then go on cruise vacuuming. At the same time, companies such as Haskovana have developed similar smart lawn mowers, which can automatically mow and recharge the user's lawn without user intervention. Sin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G06K9/00
Inventor 田角峰刘瑜
Owner POSITEC POWER TOOLS (SUZHOU) CO LTD
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