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Robot edgewise working method and system, robot and readable storage medium

A working method and robot technology, applied in control/adjustment systems, instruments, motor vehicles, etc., can solve problems such as low precision and increased coil cost

Pending Publication Date: 2021-12-17
SUZHOU CLEVA PRECISION MACHINERY & TECH +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this solution is judged by means of magnetic field strength induction, and the accuracy is low; further, when it is necessary to identify the inflection point, it is necessary to increase the cost of the coil

Method used

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  • Robot edgewise working method and system, robot and readable storage medium
  • Robot edgewise working method and system, robot and readable storage medium
  • Robot edgewise working method and system, robot and readable storage medium

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Embodiment Construction

[0054]The present invention will be described in detail below with reference to the embodiments shown in the drawings. However, these embodiments do not limit the invention, and those skilled in the art are included in the scope of the invention in accordance with the structures, methods, or functional transformations of the present invention in accordance with these embodiments.

[0055] The robot system according to the present invention may be a mowing robot system, the robot cleaning system, the system snowplow, leaf suction systems, golf ball pickup system, etc., various systems can be self-propelled and to the working area corresponding to the work, the present specific examples of the invention, the robot mower robot system to do system as an example specifically described, accordingly, the working area may be a lawn.

[0056] like figure 2 , The mowing robot system according to the present invention comprises: mowing robot (RM), the charging station 20, the boundary 30.

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PUM

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Abstract

The invention provides a robot edgewise working method and system, a robot and a readable storage medium. The method comprises the following steps: acquiring an original image; converting the original image into a binary image, wherein the binary image comprises a working area with a first pixel value and a non-working area with a second pixel value; on the basis of the binary image, obtaining a first rectangular contour which encloses the working area and is minimum and a second rectangular contour which encloses the non-working area and is minimum; and according to the first rectangular contour and the second rectangular contour, judging whether the robot reaches a turning point of the edgewise working path. A working area and a non-working area are distinguished according to images shot by a camera on the robot, and whether the robot reaches a turning point of an edge working path or not is determined according to division of the working area; therefore, the robot with the camera can execute an edge mowing function through visual identification of the boundary.

Description

Technical field [0001] The present invention relates to the field of intelligent control, and particularly to a robot border working methods, systems, and robot-readable storage medium. Background technique [0002] Low repetition rate, high coverage is traversing robot such as vacuuming, mowing and pool cleaning robot to move the goal. [0003] Mobile intelligent robot mower robot as an example, an electronic robot mowing lawn boundary enclose the work area, and performs mowing during walking and the border, as guided by the electronic boundary direction. [0004] Combine figure 1 , The rear end to end to the boundary line L, the operation region A enclosed therein formed robot, i.e. turf areas; outside thereof is formed a non-working area of ​​the robot B, i.e., the boundary region; to 1-a on the boundary line L as a starting point, clockwise rotation described as an example: the robot edgewise during mowing, will encounter each inflection outer (convex inflection point), the i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/34G06K9/46G05D1/02
CPCG05D1/0246G06F18/00
Inventor 朱绍明任雪
Owner SUZHOU CLEVA PRECISION MACHINERY & TECH