Self-moving robot
First Claim
1. A self-moving robot, comprisinga shell,a driving module, mounted on the shell and driving the shell to move relative to the ground;
- a working module, mounted on the shell and executing a set working task; and
a controller, mounted on the shell and connected with and controlling the driving module and working module to work,wherein the self-moving robot is characterized by further comprising a light emitter, emitting light in a specific wavelength range to the ground;
an image capturing device, matched with the light emitter to receive the light in the specific wavelength range to form an image based on the light in the specific wavelength range; and
the controller comprises a ground type recognizing module, which extracts features in the image to recognize the ground type in the image,the self-moving robot characterized in that the self-moving robot is a gardening robot, the ground type recognizing module is a grassland recognizing module, and the ground type in the image recognized by the grassland recognizing module is grassland or non-grassland.
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Abstract
The invention discloses a self-moving robot, comprising a light emitter, emitting light in a specific wavelength range to the ground; an image capturing device, matched with the light emitter to receive the light in a specific wavelength range to form an image based on the light in a specific wavelength range; and the controller comprises a ground type recognizing module, which extracts features in the image to recognize the ground type in the image. By disposing the light emitter and the image capturing device which are matched to emit and receive the light in a specific wavelength range, an influence of the ambient light on the image is reduced, such that the self-moving robot can accurately recognize the ground type at every moment and in every location, even at night when there is no light source.
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Citations
15 Claims
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1. A self-moving robot, comprising
a shell, a driving module, mounted on the shell and driving the shell to move relative to the ground; -
a working module, mounted on the shell and executing a set working task; and a controller, mounted on the shell and connected with and controlling the driving module and working module to work, wherein the self-moving robot is characterized by further comprising a light emitter, emitting light in a specific wavelength range to the ground; an image capturing device, matched with the light emitter to receive the light in the specific wavelength range to form an image based on the light in the specific wavelength range; and the controller comprises a ground type recognizing module, which extracts features in the image to recognize the ground type in the image, the self-moving robot characterized in that the self-moving robot is a gardening robot, the ground type recognizing module is a grassland recognizing module, and the ground type in the image recognized by the grassland recognizing module is grassland or non-grassland. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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Specification