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1.发明公开公开(公告)号：US20240099186A1
公开(公告)日：2024-03-28
申请号：US17768011
申请日：2020-08-14
发明人： Shaoming Zhu , Xue Ren
CPC分类号： A01D34/008 , G05D1/0238 , G05D1/0246 , G06T7/11 , A01D2101/00
摘要： A self-working system, a self-walking device, a control method therefor and a computer-readable storage medium are disclosed, wherein the control method may include the following steps: acquiring a captured image; processing the captured image to acquire a processed image; segmenting the processed image into at least one sub-region; respectively acquiring a representative pixel point PLn of each sub-region; calculating, in the processed image, the number of sub-regions of which the representative pixel point PLn is located below a comparison pixel point PC and marking same as the number Nb of special sub-regions, PC being a preset comparison pixel point; if Nb≤1, judging that there is a boundary (2) or obstacle in the distance of the captured image; if Nb>1, judging that there is a boundary (2) or obstacle in the vicinity of the captured image. The subsequent work of the self-walking device is directly judged by means of machine vision, which is more convenient and also makes the control more sensitive and effective. Furthermore, an erroneous judgement caused by recognition of a boundary (2) or obstacle on a slope can be effectively avoided, so that the control is more accurate.
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2.发明公开公开(公告)号：US20240094739A1
公开(公告)日：2024-03-21
申请号：US17768028
申请日：2020-08-17
发明人： Shaoming Zhu , Xue Ren , Lichao Yuan
CPC分类号： G05D1/0246 , A01D34/008 , G05D1/0238 , G05D1/0255 , G06T7/11 , A01D2101/00 , G05D2201/0208
摘要： A self-working system, a self-walking device (1) and a method for controlling same, and a computer-readable storage medium. The control method comprises: acquiring a captured image; processing the captured image to acquire a processed image; segmenting the processed image into at least one sub-region; calculating the size An of each sub-region, respectively; counting the number of sub-regions with An>V in the processed image, and marking same as the number Nb of special sub-regions, wherein V is a preset quantity threshold; if Nb≤1, judging that the captured image belongs to a lawn region; and if Nb> 1, judging that the captured image belongs to a non-complete lawn region. If it is judged that a captured image belongs to a non-complete lawn region, it can be determined that there is a large obstacle or a boundary (2), etc. Whether the self-walking device (1) encounters an obstacle or a boundary (2) can be analyzed by analyzing a captured image, such that the operation is easier, and the control is more sensitive and effective.
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公开(公告)号：US20240029267A1
公开(公告)日：2024-01-25
申请号：US18354026
申请日：2023-07-18
申请人： Suzhou Cleva Precision Machinery & Technology Co, Ltd , Skybest Electric Appliance (Suzhou) Co., Ltd.
发明人： Shaoming Zhu , Xue Ren
CPC分类号： G06T7/12 , G06T7/90 , G06T7/136 , G06T7/13 , G06T7/40 , G06T7/11 , G06T7/174 , G06T2207/10024 , G06T2207/30242
摘要： An image analysis method includes the steps of obtaining a saturation channel image according to an original image; extracting several contours from the saturation channel image; determining target parameter values corresponding to each contour; and determining according to analysis results of the target parameter values corresponding to each contour whether there is a non-working region in the original image. A related image analysis device, computer device, and computer-readable storage medium are also disclosed.
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公开(公告)号：US11026367B2
公开(公告)日：2021-06-08
申请号：US16545269
申请日：2019-08-20
发明人： Zhuo Honglei , Wang Fudong , Yin Weirui , Gong Maoqiang
IPC分类号： A01D34/416 , A01D69/00 , F02N11/08 , F02B63/02
摘要： A garden tool includes a power assembly comprising an internal combustion engine having a starter motor; a battery pack for supplying power to the starter motor; a connecting rod assembly having two ends; a working head assembly, the working head assembly and the power assembly being respectively arranged at the two ends of the connecting rod assembly; and a handle assembly including two handles. One of the handles is on a left side of the connecting rod assembly, and another of the handles is on a right side of the connecting rod assembly. The battery pack is detachably assembled on at least one of the handles.
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公开(公告)号：US11015496B2
公开(公告)日：2021-05-25
申请号：US16488708
申请日：2018-02-09
IPC分类号： F01M11/04 , A01D34/416
摘要： A small internal combustion engine includes a housing and an internal combustion engine body arranged in the housing. The internal combustion engine body includes a cylinder, a crankcase, a piston arranged in the cylinder, a crankshaft arranged in the crankcase and driving the piston, and an oil pan arranged at a bottom of the crankcase. The oil pan has an oil pan inlet, and the housing has a housing oil inlet. A hose connected to the oil pan inlet and the housing oil inlet forms a fluid passage for lubricating oil to flow from the housing oil inlet to the oil pan. A related garden tool includes a power source assembly that drives a working assembly to operate via a power transmission assembly.
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公开(公告)号：US09719460B2
公开(公告)日：2017-08-01
申请号：US14568132
申请日：2014-12-12
CPC分类号： F02F7/0021 , F01M1/04 , F01M11/00 , F01M11/065 , F01M13/0416 , F01M2011/007 , F01M2013/0044 , F02B63/02 , F16N7/32
摘要： The present invention discloses an engine oil pan, which includes a cylinder block, wherein a plurality of arc-shaped grooves are disposed on the second end surface of the cylinder block along the axial direction of a crank shaft; the arc-shaped grooves form arc-shaped bulges in a sunk portion on the first end surface of the cylinder block; the arc-shaped bulges divide the sunk portion into first space and second space; a platform is disposed inside the sunk portion of the cylinder block; and the height of the platform is lower than the height of the arc-shaped bulges. The technical solution employed by the present invention enables lubricating oil in the engine oil pan to flow more effectively, and enables the lubricating oil in the oil pan to be utilized more effectively when the engine is used in any position.
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公开(公告)号：US20240019870A1
公开(公告)日：2024-01-18
申请号：US18252589
申请日：2020-11-20
发明人： Shaoming Zhu , Xue Ren
CPC分类号： G05D1/0246 , G05D1/0214 , G06T7/136 , G06T7/11 , G06T7/12 , G05D2201/0208 , G05D2201/0203 , G06T2207/30252 , G06T2207/10024
摘要： A method for recognizing a working area based on an image includes the steps of: obtaining an original image; separating an H channel image from the original image; performing binarization processing on the original image to form a first binary image, wherein the first binary image comprises a working area and a non-working area that have different pixel values; collecting statistics on a histogram of the H channel image, and obtaining a first parameter representing a peak value of the histogram; collecting statistics on a second parameter representing a size of the non-working area in the first binary image based on the first binary image; and recognizing a working area according to magnitude relations of the first parameter and the second parameter with preset parameter thresholds. Other related methods, systems, and robots are disclosed.
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公开(公告)号：US20240013540A1
公开(公告)日：2024-01-11
申请号：US18252113
申请日：2020-11-27
发明人： Shaoming Zhu , Xue Ren
IPC分类号： G06V20/50 , G06T7/90 , G06T7/13 , G06V10/56 , G06V10/44 , G06T7/155 , A01B69/00 , A01B69/04 , A01M21/00
CPC分类号： G06V20/50 , G06T7/90 , G06T7/13 , G06V10/56 , G06V10/44 , G06T7/155 , A01B69/001 , A01B69/008 , A01M21/00 , G06T2207/10024 , G06T2207/20021 , G06T2207/20036
摘要： An obstacle recognition method includes determining a candidate obstacle region in a candidate weeding region image according to color information of the candidate weeding region image; obtaining contour information of the candidate obstacle region and chrominance information and value information of the candidate weeding region image; and determining, according to the contour information and the chrominance information, or the contour information, the chrominance information, and the value information, whether there is an obstacle in the candidate weeding region image. A related obstacle recognition apparatus, electronic device, computer-readable storage medium, and weeding robot are also disclosed.
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公开(公告)号：US20230368394A1
公开(公告)日：2023-11-16
申请号：US18315131
申请日：2023-05-10
发明人： Shaoming Zhu , Xue Ren
摘要： An image segmentation method includes the steps of: obtaining a hue histogram corresponding to a hue channel image based on an original image; determining a target parameter value based on the hue histogram; determining a saturation segmentation threshold as a first threshold range if the target parameter value satisfies a preset condition, otherwise determining the saturation segmentation threshold as a second threshold range, where a minimum value of the first threshold range is greater than a minimum value of the second threshold range; and performing image segmentation in combination with the first threshold range or the second threshold range as determined in the previous step. Related apparatus, computer devices, and computer readable storage media are also disclosed.
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10.发明公开公开(公告)号：US20230351603A1
公开(公告)日：2023-11-02
申请号：US18043428
申请日：2020-10-28
发明人： Shaoming Zhu , Xue Ren
CPC分类号： G06T7/11 , G06T7/136 , G06T7/90 , G06T2207/10024
摘要： The present disclosure relates to an image segmentation method based on a chrominance component. The method includes the following steps: obtaining a chrominance component of an image; generating a chrominance component histogram according to the chrominance component; determining peaks and troughs in the chrominance component histogram according to a preset chrominance interval and preset peak and trough setting conditions; obtaining a segmentation threshold according to the peaks and the troughs; and segmenting the image into a plurality of regions with different chrominances according to the segmentation threshold. In the present disclosure, the segmentation threshold is obtained according to the peaks and the troughs, the segmentation threshold is dynamically adjusted according to different images, and a fixed segmentation threshold is not used, thereby effectively reducing false segmentation.
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