The invention relates to the technical field of gardening equipment, in particular to a method for a mower to return to a charging pile, which comprises the steps of charging pile feature design, camera image acquisition, key point detection, world coordinate definition, camera pose calculation, small parking space pose calculation, pose guidance, false detection reduction and adaptability enhancement. According to the invention, the improved detection method and the self-luminous sign are adopted, so that the hardware requirement is reduced, and the practicability of the system is improved. The design not only improves the reliability and stability of the trolley charging pile, but also reduces the manufacturing and maintenance cost of the system.

    本发明涉及园艺设备技术领域,具体为割草机回充电桩的方法,包括充电桩特征设计,相机图像采集,关键点检测,世界坐标定义,相机位姿计算,小车位姿计算,位姿指引,误检减少,适应性增强。本发明中,采用了改进的检测方法和自发光标志,降低了硬件要求,提高了系统的实用性。这样的设计不仅提高了小车回充电桩的可靠性和稳定性,同时也降低了系统的制造和维护成本。


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    Title :

    Method for returning mowing machine to charging pile


    Additional title:

    割草机回充电桩的方法


    Contributors:
    WU BIN (author) / WANG CHAO (author)

    Publication date :

    2024-04-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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