Title:
SWEEPING CONTROL METHOD
Document Type and Number:
Japanese Patent JP2021119802
Kind Code:
A
Abstract:
To provide a sweeping control method used in a smart cleaning robot which makes detection of an obstacle more comprehensive and allows the smart cleaning robot to more timely change a sweeping path.SOLUTION: A sweeping control method comprises the steps of: extracting foreground object features and scene features from a photographed image; detecting whether a foreground object is an obstacle or not according to the extracted foreground object features; marking an area, where the foreground object is located, as an obstacle point if a detection result shows that the foreground object is the obstacle, and resetting a second sweeping path for avoiding the obstacle point; and further determining a first conditional probability of the foreground object being the obstacle according to the extracted scene features and foreground object features if the detection result does not determine whether the foreground object is the obstacle or not, determining the foreground object to be the obstacle if the first conditional probability is larger than a preset threshold value, marking the area, located by the foreground object, as the obstacle point, and resetting the second sweeping path for avoiding the obstacle point.SELECTED DRAWING: Figure 1
Inventors:
HU GUOHUI
Application Number:
JP2019240082A
Publication Date:
August 19, 2021
Filing Date:
December 31, 2019
Export Citation:
Assignee:
BEIJING TAITAN TECH CO LTD
International Classes:
A47L9/28; G05D1/02; G06T7/00
Attorney, Agent or Firm:
Cui Hailong
Takayuki Kawai
Takayuki Kawai