Abstract: A method for docking a self-moving device to a charging station includes controlling the self-moving device to move relative to a docking boundary using a radio detection device, the radio detection device including a positioning base station and a positioning tag. The method includes judging whether the self-moving device senses a signal from a boundary line, and then taking certain steps depending on whether the boundary line signal was sensed. Related docking devices, self-moving devices, and storage media are also disclosed.

Abstract: A control method for a robot mower includes controlling the robot mower to work within a lawn having a plurality of unmowed areas, and controlling the robot mower to turn upon detecting either a boundary of the lawn or an obstacle. When controlling the robot mower to turn, the method includes obtaining a target position determined according to the unmowed region with the largest area. The method then calculates a turning angle of the robot mower according to a current position and a current orientation of the robot mower and the target position; controls the robot mower to turn according to the turning angle; and control the robot mower to move forward.

Abstract: A metal powder preparation system and method are provided. The metal powder preparation system includes a medium frequency smelting furnace, a homogeneous insulated quantitative pouring furnace, a precision-controlled liquid level temperature pouring ladle, and a plurality of groups of atomization mechanisms connected in sequence. The present application improves the preparation quality of the metal powder, so that the parameters such as the powder particle size, sphericity, fluidity, oxygen content, component distribution, and particle size distribution of the metal powder can all meet the requirements of high-quality metal additive manufacturing, achieving efficient and continuous preparation of the metal powder at the same time.

Abstract: A control method for a self-moving device controls the self-moving device to move in a designated area to process a predetermined object in the designated area. The method includes steps of: obtaining, during the moving process of the self-moving device, an image of an area in a forward direction of the self-moving device; and determining, according to the image, whether the predetermined object in the area in the forward direction of the self-moving device includes a specific predetermined object, so as to control a moving direction of the self-moving device. The specific predetermined object and the predetermined object have at least one different feature parameter. A related self-moving device is also disclosed.

Abstract: A method, system, self-moving robot, and/or readable storage medium can be used to generate a virtual boundary of a working region for a self-moving robot. A mobile positioning module circles for a predetermined number of loops along a patrol path formed by the boundary of the working region to acquire recording points which are stored and then retrieved in groups to acquire boundary fitting points forming a boundary fitting point sequence, from which boundary points are acquired. Successively connecting the boundary points generates the virtual boundary of the working region.

Abstract: An obstacle recognition method includes the steps of: obtaining hue information and a number of exposed state pixels of a candidate weeding region image; generating a hue histogram of the candidate weeding region image according to the hue information, and obtaining peak information of the hue histogram, wherein the peak information comprises a hue value of a sudden change peak point and a peak value of the sudden change peak point; determining target pixel position information and target pixel value information of the candidate weeding region image according to the hue value of the sudden change peak point; determining a quantity of hue valid pixels in a preset hue interval in the candidate weeding region image; and determining whether there is a shade region in the candidate weeding region image according to the number of exposed state pixels, the peak value of the sudden change peak point, the target pixel position information, the target pixel value information, and the quantity of hue valid pixels to det

Abstract: The disclosure provides a self-moving robot charging system and a self-moving robot charging method. The self-moving robot charging system enables the self-moving robot to find the charging station faster by using the charging station guideline surrounding the charging station and cooperating with the positioning system of the self-moving robot, saving the time to find a charging station and increasing the power usage of the robot, and there are no restrictions on the installation position of the charging station and the starting position of the self-moving robot, which can cover more usage scenarios.

Abstract: The application provides a virtual video live streaming processing method and apparatus, an electronic device, and a computer-readable storage medium, and relates to the field of virtual video live streaming technologies. The virtual video live streaming processing method includes: obtaining text data and determining to-be-synthesized video data corresponding to the text data; synthesizing a live video stream in real time according to the to-be-synthesized video data and pushing the live video stream to a live streaming client; determining target video data from the to-be-synthesized video data that has not been synthesized into a live video stream in response to a live streaming interruption request during receiving a live streaming interruption request; and synthesizing an interruption transition video stream according to the target video data and pushing the interruption transition video stream to the live streaming client.

Abstract: The present disclosure provides a traversal method and system, a robot and a readable storage medium. The method comprises: driving a robot to travel in a working region according to a predetermined mode and work synchronously; and adjusting the robot to continue working according to a predetermined first rule every time a turn sign is encountered, and adjusting the robot to return to the predetermined mode after the first rule is completed; wherein the first rule is: starting from the position where the turn sign is encountered, rotating clockwise or counterclockwise; after first rotation is carried out according to a first angle, continuing running for a first time according to the predetermined mode; and then, after second rotation is carried out according to a second angle in the same rotation direction as the previous rotation, continuing running for a second time according to the predetermined mode, the first angle being different from the second angle.

Abstract: The present disclosure provides a method for docking a self-moving device with a charging station, wherein the charging station is connected to a boundary line, and the method comprises the following steps: controlling the self-moving device to move from the current position close to a docking boundary; judging whether the self-moving device senses the boundary line signal during the moving process; if the self-moving device senses the boundary line signal before it reaches the docking boundary or when it reaches the docking boundary, controlling the self-moving device to move towards the charging station through the boundary line signal until the docking is successful; if the self-moving device has not sense the boundary line signal when it reaches the docking boundary, controlling the self-moving device to move from the docking boundary to the boundary line until the boundary line signal is sensed.

Abstract: Disclosed are a method and system for generating a virtual boundary of a working region of a self-moving robot, and a self-moving robot and a readable storage medium.

Abstract: 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.

Abstract: 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.

Abstract: 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, wherein the contour information includes chrominance information, range information, and roughness information; and determining, according to preset contour information determination conditions and the contour information, whether there is an obstacle in the candidate weeding region image. A related obstacle recognition apparatus, an electronic device, a computer-readable storage medium, and a weeding robot are also disclosed.

Abstract: An obstacle recognition method applied to an automatic traveling device may include the steps of: obtaining an image of an environment in a traveling direction of an automatic traveling device; separating out a chrominance channel image and a luminance channel image based on the image; performing pre-processing and edge processing on the luminance channel image to obtain an edge image; performing histogram statistics on the chrominance channel image to obtain a number of pixels with a maximum color proportion within a preset chrominance interval range, denoted as maxH; performing segmentation and contour processing on the chrominance channel image to obtain a chrominance segmentation threshold and a contour image; performing contour detection on the contour image to obtain a contour block; collecting statistics on feature values corresponding to the contour block in the edge image and the contour image; and comparing the maxH and the feature values with preset obstacle recognition and determination conditions

Abstract: An obstacle recognition method includes the steps of obtaining hue information of a candidate weeding region image; generating a target hue histogram of the candidate weeding region image according to the hue information, and obtaining peak information and hue range information of the target hue histogram; and determining whether there are obstacles in the candidate weeding region image according to the peak information and the hue range information. Related apparatus, electronic devices, computer readable storage media, and weeding robots are disclosed.

Abstract: An obstacle recognition method comprises the steps of: obtaining hue information, a number of exposed state pixels, and a number of non-exposed state white pixels of a candidate weeding region image; generating a hue histogram of the candidate weeding region image according to the hue information, and obtaining peak information of the hue histogram, wherein the peak information comprises a hue value of a sudden change peak point and a peak value of the sudden change peak point; determining target pixel position information and target pixel value information of the candidate weeding region image according to the hue value of the sudden change peak point; determining a quantity of hue valid pixels in a preset hue interval in the candidate weeding region image; and determining whether there is an exposed region in the candidate weeding region image according to the number of exposed state pixels, the number of non-exposed state white pixels, the peak value of the sudden change peak point, the target pixel positi

Abstract: An obstacle recognition method includes the steps of obtaining hue information and value information of a candidate weeding region image; generating a target hue histogram of the candidate weeding region image according to the hue information, and obtaining peak information of the target hue histogram; and determining whether there are obstacles in the candidate weeding region image according to the peak information and the value information. Related apparatus, electronic devices, computer readable storage media, and weeding robots are disclosed.

Abstract: 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.

Abstract: An image analysis method includes the steps of obtaining a saturation channel image and a value channel image according to an original image; obtaining a relative deviation value image based on the saturation channel image and the value channel image, wherein the relative deviation value image represents relative deviations between saturation and value; extracting several contours from the relative deviation value 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 apparatus, computer device, and computer readable storage medium are also disclosed.