System, method and apparatus for unsupervised adaptation of the perception of an autonomous mower

摘要

The present invention presents a method and system for an autonomous mower attached with a camera, wherein the control of the parameters of the camera and the control of the mower movement and grass detection are optimized holistically during operation. The present invention mitigates the camera sensing limits by adapting the movement speed of the mower. Furthermore, the camera control optimizes the visibility of grass by using the grass mask of a grass segmentation to calculate updated exposure, gain and aperture values only from grass pixels. The grass segmentation tracks changes in the grass color that are caused by illumination differences. Optionally, the system is equipped with a head light used to further improve the camera signal quality in conjunction with the control of the camera parameters and the movement speed of the mower.

主权项

1. Control system for an autonomous mower that is equipped with a plurality of sensors, at least one sensor being a camera, and with at least one motor;
wherein the control system is adapted to perform a combined control of parameters of the plurality of sensors and commands of the at least one motor, and to perform computations on images obtained by the at least one camera, and wherein the control of the parameters of the camera and the control of the at least one motor are optimized during operation to mitigate camera sensing limits by adapting a movement speed of the at least one motor.