SYSTEM, METHOD, AND APPARATUS FOR UNSUPERVISED ADAPTATION OF PERCEPTION OF AUTONOMOUS MOWER

摘要

PROBLEM TO BE SOLVED: To provide a method and system for an autonomous mower equipped with a camera, where camera parameter control, mower movement control, and grass detection are optimized as a whole during operation.SOLUTION: The present invention mitigates the camera sensing limits by adapting the operating speed of the mower. In addition, the camera control optimizes the visibility of grass by using a grass mask of a grass segmentation to calculate updated exposure, gain, and aperture values only from grass pixels. The grass segmentation monitors 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.