Automatic working system, automatic walking device and control method therefor, and computer-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 PLof each sub-region; calculating, in the processed image, the number of sub-regions of which the representative pixel point PLis located below a comparison pixel point Pand marking same as the number Nof special sub-regions, Pbeing a preset comparison pixel point; if N≤1, judging that there is a boundary () or obstacle in the distance of the captured image; if N>1, judging that there is a boundary () or obstacle in the vicinity of the captured image. The subsequent work of the self-walking device is directly judged by means of machine vision, which is more convenient and also makes the control more sensitive and effective. Furthermore, an erroneous judgement caused by recognition of a boundary () or obstacle on a slope can be effectively avoided, so that the control is more accurate.