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CN111506074A - Machine control method of crop tedding dust collection device - Google Patents

Machine control method of crop tedding dust collection device Download PDF

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Publication number
CN111506074A
CN111506074A CN202010379496.3A CN202010379496A CN111506074A CN 111506074 A CN111506074 A CN 111506074A CN 202010379496 A CN202010379496 A CN 202010379496A CN 111506074 A CN111506074 A CN 111506074A
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tedding
crop
obstacle
dust
image
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CN111506074B (en
Inventor
刘春山
尚涛
陈思羽
朱向东
焦仁宝
李宪芝
杨海
熊文龙
厉凯锋
金泽林
徐爱迪
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Jilin University
Jiaxing University
Jiamusi University
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Jilin University
Jiaxing University
Jiamusi University
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
    • A01F25/00—Storing agricultural or horticultural produce; Hanging-up harvested fruit
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23B—PRESERVING, e.g. BY CANNING, MEAT, FISH, EGGS, FRUIT, VEGETABLES, EDIBLE SEEDS; CHEMICAL RIPENING OF FRUIT OR VEGETABLES; THE PRESERVED, RIPENED, OR CANNED PRODUCTS
    • A23B9/00—Preservation of edible seeds, e.g. cereals
    • A23B9/08—Drying; Subsequent reconstitution
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
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Abstract

The invention discloses a crop tedding dust collection device, which comprises: the crop tedding dust collector main body; the ultrasonic distance sensor is detachably arranged on the crop tedding and dust collecting device main body and can detect the distance of obstacles around the crop tedding and dust collecting device main body; the infrared camera is detachably arranged on the crop tedding and dust collecting device main body, is coaxially arranged with the ultrasonic distance sensor, and can shoot images of obstacles around the crop tedding and dust collecting device main body; the controller is connected with the ultrasonic distance sensor and the infrared camera, can analyze the barrier distance and the barrier image, plans a walking path of the crop tedding dust collection device main body, and controls the crop tedding dust collection device main body to move along the walking path.

Description

Machine control method of crop tedding dust collection device
Technical Field
The invention relates to the field of control of a tedding dust collection device, in particular to a crop tedding dust collection device and a control method of the crop tedding dust collection device.
Background
The crop tedding dust collector mainly replaces manpower to be used for storing and airing crops, generally, manual airing needs to turn over crops by using a rake or an agricultural tool, and when the crops contain more impurities, the crops are raised by using the tool, and the impurities are separated from the crops by using wind, so that the labor and the time are wasted.
In the prior art, the crop tedding dust collector needs to walk along a certain path in the working process, or the crop tedding dust collector is arranged to walk along the edge of a detection wall or other objects. The independent use of the distance sensor is mostly adopted to realize the running along the wall surface, and the machine is adjusted according to the distance information returned by the distance sensor, so that the action of running along the wall surface is realized, the change of the wall surface in front of the tedding dust suction device cannot be predicted, and the phenomenon that the machine turns around in advance when the machine reaches the inflection point of the wall surface cannot be realized, so that the crop tedding dust suction device has poor cleaning effect along the uneven wall surface.
Disclosure of Invention
The invention designs and develops a crop tedding dust absorption device, wherein an ultrasonic distance sensor and an infrared camera are arranged at the top of the crop tedding dust absorption device, so that obstacles around the crop tedding dust absorption device can be detected, the information of the obstacles can be predicted in advance, and the tedding effect is good.
The invention also designs and develops a control method of the crop tedding dust collection device, which can analyze the distance between the obstacles and the images of the obstacles, plan the tedding path of the crop tedding dust collection device main body, and control the crop tedding dust collection device main body to move along the tedding path, so that the airing effect is good.
The technical scheme provided by the invention is as follows:
a crop tedding dust extraction includes:
the crop tedding dust collector main body;
the ultrasonic distance sensor is detachably arranged on the crop tedding and dust collecting device main body and can detect the distance of obstacles around the crop tedding and dust collecting device main body;
the infrared camera is detachably arranged on the crop tedding and dust collecting device main body, is coaxially arranged with the ultrasonic distance sensor, and can shoot images of obstacles around the crop tedding and dust collecting device main body;
and the controller is connected with the ultrasonic distance sensor and the infrared camera, can analyze the distance of the barrier and the image of the barrier, plans the walking path of the crop tedding dust collector main body, and controls the crop tedding dust collector main body to move along the walking path.
Preferably, the crop tedding dust collection main body comprises:
a dust collection base;
the supporting frame is rotatably supported on the dust absorption base;
and the tedding rake is detachably connected with one end of the support frame and can rotate along with the support frame.
Preferably, the support frame comprises:
the rotating frame is arranged at the top of the dust collection base main body and can rotate around the dust collection base main body for 360 degrees;
the clamping frame is a telescopic frame, can clamp the ultrasonic distance sensor and the infrared camera, and is hinged with the rotating frame;
the pneumatic support column is arranged between the support frame and the rotating frame, and the included angle between the rotating frame and the clamping frame can be changed by changing the length of the pneumatic support column.
Preferably, the dust suction base comprises:
a dust suction mechanism having a dust suction function;
and the rolling wheels are rotatably supported at the bottom of the dust collection mechanism and can drive the crop tedding dust collection main body to move.
A control method of a crop tedding dust suction device comprises the following steps:
step one, shooting barrier images around the crop tedding dust collector main body by using the infrared camera, and preprocessing the barrier images;
the infrared camera rotates and respectively shoots infrared images of the infrared camera which rotates to 90 degrees, 180 degrees, 270 degrees and 360 degrees from an initial position;
step two, performing pixel-by-pixel sliding on the pixel points in the preprocessed obstacle image, and calculating the local contrast of each pixel point to obtain a local contrast map of the whole image;
step three, performing threshold segmentation on the local contrast map, identifying an obstacle in an infrared image, and determining a corner of the obstacle;
detecting the distance between the identified obstacle in the infrared image and the crop tedding dust collection device by using an ultrasonic sensor, and estimating the height of the obstacle according to the distance and the rotation angle of the obstacle;
step five, synthesizing the height and the corner of the barrier and the distance between the crop tedding dust collection device and the crop tedding dust collection device to obtain a tedding boundary of the crop tedding dust collection device;
and step six, planning a tedding path of the crop tedding dust collection device according to the tedding boundary, and controlling the crop tedding dust collection device to move along the tedding path.
Preferably, the obstacle image preprocessing process in the first step includes:
step a, performing binarization processing on the acquired barrier image to obtain a binarized barrier image:
Figure BDA0002481467470000031
in the formula, I (x, y) is a gray value of a position, thresh is a preset threshold, and f (x, y) is a gray value of a position of the binarized vein image (x, y);
b, carrying out pixel segmentation on the binary image to obtain ξ -m × n pixels, wherein m is the number of transverse pixels, and n is the number of longitudinal pixels;
and c, respectively carrying out negation and histogram equalization operations on the image after the pixel point segmentation, thereby obtaining a preprocessed obstacle image with the size of m × n pixels.
Preferably, the calculation formula of the local contrast of the obstacle image pixel point is as follows:
Figure BDA0002481467470000032
wherein D ish(x, y) is the local contrast of the infrared image of the pixel at the (x, y) position, fs(x, y) is the mean value of the binarized gray levels of the pixel points at the (x, y) positions, and f (x)c,yc) Is an infrared image areaBinarizing the grey value of the pixel point at the central position;
by thresholding the global contrast map:
when in use
Figure BDA0002481467470000041
Determining pixel points as barrier pixel points, traversing the global contrast map, and dividing boundaries of a plurality of barriers;
wherein, the threshold value calculation formula is as follows:
Figure BDA0002481467470000042
wherein T is a division threshold value,
Figure BDA0002481467470000043
weighted average of local contrast maps, DmaxTo weight the maximum of the local contrast map, it is constant.
Preferably, the obstacle turning angle calculation process is:
calculating coordinates of center point of the obstacle, the coordinates (x) of the center pointz,yz) The calculation formula of (2) is as follows:
Figure BDA0002481467470000044
wherein,
Figure BDA0002481467470000045
m and n are the number of rows and columns of pixel points of the barrier boundary respectively;
Figure BDA0002481467470000046
the horizontal rotation angle of the obstacle is calculated as:
Figure BDA0002481467470000047
wherein α is the horizontal rotation angle of the obstacle, and ω is the red color obtained by the infrared cameraCorner in the case of an external image, P (x)z,yz) The horizontal distance between the center position of the barrier and the center point of the infrared image is defined as gamma, the boundary angle in the horizontal direction of the infrared image is obtained by the shooting of the infrared camera, and the width of the infrared image is obtained by the shooting of the infrared camera;
calculating the pitch angle of the obstacle as follows:
Figure BDA0002481467470000048
wherein, Q (x)z,yz) The longitudinal distance between the center position of the barrier and the center point of the infrared image is shown.
Preferably, the obstacle height calculation formula is:
Figure BDA0002481467470000049
wherein is the height of the obstacle, hzThe distance between the bottom boundary of the obstacle in the infrared image and the bottom boundary of the infrared image, LzDetecting the distance S between the obstacle in the identified infrared image and the crop tedding dust collection device for the ultrasonic sensorzIs the area of the obstacle, mu, in the infrared imageiIs the width of a single pixel point;
height H of the barrieriComparing with the height of the tedding dust suction device, if the height H of the barrier is higher than the height of the tedding dust suction deviceiAnd if the height of the obstacle is less than the height of the tedding dust suction device, determining that the corresponding obstacle is a real obstacle.
Preferably, the crop tedding dust extraction's tedding boundary is:
respectively determining real obstacles in infrared images in four directions of 90 degrees, 180 degrees, 270 degrees and 360 degrees, and obtaining the distance N between the real obstacles and the crop tedding dust collection deviceλ、Nν、NoAnd Nπ；
And calculating the minimum barrier distance min { N } of the infrared image in the 90-degree directionλ}; calculating the minimum barrier distance min { N } of the infrared image in the 180-degree directionν}; red in the 270 deg. directionMinimum obstacle distance min { N } of outer imageoThe minimum barrier distance min { N } of the infrared image in the 360-degree directionπ}；
Will the min { N }λ}、min{Nν}、min{No}、min{NπAnd the ring formed by enclosing is used as a tedding boundary, so that the tedding dust suction device does ring motion from inside to outside in the boundary.
The invention has the advantages of
The invention designs and develops a crop tedding dust absorption device, wherein an ultrasonic distance sensor and an infrared camera are arranged at the top of the crop tedding dust absorption device, so that obstacles around the crop tedding dust absorption device can be detected, the information of the obstacles can be predicted in advance, and the tedding effect is good.
The invention also designs and develops a control method of the crop tedding dust collection device, which can analyze the distance between the obstacles and the images of the obstacles, plan the tedding path of the crop tedding dust collection device main body, and control the crop tedding dust collection device main body to move along the tedding path, so that the airing effect is good.
Drawings
Fig. 1 is a schematic structural view of the crop tedding and dust collecting device.
Fig. 2 is a schematic structural view of the support frame of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
As shown in fig. 1, the crop tedding and dust collecting device provided by the invention comprises: a crop tedding and dust collecting device main body 110, an ultrasonic distance sensor 120, an infrared camera 130 and a controller 140.
The ultrasonic distance sensor 120 is detachably arranged on the crop tedding and dust collecting device main body 110 and can detect the distance of obstacles around the tedding and dust collecting device main body; the infrared camera 130 is detachably arranged on the crop tedding and dust collecting device main body, is coaxially arranged with the ultrasonic distance sensor 120, and can shoot images of obstacles around the crop tedding and dust collecting device main body 110; the controller 140 is connected to the ultrasonic distance sensor 120 and the infrared camera 130, and can analyze the distance to the obstacle and the image of the obstacle, plan a tedding path of the main body of the crop tedding dust collector, and control the main body 110 of the crop tedding dust collector to move along the tedding path.
As shown in fig. 2, the crop tedding dust collector main body 110 is provided with a support frame 150, and the support frame 150 is rotatably supported above the crop tedding dust collector main body 110.
As a preference, the supporting bracket 150 includes: a rotating frame 151, a clamping frame 152 and a pneumatic support 153.
The rotating frame 151 is arranged at the top of the crop tedding dust collector main body and can rotate 360 degrees around the crop tedding dust collector main body 110; the holder 152 is a telescopic holder capable of holding the ultrasonic distance sensor 120 and the infrared camera 130, and is hinged to the turret 151. Preferably, a pneumatic support 153 is provided between the holding frame 152 and the rotating frame 151, and an included angle between the rotating frame and the holding frame 152 can be changed by changing the length of the pneumatic support 153.
Preferably, the clamping frame 152 is an electric telescopic frame, comprising: the clamping device comprises a first support 151a, a second support 152b, a lead screw 152c and a driving motor 152d, wherein the second support 152b can slide along the first support 151, the second support 152b is sleeved on the lead screw 152c, the lead screw 152c can be rotatably supported on the first support 151a, the lead screw 152c is driven to rotate by the driving motor 152d, and then the second support 152b is driven to slide along the first support 151a, so that the length adjustment of the clamping frame 152 is realized.
The turnover harrow 160 is detachably connected with one end of the clamping frame 152, can rotate or extend along with the supporting frame 150, and the turnover harrow 160 can turn to the top of the main body of the crop turnover dust collection device along with the supporting frame when not in use, so that the service life is prolonged. Preferably, the suction base comprises: a dust suction mechanism having a function of sucking a light object by negative pressure; and the rolling wheels are rotatably supported at the bottom of the dust collection mechanism and can drive the crop tedding dust collection main body to move.
A control method of a crop tedding dust suction device comprises the following steps:
step one, utilizing an infrared camera to shoot images of obstacles around a main body of the crop tedding dust collection device, and preprocessing the images of the obstacles, wherein the preprocessing process of the images of the obstacles comprises the following steps:
step a, performing binarization processing on the acquired barrier image to obtain a binarized barrier image:
Figure BDA0002481467470000071
in the formula, I (x, y) is a gray value of a position, thresh is a preset threshold, and f (x, y) is a gray value of a position of the binarized vein image (x, y);
b, carrying out pixel segmentation on the binary image to obtain ξ -m × n pixels, wherein m is the number of transverse pixels, and n is the number of longitudinal pixels;
c, respectively carrying out negation and histogram equalization operations on the image after the pixel point segmentation, thereby obtaining a preprocessed obstacle image with the size of m × n pixels
The infrared camera 130 is rotated and takes infrared images in four directions of 90 °, 180 °, 270 ° and 360 ° from the initial position.
Step two, performing pixel-by-pixel sliding on pixel points in the preprocessed obstacle image, and calculating the local contrast of each pixel point to obtain a local contrast map of the whole map;
the calculation formula of the local contrast of the obstacle image pixel point is as follows:
Figure BDA0002481467470000072
wherein D ish(x, y) is the local contrast of the infrared image of the pixel at the (x, y) position, fs(x, y) is the mean value of the binarized gray levels of the pixel points at the (x, y) positions, and f (x)c,yc) Is an infrared imageBinarizing the gray value of the pixel point at the central position of the area;
by thresholding the global contrast map:
when in use
Figure BDA0002481467470000073
Determining the pixel points as barrier pixel points, traversing the global contrast map, and dividing the boundaries of a plurality of barriers;
wherein, the threshold value calculation formula is as follows:
Figure BDA0002481467470000074
wherein T is a segmentation threshold, D weights the average of the local contrast map, DmaxTo weight the maximum of the local contrast map, it is constant.
Step three, performing threshold segmentation on the local contrast map, identifying an obstacle in the infrared image, and determining an obstacle corner; the obstacle turning angle calculation process comprises the following steps:
first, coordinates of a center point of the obstacle, coordinates of the center point (x), are calculatedz,yz) The calculation formula of (2) is as follows:
Figure BDA0002481467470000081
wherein,
Figure BDA0002481467470000082
m and n are the number of rows and columns of pixel points of the barrier boundary respectively;
Figure BDA0002481467470000083
the horizontal rotation angle of the obstacle is calculated as:
Figure BDA0002481467470000084
wherein α is the horizontal rotation angle of the obstacle, and ω is the sensor support when the infrared camera takes the infrared imageCorner, P (x)z,yz) The horizontal distance between the center position of the obstacle and the center point of the infrared image is shown, gamma is the boundary angle of the infrared image obtained by the infrared camera in the horizontal direction, and X is the width of the infrared image obtained by the infrared camera.
Calculating the pitch angle of the obstacle as follows:
Figure BDA0002481467470000085
wherein, Q (x)z,yz) The longitudinal distance between the center position of the barrier and the center point of the infrared image is shown.
Detecting the distance between the identified obstacle in the infrared image and the crop tedding dust collection device by using an ultrasonic sensor, and estimating the height of the obstacle according to the distance between the obstacle and a corner; the obstacle height calculation formula is:
Figure BDA0002481467470000086
wherein is the height of the obstacle, hzThe distance between the bottom boundary of the obstacle in the infrared image and the bottom boundary of the infrared image, LzDetecting the distance S between the obstacle in the identified infrared image and the crop tedding dust collector by using the ultrasonic sensorzIs the area of the obstacle, mu, in the infrared imageiIs the width of a single pixel point;
height H of barrieriComparing with the height of the tedding dust-collecting device, if the height of the obstacle is HiAnd if the height of the obstacle is less than the height of the tedding dust suction device, determining that the corresponding obstacle is a real obstacle.
Step five, synthesizing the height and the corner of the barrier and the distance between the crop tedding dust collection device to obtain the tedding boundary of the crop tedding dust collection device;
the tedding boundary of the clean tedding dust collection device is as follows: respectively determining real obstacles in infrared images in four directions of 90 degrees, 180 degrees, 270 degrees and 360 degrees, and obtaining the distance N between the real obstacles and the crop tedding dust collection deviceλ、Nν、NoAnd Nπ；
And step six, planning a tedding path of the crop tedding dust collection device according to the tedding boundary, and controlling the crop tedding dust collection device to move along the tedding path. And calculating the minimum barrier distance min { N } of the infrared image in the 90-degree directionλ}; calculating the minimum barrier distance min { N } of the infrared image in the 180-degree directionν}; minimum obstacle distance min { N } of infrared image in 270 degree directionoThe minimum barrier distance min { N } of the infrared image in the 360-degree directionπ}；
Will min { N }λ}、min{Nν}、min{No}、min{NπAnd (4) forming an annular most tedding boundary by enclosing, enabling the tedding dust suction device to do annular movement from inside to outside in the boundary, stopping the crop tedding dust suction device at the tedding boundary, repeating the actions, and determining the tedding boundary again for cleaning.
The invention designs and develops a crop tedding dust absorption device, wherein an ultrasonic distance sensor and an infrared camera are arranged at the top of the crop tedding dust absorption device, so that obstacles around the crop tedding dust absorption device can be detected, the information of the obstacles can be predicted in advance, and the tedding effect is good.
The invention also designs and develops a control method of the crop tedding dust collection device, which can analyze the distance between the obstacles and the images of the obstacles, plan the tedding path of the crop tedding dust collection device main body, and control the crop tedding dust collection device main body to move along the tedding path, so that the airing effect is good.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.

Claims (10)

1. The utility model provides a crops tedding dust extraction which characterized in that includes:
the crop tedding dust collector main body;
the ultrasonic distance sensor is detachably arranged on the crop tedding and dust collecting device main body and can detect the distance of obstacles around the crop tedding and dust collecting device main body;
the infrared camera is detachably arranged on the crop tedding and dust collecting device main body, is coaxially arranged with the ultrasonic distance sensor, and can shoot images of obstacles around the crop tedding and dust collecting device main body;
and the controller is connected with the ultrasonic distance sensor and the infrared camera, can analyze the distance of the barrier and the image of the barrier, plans the walking path of the crop tedding dust collector main body, and controls the crop tedding dust collector main body to move along the walking path.
2. The crop tedding dust extraction device of claim 1, wherein the crop tedding dust extraction body comprises:
a dust collection base;
the supporting frame is rotatably supported on the dust absorption base;
and the tedding rake is detachably connected with one end of the support frame and can rotate along with the support frame.
3. The crop tedding dust extraction of claim 2, wherein the support frame includes:
the rotating frame is arranged at the top of the dust collection base main body and can rotate around the dust collection base main body for 360 degrees;
the clamping frame is a telescopic frame, can clamp the ultrasonic distance sensor and the infrared camera, and is hinged with the rotating frame;
the pneumatic support column is arranged between the support frame and the rotating frame, and the included angle between the rotating frame and the clamping frame can be changed by changing the length of the pneumatic support column.
4. The crop tedding dust extraction of claim 2 or 3, wherein the dust extraction base comprises:
a dust suction mechanism having a dust suction function;
and the rolling wheels are rotatably supported at the bottom of the dust collection mechanism and can drive the crop tedding dust collection main body to move.
5. A method of controlling a crop tedding vacuum cleaner using the crop tedding vacuum cleaner as claimed in any one of claims 1 to 4, comprising:
step one, shooting barrier images around the crop tedding dust collector main body by using the infrared camera, and preprocessing the barrier images;
the infrared camera rotates and respectively shoots infrared images of the infrared camera which rotates to 90 degrees, 180 degrees, 270 degrees and 360 degrees from an initial position;
step two, performing pixel-by-pixel sliding on the pixel points in the preprocessed obstacle image, and calculating the local contrast of each pixel point to obtain a local contrast map of the whole image;
step three, performing threshold segmentation on the local contrast map, identifying an obstacle in an infrared image, and determining a corner of the obstacle;
detecting the distance between the identified obstacle in the infrared image and the crop tedding dust collection device by using an ultrasonic sensor, and estimating the height of the obstacle according to the distance and the rotation angle of the obstacle;
step five, synthesizing the height and the corner of the barrier and the distance between the crop tedding dust collection device and the crop tedding dust collection device to obtain a tedding boundary of the crop tedding dust collection device;
and step six, planning a tedding path of the crop tedding dust collection device according to the tedding boundary, and controlling the crop tedding dust collection device to move along the tedding path.
6. The method for controlling the crop tedding and dust collecting device according to claim 5, wherein the obstacle image preprocessing process in the first step comprises:
step a, performing binarization processing on the acquired barrier image to obtain a binarized barrier image:
Figure FDA0002481467460000021
in the formula, I (x, y) is a gray value of a position, thresh is a preset threshold, and f (x, y) is a gray value of a position of the binarized vein image (x, y);
b, carrying out pixel segmentation on the binary image to obtain ξ -m × n pixels, wherein m is the number of transverse pixels, and n is the number of longitudinal pixels;
and c, respectively carrying out negation and histogram equalization operations on the image after the pixel point segmentation, thereby obtaining a preprocessed obstacle image with the size of m × n pixels.
7. The control method of the crop tedding dust extraction device as claimed in claim 6, wherein the calculation formula of the local contrast of the obstacle image pixel point is as follows:
Figure FDA0002481467460000031
wherein D ish(x, y) is the local contrast of the infrared image of the pixel at the (x, y) position, fs(x, y) is the mean value of the binarized gray levels of the pixel points at the (x, y) positions, and f (x)c,yc) The binarized gray value of the pixel point at the central position of the infrared image area is obtained;
by thresholding the global contrast map:
when in use
Figure FDA0002481467460000032
Determining pixel points as barrier pixel points, traversing the global contrast map, and dividing boundaries of a plurality of barriers;
wherein, the threshold value calculation formula is as follows:
Figure FDA0002481467460000033
wherein T is a division threshold value,
Figure FDA0002481467460000034
weighted average of local contrast maps, DmaxTo weight the maximum of the local contrast map, it is constant.
8. The control method of the crop tedding dust extraction device as claimed in claim 7, wherein the obstacle turning angle calculation process is:
calculating coordinates of center point of the obstacle, the coordinates (x) of the center pointz,yz) The calculation formula of (2) is as follows:
Figure FDA0002481467460000035
wherein,
Figure FDA0002481467460000036
m and n are the number of rows and columns of pixel points of the barrier boundary respectively;
Figure FDA0002481467460000037
the horizontal rotation angle of the obstacle is calculated as:
Figure FDA0002481467460000038
wherein α is the horizontal rotation angle of the obstacle, ω is the rotation angle of the infrared image captured by the infrared camera, and P (x)z,yz) Water at the center of the obstacle and the center of the infrared imageThe horizontal distance is gamma, the horizontal direction boundary angle of the infrared image obtained by the shooting of the infrared camera is obtained, and X is the width of the infrared image obtained by the shooting of the infrared camera;
calculating the pitch angle of the obstacle as follows:
Figure FDA0002481467460000041
wherein, Q (x)z,yz) The longitudinal distance between the center position of the barrier and the center point of the infrared image is shown.
9. The method of claim 8, wherein the obstacle height calculation formula is:
Figure FDA0002481467460000042
wherein is the height of the obstacle, hzThe distance between the bottom boundary of the obstacle in the infrared image and the bottom boundary of the infrared image, LzDetecting the distance S between the obstacle in the identified infrared image and the crop tedding dust collection device for the ultrasonic sensorzIs the area of the obstacle, mu, in the infrared imageiIs the width of a single pixel point;
height H of the barrieriComparing with the height of the tedding dust suction device, if the height H of the barrier is higher than the height of the tedding dust suction deviceiAnd if the height of the obstacle is less than the height of the tedding dust suction device, determining that the corresponding obstacle is a real obstacle.
10. The method of controlling a crop tedding vacuum cleaner as claimed in claim 9, wherein the boundaries of the crop tedding vacuum cleaner are:
respectively determining real obstacles in infrared images in four directions of 90 degrees, 180 degrees, 270 degrees and 360 degrees, and obtaining the distance N between the real obstacles and the crop tedding dust collection deviceλ、Nν、NoAnd Nπ；
And is calculated at 90 deg. directionMinimum barrier distance min { N } of upper infrared imageλ}; calculating the minimum barrier distance min { N } of the infrared image in the 180-degree directionν}; minimum obstacle distance min { N } of infrared image in 270 degree directionoThe minimum barrier distance min { N } of the infrared image in the 360-degree directionπ}；
Will the min { N }λ}、min{Nν}、min{No}、min{NπAnd the ring formed by enclosing is used as a tedding boundary, so that the tedding dust suction device does ring motion from inside to outside in the boundary.
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