CN111506074B - Machine control method of crop tedding dust collection device - Google Patents

Abstract

The invention discloses a crop tumbling and cleaning device, comprising: a main body of the crop tumbling and cleaning device; an ultrasonic distance sensor, which is detachably arranged on the main body of the crop tumbling and cleaning device, and can detect the main body of the crop tumbling and cleaning device. The distance of the surrounding obstacles; an infrared camera, which is detachably arranged on the main body of the crop cleaning and vacuuming device, and is coaxially arranged with the ultrasonic distance sensor, and can take pictures of obstacles around the main body of the crop cleaning and vacuuming device. ; A controller, which is connected to the ultrasonic distance sensor and the infrared camera, can analyze the obstacle distance and the obstacle image, plan the walking path of the main body of the crop drying and vacuuming device, and control the The main body of the crop tanning and dust collecting device moves along the walking path, and the invention also discloses a control method of the crop tanning and dust collecting device.

Description

A machine control method of a crop drying and vacuuming device

technical field

The invention relates to the field of control of a drying and vacuuming device for crops, in particular to a control method for a drying and vacuuming device for crops and a method for controlling the drying and vacuuming device for crops.

Background technique

Crop drying and vacuuming devices are mainly used to replace labor and are engaged in the preservation and drying of crops. Usually, manual drying requires the use of nails or agricultural tools to turn the crops, and when there are many impurities in the crops, the tools are used to lift the crops, and the wind is used to remove the impurities. It is laborious and time-consuming to separate from the crops.

In the prior art, during the working process, the crop drying and vacuuming device needs to walk along a certain path, or set it to walk according to the edge of the detected wall or other objects. Most of them use the distance sensor alone to realize driving along the wall, and adjust the machine according to the distance information returned by the distance sensor, so as to realize the action of driving along the wall. It is impossible to predict the change of the wall in front of the cleaning and vacuuming device, and there is an inflection point to the wall. It is impossible to realize pre-turning in advance, resulting in poor cleaning effect of the crop drying and vacuuming device along uneven wall surfaces.

SUMMARY OF THE INVENTION

The invention designs and develops a crop tumbling and vacuuming device. An ultrasonic distance sensor and an infrared camera are arranged on the top of the crop tumbling and vacuuming device, which can detect obstacles around the crop tumbling and vacuuming device, predict the obstacle information in advance, and have a good tumbling effect. .

The present invention also designs and develops a control method for the crop drying and vacuuming device, which can analyze the obstacle distance and the obstacle image, plan the drying path of the main body of the crop drying and vacuuming device, and control the The main body of the crop drying and vacuuming device moves along the drying path, and the drying effect is good.

The technical scheme provided by the present invention is:

A crop drying and vacuuming device, comprising:

The main body of the crop drying and vacuuming device;

an ultrasonic distance sensor, which is detachably arranged on the main body of the crop tanning and vacuuming device, and can detect the distance of obstacles around the main body of the crop basking and vacuuming device;

an infrared camera, which is detachably arranged on the main body of the crop tanning and vacuuming device, and is coaxially arranged with the ultrasonic distance sensor, and can capture images of obstacles around the main body of the crop basking and vacuuming device;

A controller, which is connected to the ultrasonic distance sensor and the infrared camera, can analyze the obstacle distance and the obstacle image, plan the walking path of the main body of the crop drying and vacuuming device, and control the crop The main body of the tanning and vacuuming device moves along the walking path.

Preferably, the main body of crop tanning and vacuuming comprises:

vacuuming base;

a support frame, which is rotatably supported on the dust suction base;

The sun raking rake is detachably connected to one end of the support frame and can rotate with the support frame.

Preferably, the support frame includes:

a turret, which is arranged on the top of the main body of the dust suction base and can rotate 360° around the main body of the dust suction base;

a clamping frame, which is a telescopic frame, capable of clamping the ultrasonic distance sensor and the infrared camera, and is hinged with the turret;

The pneumatic strut is arranged between the support frame and the turret, and the angle between the turret and the clamping frame can be changed by changing the length of the pneumatic strut.

Preferably, the dust suction base includes:

a dust suction mechanism, which has dust suction;

A plurality of rolling wheels, which are rotatably supported on the bottom of the vacuuming mechanism, can drive the main body of the crop tanning vacuuming to move.

A control method of a crop drying and vacuuming device, comprising:

Step 1, using the infrared camera to shoot the image of the obstacles around the main body of the crop drying and vacuuming device, and preprocess the image of the obstacles;

The infrared camera rotates, and respectively shoots infrared images of the infrared camera rotated from the initial position to four directions of 90°, 180°, 270° and 360°;

Step 2: Perform a pixel-by-pixel sliding window on the pixels in the preprocessed obstacle image, and calculate the local contrast of each pixel, thereby obtaining a local contrast map of the entire image;

Step 3: Perform threshold segmentation on the local contrast map, identify obstacles in the infrared image, and determine the turning angle of the obstacles;

Step 4: Using an ultrasonic sensor to detect the distance between the identified obstacle in the infrared image and the crop drying and vacuuming device, and according to the distance between the bottom boundary of the obstacle in the infrared image and the bottom boundary of the infrared image and the obstacle in the infrared image. Estimate the height of the obstacle according to the area of the object;

Step 5. Obtain the basking boundary of the crop basking and vacuuming device by synthesizing the height and corner of the obstacle and the distance of the crop basking and vacuuming device;

Step 6: Plan the tumbling path of the crop tumbling and dust-collecting device according to the tumbling boundary, and control the crop tumbling and cleaning device to move along the tumbling path.

Preferably, the obstacle image preprocessing process in the step 1 includes:

Step a. Perform binarization processing on the collected obstacle image to obtain a binarized obstacle image:

In the formula, I(x, y) is the gray value of the position, thresh is the preset threshold, and f(x, y) is the gray value of the (x, y) position of the vein image after binarization;

In step b, the binarized image is divided into pixels to obtain ξ=m×n pixels; wherein, m is the number of horizontal pixels, and n is the number of vertical pixels;

Step c, respectively perform inversion and histogram equalization operations on the image after pixel point segmentation, so as to obtain a preprocessed obstacle image with a size of m×n pixels.

Preferably, the calculation formula of the local contrast of the pixel point of the obstacle image is:

Among them, D _h (x, y) is the local contrast of the infrared image at the pixel at (x, y), and f _s (x, y) is the binarized gray mean of the pixel at (x, y) , f(x _c , y _c ) is the binarized gray value of the pixel at the center of the infrared image area;

Segmentation by thresholding the global contrast map:

时，将像素点确定为障碍物像素点，遍历所述全局对比度图，划分出多个障碍物的边界；when

When , determine the pixel point as an obstacle pixel point, traverse the global contrast map, and divide the boundaries of multiple obstacles;

Among them, the threshold calculation formula is:

加权局部对比度图的平均值、D_max为加权局部对比度图的最大值，δ为常数。where T is the segmentation threshold,

The average value of the weighted local contrast map, _Dmax is the maximum value of the weighted local contrast map, and δ is a constant.

Preferably, the calculation process of the obstacle rotation angle is:

Calculate the coordinates of the center point of the obstacle, and the calculation formula of the coordinates of the center point (x _z , y _z )

for:

其中，

m和n分别为障碍物边界的像素点行数与列数；

in,

m and n are the number of rows and columns of pixel points on the boundary of the obstacle, respectively;

The horizontal turning angle of the obstacle is calculated as:

Among them, α is the horizontal rotation angle of the obstacle, ω is the rotation angle of the infrared image obtained by the infrared camera, P(x _z , y _z ) is the horizontal distance between the center position of the obstacle and the center point of the infrared image, and γ is the infrared camera. The horizontal boundary angle of the captured infrared image, X is the width of the infrared image captured by the infrared camera;

The calculated obstacle pitch angle is:

Among them, Q(x _z , y _z ) is the longitudinal distance between the center position of the obstacle and the center point of the infrared image.

Preferably, the obstacle height calculation formula is:

其中，H_i为障碍物高度，h_z为红外影像中障碍物底部边界与红外影像底部边界的距离，L_z为超声波传感器检测识别出的红外影像中障碍物与所述农作物翻晒吸尘装置的距离，S_z为红外影像中障碍物面积，μ_i为单个像素点宽度；

Among them, H _i is the height of the obstacle, h _z is the distance between the bottom boundary of the obstacle in the infrared image and the bottom boundary of the infrared image, and L _z is the distance between the obstacle in the infrared image detected by the ultrasonic sensor and the crop drying and vacuuming device. distance, S _z is the obstacle area in the infrared image, μ _i is the width of a single pixel;

The height H _i of the obstacle is compared with the height of the cleaning and vacuuming device, and if the height H _i of the obstacle is smaller than the height of the cleaning and vacuuming device, the corresponding obstacle is determined to be a real obstacle.

Preferably, the basking boundary of the crop basking and vacuuming device is:

Determine the real obstacles in the infrared images in the four directions of 90°, 180°, 270° and 360° respectively, and obtain the distances N _λ , N _ν , N between the real obstacles and the crop tanning and vacuuming device _o and N _π ;

And calculate the minimum obstacle distance min{N _λ } of the infrared image in the 90° direction; calculate the minimum obstacle distance min{N _ν } of the infrared image in the 180° direction; calculate the minimum obstacle distance of the infrared image in the 270° direction Distance min{N _o }, the minimum obstacle distance min{N _π } of the infrared image in the 360° direction;

The ring formed by the min{N _λ }, min{N _ν }, min{N _o }, min{N _π } is used as the basking boundary, so that the basking and vacuuming device makes a circular motion from the inside to the outside within the boundary.

The beneficial effects of the present invention

The invention designs and develops a crop tumbling and vacuuming device. An ultrasonic distance sensor and an infrared camera are arranged on the top of the crop tumbling and vacuuming device, which can detect obstacles around the crop tumbling and vacuuming device, predict the obstacle information in advance, and have a good tumbling effect. .

The present invention also designs and develops a control method for the crop drying and vacuuming device, which can analyze the obstacle distance and the obstacle image, plan the drying path of the main body of the crop drying and vacuuming device, and control the The main body of the crop drying and vacuuming device moves along the drying path, and the drying effect is good.

Description of drawings

FIG. 1 is a schematic structural diagram of the crop drying and vacuuming device according to the present invention.

FIG. 2 is a schematic structural diagram of the support frame according to the present invention.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings, so that those skilled in the art can implement it with reference to the description.

As shown in FIG. 1 , the crop drying and vacuuming device provided by the present invention includes: a main body 110 of the crop drying and vacuuming device, an ultrasonic distance sensor 120 , an infrared camera 130 and a controller 140 .

The ultrasonic distance sensor 120 is detachably arranged on the main body 110 of the crop cleaning and vacuuming device, and can detect the distance of obstacles around the main body of the crop cleaning and vacuuming device; the infrared camera 130 is detachably arranged on the main body of the crop cleaning and vacuuming device, and is connected with the ultrasonic distance sensor. 120 are coaxially arranged, and can take pictures of obstacles around the main body 110 of the crop drying and vacuuming device; the controller 140 is connected to the ultrasonic distance sensor 120 and the infrared camera 130, and can analyze the obstacle distance and the obstacle image, and plan The reversing path of the main body of the crop reversing and vacuuming device, and the main body 110 of the crop reversing and vacuuming device is controlled to move along the reversing path.

As shown in FIG. 2 , a support frame 150 is provided on the main body 110 of the crop drying and vacuuming device, and the support frame 150 is rotatably supported above the main body 110 of the crop drying and vacuuming device.

As an example, the support frame 150 includes: a rotating frame 151 , a clamping frame 152 and a pneumatic support 153 .

The turret 151 is arranged on the top of the main body of the crop drying and vacuuming device, and can rotate 360° around the main body 110 of the crop drying and vacuuming device; the clamping frame 152 is a telescopic frame, which can clamp the ultrasonic distance sensor 120 and the infrared camera 130, and Hinged with the turret 151 . As a preference, a pneumatic strut 153 is provided between the clamping frame 152 and the turret 151 , and the angle between the turret and the clamping frame 152 can be changed by changing the length of the pneumatic strut 153 .

Preferably, the clamping frame 152 is an electric telescopic frame, including: a first bracket 151a, a second bracket 152b, a lead screw 152c and a drive motor 152d, the second bracket 152b can slide along the first bracket 151, and the second bracket 152b The lead screw 152c is sleeved on the lead screw 152c, and the lead screw 152c is rotatably supported on the first bracket 151a. The lead screw 152c is driven to rotate by the driving motor 152d, thereby driving the second bracket 152b to slide along the first bracket 151a to realize clamping The length of the shelf 152 is adjusted.

The drying rake 160 is detachably connected to one end of the clamping frame 152, and can be rotated or extended with the support frame 150. When not in use, the drying rake 160 can be turned over to the top of the main body of the crop turning and vacuuming device with the support frame to prolong the service life. As a preferred option, the vacuuming base includes: a vacuuming mechanism, which has the function of attracting light objects through negative pressure; a plurality of rolling wheels, which are rotatably supported on the bottom of the vacuuming mechanism, and can drive the crops to turn over and absorb the sun. The dust body moves.

A control method of a crop drying and vacuuming device, comprising:

Step 1. Use an infrared camera to capture images of obstacles around the main body of the crop drying and vacuuming device, and preprocess the images of obstacles. The preprocessing process of the images of obstacles includes:

Step a. Perform binarization processing on the collected obstacle image to obtain a binarized obstacle image:

In the formula, I(x, y) is the gray value of the position, thresh is the preset threshold, and f(x, y) is the gray value of the (x, y) position of the vein image after binarization;

Step b. Perform pixel point segmentation on the binarized image to obtain ξ=m×n pixel points; wherein, m is the number of horizontal pixels, and n is the number of vertical pixels;

Step c. Perform inversion and histogram equalization operations on the image after pixel point segmentation, so as to obtain a preprocessed obstacle image with a size of m×n pixels

The infrared camera 130 rotates and captures infrared images in four directions of rotation of the infrared camera from the initial position to 90°, 180°, 270° and 360° respectively.

Step 2: Perform a pixel-by-pixel sliding window on the pixels in the preprocessed obstacle image, and calculate the local contrast of each pixel, thereby obtaining a local contrast map of the whole image;

The formula for calculating the local contrast of obstacle image pixels is:

Among them, D _h (x, y) is the local contrast of the infrared image at the pixel at (x, y), and f _s (x, y) is the binarized gray mean of the pixel at (x, y) , f(x _c , y _c ) is the binarized gray value of the pixel at the center of the infrared image area;

Segmentation by thresholding the global contrast map:

时，将像素点确定为障碍物像素点，遍历全局对比度图，划分出多个障碍物的边界；when

When , determine the pixel point as the obstacle pixel point, traverse the global contrast map, and divide the boundaries of multiple obstacles;

Among them, the threshold calculation formula is:

加权局部对比度图的平均值、D_max为加权局部对比度图的最大值，δ为常数。where T is the segmentation threshold,

The average value of the weighted local contrast map, _Dmax is the maximum value of the weighted local contrast map, and δ is a constant.

Step 3: Perform threshold segmentation on the local contrast map, identify obstacles in the infrared image, and determine the obstacle rotation angle; the calculation process of the obstacle rotation angle is as follows:

First, calculate the coordinates of the center point of the obstacle, and the calculation formula of the center point coordinates (x _z , y _z )

The formula is:

其中，

m和n分别为障碍物边界的像素点行数与列数；

in,

m and n are the number of rows and columns of pixel points on the boundary of the obstacle, respectively;

The horizontal turning angle of the obstacle is calculated as:

Among them, α is the horizontal rotation angle of the obstacle, ω is the rotation angle of the sensor bracket when the infrared image is captured by the infrared camera, P(x _z , y _z ) is the horizontal distance between the center of the obstacle and the center point of the infrared image, and γ is the infrared image. The horizontal boundary angle of the infrared image captured by the camera, X is the width of the infrared image captured by the infrared camera.

The calculated obstacle pitch angle is:

Among them, Q(x _z , y _z ) is the longitudinal distance between the center position of the obstacle and the center point of the infrared image.

Step 4: Using an ultrasonic sensor to detect the distance between the identified obstacle in the infrared image and the crop drying and vacuuming device, and according to the distance between the bottom boundary of the obstacle in the infrared image and the bottom boundary of the infrared image and the obstacle in the infrared image. Estimate the height of the obstacle according to the area of the object;

The formula for calculating the height of the obstacle is:

其中，H_i为障碍物高度，h_z为红外影像中障碍物底部边界与红外影像底部边界的距离，L_z为超声波传感器检测识别出的红外影像中障碍物与农作物翻晒吸尘装置的距离，S_z为红外影像中障碍物面积，μ_i为单个像素点宽度；

Among them, H _i is the height of the obstacle, h _z is the distance between the bottom boundary of the obstacle in the infrared image and the bottom boundary of the infrared image, L _z is the distance between the obstacle in the infrared image detected by the ultrasonic sensor and the crop drying and vacuuming device, S _z is the obstacle area in the infrared image, μ _i is the width of a single pixel;

Compare the height H _i of the obstacle with the height of the cleaning and vacuuming device, and if the height H _i of the obstacle is less than the height of the cleaning and vacuuming device, then determine that the corresponding obstacle is a real obstacle.

Step 5: Obtain the basking boundary of the crop basking and vacuuming device by synthesizing the height and corner of the obstacle and the distance of the crop basking and vacuuming device;

The cleaning boundary of the cleaning and vacuuming device is: 90°, 180°, and 270° respectively.

and the real obstacles in the infrared images in four directions of 360°, and obtain the distances N _λ , N _ν , N _o and N _π between the real obstacles and the crop drying and vacuuming device;

Step 6: Plan the tumbling path of the crop tumbling and vacuuming device according to the tumbling boundary, and control the crop tumbling and vacuuming device to move along the tumbling path. And calculate the minimum obstacle distance min{N _λ } of the infrared image in the 90° direction; calculate the minimum obstacle distance min{N _ν } of the infrared image in the 180° direction; calculate the minimum obstacle distance of the infrared image in the 270° direction Distance min{N _o }, the minimum obstacle distance min{N _π } of the infrared image in the 360° direction;

The ring formed by enclosing min{N _λ }, min{N _ν }, min{N _o }, min{N _π } is the most tanning boundary, so that the tanning and vacuuming device makes a circular motion from the inside to the outside within the boundary, and then the crops The tumbling and vacuuming device stops at the tumbling boundary, repeats the above actions, and re-determines the tumbling boundary for cleaning.

The invention designs and develops a crop tumbling and vacuuming device. An ultrasonic distance sensor and an infrared camera are arranged on the top of the crop tumbling and vacuuming device, which can detect obstacles around the crop tumbling and vacuuming device, predict the obstacle information in advance, and have a good tumbling effect. .

The present invention also designs and develops a control method for the crop drying and vacuuming device, which can analyze the obstacle distance and the obstacle image, plan the drying path of the main body of the crop drying and vacuuming device, and control the The main body of the crop drying and vacuuming device moves along the drying path, and the drying effect is good.

Although the embodiment of the present invention has been disclosed as above, it is not limited to the application listed in the description and the embodiment, and it can be applied to various fields suitable for the present invention. For those skilled in the art, it can be easily Therefore, the invention is not limited to the specific details and illustrations shown and described herein without departing from the general concept defined by the appended claims and the scope of equivalents.

Claims (5)

1. A control method of a crop tedding dust absorption device, which uses the crop tedding dust absorption device and is characterized in that,

the crop tedding dust suction device comprises:

the crop tedding dust collector main body;

the ultrasonic distance sensor is detachably arranged on the crop tedding dust collector main body and can detect the distance between obstacles around the crop tedding dust collector main body;

the infrared camera is detachably arranged on the crop tedding dust collector main body, is coaxial with the ultrasonic distance sensor, and can shoot images of obstacles around the crop tedding dust collector 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;

the crop tedding dust absorption main body comprises:

a dust collection base;

the supporting frame is rotatably supported on the dust absorption base;

the tedding rake is detachably connected with one end of the supporting frame and can rotate along with the supporting frame;

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 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;

the dust absorption base includes:

a dust suction mechanism having a dust suction function;

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;

the method comprises the following steps:

step one, shooting images of obstacles around a main body of the crop tedding dust collection device by using the infrared camera, and preprocessing the images of the obstacles;

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;

thirdly, 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 between the bottom boundary of the obstacle in the infrared image and the bottom boundary of the infrared image and the area of the obstacle in the infrared image;

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;

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;

the obstacle height calculation formula is as follows:

wherein H _i Is the height of the obstacle, h _z Is the distance between the bottom boundary of the obstacle in the infrared image and the bottom boundary of the infrared image, L _z Detecting the distance S between the obstacle in the identified infrared image and the crop tedding dust collection device for the ultrasonic sensor _z Is the area of the obstacle, mu, in the infrared image _i Is the width of a single pixel point;

height H of the barrier _i Comparing 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 device _i And 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.

2. The method for controlling the crop tedding and dust collecting device according to claim 1, wherein the obstacle image preprocessing process in the first step comprises:

step a, carrying out binarization processing on the acquired obstacle image to obtain a binarized obstacle image:

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 point segmentation on the binarized vein image to obtain xi (m × n pixel points); wherein m is the number of horizontal pixels, and n is the number of vertical pixels;

and c, respectively carrying out negation and histogram equalization operations on the image after the pixel point segmentation, thereby obtaining the preprocessed obstacle image with the size of m multiplied by n pixels.

3. The control method of the crop tedding dust extraction device as claimed in claim 2, wherein the calculation formula of the local contrast of the obstacle image pixel point is as follows:

wherein D is _h (x, y) is the local contrast of the infrared image of the pixel at the (x, y) position, f _s (x, y) is the mean value of the binarized gray levels of the pixel points at the (x, y) positions, and f (x) _c ,y _c ) 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

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:

wherein T is a division threshold value,

weighted average of local contrast maps, D _max To weight the maximum of the local contrast map, δ is a constant.

4. The control method of the crop tedding dust extraction device as claimed in claim 3, wherein the obstacle turning angle calculation process is:

calculating center position point coordinates of the obstacle, the center position point coordinates (x) _z ,y _z ) The calculation formula of (2) is as follows:

wherein,

m and n are the number of rows and columns of pixel points of the barrier boundary respectively;

the horizontal rotation angle of the obstacle is calculated as:

wherein alpha is the horizontal rotation angle of the obstacle, omega is the rotation angle of the infrared image obtained by the infrared camera, and P (x) _z ,y _z ) Is the horizontal distance, gamma, between the center of the obstacle and the center of the infrared imageThe boundary angle in the horizontal direction of the infrared image obtained by shooting of the infrared camera is obtained, and X is the width of the infrared image obtained by shooting of the infrared camera;

calculating the pitch angle of the obstacle as follows:

wherein, Q (x) _z ,y _z ) The longitudinal distance between the center position of the barrier and the center point of the infrared image is shown.

5. The method of controlling a crop tedding vacuum cleaner as claimed in claim 4, 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 device _λ 、N _ν 、N _o And N _π ；

And calculating the minimum obstacle distance min { N } of the infrared image in the 90 DEG direction _λ }; calculating the minimum barrier distance min { N } of the infrared image in the 180-degree direction _ν }; minimum obstacle distance min { N } of infrared image in 270 degree direction _o The minimum barrier distance min { N } of the infrared image in the 360-degree direction _π }；

Will the min { N } _λ }、min{N _ν }、min{N _o }、min{N _π And (4) a ring formed by surrounding 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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