CN109566057B - Back-push type lawn trimming mechanism - Google Patents
Back-push type lawn trimming mechanism Download PDFInfo
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- CN109566057B CN109566057B CN201811485215.1A CN201811485215A CN109566057B CN 109566057 B CN109566057 B CN 109566057B CN 201811485215 A CN201811485215 A CN 201811485215A CN 109566057 B CN109566057 B CN 109566057B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
- A01D69/03—Driving mechanisms or parts thereof for harvesters or mowers fluid
Abstract
The invention relates to a rear pushing type lawn tidying mechanism, which comprises: the power assembly comprises a gasoline tank, a gasoline cylinder body, a four-stroke engine and a protective outer cover; the executing assembly comprises grass mowing equipment, soil loosening equipment, grass mowing equipment and weeding equipment; the engine oil cylinder body provides engine oil for the four-stroke engine, and the gasoline tank, the engine oil cylinder body and the four-stroke engine are all arranged in the protective outer cover; the data identification and analysis equipment is used for taking pixel points of G component values between 125 and 255 in the flare degree elimination image as green grass pixel points and outputting the total number of the green grass pixel points in the flare degree elimination image as a reference number; and the engine driving device is respectively connected with the four-stroke engine and the data analysis device and is used for determining the corresponding green grass density based on the reference quantity and determining the engine driving power proportional to the green grass density based on the green grass density. By the method and the device, a lawn trimming mechanism adaptive to specific grass conditions can be established.
Description
Technical Field
The invention relates to the field of post-push type weeding equipment, in particular to a post-push type lawn trimming mechanism.
Background
The power system of the back-push type weeding equipment mainly has two forms, one is a conventional internal combustion power system represented by a small gasoline engine or a diesel engine. The power system is characterized in that: the power is large, the continuous working time is long, but the biggest defect is large noise and vibration, so the products of the power system are suitable for places with low environmental requirements. The other type is a novel power system taking a storage battery as a power source. The power system is characterized in that: the working noise is small, the operation is stable, the biggest defects are that the power is less, the continuous working time is short, frequent charging is needed, and the device is not suitable for working in a place far away from a charging power supply. Looking at the traditional power system with gasoline engine and diesel engine as power source, the diesel engine with 5-7 horsepower or gasoline engine may be used, and the engine provides all the power for walking and mowing grass and is mounted on the engine support below via screws.
The main parts of the engine are: the fuel tank cover is arranged on the fuel tank, a layer of filter screen is arranged inside the fuel tank cover after the fuel tank cover is opened, and sundries in the fuel can be filtered when the fuel is added to the fuel tank through the filter screen. In the lower portion of the fuel tank is a fuel tank switch, which is an open position, which is an off position, and fuel in the fuel tank is delivered to the engine combustion cylinders through the fuel line. The water tank is provided with a water tank cover and a water level buoy, the higher the water level in the water tank is, the higher the buoy position is, and the clean water in the water tank is mainly used for cooling the engine. The machine uses a single engine, and the engine is started by hand cranking through a handle. This is an air cleaner through which outside air enters the combustion cylinder. The oil level indicator is arranged on the oil filling port and can display the oil level, oil is added from the oil level indicator, and the oil is used for lubricating the engine. The throttle switch can control the throttle size by using a pull wire, when the switch is positioned at the uppermost position, the throttle is closed, the machine is stopped, when the switch is positioned at the lowermost position, the throttle is maximum, the other side of the engine is provided with an engine power output wheel, and a metal guard plate at one side is dismounted, so that a power transmission system can be clearly seen.
Disclosure of Invention
The invention provides a post-push type lawn arranging mechanism, aiming at solving the technical problem that the prior post-push type weeding equipment cannot flexibly change the corresponding grass body treatment strategy according to the specific grass conditions.
The invention has at least the following two important points:
(1) when the instant jue degree of the image exceeds the preset jue degree, executing circulating nonlinear smoothing processing on the image until the obtained instant jue degree of the processed image does not exceed the preset jue degree;
(2) and determining a corresponding power driving mode according to the measurement result of the density of the green grass to be processed below so as to flexibly change a corresponding grass body processing strategy according to the specific grass condition.
According to an aspect of the present invention, there is provided a walk-behind lawn mowing mechanism, the mechanism comprising:
the power assembly comprises a gasoline tank, an engine oil cylinder body, a four-stroke engine and a protective outer cover, wherein the gasoline tank is used for providing gasoline oil bodies for the four-stroke engine; the executing assembly comprises grass mowing equipment, soil loosening equipment, grass mowing equipment and weeding equipment, wherein any one of the grass mowing equipment, the soil loosening equipment, the grass mowing equipment and the weeding equipment can be arranged at the front end of the handle; the engine oil cylinder body provides engine oil for the four-stroke engine, and the engine oil tank, the engine oil cylinder body and the four-stroke engine are all arranged in the protective outer cover; the data identification and analysis equipment is connected with the component acquisition equipment and is used for taking pixel points of G component values between 125-255 in the flare degree elimination image as green grass pixel points and outputting the total number of the green grass pixel points in the flare degree elimination image as reference number; the engine driving device is respectively connected with the four-stroke engine and the data analysis device and is used for determining the corresponding green grass density based on the reference quantity and determining the engine driving power proportional to the green grass density; the embedded camera is arranged on the execution component and used for executing image data acquisition below the execution component to obtain an instant acquisition image; the curvature adjusting device is connected with the embedded camera and used for receiving the instant acquisition image and executing size curvature adjustment on the instant acquisition image to obtain a curvature adjusting image; the content detection device is connected with the curvature adjustment device and used for detecting a maximum target in the curvature adjustment image, taking a region occupied by the maximum target in the curvature adjustment image as a target image region corresponding to the curvature adjustment image, performing flare degree analysis on the target image region to obtain a corresponding instant flare degree, and outputting the instant flare degree, wherein the flare degree of the image is in direct proportion to the intensity of change of each pixel value of each pixel point of the image; the signal distinguishing device is connected with the content detection device and used for receiving the instant burst degree, sending a first control signal when the instant burst degree does not exceed a preset burst degree and sending a second control signal when the instant burst degree exceeds the preset burst degree; the device for eliminating the flare degree is respectively connected with the signal identification device and the content detection device and is used for executing circulating nonlinear smoothing processing on the curvature adjustment image when a second control signal is received until the instant flare degree of the obtained processed image exceeds the preset flare degree and outputting the obtained processed image as a flare degree eliminated image; the component acquisition equipment is connected with the flare degree elimination equipment and is used for receiving the flare degree elimination image and acquiring the R component value, the G component value and the B component value of each pixel point in the flare degree elimination image; the content detection device comprises a content receiving sub-device, a target dividing sub-device, a grade analysis sub-device and a data output sub-device; wherein, in the content detection device, the content receiving sub-device is configured to receive the curvature adjustment image, and the target segmentation sub-device is connected to the content receiving sub-device and configured to use a region occupied by the maximum target in the curvature adjustment image as a target image region corresponding to the curvature adjustment image.
More specifically, in the post-push lawn mowing mechanism: in the content detection device, the level analysis sub-device is respectively connected to the target segmentation sub-device and the data output sub-device, and is configured to perform a flare degree analysis on the target image region to obtain a corresponding instantaneous flare degree.
More specifically, in the post-push lawn mowing mechanism: the flare-elimination apparatus is further configured to output the curvature adjustment image as a flare-elimination image upon receiving a first control signal.
More specifically, in the push-behind lawn mowing mechanism, the push-behind lawn mowing mechanism further comprises:
and the contour identification device is connected with the flare degree elimination device and used for receiving the flare degree elimination image and executing object contour identification on the flare degree elimination image based on a preset brightness threshold value so as to obtain one or more object contours in the flare degree elimination image.
More specifically, in the push-behind lawn mowing mechanism, the push-behind lawn mowing mechanism further comprises:
and the area analysis device is connected with the contour recognition device and used for receiving the one or more object contours and determining that the object corresponding to the object contour is a valid object when the proportion of the area surrounded by the object contour occupying the area of the flare degree elimination image exceeds a preset proportion threshold.
More specifically, in the push-behind lawn mowing mechanism, the push-behind lawn mowing mechanism further comprises:
and the object extraction device is connected with the area analysis device and used for receiving one or more effective objects in the flare degree elimination image, sequencing the one or more effective objects from large to small based on the depth of field of the object, and outputting the region occupied by the effective objects with ranked depth of field in the flare degree elimination image as a region to be analyzed.
More specifically, in the push-behind lawn mowing mechanism, the push-behind lawn mowing mechanism further comprises:
and the DDR storage device is respectively connected with the area analysis device and the object extraction device and is used for storing the preset brightness threshold value and the preset proportion threshold value.
More specifically, in the push-behind lawn mowing mechanism, the push-behind lawn mowing mechanism further comprises:
and the equalization processing equipment is connected with the object extraction equipment and is used for receiving the area to be analyzed, executing histogram equalization processing on the area to be analyzed to obtain an equalization area and outputting the equalization area.
More specifically, in the push-behind lawn mowing mechanism, the push-behind lawn mowing mechanism further comprises:
the feedback smoothing device is respectively connected with the flare degree elimination device and the equalization processing device and is used for receiving the equalization area, executing corresponding smoothing operation on the equalization area based on the current smoothing level of the equalization area to obtain a feedback smoothing area, and sending the feedback smoothing area to the flare degree elimination device by replacing the flare degree elimination image, wherein the larger the absolute value of the difference between the current smoothing level and a preset smoothing level is, the stronger the intensity of executing the corresponding smoothing operation on the equalization area is; wherein outputting the region occupied by the effective object with the ranked depth of field in the flare degree eliminated image as the region to be analyzed comprises: and outputting the area occupied by a plurality of effective objects with half of the one or more effective objects with the object depth ranking in the flare degree elimination image as the area to be analyzed.
More specifically, in the post-push lawn mowing mechanism: the DDR storage equipment is also connected with the feedback smoothing equipment and is used for storing the preset smoothing grade; wherein the step of taking, as an area to be analyzed, an area occupied by a plurality of effective objects, half the number of the one or more effective objects, of which object depths are ranked, in the flare degree elimination image comprises: when the one or more effective object numbers are one, directly outputting the area occupied by the one or more effective object numbers in the flare degree elimination image as the area to be analyzed.
Drawings
Embodiments of the invention will now be described with reference to the accompanying drawings, in which:
fig. 1 is a configuration view of an external appearance of a walk-behind lawn mowing mechanism according to an embodiment of the present invention.
Detailed Description
Embodiments of the push-behind lawn mowing mechanism of the present invention will be described in detail below with reference to the accompanying drawings.
The rear push type weeding equipment is also called a push type grass mower, is a hand-push type grass mower, is convenient, light and flexible, and is used for harvesting crops such as barley, wheat, beans, shrubs, reeds, highland barley, alfalfa, fish grass and the like regardless of large and small fields such as plains, hills, terraced fields, triangular fields and the like and muddy fields. The operation is simple, the work efficiency is high, one mu can be cut per hour, and the electric walking tool can be carried by one person. Its advantage is: 1. the mowing is clean, the trimming is tidy, and the height, the left and the right, and the front and the back are adjusted without the labor. 2. Can be used for trimming and weeding lawns, orchards, manholes, gardens and mountainous regions. 3. The utility model can be used by all people, regardless of the need to bend over and hump back. The corresponding cutter is replaced, the upper and lower supporting plates and the safe protective cover are arranged, and the pruning of shrubs, pastures, reeds, tea garden branches and the trimming of flower nursery lawn can be realized.
In order to overcome the defects, the invention builds a post-push type lawn trimming mechanism, and can effectively solve the corresponding technical problem.
Fig. 1 is a block diagram of an external form of a walk-behind lawn mowing mechanism according to an embodiment of the present invention, the mechanism comprising:
the power assembly comprises a gasoline tank, an engine oil cylinder body, a four-stroke engine and a protective outer cover, wherein the gasoline tank is used for providing gasoline oil bodies for the four-stroke engine;
the executing assembly comprises grass mowing equipment, soil loosening equipment, grass mowing equipment and weeding equipment, wherein any one of the grass mowing equipment, the soil loosening equipment, the grass mowing equipment and the weeding equipment can be arranged at the front end of the handle;
the engine oil cylinder body provides engine oil for the four-stroke engine, and the engine oil tank, the engine oil cylinder body and the four-stroke engine are all arranged in the protective outer cover;
the data identification and analysis equipment is connected with the component acquisition equipment and is used for taking pixel points of G component values between 125-255 in the flare degree elimination image as green grass pixel points and outputting the total number of the green grass pixel points in the flare degree elimination image as reference number;
the engine driving device is respectively connected with the four-stroke engine and the data analysis device and is used for determining the corresponding green grass density based on the reference quantity and determining the engine driving power proportional to the green grass density;
the embedded camera is arranged on the execution component and used for executing image data acquisition below the execution component to obtain an instant acquisition image;
the curvature adjusting device is connected with the embedded camera and used for receiving the instant acquisition image and executing size curvature adjustment on the instant acquisition image to obtain a curvature adjusting image;
the content detection device is connected with the curvature adjustment device and used for detecting a maximum target in the curvature adjustment image, taking a region occupied by the maximum target in the curvature adjustment image as a target image region corresponding to the curvature adjustment image, performing flare degree analysis on the target image region to obtain a corresponding instant flare degree, and outputting the instant flare degree, wherein the flare degree of the image is in direct proportion to the intensity of change of each pixel value of each pixel point of the image;
the signal distinguishing device is connected with the content detection device and used for receiving the instant burst degree, sending a first control signal when the instant burst degree does not exceed a preset burst degree and sending a second control signal when the instant burst degree exceeds the preset burst degree;
the device for eliminating the flare degree is respectively connected with the signal identification device and the content detection device and is used for executing circulating nonlinear smoothing processing on the curvature adjustment image when a second control signal is received until the instant flare degree of the obtained processed image exceeds the preset flare degree and outputting the obtained processed image as a flare degree eliminated image;
the component acquisition equipment is connected with the flare degree elimination equipment and is used for receiving the flare degree elimination image and acquiring the R component value, the G component value and the B component value of each pixel point in the flare degree elimination image;
the content detection device comprises a content receiving sub-device, a target dividing sub-device, a grade analysis sub-device and a data output sub-device;
wherein, in the content detection device, the content receiving sub-device is configured to receive the curvature adjustment image, and the target segmentation sub-device is connected to the content receiving sub-device and configured to use a region occupied by the maximum target in the curvature adjustment image as a target image region corresponding to the curvature adjustment image.
Next, a specific configuration of the push-behind lawn mowing mechanism of the present invention will be further described.
In the post-push lawn mowing mechanism: in the content detection device, the level analysis sub-device is respectively connected to the target segmentation sub-device and the data output sub-device, and is configured to perform a flare degree analysis on the target image region to obtain a corresponding instantaneous flare degree.
In the post-push lawn mowing mechanism: the flare-elimination apparatus is further configured to output the curvature adjustment image as a flare-elimination image upon receiving a first control signal.
In back push type lawn arrangement mechanism, still include:
and the contour identification device is connected with the flare degree elimination device and used for receiving the flare degree elimination image and executing object contour identification on the flare degree elimination image based on a preset brightness threshold value so as to obtain one or more object contours in the flare degree elimination image.
In back push type lawn arrangement mechanism, still include:
and the area analysis device is connected with the contour recognition device and used for receiving the one or more object contours and determining that the object corresponding to the object contour is a valid object when the proportion of the area surrounded by the object contour occupying the area of the flare degree elimination image exceeds a preset proportion threshold.
In back push type lawn arrangement mechanism, still include:
and the object extraction device is connected with the area analysis device and used for receiving one or more effective objects in the flare degree elimination image, sequencing the one or more effective objects from large to small based on the depth of field of the object, and outputting the region occupied by the effective objects with ranked depth of field in the flare degree elimination image as a region to be analyzed.
In back push type lawn arrangement mechanism, still include:
and the DDR storage device is respectively connected with the area analysis device and the object extraction device and is used for storing the preset brightness threshold value and the preset proportion threshold value.
In back push type lawn arrangement mechanism, still include:
and the equalization processing equipment is connected with the object extraction equipment and is used for receiving the area to be analyzed, executing histogram equalization processing on the area to be analyzed to obtain an equalization area and outputting the equalization area.
In back push type lawn arrangement mechanism, still include:
the feedback smoothing device is respectively connected with the flare degree elimination device and the equalization processing device and is used for receiving the equalization area, executing corresponding smoothing operation on the equalization area based on the current smoothing level of the equalization area to obtain a feedback smoothing area, and sending the feedback smoothing area to the flare degree elimination device by replacing the flare degree elimination image, wherein the larger the absolute value of the difference between the current smoothing level and a preset smoothing level is, the stronger the intensity of executing the corresponding smoothing operation on the equalization area is;
wherein outputting the region occupied by the effective object with the ranked depth of field in the flare degree eliminated image as the region to be analyzed comprises: and outputting the area occupied by a plurality of effective objects with half of the one or more effective objects with the object depth ranking in the flare degree elimination image as the area to be analyzed.
In the post-push lawn mowing mechanism: the DDR storage equipment is also connected with the feedback smoothing equipment and is used for storing the preset smoothing grade;
wherein the step of taking, as an area to be analyzed, an area occupied by a plurality of effective objects, half the number of the one or more effective objects, of which object depths are ranked, in the flare degree elimination image comprises: when the one or more effective object numbers are one, directly outputting the area occupied by the one or more effective object numbers in the flare degree elimination image as the area to be analyzed.
In addition, the flare elimination apparatus is implemented by a GPU chip. GPUs differ from DSP architectures in several major respects. All its calculations use floating point arithmetic and there is no bit or integer arithmetic instruction at this time. Furthermore, since the GPU is designed specifically for image processing, the storage system is actually a two-dimensional, segmented storage space, including a segment number (from which the image is read) and a two-dimensional address (X, Y coordinates in the image). Furthermore, there is no indirect write instruction. The output write address is determined by the raster processor and cannot be changed by the program. This is a significant challenge for algorithms that are naturally distributed among the memories. Finally, no communication is allowed between the processes of different shards. In effect, the fragment processor is a SIMD data parallel execution unit, executing code independently in all fragments.
Despite the above constraints, the GPU can still efficiently perform a variety of operations, from linear algebraic sum signal processing to numerical simulation. While the concept is simple, new users are still confused when using GPU computations because the GPU requires proprietary graphics knowledge. In this case, some software tools may provide assistance. The two high-level shading languages CG and HLSL enable users to write C-like code and then compile it into a shard program assembly language. Brook is a high-level language designed specifically for GPU computing and does not require graphical knowledge. Therefore, it can be a good starting point for the worker who first uses the GPU for development. Brook is an extension of the C language, integrating a simple data-parallel programming construct that can be mapped directly to a GPU. Data stored and manipulated by the GPU is visually analogized to "streams" (streams), similar to the arrays in standard C. The Kernel is a function that operates on the stream. Calling a core function on a series of input streams means that an implicit loop is implemented on the stream elements, i.e. a core body is called for each stream element. Brook also provides reduction mechanisms, such as performing sum, maximum, or product calculations on all elements in a stream. Brook also completely hides all the details of the graphics API and virtualizes many user-unfamiliar parts of the GPU, like the two-dimensional memory system. Applications written in Brook include linear algebra subroutines, fast fourier transforms, ray tracing, and image processing. With the X800XT for ATI and the GeForce 6800Ultra type GPU for Nvidia, the speed of many such applications increased by as much as 7 times under the same cache, SSE assembly optimized Pentium 4 execution conditions.
By adopting the post-push type lawn arranging mechanism, aiming at the technical problem that post-push type weeding equipment in the prior art cannot flexibly change a corresponding grass body processing strategy according to specific grass conditions, when the instant jue degree of an image exceeds the preset jue degree, the image is subjected to circulating nonlinear smoothing processing until the obtained instant jue degree of the processed image does not exceed the preset jue degree; determining a corresponding power driving mode according to the measurement result of the density of green grass to be processed below so as to flexibly change a corresponding grass body processing strategy according to a specific grass condition; thereby solving the technical problem.
It is to be understood that while the present invention has been described in conjunction with the preferred embodiments thereof, it is not intended to limit the invention to those embodiments. It will be apparent to those skilled in the art from this disclosure that many changes and modifications can be made, or equivalents modified, in the embodiments of the invention without departing from the scope of the invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.
Claims (10)
1. A push-behind lawn mowing mechanism, the mechanism comprising:
the power assembly comprises a gasoline tank, an engine oil cylinder body, a four-stroke engine and a protective outer cover, wherein the gasoline tank is used for providing gasoline oil bodies for the four-stroke engine;
the executing assembly comprises grass mowing equipment, soil loosening equipment, grass mowing equipment and weeding equipment, wherein any one of the grass mowing equipment, the soil loosening equipment, the grass mowing equipment and the weeding equipment can be arranged at the front end of the handle;
the engine oil cylinder body provides engine oil for the four-stroke engine, and the engine oil tank, the engine oil cylinder body and the four-stroke engine are all arranged in the protective outer cover;
the data identification and analysis equipment is connected with the component acquisition equipment and is used for taking pixel points of G component values between 125-255 in the suggee degree elimination image as green grass pixel points and outputting the total number of the green grass pixel points in the suggee degree elimination image as a reference number;
the engine driving device is respectively connected with the four-stroke engine and the data analysis device and is used for determining the corresponding green grass density based on the reference quantity and determining the engine driving power proportional to the green grass density;
the embedded camera is arranged on the execution component and used for executing image data acquisition below the execution component to obtain an instant acquisition image;
the curvature adjusting device is connected with the embedded camera and used for receiving the instant acquisition image and executing curvature adjustment on the instant acquisition image to obtain a curvature adjusting image;
the content detection device is connected with the curvature adjustment device and used for detecting a maximum target in the curvature adjustment image, taking a region occupied by the maximum target in the curvature adjustment image as a target image region corresponding to the curvature adjustment image, performing flare degree analysis on the target image region to obtain a corresponding instant flare degree, and outputting the instant flare degree, wherein the flare degree of the image is in direct proportion to the intensity of change of each pixel value of each pixel point of the image;
the signal distinguishing device is connected with the content detection device and used for receiving the instant burst degree, sending a first control signal when the instant burst degree does not exceed a preset burst degree and sending a second control signal when the instant burst degree exceeds the preset burst degree;
the device for eliminating the flare degree is respectively connected with the signal identification device and the content detection device and is used for executing circulating nonlinear smoothing processing on the curvature adjustment image when a second control signal is received until the instant flare degree of the obtained processed image does not exceed the preset flare degree, and outputting the obtained processed image as a flare degree elimination image;
the component acquisition equipment is connected with the flare degree elimination equipment and is used for receiving the flare degree elimination image and acquiring the R component value, the G component value and the B component value of each pixel point in the flare degree elimination image;
the content detection device comprises a content receiving sub-device, a target dividing sub-device, a grade analysis sub-device and a data output sub-device;
wherein, in the content detection device, the content receiving sub-device is configured to receive the curvature adjustment image, and the target segmentation sub-device is connected to the content receiving sub-device and configured to use a region occupied by the maximum target in the curvature adjustment image as a target image region corresponding to the curvature adjustment image.
2. The walk-behind lawn mowing mechanism of claim 1, wherein:
in the content detection device, the level analysis sub-device is respectively connected to the target segmentation sub-device and the data output sub-device, and is configured to perform a flare degree analysis on the target image region to obtain a corresponding instantaneous flare degree.
3. A push-behind lawn mowing mechanism according to claim 2, wherein:
the flare-elimination apparatus is further configured to output the curvature adjustment image as a flare-elimination image upon receiving a first control signal.
4. The walk-behind lawn mowing mechanism of claim 3, wherein the mechanism further comprises:
and the contour identification device is connected with the flare degree elimination device and used for receiving the flare degree elimination image and executing object contour identification on the flare degree elimination image based on a preset brightness threshold value so as to obtain one or more object contours in the flare degree elimination image.
5. The walk-behind lawn mowing mechanism of claim 4, wherein the mechanism further comprises:
and the area analysis device is connected with the contour recognition device and used for receiving the one or more object contours and determining that the object corresponding to the object contour is a valid object when the proportion of the area surrounded by the object contour occupying the area of the flare degree elimination image exceeds a preset proportion threshold.
6. The walk-behind lawn mowing mechanism of claim 5, wherein the mechanism further comprises:
and the object extraction device is connected with the area analysis device and used for receiving one or more effective objects in the flare degree elimination image, sequencing the one or more effective objects from large to small based on the depth of field of the object, and outputting the region occupied by the effective objects with ranked depth of field in the flare degree elimination image as a region to be analyzed.
7. The walk-behind lawn mowing mechanism of claim 6, wherein the mechanism further comprises:
and the DDR storage device is respectively connected with the area analysis device and the object extraction device and is used for storing the preset brightness threshold value and the preset proportion threshold value.
8. The walk-behind lawn mowing mechanism of claim 7, wherein the mechanism further comprises:
and the equalization processing equipment is connected with the object extraction equipment and is used for receiving the area to be analyzed, executing histogram equalization processing on the area to be analyzed to obtain an equalization area and outputting the equalization area.
9. The walk-behind lawn mowing mechanism of claim 8, wherein the mechanism further comprises:
the feedback smoothing device is respectively connected with the flare degree elimination device and the equalization processing device and is used for receiving the equalization area, executing corresponding smoothing operation on the equalization area based on the current smoothing level of the equalization area to obtain a feedback smoothing area, and sending the feedback smoothing area to the flare degree elimination device by replacing the flare degree elimination image, wherein the larger the absolute value of the difference between the current smoothing level and a preset smoothing level is, the stronger the intensity of executing the corresponding smoothing operation on the equalization area is;
wherein outputting the region occupied by the effective object with the ranked depth of field in the flare degree eliminated image as the region to be analyzed comprises: and outputting the area occupied by a plurality of effective objects with half of the one or more effective objects with the object depth ranking in the flare degree elimination image as the area to be analyzed.
10. The walk-behind lawn mowing mechanism of claim 9, wherein:
the DDR storage equipment is also connected with the feedback smoothing equipment and is used for storing the preset smoothing grade;
wherein the step of taking, as an area to be analyzed, an area occupied by a plurality of effective objects, half the number of the one or more effective objects, of which object depths are ranked, in the flare degree elimination image comprises: when the one or more effective object numbers are one, directly outputting the area occupied by the one or more effective object numbers in the flare degree elimination image as the area to be analyzed.
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