Robot based on image positioning matching and management system thereof

Abstract

The invention discloses a robot based on image positioning matching and a management system.The robot comprises a moving trolley, a cutting-off mechanism, a post-processing mechanism and the management system.The cutting-off mechanism comprises a first driving assembly, a laser transmitter, a first image capturing module and a set of shifting rod assemblies; the first driving assembly is fixed to the front end of the moving trolley, the laser transmitter is installed on the first driving assembly, the first image capturing module is arranged on the first driving assembly, and the shifting rod assembly is fixedly connected with the driving end of the first driving assembly. The first driving assembly is used for controlling the shifting rod assembly to rotate and ascend and descend, the laser transmitter is used for cutting off weeds through laser, the first image capturing module is used for identifying and capturing the weeds, the shifting rod assembly is used for separating the weeds from crops, and the post-processing mechanism is installed on the moving trolley and located behind the cutting mechanism. According to the invention, the correctness of weed removal is improved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, in particular to a robot based on image positioning and matching and a management system thereof. Background Art

[0002] Image positioning and matching is a technique for pixel-level recognition and alignment of content with the same or similar attributes in two or more images. This technique is widely used in computer vision, pattern recognition, remote sensing, military security, and medical diagnosis, and is a basic step in many visual tasks. Image matching techniques can be divided into three main categories: grayscale region-based matching, feature-based matching, and interpretation-based matching.

[0003] Image positioning and matching technology plays a vital role in the field of robotics, especially in applications such as visual navigation, target recognition and tracking, and 3D reconstruction. This technology helps robots understand their environment and make corresponding decisions by extracting features from two or more images and matching them.

[0004] Weeding robots are one of the applications of image positioning and matching technology. They use images to identify and remove weeds, which improves weeding efficiency while freeing up manpower. However, in reality, due to the diversity of environmental factors, such as windy weather or potholes, weeding robots find it difficult to lock on to weeds, which may accidentally damage crops. Summary of the invention

[0005] The purpose of the present invention is to provide a robot based on image positioning and matching and a management system thereof to solve the problems raised in the above background technology.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: a robot based on image positioning and matching and its management system, comprising a mobile trolley, a cutting mechanism, a post-processing mechanism and a management system, wherein the cutting mechanism comprises a driving component 1, a laser emitter, an image capture module 1 and a group of lever assemblies, wherein the driving component 1 is fixed to the front end of the mobile trolley, the laser emitter is installed on the driving component 1, the image capture module 1 is arranged on the driving component 1, the lever assembly is connected and fixed to the driving end of the driving component 1, the driving component 1 is used to control the rotation and lifting of the lever assembly, the laser emitter is used to cut weeds with a laser, the image capture module 1 is used to identify and capture weeds, the lever assembly is used to separate weeds and crops, the post-processing mechanism is installed on the mobile trolley and located behind the cutting mechanism, the management system is connected to the mobile trolley, the cutting mechanism and the post-processing mechanism by signal, and is used to control the movement of the mobile trolley and control the cutting mechanism and the post-processing mechanism to remove weeds; According to the above technical solution, the lever assembly includes a rotating shaft and a lever, wherein the levers are relatively inserted into the corresponding rotating shafts, the two levers are arranged at different heights, and the lever includes a guiding portion and a limiting portion, wherein the limiting portions of the two levers are relatively deflected at a certain angle.

[0007] According to the above technical solution, the driving component 1 includes two mounting plates, two rotating rods, driving teeth, a motor 1, a driven tooth and two electric push rods 1, wherein the two mounting plates are arranged up and down, the rotating rod is rotatably set on the two mounting plates, the driving tooth is sleeved on a rotating rod, the motor 1 is connected to the rotating rod corresponding to the driving tooth, the driven tooth is sleeved on another rotating rod and cooperates with the driving tooth, and the electric push rod 1 is fixed in the rotating rod and the end is connected to the rotating shaft ball head.

[0008] According to the above technical solution, connecting blocks are respectively fixed at the ends of the two guide parts, a slider is slidably arranged on the guide part, a spring 1 is connected between the connecting block and the slider, a spring 2 is connected between the two sliders, a rope is connected between the slider and the corresponding rotating shaft, and the rope is wound around the rotating shaft.

[0009] According to the above technical solution, the post-processing mechanism includes a fixed plate, motor 2 and a processing component, wherein the fixed plate is installed on the lower side of the mobile vehicle body, motor 2 is installed on the fixed plate, and the processing component is connected to the driving end of motor 2.

[0010] According to the above technical solution, the processing component includes a movable plate, a group of electric push rods 2, a plurality of cutters 1 and a secondary cutter module, wherein the movable plate is connected to the driving end of the motor 2, the electric push rods 2 are circumferentially arranged on the movable plate, the cutter 1 is fixed to the corresponding driving end of the electric push rod 2, and the secondary cutter module is fixed to the driving position of the electric push rod 2.

[0011] According to the above technical solution, a cross section of the cutter is a triangular pyramid with the tip facing outwards.

[0012] According to the above technical solution, the secondary cutter module includes a movable plate, an electric push rod three, a drive frame and a number of cutters two, wherein the movable plate is fixed on the driving position of the electric push rod two, the electric push rod three is fixed on the movable plate, the drive frame is connected to the driving end of the electric push rod three, and the cutters two are staggeredly fixed on the lower side of the drive frame.

[0013] According to the above technical solution, both ends of the cutter are sharpened.

[0014] According to the above technical solution, an image capturing module 2 is provided on the driving frame.

[0015] According to the above technical solution, a shield is connected to the lower side of the fixed plate, and the shield is arranged around the periphery of the processing assembly to protect the processing assembly and guide the movement of the movable plate.

[0016] According to the above technical solution, the management system includes a data acquisition module, an operation analysis module and a command execution module. The data acquisition module is used to scan the weeds and crop images in front of the mobile vehicle; the operation analysis module is used to identify the weeds; the command execution module is used to separate and remove the weeds according to the analysis results of the operation analysis module. The data acquisition module is communicatively connected to the operation analysis module, and the operation analysis module is electrically connected to the command execution module.

[0017] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the present invention, by providing a cutting mechanism, wherein the image capture module 1 can capture images of weeds and crops, perform feature matching according to a database, identify weeds, and separate weeds and crops through a lever assembly, thereby cutting weeds to the greatest extent and improving the accuracy of weeding; by providing a post-processing mechanism, the cut weeds can be locked, and then the cutter 1 first loosens the soil, and then the cutter 2 completely cuts off the roots of the weeds to prevent the weeds from growing again, thereby improving the comprehensiveness of weeding. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of a cutting mechanism of the present invention; Figure 3 It is a partial schematic diagram of the cutting mechanism of the present invention; Figure 4 It is a partial schematic diagram of the post-processing mechanism of the present invention; Figure 5 is a schematic diagram of a processing component of the present invention; Figure 6 is a bottom view of the processing assembly of the present invention; Figure 7 is a schematic diagram of a management system of the present invention; In the figure: 1. Mobile trolley; 2. Driving assembly 1; 21. Mounting plate; 22. Rotating rod; 23. Driving gear; 24. Motor 1; 25. Driven gear; 26. Electric push rod 1; 3. Laser emitter; 4. Image capture module 1; 5. Push rod assembly; 51. Rotating shaft; 52. Push rod; 521. Guide part; 522. Limiting part; 53. Connecting block; 54. Sliding block; 55. Spring 1; 56. Spring 2; 57. Rope; 6. Fixed plate; 61. Shield; 7. Motor 2; 8. Processing assembly; 81. Movable plate; 82. Electric push rod 2; 83. Cutter 1; 841. Mobile plate; 842. Electric push rod 3; 843. Driving frame; 844. Cutter 2; 845. Image capture module 2. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] See also Figure 1-6 The present invention provides a technical solution: a robot based on image positioning and matching, comprising a mobile car 1, a cutting mechanism, a post-processing mechanism and a management system, wherein the cutting mechanism comprises a driving component 2, a laser emitter 3, an image capture module 4 and a group of lever components 5, wherein the driving component 2 is fixed at the front end of the mobile car 1, the laser emitter 4 is installed on the driving component 2, the image capture module 4 is arranged on the driving component 2, the lever component 5 is connected and fixed to the driving end of the driving component 2, the driving component 2 is used to control the rotation and lifting of the lever component 5, the laser emitter 3 is used to cut weeds with laser, the image capture module 4 is used to identify and capture weeds, the lever component 5 is used to separate weeds and crops, the post-processing mechanism is installed on the mobile car 1 and is located behind the cutting mechanism, the management system is connected with the mobile car 1, the cutting mechanism and the post-processing mechanism by signal, and is used to control the movement of the mobile car 1, and control the cutting mechanism and the post-processing mechanism to remove weeds; The lever assembly 5 includes a rotating shaft 51 and a lever 52, wherein the lever 52 is relatively penetrated on the corresponding rotating shaft 51, and the two levers 52 are arranged at different heights. The lever 52 includes a guiding portion 521 and a limiting portion 522, wherein the limiting portions 522 of the two levers 52 are relatively deflected at a certain angle.

[0021] The driving assembly 2 includes two mounting plates 21, two rotating rods 22, driving teeth 23, a motor 24, a driven tooth 25 and two electric push rods 26, wherein the two mounting plates 21 are arranged up and down, the rotating rod 22 is rotatably set on the two mounting plates 21, the driving teeth 23 are sleeved on one rotating rod 22, the motor 24 is connected to the rotating rod 22 corresponding to the driving teeth 23, the driven tooth 25 is sleeved on the other rotating rod 22 and cooperates with the driving teeth 23, and the electric push rod 26 is fixed in the rotating rod 22 and the end is connected to the ball head of the rotating shaft 51.

[0022] In actual operation, the motor 24 controls the two rotating rods 22 to rotate synchronously toward or away from each other through the cooperation of the driving teeth 23 and the driven teeth 25, thereby adjusting the distance between the guide part 521 and the limiting part 522 of the two levers 52. The ball head connection allows relative rotation between the two levers 52 and the rotating shaft 51, improves the flexibility of the connection, and can self-adjust when encountering obstacles during the movement of the mobile car 1.

[0023] A connecting block 53 is fixed at the end of each of the two guide parts 521, a slider 54 is slidably arranged on the guide part 521, a spring 1 55 is connected between the connecting block 53 and the slider 54, a spring 2 56 is connected between the two sliders 54, a rope 57 is connected between the slider 54 and the corresponding rotating shaft 51, and the rope 57 is wound around the rotating shaft 51.

[0024] Supplementary description of the above structure is as follows: when the two limiting parts 522 deflect outward, the two guiding parts 521 approach each other, the spring 1 55 is in a contracted state, and the slider 54 is close to one side of the connecting block 53; when the two limiting parts 522 deflect relative to each other, the two guiding parts 521 move away from each other, the rope 57 is tightened due to winding, the distance between the slider 54 and the rotating shaft 51 is shortened, and the spring 1 55 is in a stretched state. By rotating the rotating shaft 51, not only the distance between the two parts of the lever 52 can be adjusted, but also the distance between the spring 2 56 and the rotating shaft 51 can be adjusted by the winding action of the rope 57. The spring 2 56 is used to intercept the upper side of the weeds to assist the laser emitter 3 in cutting off the roots of the weeds.

[0025] The post-processing mechanism includes a fixed plate 6, a second motor 7 and a processing assembly 8, wherein the fixed plate 6 is installed on the lower side of the mobile vehicle 1, the second motor 7 is installed on the fixed plate 6, and the processing assembly 8 is connected to the driving end of the second motor 7.

[0026] The processing component 8 includes a movable plate 81, a group of electric push rods 82, a plurality of cutters 83 and a secondary cutter module, wherein the movable plate 81 is connected to the driving end of the motor 2 7, the electric push rods 82 are circumferentially arranged on the movable plate 81, the cutter 83 is fixed to the corresponding driving end of the electric push rods 82, and the secondary cutter module is fixed to the driving position of the electric push rods 82.

[0027] The cross section of the cutter 83 is a triangular cone with the tip facing outward. It should be supplemented that the motor 27 is used to drive the movable plate 81 to rotate, the electric push rod 282 is used to drive the cutter 83 and the secondary cutter module to move longitudinally, and the cutter 83 is used to insert into the soil layer and loosen the soil under the rotation of the motor 27.

[0028] The secondary cutter module includes a movable plate 841, an electric push rod 842, a drive frame 843 and a plurality of cutters 844, wherein the movable plate 841 is fixed at the driving position of the electric push rod 842, the electric push rod 842 is fixed on the movable plate 841, the drive frame 843 is connected to the driving end of the electric push rod 842, and the cutters 844 are staggered and fixed on the lower side of the drive frame 843.

[0029] The two ends of the cutter 844 are sharpened. It should be supplemented that the moving plate 841 is driven by the electric push rod 82, and the electric push rod 842 is used to push and pull the moving plate 841 to adjust the height of the cutter 844, and the cutter 844 is used to cut the roots of weeds.

[0030] An image capturing module 2 845 is disposed on the driving frame 843 .

[0031] A shield 61 is connected to the lower side of the fixed plate 6 . The shield 61 is disposed around the outer periphery of the processing assembly 8 to protect the processing assembly 8 and guide the movement of the movable plate 81 .

[0032] like Figure 7 As shown, the management system includes a data acquisition module, an operation analysis module and a command execution module. The data acquisition module is used to scan the weeds and crop images in front of the mobile vehicle 1; the operation analysis module is used to identify the weeds; the command execution module is used to separate and remove the weeds according to the analysis results of the operation analysis module. The data acquisition module is communicatively connected to the operation analysis module, and the operation analysis module is electrically connected to the command execution module.

[0033] In a preferred embodiment, the operation method of the robot management system mainly includes the following steps: Step 1: Connect the management system in the weeding robot and scan the area in front of the mobile car 1 through the image capture module 14; Step 2: The analysis module is operated to identify weeds according to the image captured by the image capture module 14, and the weeds are separated and the weed body is cut off by the cutting mechanism; Step 3: The operation analysis module identifies the weed cutting position according to the image captured by the image capture module 2 845, and cuts off the roots of the weeds through the post-processing mechanism, thereby achieving complete weed removal.

[0034] Specifically, the identification of weeds in step 2 includes static identification and dynamic identification, wherein static identification is used to freeze the image captured by the image capture module 4, and feature-match the vegetation in the image with the vegetation data recorded in the database, determine the identity of the vegetation, and mark the weeds; dynamic identification is used to capture the activity state of the marked weeds in the physical environment. Affected by the wind direction, weeds and crops sway in the same direction, and interlacing with each other will affect the weeding accuracy of the weeding robot. Dynamic identification will capture the active weeds and lock the roots of weeds with smaller activity ranges; The method for cutting weeds is as follows: the mobile trolley 1 moves, the lever assembly 5 is aligned with the marked weed position, the electric push rod 26 adjusts the height of the lever 52 to make it as close to the ground as possible, the motor 24 adjusts the distance between the two limiting parts 522 to allow the weeds to pass, the mobile trolley 1 continues to move, and the motor 24 controls the two limiting parts 522 to be staggered and closed. At this time, the spring 2 56 is pulled away from the side of the connecting block 53. In this process, the upper side of the weed is intercepted and bent by the spring 2 56, so that the root is exposed, and the laser emitter 3 cuts the weeds.

[0035] The execution method of the post-processing mechanism in step three is as follows: the mobile car 1 continues to move, the image capture module 2 845 captures the weed cut end and locates it, the processing component 8 is aligned with the upper side of the cut weeds, the electric push rod 2 82 drives each cutter 1 83 to move downward, so that the cutter 1 83 is inserted into the soil layer below, and then the motor 2 7 controls the movable plate 81 to drive the cutter 1 83 to rotate, so that it breaks the soil layer and loosens the soil, so that the subsequent secondary cutter module can be more easily inserted into the soil layer; after loosening the soil, the electric push rod 3 842 controls the driving frame 843 to drive the cutter 2 844 to move downward and insert into the soil layer. At this time, the root position of the weeds is located in the middle of the cutter 2 844, and then the motor 2 7 controls the movable plate 81 to drive the cutter 2 844 to rotate, so that the roots of the weeds are completely cut off, thereby completely removing the weeds.

[0036] Furthermore, in the process of static recognition of the image, the running analysis module will measure the frozen image of the weeds to determine the approximate height of the weeds. Specifically, the midpoint positions on each horizontal plane in the static image of the weeds are marked and connected, and the superposition value x of all line segments is calculated; the limiting portion 522 in the frozen image is used as a reference, and the actual length L of the limiting portion 522 is known. The length l of the limiting portion 522 in the image is measured, and the number of pixels corresponding to each unit length can be calculated through the pixel size and actual size of the reference in the image, that is, the "pixel / metric" ratio l / L. Combined with the pixel size x of the weeds obtained previously, the actual size X=x*(L / l) of the weeds is obtained according to the proportional relationship. The growth status of the weeds is recorded to adjust the subsequent weed cleaning cycle, and the length of the weeds is calculated to facilitate the adjustment of the height of the lever assembly 5 and the confirmation of the length of the weed cut.

[0037] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0038] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot based on image positioning and matching, comprising a mobile vehicle (1), a cutting mechanism, a post-processing mechanism and a management system, characterized in that: The cutting mechanism comprises a driving component (2), a laser emitter (3), an image capture module (4) and a group of lever assemblies (5), wherein the driving component (2) is fixed at the front end of the mobile vehicle (1), the laser emitter (4) is mounted on the driving component (2), the image capture module (4) is arranged on the driving component (2), the lever assembly (5) is connected and fixed to the driving end of the driving component (2), the driving component (2) is used to control the rotation and lifting of the lever assembly (5), the laser emitter (3) is used to cut weeds by laser, the image capture module (4) is used to identify and capture weeds, the lever assembly (5) is used to separate weeds from crops, the post-processing mechanism is mounted on the mobile vehicle (1) and is located behind the cutting mechanism, and the management system is connected to the mobile vehicle (1), the cutting mechanism and the post-processing mechanism by signal, and is used to control the movement of the mobile vehicle (1) and control the cutting mechanism and the post-processing mechanism to remove weeds; The lever assembly (5) comprises a rotating shaft (51) and a lever (52), wherein the levers (52) are relatively penetrated on the corresponding rotating shaft (51), the two levers (52) are arranged at different heights, and the lever (52) comprises a guiding portion (521) and a limiting portion (522), wherein the limiting portions (522) of the two levers (52) are relatively deflected at a certain angle.

2. The robot based on image positioning and matching according to claim 1, characterized in that: The driving assembly (2) comprises two mounting plates (21), two rotating rods (22), driving teeth (23), a motor (24), a driven tooth (25) and two electric push rods (26), wherein the two mounting plates (21) are arranged in an upper and lower manner, the rotating rod (22) is rotatably mounted on the two mounting plates (21), the driving teeth (23) is sleeved on one of the rotating rods (22), the motor (24) is connected to the rotating rod (22) corresponding to the driving teeth (23), the driven teeth (25) are sleeved on the other rotating rod (22) and cooperate with the driving teeth (23), and the electric push rod (26) is fixed in the rotating rod (22) and the end thereof is connected to the ball head of the rotating shaft (51).

3. The robot based on image positioning and matching according to claim 2, characterized in that: A connecting block (53) is fixed to each end of the two guide portions (521); a slider (54) is slidably arranged on the guide portion (521); a first spring (55) is connected between the connecting block (53) and the slider (54); a second spring (56) is connected between the two sliders (54); a rope (57) is connected between the slider (54) and the corresponding rotating shaft (51); and the rope (57) is wound around the rotating shaft (51).

4. The robot based on image positioning and matching according to claim 3, characterized in that: When the two limiting portions (522) are deflected outward, the two guiding portions (521) approach each other, the spring 1 (55) is in a contracted state, and the sliding block (54) is close to one side of the connecting block (53); When the two limiting parts (522) are relatively deflected, the two guiding parts (521) move away from each other, the rope (57) is wound and tightened, the distance between the slider (54) and the rotating shaft (51) is shortened, and the spring (55) is in a stretched state. By rotating the rotating shaft (51), not only the distance between the two parts of the lever (52) can be adjusted, but also the distance between the spring (56) and the rotating shaft (51) can be adjusted by the winding action of the rope (57). The spring (56) is used to intercept the upper side of the weeds to assist the laser transmitter (3) in cutting off the roots of the weeds.

5. The robot based on image positioning and matching according to claim 4, characterized in that: The post-processing mechanism comprises a fixing plate (6), a second motor (7) and a processing assembly (8), wherein the fixing plate (6) is mounted on the lower side of the body of the mobile vehicle (1), the second motor (7) is mounted on the fixing plate (6), and the processing assembly (8) is connected to the driving end of the second motor (7).

6. The robot based on image positioning and matching according to claim 5, characterized in that: The processing assembly (8) comprises a movable plate (81), a group of electric push rods (82), a plurality of cutters (83) and a secondary cutter module, wherein the movable plate (81) is connected to the driving end of the motor (7), the electric push rods (82) are circumferentially arranged on the movable plate (81), the cutters (83) are fixed to the corresponding driving ends of the electric push rods (82), and the secondary cutter module is fixed to the driving position of the electric push rods (82).

7. The robot based on image positioning and matching according to claim 6, characterized in that: The secondary cutter module comprises a movable plate (841), an electric push rod three (842), a drive frame (843) and a plurality of cutters two (844), wherein the movable plate (841) is fixed at the driving position of the electric push rod two (82), the electric push rod three (842) is fixed on the movable plate (841), the drive frame (843) is connected to the driving end of the electric push rod three (842), and the cutters two (844) are staggered and fixed on the lower side of the drive frame (843).

8. The robot based on image positioning and matching according to claim 7, characterized in that: The driving frame (843) is provided with an image capturing module 2 (845).

9. The robot based on image positioning and matching according to claim 8, characterized in that: The management system comprises a data acquisition module, an operation analysis module and a command execution module. The data acquisition module is used to scan images of weeds and crops in front of the mobile vehicle (1); the operation analysis module is used to identify weeds; and the command execution module is used to separate and remove weeds according to the analysis results of the operation analysis module. The data acquisition module is communicatively connected to the operation analysis module, and the operation analysis module is electrically connected to the command execution module.

10. The robot based on image positioning and matching according to claim 9, characterized in that: The operation method of the robot management system mainly includes the following steps: Step 1: Connect the management system in the weeding robot and scan the area in front of the mobile vehicle (1) through the image capture module 1 (4); Step 2: The analysis module is operated to identify weeds according to the image captured by the image capture module 1 (4), and the weeds are separated and the weed body is cut off by the cutting mechanism; Step 3: The analysis module is run to identify the weed cutting position according to the image captured by the second image capture module (845), and the roots of the weeds are cut off through the post-processing mechanism, thereby achieving complete weed removal.

Images