A robot based on image positioning matching and a management system thereof

Abstract

The application discloses a kind of robot and its management system based on image positioning matching, including mobile trolley, cutting mechanism, post-processing mechanism and management system, the cutting mechanism includes drive assembly one, laser emitter, image capture module one and a group of pole lever assembly, wherein the drive assembly one is fixed in the mobile trolley front end, the laser emitter is installed on the drive assembly one, the image capture module one is set on the drive assembly one, the pole lever assembly is fixed with the drive end of the drive assembly one connection, the drive assembly one is used to control the rotation of the pole lever assembly and lift, the laser emitter is used for laser cutting weeds, the image capture module one is used for identification capture weeds, the pole lever assembly is used to separate weeds and crops, the post-processing mechanism is installed in the mobile trolley and located in the rear of the cutting mechanism.The application improves the correctness of weed removal.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a robot and its management system based on image localization and matching. Background Technology

[0002] Image localization and matching is a technique that identifies and aligns elements with the same or similar attributes in two or more images at the pixel level. This technique is widely used in computer vision, pattern recognition, remote sensing, and medical diagnosis, and is a fundamental step in many visual tasks. Image matching techniques can be divided into three main categories: gray-scale region-based matching, feature-based matching, and interpretation-based matching.

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

[0004] Weeding robots utilize image-based localization and matching technology to identify and remove weeds from images, improving efficiency and reducing manpower. However, in reality, due to diverse environmental factors, such as windy weather or uneven terrain, weeding robots may struggle to locate weeds and could accidentally damage crops. Summary of the Invention

[0005] The purpose of this invention is to provide a robot and its management system based on image localization and matching, so as to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a robot and its management system based on image positioning and matching, including a mobile cart, a cutting mechanism, a post-processing mechanism, and a management system. The cutting mechanism includes a drive component, a laser emitter, an image capture module, and a set of lever assemblies. The drive component is fixed to the front end of the mobile cart, the laser emitter is mounted on the drive component, the image capture module is mounted on the drive component, and the lever assemblies are connected and fixed to the drive end of the drive component. The drive component controls the rotation and lifting of the lever assemblies. The laser emitter is used to cut weeds with a laser. The image capture module is used to identify and capture weeds. The lever assemblies separate weeds from crops. The post-processing mechanism is mounted on the mobile cart and located behind the cutting mechanism. The management system is signal-connected to the mobile cart, the cutting mechanism, and the post-processing mechanism, and is used to control the movement of the mobile cart and control the cutting mechanism and the post-processing mechanism to remove weeds.

[0007] According to the above technical solution, the lever assembly includes a rotating shaft and levers, wherein the levers are respectively mounted on the corresponding rotating shafts, and the two levers are set at different heights. Each lever includes a guide portion and a limiting portion, wherein the limiting portions of the two levers are deflected relative to each other at a certain angle.

[0008] According to the above technical solution, the drive assembly includes two mounting plates, two rotating rods, a drive tooth, a motor, a driven tooth, and two electric push rods. The two mounting plates are arranged vertically. The rotating rods are rotatably mounted on the two mounting plates. The drive tooth is sleeved on one of the rotating rods. The motor is connected to the rotating rod corresponding to the drive tooth. The driven tooth is sleeved on the other rotating rod and cooperates with the drive tooth. The electric push rod is fixed inside the rotating rod and its end is connected to the ball joint of the rotating shaft.

[0009] According to the above technical solution, a connecting block is fixed at the end of each of the two guide parts, a slider is slidably arranged on the guide part, a spring is connected between the connecting block and the slider, a spring is connected between the two sliders, and a rope is connected between the slider and the corresponding rotating shaft, and the rope is wound on the rotating shaft.

[0010] According to the above technical solution, the post-processing mechanism includes a fixed plate, a second motor, and a processing component, wherein the fixed plate is installed on the underside of the mobile trolley body, the second motor is installed on the fixed plate, and the processing component is connected to the drive end of the second motor.

[0011] According to the above technical solution, the processing component includes a movable plate, a set of electric push rods II, a plurality of cutters I, and a secondary cutter module, wherein the movable plate is connected to the drive end of the electric motor II, the electric push rods II are circumferentially arranged on the movable plate, the cutters I are fixed to the corresponding drive ends of the electric push rods II, and the secondary cutter module is fixed to the drive position of the electric push rods II.

[0012] According to the above technical solution, one cross section of the cutter is a triangular pyramid with the tip facing outward.

[0013] According to the above technical solution, the secondary cutter module includes a movable plate, an electric push rod three, a drive frame, and several cutters two, wherein the movable plate is fixed to the drive position of the electric push rod two, the electric push rod three is fixed to the movable plate, the drive frame is connected to the drive end of the electric push rod three, and the cutters two are alternately fixed to the lower side of the drive frame.

[0014] According to the above technical solution, the two ends of the cutter are sharpened.

[0015] According to the above technical solution, an image capture module 2 is provided on the drive frame.

[0016] According to the above technical solution, a protective cover is connected to the lower side of the fixed plate. The protective cover surrounds the outer periphery of the processing component and is used to protect the processing component and guide the movement of the movable plate.

[0017] 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 images of weeds and crops in front of the mobile cart; the operation analysis module is used to identify weeds; and the command execution module is used to separate and remove weeds based on the analysis results of the operation analysis module. The data acquisition module and the operation analysis module are communicatively connected, and the operation analysis module and the command execution module are electrically connected.

[0018] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: The present invention, by setting a cutting mechanism, wherein the image capture module one can capture images of weeds and crops, perform feature matching according to the database, identify weeds, and separate weeds and crops through the lever assembly, cutting weeds to the maximum extent and improving the accuracy of weeding; by setting a post-processing mechanism, the cut weeds can be locked, and then the first cutter loosens the soil, and then the second cutter completely cuts the roots of the weeds to prevent the weeds from growing back, thus improving the comprehensiveness of weeding. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the cutting mechanism of the present invention;

[0022] Figure 3 This is a partial schematic diagram of the cutting mechanism of the present invention;

[0023] Figure 4 This is a partial schematic diagram of the post-processing mechanism of the present invention;

[0024] Figure 5 This is a schematic diagram of the processing components of the present invention;

[0025] Figure 6 This is a bottom view of the processing component of the present invention;

[0026] Figure 7 This is a schematic diagram of the management system of the present invention;

[0027] In the diagram: 1. Moving trolley; 2. Drive assembly one; 21. Mounting plate; 22. Rotating rod; 23. Drive gear; 24. Motor one; 25. Driven gear; 26. Electric push rod one; 3. Laser emitter; 4. Image capture module one; 5. Toggle assembly; 51. Rotating shaft; 52. Toggle; 521. Guide part; 522. Limiting part; 53. Connecting block; 54. Slider; 55. Spring one; 56. Spring two; 57. Rope; 6. Fixing plate; 61. Protective cover; 7. Motor two; 8. Processing assembly; 81. Movable plate; 82. Electric push rod two; 83. Cutter one; 841. Moving plate; 842. Electric push rod three; 843. Drive frame; 844. Cutter two; 845. Image capture module two. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Please see Figure 1-6 This invention provides a technical solution: a robot based on image positioning and matching, including a mobile cart 1, a cutting mechanism, a post-processing mechanism, and a management system. The cutting mechanism includes a drive component 2, a laser emitter 3, an image capture module 4, and a set of lever components 5. The drive component 2 is fixed to the front end of the mobile cart 1, the laser emitter 3 is mounted on the drive component 2, the image capture module 4 is mounted on the drive component 2, and the lever components 5 are connected and fixed to the drive end of the drive component 2. The drive component 2 is used to control the rotation and lifting of the lever components 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 components 5 are used to separate weeds and crops. The post-processing mechanism is mounted on the mobile cart 1 and located behind the cutting mechanism. The management system is signal-connected to the mobile cart 1, the cutting mechanism, and the post-processing mechanism, and is used to control the movement of the mobile cart 1 and control the cutting mechanism and the post-processing mechanism to remove weeds.

[0030] The lever assembly 5 includes a rotating shaft 51 and levers 52, wherein the levers 52 are respectively mounted on the corresponding rotating shaft 51, and the two levers 52 are set at different heights. The levers 52 include a guide part 521 and a limiting part 522, wherein the limiting parts 522 of the two levers 52 are deflected relative to each other at a certain angle.

[0031] The drive assembly 2 includes two mounting plates 21, two rotating rods 22, a drive gear 23, a motor 24, a driven gear 25, and two electric push rods 26. The two mounting plates 21 are arranged vertically. The rotating rods 22 are rotatably mounted on the two mounting plates 21. The drive gear 23 is sleeved on one of the rotating rods 22. The motor 24 is connected to the rotating rod 22 corresponding to the drive gear 23. The driven gear 25 is sleeved on the other rotating rod 22 and cooperates with the drive gear 23. The electric push rod 26 is fixed inside the rotating rod 22 and its end is connected to the ball head of the rotating shaft 51.

[0032] In actual operation, motor 24 controls the two rotating rods 22 to rotate synchronously in opposite directions or in opposite directions through the cooperation of drive gear 23 and driven gear 25, thereby adjusting the distance between the guide part 521 and the limiting part 522 of the two levers 52. The ball joint connection allows the relative rotation between the two levers 52 and the rotating shaft 51, improving the flexibility of the connection. It can self-adjust when the moving trolley 1 encounters obstacles during its movement.

[0033] Two guide sections 521 are respectively fixed with connecting blocks 53 at their ends. A slider 54 is slidably arranged on the guide section 521. A spring 55 is connected between the connecting block 53 and the slider 54. A spring 56 is connected between the two sliders 54. A rope 57 is connected between the slider 54 and the corresponding rotating shaft 51. The rope 57 is wound on the rotating shaft 51.

[0034] The following is a supplementary description of the above structure: When the two limiting parts 522 deflect outwards, the two guiding parts 521 move closer to each other, the spring 55 is in a contracted state, and the slider 54 is close to the side of the connecting block 53; when the two limiting parts 522 deflect relative to each other, the two guiding parts 521 move further 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, the spring 55 is in a stretched state, and by rotating the shaft 51, not only can the distance between the two parts of the lever 52 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 emitter 3 in cutting the roots of the weeds.

[0035] The post-processing mechanism includes a fixed plate 6, a second motor 7, and a processing component 8. The fixed plate 6 is installed on the underside of the mobile trolley 1, the second motor 7 is installed on the fixed plate 6, and the processing component 8 is connected to the drive end of the second motor 7.

[0036] The processing component 8 includes a movable plate 81, a set of electric push rods 82, several cutters 83, and a secondary cutter module. The movable plate 81 is connected to the drive end of the motor 7. The electric push rods 82 are circumferentially arranged on the movable plate 81. The cutters 83 are fixed at the corresponding drive ends of the electric push rods 82. The secondary cutter module is fixed at the drive position of the electric push rods 82.

[0037] The cross-section of cutter 83 is a triangular pyramid with the tip pointing outwards. It should be further explained that motor 7 is used to drive the movable plate 81 to rotate, and electric actuator 82 is used to drive cutter 83 and the secondary cutter module to move longitudinally. Cutter 83 is used to insert into the soil layer and loosen the soil under the rotation of motor 7.

[0038] The secondary cutter module includes a movable plate 841, an electric push rod 842, a drive frame 843, and several cutters 844. The movable plate 841 is fixed at the drive 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 drive end of the electric push rod 842, and the cutters 844 are alternately fixed on the lower side of the drive frame 843.

[0039] The second cutter 844 has sharpened edges at both ends. It should be noted that the movable plate 841 is driven by the electric actuator 82, and the electric actuator 842 is used to push and pull the movable plate 841 to adjust the height of the second cutter 844. The second cutter 844 is used to cut the roots of weeds.

[0040] The image capture module 845 is installed on the drive frame 843.

[0041] A protective cover 61 is connected to the lower side of the fixed plate 6. The protective cover 61 surrounds the outer periphery of the processing component 8 and is used to protect the processing component 8 and guide the movement of the movable plate 81.

[0042] 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 images of weeds and crops in front of the mobile trolley 1; the operation analysis module is used to identify weeds; and the command execution module is used to separate and remove weeds based on the analysis results of the operation analysis module. The data acquisition module and the operation analysis module are communicatively connected, and the operation analysis module and the command execution module are electrically connected.

[0043] In a preferred embodiment, the operation method of the robot management system mainly includes the following steps:

[0044] Step 1: Connect the management system to the weeding robot and scan the area in front of the mobile vehicle 1 using the image capture module 4;

[0045] Step 2: The analysis module identifies weeds based on the images captured by the image capture module 4, and separates and cuts the weeds using the cutting mechanism.

[0046] Step 3: The analysis module identifies the location of weed cutting based on the image captured by the image capture module 845, and the post-processing mechanism cuts off the roots of the weeds to achieve complete weed removal.

[0047] Specifically, the weed identification in step two includes static identification and dynamic identification. Static identification is used to freeze the image captured by the image capture module 4 and match the vegetation in the image with the vegetation data recorded in the database to determine the vegetation identity and mark the weeds. Dynamic identification is used to capture the activity state of the marked weeds in the physical environment. Affected by wind direction, weeds and crops sway in the same direction and intertwine with each other, which will affect the accuracy of weeding by the weeding robot. Dynamic identification will capture the weeds in motion and lock the roots of weeds with smaller movement.

[0048] The method for cutting weeds is as follows: The 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 through, the trolley 1 continues to move, and at the same time the motor 24 controls the two limiting parts 522 to interlock and close. At this time, the spring 56 is pulled away from the side of the connecting block 53. During this process, the upper side of the weeds is bent by the spring 56, so that the roots are exposed, and the laser emitter 3 cuts the weeds.

[0049] The post-processing mechanism in step three executes as follows: The trolley 1 continues to move, the image capture module 845 captures and positions the cut end of the weed, the processing component 8 aligns with the upper side of the cut weed, the electric actuator 82 drives each cutter 83 to move downwards, so that the cutter 83 inserts into the soil layer below, and then the motor 7 controls the movable plate 81 to drive the cutter 83 to rotate, so as to break the soil layer and loosen the soil, so that the subsequent secondary cutter module can be more easily inserted into the soil layer; after the soil is loosened, the electric actuator 842 controls the drive frame 843 to drive the cutter 844 to move downwards and insert into the soil layer. At this time, the root of the weed is located in the middle of the cutter 844, and then the motor 7 controls the movable plate 81 to drive the cutter 844 to rotate, so as to completely cut the root of the weed, thereby completely removing the weeds.

[0050] Furthermore, during the static image recognition process, the analysis module measures the frozen image of the weeds to determine their approximate height. Specifically, it marks and connects the midpoints of each horizontal plane in the static image of the weeds, calculating the superposition value x of all line segments. Using the constraint part 522 in the frozen image as a reference, and given the actual length L of the constraint part 522, the length l of the constraint part 522 in the image is measured. Then, using the pixel size of the reference part in the image and the actual size, the number of pixels per unit length is calculated, i.e., the "pixel / measurement" ratio l / L. Combining this with the previously obtained pixel size x of the weeds, the actual size of the weeds is obtained according to the proportional relationship: X = x * (L / l). The weed growth status is recorded to adjust subsequent weeding cycles, and the weed length is calculated to adjust the height of the lever assembly 5 and confirm the length of the weed cut.

[0051] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0052] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robot based on image localization and matching, comprising a mobile vehicle (1), a cutting mechanism, a post-processing mechanism, and a management system, characterized in that: The cutting mechanism includes a drive assembly (2), a laser emitter (3), an image capture module (4), and a set of lever assemblies (5). The drive assembly (2) is fixed to the front end of the mobile trolley (1), the laser emitter (3) is mounted on the drive assembly (2), the image capture module (4) is mounted on the drive assembly (2), and the lever assembly (5) is connected and fixed to the drive end of the drive assembly (2). The drive assembly (2) is used to control the lever assembly (5) to rotate and lift. 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 assembly (5) is used to separate weeds and crops. The post-processing mechanism is mounted on the mobile trolley (1) and located behind the cutting mechanism. The management system is signal-connected to the mobile trolley (1), the cutting mechanism, and the post-processing mechanism, and is used to control the movement of the mobile trolley (1) and control the cutting mechanism and the post-processing mechanism to remove weeds. The lever assembly (5) includes a pivot (51) and levers (52), wherein the levers (52) are respectively mounted on the corresponding pivot (51), and the two levers (52) are set at different heights. Each lever (52) includes a guide (521) and a limiting part (522), wherein the limiting parts (522) of the two levers (52) are deflected relative to each other at a certain angle. A connecting block (53) is fixed to the end of each of the two guide parts (521). A slider (54) is slidably disposed on the guide part (521). A spring (55) is connected between the connecting block (53) and the slider (54). A spring (56) is connected between the two sliders (54). A rope (57) is connected between the slider (54) and the corresponding rotating shaft (51). The rope (57) is wound around the rotating shaft (51).

2. The robot based on image localization and matching according to claim 1, characterized in that: The drive assembly (2) includes two mounting plates (21), two rotating rods (22), a drive tooth (23), a motor (24), a driven tooth (25), and two electric actuators (26). The two mounting plates (21) are arranged vertically. The rotating rods (22) are rotatably mounted on the two mounting plates (21). The drive tooth (23) is sleeved on one of the rotating rods (22). The motor (24) is connected to the rotating rod (22) corresponding to the drive tooth (23). The driven tooth (25) is sleeved on the other rotating rod (22) and cooperates with the drive tooth (23). The electric actuator (26) is fixed inside the rotating rod (22) and its end is connected to the ball joint of the rotating shaft (51).

3. The robot based on image localization and matching according to claim 2, characterized in that: When the two limiting parts (522) deflect outwards, the two guide parts (521) move closer to each other, the spring (55) is in a contracted state, and the slider (54) is close to the side of the connecting block (53); When the two limiting parts (522) deflect relative to each other, the two guide 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 first spring (55) is in a stretched state. By rotating the rotating shaft (51), not only can the distance between the two parts of the lever (52) be adjusted, but the distance between the second spring (56) and the rotating shaft (51) can also be adjusted by the winding action of the rope (57). The second spring (56) is used to intercept the upper side of the weeds to assist the laser emitter (3) in cutting the roots of the weeds.

4. A robot based on image localization and matching according to claim 3, characterized in that: The post-processing mechanism includes a fixed plate (6), a second motor (7), and a processing component (8), wherein the fixed plate (6) is installed on the underside of the mobile trolley (1), the second motor (7) is installed on the fixed plate (6), and the processing component (8) is connected to the drive end of the second motor (7).

5. A robot based on image localization and matching according to claim 4, characterized in that: The processing component (8) includes a movable plate (81), a set of electric push rods (82), a number of cutters (83), and a secondary cutter module. The movable plate (81) is connected to the drive end of the motor (7). The electric push rods (82) are circumferentially arranged on the movable plate (81). The cutters (83) are fixed at the corresponding drive ends of the electric push rods (82). The secondary cutter module is fixed at the drive position of the electric push rods (82).

6. A robot based on image localization and matching according to claim 5, characterized in that: The secondary cutter module includes a movable plate (841), an electric push rod three (842), a drive frame (843), and several cutters two (844). The movable plate (841) is fixed to the drive 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 drive end of the electric push rod three (842), and the cutters two (844) are alternately fixed on the lower side of the drive frame (843).

7. A robot based on image localization and matching according to claim 6, characterized in that: The drive frame (843) is equipped with an image capture module 2 (845).

8. A robot based on image localization and matching according to claim 7, characterized in that: 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 images of weeds and crops in front of the mobile trolley (1). The operation analysis module is used to identify weeds. 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 and the operation analysis module are communicatively connected, and the operation analysis module and the command execution module are electrically connected.

9. A robot based on image localization and matching according to claim 8, characterized in that: The operation of a robot management system mainly includes the following steps: Step 1: Connect the management system to the weeding robot and scan the area in front of the mobile vehicle (1) through the image capture module (4); Step 2: The analysis module identifies weeds based on the images captured by the image capture module (4), and separates and cuts the weeds using the cutting mechanism; Step 3: The running analysis module identifies the weed cutting position based on the drawing 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.

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