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A kind of detection system and detection method of cut-off point of rubber tree

A detection system, rubber tree technology, applied in the field of agricultural robots, to achieve the effect of stable and controllable system, blade protection, and high degree of intelligence

Active Publication Date: 2021-12-14
CHINA AGRI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, there is no automatic mechanical equipment suitable for natural rubber tapping operations. It is of great practical significance to develop such equipment and methods

Method used

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  • A kind of detection system and detection method of cut-off point of rubber tree
  • A kind of detection system and detection method of cut-off point of rubber tree
  • A kind of detection system and detection method of cut-off point of rubber tree

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Embodiment Construction

[0061] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0062] Such as Figure 1 to Figure 4 As shown, a rubber tree cut-off point detection system is used to detect the cut-off point of the rubber tree 1 . Cutting point P at rubber tree 1 s and cut point P m Arrange the starting cut point mark 2 and the middle cut point mark 3 vertically along the secant line. The cut-off point detection system includes an end effector 4 , a mechanical arm body 5 , a base 6 , a laser positioning light 7 and a lower camera 8 .

[0063] The mechanical arm body 5 is installed on the mobile vehicle body through a base 6 . An industrial computer is installed on the mobile car body as the control core of the system. The base 6 is mobile, and can move between multiple rubber trees 1, carrying the main body 5 of the mechanical arm and providing power for it.

[0064] The end ef...

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Abstract

The invention relates to the field of agricultural robots, in particular to a detection system and detection method for a cutting point of a rubber tree, comprising an end effector (4), a mechanical arm body (5), a base (6), a laser positioning lamp (7) and a lower Camera (8); the mechanical arm body (5) is installed on the mobile car body by the base (6); the base (6) is mobile, can move between many rubber trees (1), and carries the mechanical arm body ( 5) and provide power for it; the end effector (4) is connected to the end of the mechanical arm body (5) through the flange (402); the laser positioning light (7) is installed in the second joint center of the mechanical arm body (5) On the line, pointing to the front of the robot arm body (5), the lower camera (8) is arranged on the robot arm body (5), looking down at 30°. The invention organically combines the high precision of the collaborative robot and the flexibility of the image processing system, realizes the automatic detection of the cutting point of the rubber tree, and has a high degree of intelligence.

Description

technical field [0001] The invention relates to the field of agricultural robots, in particular to a detection system and a detection method for a cut-off point of a rubber tree. Background technique [0002] Due to its strong elasticity, good insulation, plasticity, tensile and wear resistance, natural rubber is widely used in various fields such as industry, agriculture, national defense and machinery manufacturing, and daily life. There are more than 2,000 species of rubber-producing plants in the world, and the output of Hevea brasiliensis accounts for more than 99% of the world's total natural rubber output. Rubber tapping is one of the few areas of agriculture that has not been mechanized and has long relied on manual labor. [0003] Tapping operation has higher requirements on the accuracy of the rubber worker's operation, especially at the cutting point (that is, where the knife enters). The effect of cut-off point detection directly affects the quality of the seca...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/00B25J9/16
CPCG01B11/002B25J9/1697
Inventor 张春龙周航张顺路翟毅豪张俊雄李伟
Owner CHINA AGRI UNIV
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