Self-adaptive operation method, device and system of rubber tapping robot

Abstract

The embodiment of the invention provides a self-adaptive operation method, device and system for a rubber tapping robot, and the method comprises the steps: enabling the rubber tapping robot to start autonomous navigation and automatically drive to a rubber tree to be operated, obtaining corresponding operation data in a database according to the serial number of the rubber tree, and controlling a mechanical arm to move to a preset position; preliminary positioning is conducted, and rubber tapping operation position information of the rubber tree is obtained; a rubber tapping operation track is calculated, a shortest collision-free path is found, and the pose of a mechanical arm is adjusted; after secondary positioning, the rubber tapping module is started to move; wherein the rubber tapping module comprises servo mechanisms in different directions; according to the collected distance information, automatic fine positioning is achieved, and the posture of the mechanical arm is adjusted in real time to cut the rubber tree; servo mechanisms in different directions are adopted, meanwhile, self-adaptive adjustment is achieved, the situation that the motion trail and the stress direction of the blade are not coincident is avoided, and cutting uniformity and cutting precision are guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of rubber tapping robots, and in particular to an adaptive operation method, device and system for a rubber tapping robot. Background Art

[0002] Rubber is an important industrial raw material. Rubber is divided into natural rubber and synthetic rubber. Natural rubber is extracted from rubber trees, rubber grass and other plants and then processed. The existing rubber tapping method is generally manual tapping. Manual tapping is inefficient and requires high physical strength. Even if a large number of rubber farmers work hard, the resulting rubber output still cannot meet the huge demand for natural rubber. Therefore, it is urgent to change the traditional manual tapping method and gradually push the natural rubber industry towards mechanization, industrialization and intelligence. People have been studying the use of machines to replace manual tapping operations. However, the existing rubber tapping machines still have problems such as low work efficiency, high equipment prices, complex structures and difficult maintenance, which are not conducive to popularization and application.

[0003] At present, most of the automatic rubber tapping machines and rubber tapping robot products in the industry adopt a fixed spiral motion trajectory, that is, the driving mechanism drives the tapping knife to make a spiral motion along the rubber tree trunk along a fixed trajectory. In this spiral trajectory tapping method, when the tapping knife runs along a fixed trajectory, when cutting the rubber bark, because the naturally grown rubber trees are not a standard cylinder and the bark surface is not flat, the motion trajectory of the blade often does not coincide with the force direction. When the force is uneven, the cutting depth may be insufficient, resulting in insufficient rubber production. In severe cases, it may even cut the bark and cause tree damage. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide an adaptive operation method, device and system for a rubber tapping robot, so as to solve the problem that the motion trajectory of the blade of the existing automatic rubber tapping device often does not coincide with the force direction, thereby uneven cutting, resulting in insufficient rubber production and even damage to the rubber tree.

[0005] In a first aspect, an embodiment of the present application provides an adaptive operation method of a rubber tapping robot, comprising:

[0006] The rubber tapping robot starts autonomous navigation and automatically drives to the rubber tree to be tapped. It obtains the corresponding operation data from the database according to the rubber tree number and controls the robot arm to move to the preset position.

[0007] Conduct preliminary positioning to obtain the location information of rubber tree tapping operations;

[0008] Calculate the rubber tapping operation trajectory, find the shortest collision-free path, and adjust the robot arm posture;

[0009] After the secondary positioning, the tapping module is started to move; wherein the tapping module includes servo mechanisms with different directions;

[0010] According to the collected distance information, the robot arm posture is adjusted in real time.

[0011] In the above implementation process, the tapping robot starts autonomous navigation and automatically drives to the rubber tree to be operated, obtains the corresponding operation data in the database according to the rubber tree serial number, and controls the robot arm to move to the preset position; performs preliminary positioning to obtain the location information of the tapping traces of the rubber tree; calculates the tapping operation trajectory, and finds the shortest collision-free path, and adjusts the posture of the robot arm; after performing secondary precise positioning, the tapping module is started to move; wherein, the tapping module includes servo mechanisms with different directions; according to the collected distance information, automatic fine positioning is realized to adjust the posture of the robot arm in real time to cut the rubber tree; servo mechanisms with different directions are used, and adaptive adjustments are made at the same time to avoid the movement trajectory of the blade and the force direction not overlapping, so as to ensure uniform cutting and cutting accuracy.

[0012] Furthermore, the preliminary positioning to obtain the location information of the rubber tree tapping operation includes:

[0013] After receiving the positioning information of the robot arm, the visual recognition sensor is activated;

[0014] Obtain images and depth information of rubber tree tapping operation locations;

[0015] The image is processed using the trained target detection model to obtain cutting information, wherein the cutting information includes two-dimensional position information of the tapping operation surface, two-dimensional position information of the cutting line, and two-dimensional position information of the starting point of the cutting;

[0016] Combining the switching information and the depth information, the three-dimensional spatial coordinates of all cutting lines in the image and the three-dimensional spatial coordinates of the starting point of the cutting are obtained and sent to the robotic arm.

[0017] In the above implementation process, the image and depth information of the tapping operation position are obtained through the visual recognition sensor, and the two-dimensional cutting information is processed, and the three-dimensional coordinates of the cutting line and the starting point are further calculated to improve the positioning accuracy, so as to facilitate the subsequent calculation of the tapping operation sequence and the tapping operation path.

[0018] Furthermore, the calculation of the rubber tapping operation trajectory, finding the shortest collision-free path, and adjusting the robot arm posture include:

[0019] The tapping operation sequence is calculated based on the three-dimensional spatial coordinates of the secant line, and the shortest collision-free path is found to obtain the tapping operation path;

[0020] Based on the tapping operation path and the three-dimensional spatial coordinates of the starting point of tapping, the tapping posture of the robotic arm is preliminarily adjusted.

[0021] In the above implementation process, the optimal rubber tapping operation sequence and the shortest collision-free path are calculated, and the rubber tapping posture is adjusted to complete the preliminary posture positioning.

[0022] Furthermore, after the secondary positioning is performed, the tapping module is started to move, including:

[0023] After the robotic arm is in place, the laser contour sensor is started, and the starting point of cutting is found to guide the robotic arm to align the electric rubber tapping knife with the starting point of cutting, complete the secondary positioning, and start the electric rubber tapping knife to perform reciprocating cutting motion.

[0024] In the above implementation process, a more accurate laser profile sensor is used and secondary fine positioning is performed, the position of the starting point of cutting is highly accurate, and a posture adjustment strategy of coarse first and then fine is adopted, which can significantly improve the positioning accuracy control of the blade of the electric tapping knife; at the same time, the tapping module adopts vertical and radial follow-up servo mechanisms to ensure that the blade of the electric tapping knife fits tightly against the uneven outer surface of the rubber tree, is not affected by the surface conditions of the trunk, avoids damage to the tree and ensures uniform cutting depth.

[0025] Furthermore, adjusting the robot arm posture in real time according to the collected distance information includes:

[0026] The robotic arm drives the tapping module to move along the tapping operation path and collects distance information detected by the laser profile sensor;

[0027] The position of the robotic arm is adjusted in real time according to the distance information, driving the rubber tapping module to perform tapping operations for adaptive control.

[0028] In the above implementation process, a laser contour sensor is used for autonomous identification of cutting lines, and the robotic arm is guided in real time to adjust its posture. The resulting motion trajectory is not a fixed trajectory. Therefore, the rubber tapping operation is not limited by the tree diameter, and the cutting line slope can be consistent with the standard old cutting line.

[0029] Furthermore, it also includes:

[0030] When the laser profile sensor detects the trace of the knife retraction point, it sends a stop signal;

[0031] Control the electric rubber tapping knife to stop working, control the robotic arm to return to the initial position, and end the rubber tapping action.

[0032] In the above implementation process, the degree of automation is high and the rubber tapping process is stable and reliable.

[0033] In a second aspect, an embodiment of the present application provides a rubber tapping robot adaptive operation device, comprising:

[0034] The operation start module is used for the rubber tapping robot to start autonomous navigation and automatically drive to the rubber tree to be operated, obtain the corresponding operation data in the database according to the rubber tree serial number, and control the robot arm to move to the preset position;

[0035] The preliminary positioning module is used to perform preliminary positioning and obtain the location information of the rubber tree tapping operation;

[0036] The path calculation module is used to calculate the rubber tapping operation trajectory, find the shortest collision-free path, and adjust the robot arm posture;

[0037] A secondary positioning module is used to start the rubber tapping module to move after secondary positioning; wherein the rubber tapping module includes servo mechanisms with different directions;

[0038] The posture adjustment module is used to adjust the posture of the robot arm in real time according to the collected distance information.

[0039] In a third aspect, an embodiment of the present application provides an adaptive operating system for a rubber tapping robot, comprising the adaptive operating device of the rubber tapping robot as described above, and a rubber tapping robot connected to the adaptive operating device of the rubber tapping robot, wherein the rubber tapping robot comprises: a tracked mobile chassis, a robotic arm and a rubber tapping module, wherein the rubber tapping module is connected to the tracked mobile chassis via the robotic arm; the robotic arm adopts a six-degree-of-freedom robotic arm.

[0040] Furthermore, the rubber tapping module includes: a mechanical arm end, a sensor, an electric rubber tapping knife, a first follow-up servo mechanism and a second follow-up servo mechanism; the sensor includes a visual recognition sensor and a laser profile sensor;

[0041] The sensor is connected to the end of the robotic arm through a mounting rod, the first follow-up servo mechanism is connected to the end of the robotic arm, the first follow-up servo mechanism is connected to a mounting frame, the second follow-up servo mechanism is arranged on the mounting frame, and the electric rubber tapping knife is arranged on a side of the mounting frame away from the first follow-up servo mechanism; the first follow-up servo mechanism is a follow-up servo mechanism in the vertical direction, and the second follow-up servo mechanism is a follow-up servo mechanism in the tree diameter direction.

[0042] In a fourth aspect, an embodiment of the present application provides an electronic device, including:

[0043] A processor, a memory and a bus, wherein the processor is connected to the memory via the bus, and the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, they are used to implement the adaptive operation method of the rubber tapping robot as described above.

[0044] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a server, the adaptive operation method of the rubber tapping robot as described above is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1 A schematic diagram of a flow chart of an adaptive operation method of a rubber tapping robot provided in an embodiment of the present application;

[0047] Figure 2 A schematic diagram of rubber tapping knife mark trajectory recognition in a rubber tapping robot adaptive operation method provided in an embodiment of the present application;

[0048] Figure 3 A schematic diagram of actual rubber tapping traces of a rubber tapping robot adaptive operation method provided in an embodiment of the present application;

[0049] Figure 4 It is a structural schematic diagram of an adaptive operation device of a rubber tapping robot provided in an embodiment of the present application;

[0050] Figure 5 This is a schematic diagram of the structure of a rubber tapping robot in a rubber tapping robot adaptive operation system provided in an embodiment of the present application;

[0051] Figure 6 This is a schematic diagram of the structure of a rubber tapping module of a rubber tapping robot adaptive operation system provided in an embodiment of the present application;

[0052] Figure 7 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application;

[0053] Among them, 10, crawler mobile chassis; 20, robotic arm; 30, rubber tapping module; 310, end of the robotic arm; 320, sensor; 330, electric rubber tapping knife; 340, first follow-up servo mechanism; 350, second follow-up servo mechanism; 360, cutting line; 370, starting point of cutting; 380, mounting rod; 390, mounting frame. DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0055] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0056] At present, most of the automatic rubber tapping machines and rubber tapping robots in the industry use a fixed spiral motion trajectory, that is, the driving mechanism drives the rubber tapping knife to make a fixed spiral motion along the rubber tree trunk. This spiral-track rubber tapping method cannot produce a tapping mark with a consistent slope and in compliance with the rubber tapping specifications on rubber trees of different tree diameters because its track slope is fixed.

[0057] Moreover, when the rubber tapping knife runs along a fixed trajectory when cutting the rubber tree bark, since naturally grown rubber trees are not a standard cylindrical shape and the bark surface is not flat, the movement trajectory of the blade often does not coincide with the force direction. When the force is uneven, the cutting depth may not be enough, resulting in insufficient rubber production. In severe cases, it may even cut the bark and cause tree damage.

[0058] In addition, the driving mechanism of this fixed track rubber tapping machine is relatively complicated. In actual application in rubber forests, it increases the instability of the machine when in use, and the production and maintenance costs are also relatively high.

[0059] Please see Figure 1 , Figure 1 A schematic diagram of a process flow of a rubber tapping robot adaptive operation method provided in an embodiment of the present application. The rubber tapping robot adaptive operation method comprises:

[0060] 100. The rubber tapping robot starts autonomous navigation and automatically drives to the rubber tree to be operated. It obtains the corresponding operation data from the database according to the rubber tree serial number and controls the robotic arm to move to the preset position.

[0061] Specifically, the rubber tapping robot is controlled to navigate autonomously in the rubber forest and stop in front of the rubber tree to be tapped, and the rubber tree serial number and corresponding operation data information are provided to the robotic arm, and the robotic arm reaches the preset position according to the data information; it can be understood that the rubber tree serial number and the corresponding operation data information are entered and set in advance according to demand, so that the corresponding data required for operation can be obtained according to the rubber tree serial number, so as to operate on the rubber tree.

[0062] For example, the rubber tapping robot can quickly retrieve detailed information about the rubber tree, including its geographical location, age, tree shape, historical rubber tapping records, etc., based on the input rubber tree serial number through the built-in database or cloud service; then, the target rubber tree is identified using a visual sensor, its identity is confirmed through image recognition technology, and it is precisely positioned in combination with GPS or lidar data. Once the target rubber tree is successfully identified and located, the rubber tapping robot will parse the corresponding operation data, which may include the time, location, depth, rubber production, etc. of the last rubber tapping. Based on this data, the rubber tapping robot will intelligently plan the path and strategy for this rubber tapping operation. This includes determining the starting point, intermediate point (such as multiple tapping locations) and end point, as well as calculating the optimal collision-free path to ensure that the robotic arm does not collide with trees, other rubber tapping robots or obstacles during movement.

[0063] After determining the operation path, the tapping robot will control its mechanical arm to move to the target position according to the preset trajectory. During the movement, the tapping robot will continuously use sensor data for secondary positioning to ensure that the mechanical arm can accurately reach the designated tapping position. At the same time, the servo mechanism on the mechanical arm will automatically adjust its posture according to the distance information collected in real time to ensure that the movement trajectory of the tapping knife coincides with the force direction as much as possible, thereby improving the uniformity and accuracy of the cutting. Since the shape and bark surface of natural rubber trees are not completely regular, the tapping robot may encounter various unforeseen situations during the tapping process. To this end, the tapping robot needs to have the ability to adapt intelligently and adjust dynamically. For example, when it is detected that the cutting depth is insufficient or the bark is damaged, the tapping robot can automatically adjust the cutting parameters (such as cutting speed, cutting angle, etc.) to ensure the cutting effect and protect the trees from damage.

[0064] Optionally, during the entire rubber tapping process, the rubber tapping robot will record various operation data in real time, including cutting position, depth, speed, rubber production, etc. These data can not only be used for subsequent operation analysis and optimization, but also provide valuable decision support for farm managers. At the same time, the rubber tapping robot can also transmit operation data in real time to the cloud server or farm management system through wireless communication to achieve remote monitoring and management.

[0065] 200. Perform preliminary positioning to obtain the location information of the rubber tree tapping operation.

[0066] Specifically, after the robotic arm is in position, it sends a positioning signal to the rubber tapping module. The rubber tapping module activates the visual recognition sensor, collects sensor information of the rubber tree for analysis, and achieves preliminary positioning.

[0067] 210. Receive the positioning information of the robot arm and start the visual recognition sensor.

[0068] 220. Obtain image and depth information of the rubber tree tapping operation location.

[0069] 230. Use the trained target detection model to process the image to obtain cutting information, wherein the cutting information includes two-dimensional position information of the tapping operation surface, two-dimensional position information of the cutting line, and two-dimensional position information of the starting point of the cutting.

[0070] 240. Combining the switching information and the depth information, the three-dimensional spatial coordinates of all cutting lines in the image and the three-dimensional spatial coordinates of the starting point of the cutting are obtained and sent to the robot arm.

[0071] Specifically, the visual recognition sensor obtains the RGB image and depth information of the rubber tree tapping operation location, and uses the trained target detection model to obtain the two-dimensional position information of the tapping operation surface, cutting line and starting point in the image. Combined with the depth information, the three-dimensional spatial coordinates of all cutting lines and starting points in the image are obtained and transferred to the robotic arm to achieve preliminary rough positioning.

[0072] As described above, the embodiment of the present application obtains the image and depth information of the tapping operation location through a visual recognition sensor, processes it to obtain two-dimensional cutting information, and further calculates the three-dimensional coordinates of the cutting line and the starting point of the cutting, thereby improving the positioning accuracy, so as to facilitate the subsequent calculation of the tapping operation sequence and the tapping operation path.

[0073] Optionally, based on the initial positioning, the tapping robot will mark specific tapping locations on the 3D map according to historical tapping records or preset tapping plans. These locations are usually located at the appropriate height and angle of the rubber tree trunk to ensure that the maximum amount of high-quality latex can be collected. The marked location information will record in detail the key parameters such as the 3D coordinates, expected depth, and cutting angle of each tapping point.

[0074] 300. Calculate the rubber tapping operation trajectory, find the shortest collision-free path, and adjust the robot arm posture.

[0075] Optionally, the calculation of the tapping operation sequence includes: Assessing the tapping area: First, the selected rubber trees need to be evaluated to determine their latex content, trunk health, and area suitable for tapping.

[0076] Develop a tapping plan: Based on the assessment results, develop a detailed tapping plan, including the starting location of tapping, cutting line layout, tapping frequency, etc.

[0077] Optimize the order of operations: Taking into account the efficiency of tapping, tree recovery, and avoiding excessive damage to trees, the order of tapping operations needs to be optimized. For example, priority can be given to tapping areas with higher latex content, or the tapping surface can be rotated to reduce continuous damage to the same tapping surface.

[0078] 310. Calculate the rubber tapping operation sequence based on the three-dimensional spatial coordinates of the secant line, and find the shortest collision-free path to obtain the rubber tapping operation path.

[0079] In order to accurately control the movement of the rubber tapping robot, the cutting line needs to be converted into a sequence of coordinate points in three-dimensional space. Specifically, the three-dimensional coordinates of specific points on the tree trunk are measured by a laser ranging sensor.

[0080] Optionally, find the shortest collision-free path, taking into account obstacles such as tree trunks, branches, other trees, and the ground in path planning, ensuring that the planned path will not collide with these obstacles, and filter out the shortest path among the paths that will not collide.

[0081] Optionally, the calculated shortest collision-free path is converted into an instruction sequence executable by the robot arm, including information such as the position, posture and speed of each coordinate point, to obtain the rubber tapping operation path.

[0082] For example, a semiconductor laser is installed inside the laser ranging sensor as a light source. The laser line is projected onto the surface of the object to be measured, intersecting with the surface of the object to be measured at a contour line. A light spot is formed on the surface of the photosensitive element through the optical lens group, and the corresponding data information is extracted. After algorithm processing, the size information of the contour can be obtained.

[0083] 320. Based on the tapping operation path and combined with the three-dimensional spatial coordinates of the starting point of tapping, the tapping posture is preliminarily adjusted.

[0084] Exemplarily, the tapping posture is adjusted in combination with the three-dimensional spatial coordinates of the starting point of cutting: the tapping posture includes the position, posture (direction) and possible rotation angle of the electric tapping knife of the robot arm in the three-dimensional space. According to the three-dimensional coordinates of the starting point of cutting, the position of the electric tapping knife is adjusted to make it precisely aligned with the starting point of cutting to adjust the tapping posture.

[0085] For example, the tapping posture is adjusted based on the tapping operation path. When encountering changes in the shape of the tree trunk or uneven hardness of the bark, parameters such as cutting depth, speed or angle can be automatically adjusted to ensure the smooth progress of the tapping operation and the stability of the tapping quality.

[0086] As described above, the embodiment of the present application calculates the optimal rubber tapping operation sequence and the shortest collision-free path, adjusts the rubber tapping posture, and completes the preliminary posture positioning.

[0087] 400. After the secondary positioning, the tapping module is started to move; wherein the tapping module includes servo mechanisms with different directions.

[0088] Specifically, after the robotic arm is in place, the laser contour sensor is started, and the starting point of cutting is found to guide the robotic arm to align the electric rubber tapping knife with the starting point of cutting, complete the secondary positioning, and start the electric rubber tapping knife to perform reciprocating cutting motion; it can be understood that secondary positioning is performed to ensure that the electric rubber tapping knife is aligned with the starting point of cutting when tapping rubber, and the position of the end effector of the robotic arm can be adjusted according to the three-dimensional coordinates of the starting point of cutting so that it is accurately aligned with the starting point of cutting.

[0089] Optionally, a vertical and radial return servo mechanism is used to ensure that the blade of the electric rubber tapping knife fits tightly to the uneven outer surface of the rubber tree and is not affected by the surface conditions of the trunk, thus avoiding damage to the tree and ensuring uniform cutting depth.

[0090] As mentioned above, the embodiment of the present application uses a more accurate laser profile sensor and performs secondary fine positioning, and the obtained starting point position is highly accurate. The posture adjustment strategy of first coarse and then fine is adopted, which can significantly improve the positioning accuracy control of the blade of the electric tapping knife; at the same time, the tapping module adopts vertical and radial follow-up servo mechanisms to ensure that the blade of the electric tapping knife fits tightly with the uneven outer surface of the rubber tree, is not affected by the surface conditions of the trunk, avoids damage to the tree and ensures uniform cutting depth.

[0091] 500. Adjust the robot arm posture in real time according to the collected distance information.

[0092] Specifically, the robotic arm drives the tapping module to move along the tapping operation path and collects distance information detected by the laser profile sensor; the robotic arm posture is adjusted in real time according to the distance information, driving the tapping module to perform tapping operations for adaptive control.

[0093] As mentioned above, the laser contour sensor is used for autonomous identification of cutting lines, and the robotic arm is guided in real time to adjust its posture. The resulting motion trajectory is not a fixed trajectory. Therefore, the rubber tapping operation is not limited by the tree diameter, and the cutting line slope can be consistent with the standard old cutting line.

[0094] For example, please refer to Figure 2 , is the recognition image of the rubber tapping knife mark trajectory by the visual recognition sensor. The visual recognition sensor processes the collected image to obtain the final rubber tapping knife mark trace; please refer to Figure 3 , showing the actual rubber tapping trajectory.

[0095] It can be understood that the adjustment of the robot arm posture is similar to the posture adjustment method mentioned above. The robot arm posture is adjusted in real time to ensure the accuracy of the rubber tapping operation.

[0096] As described above, the rubber tapping robot in the embodiment of the present application starts autonomous navigation and automatically drives to the rubber tree to be operated, obtains corresponding operation data in the database according to the rubber tree serial number, and controls the robot arm to move to the preset position; performs preliminary positioning to obtain the rubber tapping operation position information of the rubber tree; calculates the rubber tapping operation trajectory, and finds the shortest collision-free path, and adjusts the posture of the robot arm; after secondary positioning, starts the rubber tapping module to move; wherein, the rubber tapping module includes servo mechanisms with different directions; according to the collected distance information, realizes automatic fine positioning and real-time adjustment of the robot arm posture to cut the rubber tree; adopts servo mechanisms with different directions, and adaptively adjusts them at the same time to avoid the movement trajectory of the blade and the force direction not coinciding, thereby ensuring uniform cutting and cutting accuracy.

[0097] On the basis of the above embodiment, the rubber tapping robot adaptive operation method can also be embodied as follows:

[0098] 600. When the laser profile sensor detects the trace of the tool retraction point, it sends a stop signal.

[0099] 700. Control the electric rubber tapping knife to stop working, control the robotic arm to return to the initial position, and end the rubber tapping action.

[0100] Specifically, the traces of the knife retracting point are automatically detected and the tapping action is stopped. The automation level is high and the tapping process is stable and reliable.

[0101] As mentioned above, the embodiment of the present application has a high degree of intelligence, and the detection of the cutting line and the starting point of cutting is completed autonomously, so as to prepare for the cutting process. The image is subjected to image feature extraction by a convolutional neural network, and a feature pyramid is used to reduce the missed detection caused by small-scale objects, and data enhancement is performed on the training pictures containing the rubber tapping knife marks, so as to strengthen the network's retrieval ability for small-scale objects. Therefore, the natural rubber tree trunk and the natural rubber tree cut surface can be accurately identified and segmented in the visual image, and the segmentation accuracy and robustness are high; and the existing rubber tapping track (i.e., the cutting line) and the left and right side lines of the cutting line (i.e., the starting point and the closing point) are extracted from the cut surface, and the positioning accuracy is high.

[0102] After the initial rough positioning by vision, the laser profile sensor with higher accuracy is used for secondary fine positioning. The position of the starting point is highly accurate. The posture adjustment strategy of coarse first and fine later is adopted, which can control the positioning accuracy of the electric rubber tapping knife within 0.1mm to achieve accurate entry of the rubber tapping knife. The laser profile sensor is used for autonomous identification of the cutting line, and the mechanical arm is guided in real time to adjust the posture. The motion trajectory formed is not a fixed trajectory, so the rubber tapping operation is not limited by the tree diameter, and the slope of the cutting line can be consistent with the standard old cutting line.

[0103] In addition, the tapping module uses vertical and radial follow-up servo mechanisms to ensure that the blade of the electric tapping knife fits tightly against the uneven outer surface of the rubber tree, is not affected by the surface conditions of the trunk, avoids damage to the tree and ensures uniform cutting depth.

[0104] The rubber tapping structure implemented in the embodiment of the present application does not require preliminary processing and deployment of the rubber plantation and the rubber trees to be tapped, can operate autonomously in complex field environments, has strong adaptability, and each module has a high degree of automation and a simple structure, which is conducive to later maintenance and promotion; it is modularly designed, has strong adaptability, and the system is stable and controllable, which is conducive to later expansion, and can be adjusted for rubber tree tapping operations in different environments.

[0105] The above steps are not to be performed in a strict order as described in the numbers, but should be understood as an overall solution.

[0106] In the second aspect, based on the above embodiments, Figure 4 A schematic diagram of the structure of a rubber tapping robot adaptive operation device provided in an embodiment of the present application. Figure 4 The rubber tapping robot adaptive operation device provided in this embodiment specifically includes: an operation start module 401, a preliminary positioning module 402, a path calculation module 403, a secondary positioning module 404 and a posture adjustment module 405.

[0107] The operation start module 401 is used to control the rubber tapping robot to start autonomous navigation, and control the robot arm to move to a preset position according to the rubber tree serial number and the corresponding operation data; the preliminary positioning module 402 is used to perform preliminary positioning and obtain the rubber tapping operation position information of the rubber tree; the path calculation module 403 is used to calculate the rubber tapping operation trajectory, and find the shortest collision-free path, and adjust the robot arm posture; the secondary positioning module 404 is used to start the rubber tapping module to move after secondary positioning; wherein, the rubber tapping module includes servo mechanisms with different directions; the posture adjustment module 405 is used to adjust the robot arm posture in real time according to the collected distance information.

[0108] As described above, the rubber tapping robot in the embodiment of the present application starts autonomous navigation and automatically drives to the rubber tree to be operated, obtains corresponding operation data in the database according to the rubber tree serial number, and controls the robot arm to move to the preset position; performs preliminary positioning to obtain the rubber tapping operation position information of the rubber tree; calculates the rubber tapping operation trajectory, and finds the shortest collision-free path, and adjusts the posture of the robot arm; after secondary positioning, starts the rubber tapping module to move; wherein, the rubber tapping module includes servo mechanisms with different directions; according to the collected distance information, realizes automatic fine positioning and real-time adjustment of the robot arm posture to cut the rubber tree; adopts servo mechanisms with different directions, and adaptively adjusts them at the same time to avoid the movement trajectory of the blade and the force direction not coinciding, thereby ensuring uniform cutting and cutting accuracy.

[0109] The rubber tapping robot adaptive operation device provided in the embodiment of the present application can be used to execute the rubber tapping robot adaptive operation method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0110] In the third aspect, based on the above embodiments, Figure 5 A schematic diagram of a rubber tapping robot adaptive operation system provided in an embodiment of the present application. Figure 5 and Figure 6 The rubber tapping robot adaptive operation system provided in this embodiment specifically includes: the rubber tapping robot adaptive operation device as described above, a rubber tapping robot connected to the rubber tapping robot adaptive operation device, the rubber tapping robot includes: a crawler mobile chassis 10, a robotic arm 20 and a rubber tapping module 30, the rubber tapping module is connected to the crawler mobile chassis through the robotic arm; the robotic arm adopts a six-degree-of-freedom robotic arm.

[0111] In some embodiments, the tapping module includes: a robotic arm end 310, a sensor 320, an electric tapping knife 330, a first follow-up servo mechanism 340 and a second follow-up servo mechanism 350; the sensor includes a visual recognition sensor and a laser profile sensor.

[0112] Among them, the sensor is connected to the end of the robotic arm through a mounting rod 380, the first follow-up servo mechanism is connected to the end of the robotic arm, the first follow-up servo mechanism is connected to a mounting frame 390, the second follow-up servo mechanism is arranged on the mounting frame, and the electric rubber tapping knife is arranged on a side of the mounting frame away from the first follow-up servo mechanism; the first follow-up servo mechanism is a follow-up servo mechanism in the vertical direction, and the second follow-up servo mechanism is a follow-up servo mechanism in the tree diameter direction.

[0113] Exemplarily, the tapping module is composed of a laser profile sensor, a visual recognition sensor, an electric tapping knife, and a two-degree-of-freedom follow-up servo mechanism (radial + vertical direction), which is loaded at the end of the robotic arm and is mainly responsible for the identification and position information feedback of the cutting line 360 ​​and the starting point of cutting 370; the robotic arm servo module is composed of the robotic arm and the robotic arm control host, which receives the position information from the real-time monitoring feedback of the automatic tapping module, and performs trajectory calculation and posture adjustment; the robotic arm is installed on a crawler mobile chassis that can navigate autonomously, and can realize autonomous movement, identification and autonomous docking in front of rubber trees in the rubber forest through the positioning and navigation system of multiple sensors fused with visual laser radar, IMU, ultrasonic sensor, visual sensor and high-precision satellite positioning carried by the chassis.

[0114] The embodiment of the present application can use the surface features of rubber bark fused with laser + visual multi-mode sensing information to intelligently identify and locate tapping knife marks, transmit the information to the tapping robot, and perform various adaptive fuzzy control algorithms to correct the posture and trajectory of the tapping robot, thereby realizing adaptive control and achieving real-time and efficient motion planning and automatic deviation correction effects for the tapping robot.

[0115] Optionally, the present embodiment mainly solves the problem of real-time identification and positioning of rubber tapping knife marks (cutting lines and starting and closing knife points), and can realize efficient planning and deviation correction of rubber tapping knife movements by controlling the mechanical arm; in the specific implementation, the mechanical arm or mobile chassis can also be replaced with other motion mechanisms, and even the rubber tapping mechanism can be directly fixed on the rubber tree working surface, and the automatic control of the tree cutting action can be directly realized by two motors. In addition, the vertical and tree diameter two-direction follow-up servo mechanism at the front end of the electric rubber knife can ensure that the blade of the electric rubber tapping knife is closely fitted to the uneven outer surface of the rubber tree. In actual applications, in order to ensure the effect, the follow-up servo adjustment mechanism in other directions such as torsion or pitch may be added. In addition, in order to ensure the operating range and optimal path planning of the mechanical arm, a special-shaped connecting rod can be added between the end of the mechanical arm and the automatic rubber tapping module, so that the rubber tapping module can be extended or increase the operating range.

[0116] The embodiment of the present application uses a laser profile sensor to measure and monitor the rubber line in real time and provide data feedback, and can adaptively adjust the robot arm posture and the angle of the rubber tapping knife to adapt to the complex situations of different tree diameters and different cutting lines. Specifically, a visual recognition sensor is first used for coarse positioning, and then a laser sensor is used for fine positioning, with a high recognition success rate and high positioning accuracy. The rubber tapping module uses a vertical and radial follow-up servo mechanism to ensure that the blade of the electric rubber tapping knife fits tightly to the uneven outer surface of the rubber tree and is not affected by the surface conditions of the trunk. It realizes autonomous movement, automatic recognition, and adaptive rubber tapping, has strong environmental adaptability, and reduces the workload of the robot's early deployment.

[0117] In a fourth aspect, an embodiment of the present application further provides an electronic device, which can integrate the rubber tapping robot adaptive operating device provided in an embodiment of the present application. Figure 7 Schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Figure 7 The electronic device includes: an input device 73, an output device 74, a memory 72 and one or more processors 71; the memory 72 is used to store one or more programs; when the one or more programs are executed by the one or more processors 41, the one or more processors 71 implement the rubber tapping robot adaptive operation method provided in the above embodiment. The input device 73, the output device 74, the memory 72 and the processor 71 can be connected by a bus or other means. Figure 7 The example of connecting through bus is taken in the following.

[0118] The processor 71 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 72, that is, realizes the above-mentioned rubber tapping robot adaptive operation method.

[0119] The electronic device provided above can be used to execute the rubber tapping robot adaptive operation method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0120] In a fifth aspect, an embodiment of the present application also provides a computer-readable storage medium, which includes a stored computer program; wherein, when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the adaptive operation method of the rubber tapping robot as described above, and can achieve the same beneficial effects.

[0121] Of course, the storage medium containing computer executable instructions provided in an embodiment of the present application is not limited to the adaptive operation method of the rubber tapping robot as described above, and can also execute related operations in the adaptive operation method of the rubber tapping robot provided in any embodiment of the present application.

[0122] The computer program or instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer program or instructions may be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired or wireless means. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; it may also be an optical medium, such as a digital video disk; it may also be a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or non-volatile storage medium, or may include both volatile and non-volatile types of storage media.

[0123] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0124] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0125] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for an electronic device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0126] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0127] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0128] 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. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A rubber tapping robot adaptive operation method, characterized in that: include: The rubber tapping robot starts autonomous navigation and automatically drives to the rubber tree to be tapped. It obtains the corresponding operation data from the database according to the rubber tree serial number and controls the robot arm to move to the preset position. Conduct preliminary positioning to obtain the location information of rubber tree tapping operations; Calculate the rubber tapping operation trajectory, find the shortest collision-free path, and adjust the robot arm posture; After the secondary positioning, the tapping module is started to move; wherein the tapping module includes servo mechanisms with different directions; According to the collected distance information, the robot arm posture is adjusted in real time.

2. The rubber tapping robot adaptive operation method according to claim 1, characterized in that: The preliminary positioning to obtain the location information of the rubber tree tapping operation includes: After receiving the positioning information of the robot arm, the visual recognition sensor is activated; Obtain images and depth information of rubber tree tapping operation locations; The image is processed using the trained target detection model to obtain cutting information, wherein the cutting information includes two-dimensional position information of the tapping operation surface, two-dimensional position information of the cutting line, and two-dimensional position information of the starting point of the cutting; Combining the switching information and the depth information, the three-dimensional spatial coordinates of all cutting lines in the image and the three-dimensional spatial coordinates of the starting point of the cutting are obtained and sent to the robotic arm.

3. The rubber tapping robot adaptive operation method according to claim 2, characterized in that: The step of calculating the rubber tapping operation trajectory, finding the shortest collision-free path, and adjusting the robot arm posture includes: The tapping operation sequence is calculated based on the three-dimensional spatial coordinates of the secant line, and the shortest collision-free path is found to obtain the tapping operation path; Based on the tapping operation path and the three-dimensional spatial coordinates of the starting point of tapping, the tapping posture of the robotic arm is preliminarily adjusted.

4. The rubber tapping robot adaptive operation method according to claim 1, characterized in that: After the secondary positioning, the tapping module is started to move, including: After the robotic arm is in place, the laser contour sensor is started, and the starting point of cutting is found to guide the robotic arm to align the electric rubber tapping knife with the starting point of cutting, complete the secondary positioning, and start the electric rubber tapping knife to perform reciprocating cutting motion.

5. The rubber tapping robot adaptive operation method according to claim 3 is characterized in that: The real-time adjustment of the robot arm posture according to the collected distance information includes: The robotic arm drives the tapping module to move along the tapping operation path and collects distance information detected by the laser profile sensor; The position of the robotic arm is adjusted in real time according to the distance information, driving the rubber tapping module to perform tapping operations for adaptive control.

6. The rubber tapping robot adaptive operation method according to claim 1, characterized in that: Also includes: When the laser profile sensor detects the trace of the knife retraction point, it sends a stop signal; Control the electric rubber tapping knife to stop working, control the robotic arm to return to the initial position, and end the rubber tapping action.

7. A rubber tapping robot adaptive operation device, characterized in that: include: The operation start module is used for the rubber tapping robot to start autonomous navigation and automatically drive to the rubber tree to be operated, obtain the corresponding operation data in the database according to the rubber tree serial number, and control the robot arm to move to the preset position; The preliminary positioning module is used to perform preliminary positioning and obtain the location information of the rubber tree tapping operation; The path calculation module is used to calculate the rubber tapping operation trajectory, find the shortest collision-free path, and adjust the robot arm posture; A secondary positioning module is used to start the rubber tapping module to move after secondary positioning; wherein the rubber tapping module includes servo mechanisms with different directions; The posture adjustment module is used to adjust the posture of the robot arm in real time according to the collected distance information.

8. A rubber tapping robot adaptive operation system, characterized in that: It includes the rubber tapping robot adaptive working device as described in claim 7, and a rubber tapping robot connected to the rubber tapping robot adaptive working device, the rubber tapping robot includes: a tracked mobile chassis, a robotic arm and a rubber tapping module, the rubber tapping module is connected to the tracked mobile chassis through the robotic arm; the robotic arm adopts a six-degree-of-freedom robotic arm.

9. The rubber tapping robot adaptive operation system according to claim 8, characterized in that: The rubber tapping module comprises: a mechanical arm end, a sensor, an electric rubber tapping knife, a first follow-up servo mechanism and a second follow-up servo mechanism; the sensor comprises a visual recognition sensor and a laser profile sensor; The sensor is connected to the end of the robotic arm through a mounting rod, the first follow-up servo mechanism is connected to the end of the robotic arm, the first follow-up servo mechanism is connected to a mounting frame, the second follow-up servo mechanism is arranged on the mounting frame, and the electric rubber tapping knife is arranged on a side of the mounting frame away from the first follow-up servo mechanism; the first follow-up servo mechanism is a follow-up servo mechanism in the vertical direction, and the second follow-up servo mechanism is a follow-up servo mechanism in the tree diameter direction.

10. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the processor is connected to the memory via the bus, and the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, they are used to implement the adaptive operation method of the rubber tapping robot as described in any one of claims 1 to 6.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a server, implements the rubber tapping robot adaptive operation method as described in any one of claims 1-6.

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