Intelligent rubber tapping robot and rubber tapping method

Abstract

The present invention relates to the field of rubber tapping devices, specifically, an intelligent rubber tapping robot, including an all-terrain chassis, a rubber storage tank, a six-axis mechanical arm, a GPS module, a laser radar, a camera pan, a scanner, an electric rubber tapping knife, a rubber suction hose, a rubber collection pump and a controller, wherein the rubber storage tank and the six-axis mechanical arm are both arranged on the all-terrain chassis, the free end of the six-axis mechanical arm is provided with an electric rubber tapping knife, a rubber suction hose and a scanner, a GPS module, a laser radar and a camera pan are arranged at the front end of the all-terrain chassis, a controller is arranged in the chassis body of the all-terrain chassis, and the GPS module, the laser radar, the camera pan and the scanner are all controlled by the controller. The present invention can replace manual rubber tapping, reduce labor costs, and is flexible in walking, can realize rubber tapping of multiple trees with one machine, and improves rubber tapping efficiency.

Description

Technical Field

[0001] The invention relates to the field of agricultural collection, in particular to an intelligent rubber tapping robot. Background Art

[0002] With the development of science and technology, rubber tapping machines specifically used for rubber tapping have also appeared in the existing technology. However, the rubber tapping machines in the existing technology are mostly one-tree-one-machine solutions, which are relatively complicated to install and cannot move flexibly. In addition, rubber trees grow fast, and the rubber tapping machines need to be manually adjusted each time rubber is tapped, which also increases the labor cost of tapping. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent rubber tapping robot, which can replace manual rubber tapping, reduce labor costs, and is flexible in walking, can realize rubber tapping of multiple trees with one machine, and improve rubber tapping efficiency.

[0004] The technical solution adopted by the present invention to achieve the above-mentioned purpose is:

[0005] An intelligent rubber tapping robot comprises an all-terrain chassis (6), a rubber storage tank (2), a six-axis mechanical arm (1), a GPS module (5), a laser radar (7), a camera pan-tilt platform (9), a scanner (12), an electric rubber tapping knife (11), a rubber suction hose (10), a rubber collection pump and a controller, wherein the rubber storage tank (2) and the six-axis mechanical arm (1) are both arranged on the all-terrain chassis (6), the free end of the six-axis mechanical arm (1) is provided with an electric rubber tapping knife (11), a rubber suction hose (10) and a scanner (12), the front end of the all-terrain chassis (6) is provided with a GPS module (5), a laser radar (7) and a camera pan-tilt platform (9), the chassis body (13) of the all-terrain chassis (6) is provided with a controller, and the GPS module (5), the laser radar (7), the camera pan-tilt platform (9) and the scanner (12) are all controlled by the controller.

[0006] A storage battery (4) is provided on one side of the all-terrain chassis (6), a lighting lamp (8) is provided at the front end of the all-terrain chassis (6), and a communication module (3) is provided at the rear of the all-terrain chassis (6).

[0007] A driving mechanism for driving the glue storage tank (2) to rotate is provided at the rear of the chassis body (13) of the all-terrain chassis (6).

[0008] The driving mechanism comprises a glue storage tank driving motor (14), a driving gear (15) and a driven gear (16), wherein the driving gear (15) and the driven gear (16) are meshed, and the driving gear (15) is mounted on the output shaft of the glue storage tank driving motor (14), and the driven gear (16) is fixedly connected to the glue storage tank (2).

[0009] The glue storage tank driving motor (14) is provided with an encoder.

[0010] A rubber tapping method using an intelligent rubber tapping robot comprises the following steps:

[0011] 1) Place QR code signs at fixed locations of rubber trees and enter information about rubber plantations and rubber trees in the cloud system;

[0012] 2) The cloud system plans the robot’s rubber harvesting route based on the input information of rubber plantations and rubber trees;

[0013] 3) The rubber tapping robot moves according to the path planned by the cloud system;

[0014] 4) Before the rubber tapping robot walks to the fixed position of the rubber tree, the camera platform (9) is used to read the QR code label, and read and record the information of the rubber tree;

[0015] 5) The rubber tapping robot taps rubber using an electric rubber tapping knife (11);

[0016] 6) After the rubber tapping is completed, the robot collects the rubber liquid through the rubber suction tube (10) and recovers it in the rubber storage tank (2).

[0017] Step 5) includes two methods, namely:

[0018] a) The staff assigns the tapping position to the tapping robot and controls the movement of the tapping robot.

[0019] b) The cloud system sends commands to control the actions of the rubber tapping robot.

[0020] The cloud system includes:

[0021] The perception domain is used to communicate with the rubber tapping robot. It is responsible for accessing the perception data of the rubber tapping robot and sending it to the computational domain.

[0022] The computational domain is used to process the perception data collected from the rubber tapping robot;

[0023] The data domain is used to receive the perception data collected by the rubber tapping robot from the computing domain and perform structured processing, and output the processed structured data to the service domain;

[0024] The service domain is used to provide status tracking, behavior control, and environmental monitoring of the rubber tapping robot;

[0025] The storage domain is used to support the process data storage of the computing domain, data domain, and service domain in the cloud system.

[0026] The present invention has the following beneficial effects and advantages:

[0027] 1. The present invention adopts a remote-controlled rubber tapping robot to replace manual rubber tapping, which reduces labor costs and makes rubber tapping safer and more reliable;

[0028] 2. The present invention adopts a one-machine-multiple-tree solution to replace the traditional one-machine-one-tree solution, which is simple to install and operate, flexible to move, and has high utilization rate;

[0029] 3. The present invention has the ability to perceive multiple environments. Through precise GPS positioning, laser radar to perceive the surrounding environment, and 3D scanner to perceive the details of rubber tapping, it greatly improves the ability to perceive the surrounding environment and can better adapt to complex environments;

[0030] 4. The present invention adopts cloud computing method to transmit data information to the cloud, and the information transmission has lower delay and higher reliability;

[0031] 5. The present invention can perform all-terrain automatic cruising, and can perform functions such as glue anti-theft, automatic inspection, forest fire prevention, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural schematic diagram of the present invention;

[0033] Figure 2 It is a schematic diagram of a driving mechanism for driving a glue storage tank to rotate according to the present invention;

[0034] Among them, 1 is a six-axis robot arm, 2 is a glue storage tank, 3 is a communication module, 4 is a battery, 5 is a GPS module, 6 is an all-terrain chassis, 7 is a laser radar, 8 is a lighting lamp, 9 is a camera pan, 10 is a glue suction hose, 11 is an electric rubber cutting knife, 12 is a scanner, 13 is a chassis body, 14 is a glue storage tank drive motor, 15 is a driving gear, and 16 is a driven gear;

[0035] Figure 3 Schematic diagram of the robot cloud framework. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the accompanying drawings.

[0037] like Figures 1-2As shown, the present invention includes an all-terrain chassis 6, a rubber storage tank 2, a six-axis robotic arm 1, a GPS module 5, a laser radar 7, a camera pan-tilt platform 9, a scanner 12, an electric rubber tapping knife 11, a rubber suction hose 10, a rubber collection pump and a controller, wherein the rubber storage tank 2 and the six-axis robotic arm 1 are both arranged on the upper side of the all-terrain chassis 6, the free end of the six-axis robotic arm 1 is provided with an electric rubber tapping knife 11, a rubber suction hose 10 and a scanner 12, a GPS module 5, a laser radar 7 and a camera pan-tilt platform 9 are arranged at the front end of the all-terrain chassis 6, a controller is arranged in the chassis body 13 of the all-terrain chassis 6, and the GPS module 5, the laser radar 7, the camera pan-tilt platform 9 and the scanner 12 are all controlled by the controller. When the present invention is working, the all-terrain chassis 6 drives the rubber storage tank 2 and the six-axis robotic arm 1 to move, the GPS module 5 realizes precise positioning, and the laser radar 7 senses the surrounding environment. After moving into position, the six-axis robotic arm 1 drives the electric rubber tapping knife 11 to start the rubber tapping operation. At the same time, the scanner 12 senses the details of the rubber tapping. In addition, each rubber tree is provided with a QR code label, and the camera pan 9 reads the QR code label and records the information of the rubber tree this time.

[0038] like Figure 1 As shown, a battery 4 is provided on one side of the all-terrain chassis 6 for supplying power to various parts. In addition, a lighting lamp 8 is provided at the front end of the all-terrain chassis 6 for lighting at night or in dark places. A communication module 3 is provided at the rear of the all-terrain chassis 6.

[0039] like Figure 2 As shown, the rear part of the chassis body 13 of the all-terrain chassis 6 is provided with a driving mechanism for driving the rubber storage tank 2 to rotate, and the driving mechanism includes a rubber storage tank driving motor 14, a driving gear 15 and a driven gear 16, wherein the driving gear 15 and the driven gear 16 are meshed, and the driving gear 15 is installed on the output shaft of the rubber storage tank driving motor 14, and the driven gear 16 is fixedly connected to the rubber storage tank 2. The rubber storage tank driving motor 14 drives the driven gear 16 to rotate through the driving gear 15, thereby achieving the purpose of driving the rubber storage tank 2 to rotate. In addition, the rubber storage tank driving motor 14 is provided with an encoder for controlling the rotation angle of the rubber storage tank 2. The driving mechanism is mainly used in the case where the tank body of the rubber storage tank 2 is large and the present invention is walking on special terrain, so as to achieve the posture angle adjustment of the rubber storage tank 2 to avoid obstacles, and ensure walking and smooth rubber tapping.

[0040] The all-terrain chassis 6, the rubber storage tank 2, the six-axis robotic arm 1, the GPS module 5, the laser radar 7, the camera pan 9, the scanner 12, the communication module 3, the battery 4, the electric rubber cutting knife 11, the rubber suction hose 10 and the controller are all well-known technologies in the art. In this embodiment, the manufacturer of the all-terrain chassis 6 is Shandong Guoxing Intelligent Technology Co., Ltd., model 600mini, the manufacturer of the six-axis robotic arm 1 is Ufactory, model xArm6, the manufacturer of the GPS module 5 is Qianxun Location, model MC120M, the manufacturer of the laser radar 7 is Leishen Intelligent, model C16700B, the manufacturer of the camera pan 9 is Zhejiang Dahua Technology Co., Ltd., model DH-PTZ11204-GN-P, the scanner 12 is a 3D scanner, the manufacturer is polyga, model C210, the manufacturer of the communication module 3 is the humanized Internet of Things, model USR-G780 V2, and the manufacturer of the battery 4 is Chaoyan Power Supply, model 6-EVF-60.

[0041] The working principle of the present invention is:

[0042] First, arrange the two-dimensional code signboard on each rubber tree, and input the rubber tree information (including tree age, rubber tapping history record, etc.) in the system database, then the control system calculates and sets the optimal moving path of the present invention, the all-terrain chassis 6 of the present invention moves to the corresponding position according to the set moving path, when the present invention walks in place, the camera platform 9 reads the two-dimensional code signboard on the rubber tree, reads and records this rubber tree information, then the present invention can select two different schemes for rubber tapping, wherein the scheme one utilizes high-speed transmission and virtual VR technology, so that the staff can remotely control the designated robot rubber tapping position, realize accurate rubber tapping, this scheme is also artificial remote control, described virtual VR technology is a known technology, scheme two utilizes high-speed transmission and cloud-end graphic recognition technology to automatically calculate the rubber tapping position, and the cloud-end sends an instruction to control the rubber tapping robot action, this scheme is also the robot system automatically tapping, and described cloud-end graphic recognition technology is a known technology. After rubber tapping ends, the all-terrain chassis 6 collects the rubber liquid and uniformly recycles it with the rubber suction tube 10 in accordance with the set path in order to the tree filled with the rubber liquid.

[0043] The specific cloud implementation plan is as follows:

[0044] (Detailed description of the implementation methods of the cloud and database)

[0045] The cloud system is designed to support the rubber tapping robot to complete rubber tapping in an intelligent way, assist people in controlling the rubber tapping robot, and provide a digital means to manage the rubber plantation and monitor the rubber plantation environment. Figure 3As shown in the figure, it is a schematic diagram of the robot cloud framework: perception domain, computing domain, data domain, service domain and storage domain. The domain is a subdivision of the cloud system capabilities. The perception domain completes the communication with the rubber tapping robot and is mainly responsible for accessing all-round perception data, including rubber tree cutting surface images, rubber tapping robot behavior information, location information and rubber garden environment information, etc. At the same time, it provides robot learning model synchronization and control parameter distribution. Computational domain: used for filtering, clustering, learning, training and processing data collected from the rubber tapping robot, including real-time environmental data, location information data, target space data, etc. Data domain: global data model, including information about the environment (such as object location and map for navigation), object recognition model (such as motion trajectory, rubber tree cutting surface image and model) and task knowledge, responsible for cloud system data structured processing. Receive the intermediate processing data output from the computing domain, and encapsulate the unstructured data into structured data that meets the business processing requirements according to the target requirements. The structured data encapsulation structure is persisted through the database or provides data services to its upper layer;. Service domain: Provides robot status tracking, learning updates, behavior control, environmental monitoring, etc. The service domain capability output depends on the structured data output by the data domain. The service domain implements data processing through the data interface provided by the data domain or through two ways of database, completing status tracking, environmental monitoring, etc. The rubber tapping robots can instantly share their learned skills with other robots through the cloud knowledge base, and other robots can improve their learning speed by reusing shared knowledge. The service domain provides an information sharing channel for robots performing tasks and builds a rubber tapping robot service cluster environment. The storage domain supports the process data storage needs of the computing domain, data domain, and service domain on the cloud system, and provides a multi-level storage mechanism from queue storage to cache system to persistent storage.

[0046] The cloud application system is built in a container virtualization mode. All the computing and services involved in the cloud are completed in unit containers, forming a set of computing clusters and service clusters based on Kubernetes. Such a set of container virtualization modes provides a combination of computing elasticity and service elasticity. Data processing (covering computing domain, data domain, and service domain) is the core capability of building cloud systems. Cloud data processing is based on the Hadoop data processing system composed of HDFS and MapReduce, and uses the Hadoop cluster to process data in parallel to improve computing speed. Image analysis and processing in the computing domain and robot learning model training are time-consuming activities, and their response time directly affects the use effect of the rubber tapping robot in the rubber tapping task. The image analysis of the rubber tree cutting surface adopts the YOLOv3 algorithm based on deep learning. Using the parallel computing of the Hadoop cluster, it can quickly provide the cutting surface target space results and perform model correction, which can be close to quasi-real time. In addition, these processes occur near the data or storage, thereby reducing the I / O delay on the network. At the same time, the HDFS file system is also responsible for dividing the file data into manageable blocks and distributing them on multiple nodes to optimize MapReduc to process large data sets in parallel. In addition to using HDFS in the computing process, data storage (database) in the cloud system also uses cache, relational database, and non-relational database. Select the corresponding storage auxiliary task according to the characteristics of the business (service). The data storage (database) of the cloud system uses Redis, MongoDB, and Postgresql to build a multi-level database.

Claims

1. An intelligent rubber tapping robot, characterized in that: The invention comprises an all-terrain chassis (6), a rubber storage tank (2), a six-axis mechanical arm (1), a GPS module (5), a laser radar (7), a camera pan-tilt platform (9), a scanner (12), an electric rubber cutting knife (11), a rubber suction hose (10), a rubber collecting pump and a controller, wherein the rubber storage tank (2) and the six-axis mechanical arm (1) are both arranged on the all-terrain chassis (6), the free end of the six-axis mechanical arm (1) is provided with an electric rubber cutting knife (11), a rubber suction hose (10) and a scanner (12), the front end of the all-terrain chassis (6) is provided with a GPS module (5), a laser radar (7) and a camera pan-tilt platform (9), the chassis body (13) of the all-terrain chassis (6) is provided with a controller, and the GPS module (5), the laser radar (7), the camera pan-tilt platform (9) and the scanner (12) are all controlled by the controller; A driving mechanism for driving the glue storage tank (2) to rotate is provided at the rear of the chassis body (13) of the all-terrain chassis (6); The driving mechanism comprises a glue storage tank driving motor (14), a driving gear (15) and a driven gear (16), wherein the driving gear (15) and the driven gear (16) are meshed, and the driving gear (15) is mounted on the output shaft of the glue storage tank driving motor (14), and the driven gear (16) is fixedly connected to the glue storage tank (2).

2. The intelligent rubber tapping robot according to claim 1, characterized in that: A storage battery (4) is provided on one side of the all-terrain chassis (6), a lighting lamp (8) is provided at the front end of the all-terrain chassis (6), and a communication module (3) is provided at the rear of the all-terrain chassis (6).

3. The intelligent rubber tapping robot according to claim 1, characterized in that: The glue storage tank driving motor (14) is provided with an encoder.

4. The rubber tapping method of the intelligent rubber tapping robot according to claim 1, characterized in that: The following steps are involved: 1) Place QR code signs at fixed locations of rubber trees and enter information about rubber plantations and rubber trees into the cloud system; 2) The cloud system plans the robot’s rubber harvesting route based on the input information of rubber plantations and rubber trees; 3) The rubber tapping robot moves according to the path planned by the cloud system; 4) Before the rubber tapping robot moves to the fixed position of the rubber tree, it uses the camera platform (9) to read the QR code label, read and record the information of the rubber tree; 5) The rubber tapping robot taps the rubber using an electric rubber tapping knife (11); 6) After the rubber tapping is completed, the robot collects the rubber liquid through the rubber suction tube (10) and recovers it in the rubber storage tank (2); The cloud system includes: The perception domain is used to communicate with the rubber tapping robot. It is responsible for accessing the perception data of the rubber tapping robot and sending it to the computational domain. The computational domain is used to process the perception data collected from the rubber tapping robot; The data domain is used to receive the perception data collected by the rubber tapping robot from the computing domain and perform structured processing, and output the processed structured data to the service domain; The service domain is used to provide status tracking, behavior control, and environmental monitoring of the rubber tapping robot; The storage domain is used to support the process data storage of the computing domain, data domain, and service domain in the cloud system.

5. The rubber tapping method of the intelligent rubber tapping robot according to claim 4, characterized in that: Step 5) includes two methods: a) The staff assigns the tapping position to the tapping robot and controls the movement of the tapping robot; b) The cloud system sends commands to control the actions of the rubber tapping robot.

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