A composite multifunctional rubber tapping robot and control method thereof

Abstract

The present invention relates to a composite multifunctional rubber tapping robot and a control method thereof, which comprises: a mobile chassis, used to drive the robot to walk; a tag identifier, arranged at the front of the mobile chassis, used to read and identify an electronic tag preset on a rubber tree; a mechanical arm, arranged on the mobile chassis, and a rubber tapping manipulator is arranged at its end; an auxiliary positioning frame, pre-arranged on the rubber tree, used to cooperate with the rubber tapping manipulator; a controller, arranged in the mobile chassis, controlling and driving the mobile chassis to move; and receiving the tag information transmitted by the tag identifier, controlling the mechanical arm to drive the rubber tapping manipulator to move in the auxiliary positioning frame, realizing fast and accurate positioning of the last cutting line, so as to perform continuous rubber tapping. The present invention can effectively improve positioning accuracy, reduce the work intensity of rubber farmers, and realize autonomous mowing and pesticide spraying functions.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, in particular to a composite multifunctional rubber tapping robot and a control method thereof. Background Art

[0002] The rubber industry is one of the important basic industries of the national economy and is widely used in people's daily lives. The labor input of rubber tapping accounts for more than 70% of the total labor input of the entire rubber production. As a new type of efficient rubber tapping tool, the rubber tapping robot has a broad market prospect and is becoming a standard rubber cutting tool in the rubber planting industry. At present, there are two main types of rubber tapping robots in the research of rubber tapping robots: mobile and fixed, and both are in the process of research and development.

[0003] The fixed rubber tapping robot currently used has the characteristics of short positioning time, high positioning accuracy and tapping precision, and can achieve precise and continuous rubber tapping. However, due to the "one tree, one machine" model, it can only replace manual tapping at the level of rubber tapping technology, and cannot replace it in terms of the number of workers involved in rubber tapping and labor cost investment. The mobile rubber tapping robot is flexible in walking and can achieve the characteristics of "one machine, multiple trees". It has obvious advantages in terms of the number of workers involved in rubber tapping and labor cost investment. However, the mobile rubber tapping robot currently mainly uses visual positioning, which is affected by the rubber forest environment and image recognition errors, resulting in a long positioning time for the rubber line, poor positioning and tapping accuracy, and cannot guarantee precise and continuous rubber tapping. It cannot replace manual tapping at the level of rubber tapping technology. Rubber gardens not only require rubber tapping work, but also daily maintenance, which increases the workload of rubber farmers. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide a composite multifunctional rubber tapping robot and a control method thereof, which can effectively improve the positioning accuracy, reduce the workload of rubber farmers, and realize autonomous mowing and pesticide spraying functions.

[0005] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a composite multifunctional rubber tapping robot, comprising: a mobile chassis, used to drive the robot to walk; a label identifier, arranged at the front of the mobile chassis, used to read and identify the electronic label preset on the rubber tree; a mechanical arm, arranged on the mobile chassis, and a rubber tapping manipulator is arranged at the end thereof; an auxiliary positioning frame, pre-arranged on the rubber tree, used to cooperate with the rubber tapping manipulator; a controller, arranged in the mobile chassis, controlling and driving the mobile chassis to move; and receiving the label information transmitted by the label identifier, controlling the mechanical arm to drive the rubber tapping manipulator to move in the auxiliary positioning frame, so as to realize fast and accurate positioning of the last cutting line, so as to carry out continuous rubber tapping.

[0006] Further, the auxiliary positioning frame includes: an arc-shaped fixing frame, which is set to two and is used to fix the auxiliary positioning frame on the rubber tree; an upper circular frame, which is connected to the arc-shaped fixing frame located at the upper part through at least two first connecting members; a lower circular frame, which is connected to the arc-shaped fixing frame located at the lower part through at least two first connecting members; two convex-shaped tracks, which are set to two and are respectively arranged at the bottom of the upper circular frame and the top of the lower circular frame; a support rod, which is arranged at the ends on both sides between the upper circular frame and the lower circular frame, and the support rod, the upper circular frame and the lower circular frame enclose an arc-shaped working space of the rubber tapping robot; the two convex-shaped tracks are symmetrically arranged, and the parts of one end of the upper circular frame and the lower circular frame where the convex-shaped tracks are not arranged form track openings for cooperating with the rubber tapping robot.

[0007] Furthermore, the rubber tapping robot includes: a fan ring frame, which is connected to the end of the robot arm through a second connecting piece; its curvature is matched with the working space of the auxiliary positioning frame so as to enter the working space for operation; a first limit sensor is arranged at the top of the fan ring frame, for limiting the action of the robot arm driving the rubber tapping robot to move to the track opening side of the auxiliary positioning frame, and transmitting the limit information to the controller; a second limit sensor is arranged on the left side wall of the fan ring frame, for limiting the action of the rubber tapping robot moving from the track opening side to the left side in the auxiliary positioning frame, and transmitting the limit information to the controller; a positioning sensor is arranged on the upper front side of the fan ring frame, electrically connected to the controller, for positioning the track opening side of the auxiliary positioning frame, and transmitting the positioning information to the controller; a rubber tapping mechanism is arranged in the fan ring frame, and the controller controls the action of the rubber tapping mechanism according to the received information.

[0008] Furthermore, the rubber tapping mechanism includes: an up and down motion mechanism, which is arranged in the fan ring frame and whose movement is controlled by the controller; a centripetal motion mechanism, which is arranged on the up and down motion mechanism and driven by the up and down motion mechanism to move up and down, and whose movement is controlled by the controller; a rubber knife assembly, which is arranged on the centripetal motion mechanism and driven by the centripetal motion mechanism to perform advance or retreat movements.

[0009] Furthermore, the rubber tapping robot also includes: a distance sensor, which is arranged on the centripetal motion mechanism and located below the rubber knife assembly, for limiting the advance and retract movement of the rubber knife assembly and transmitting the limiting information to the controller; the controller controls the movement of the centripetal motion mechanism according to the received information.

[0010] Furthermore, the robot also includes: a pesticide spraying manipulator, which is arranged at the end of the mechanical arm and includes a nozzle and a visual sensor, and the visual sensor is located above the nozzle; a weeding mechanism, which is arranged on the rear part of the mobile chassis; a water tank, which is on the same plane as the mechanical arm and is connected to the nozzle through a rubber hose to provide the nozzle with the nutrient solution required for spraying pesticides.

[0011] A composite multifunctional rubber tapping robot control method is implemented based on the above robot and is used to quickly and accurately locate the last cutting line, comprising:

[0012] Performing path planning according to the acquired map, making the mobile chassis travel to the position specified by each rubber tree, and identifying the rubber tapping information of the rubber tree according to the label information transmitted by the label identifier;

[0013] According to the positioning information transmitted by the positioning sensor, the rubber tapping manipulator is driven by the robotic arm to enter the track opening side of the auxiliary positioning frame, so that the rubber tapping manipulator moves leftward to the initial point position of this rubber tapping operation;

[0014] With the initial point position as the zero point position, the rubber knife assembly is spirally moved from the upper left to the lower right of the working space, and at the same time, the distance sensor scans and records the real-time distance information of the cut surface of the rubber tree bark;

[0015] Determine the entry point position, the rubber knife assembly determines the entry depth based on the distance information, and moves spirally from the lower right to the upper left to reach the knife retraction point position, completing the rubber tapping operation, and the rubber tapping robot exits the auxiliary positioning frame.

[0016] Further, the step of causing the rubber tapping robot to move leftward to the initial position of the current rubber tapping operation includes:

[0017] According to the limit information transmitted by the first limit sensor, the action of the robotic arm driving the rubber tapping robot to gradually enter the track opening side of the auxiliary positioning frame is stopped, and the rubber tapping robot just enters the track opening side of the auxiliary positioning frame;

[0018] The rubber tapping robot moves to the left from one side of the track opening in the auxiliary positioning frame until the second limit sensor contacts the support rod, and the rubber tapping robot stops moving;

[0019] The number of times the rubber tree has been tapped is determined through the tapping information, and the downward movement distance of the rubber knife assembly is determined according to the number of tapping times. The position after the downward movement is the initial point position of this tapping operation.

[0020] Further, the determination of the entry point position includes: after the rubber knife assembly spirally moves from the upper left to the lower right of the working space, the rubber knife assembly is moved downward again according to the distance between the distance sensor and the rubber knife assembly to determine the entry point position of this rubber tapping operation.

[0021] Furthermore, the position of the knife retracting point includes: the centripetal motion mechanism drives the rubber knife assembly to advance according to the distance information recorded by the distance sensor, and at the same time the up and down motion mechanism drives the rubber knife assembly to spirally move from the lower right to the upper left. When the second limit sensor contacts the support rod again, the movement stops. At this time, the position of the rubber knife assembly is the knife retracting point position of this rubber tapping operation.

[0022] The present invention adopts the above technical solution, which has the following advantages:

[0023] 1. The present invention integrates the cutting line positioning and cutting depth control methods of a fixed rubber tapping robot with the one-machine-multiple-trees feature of a mobile rubber tapping robot, and includes weeding and pesticide spraying functions, thereby realizing the composite multi-function of the rubber tapping robot.

[0024] 2. The present invention solves the problem of "one machine, one tree" and high maintenance cost of fixed rubber tapping robots; solves the problem of poor positioning accuracy of the cutting line and poor tapping accuracy of mobile rubber tapping robots; solves the problem of high work intensity of rubber farmers, and can realize the functions of autonomous mowing and pesticide spraying.

[0025] 3. The rubber tapping robot of the present invention is connected to the robot arm, and the robot arm is connected to the mobile chassis. When the rubber tapping operation is performed in cooperation with the auxiliary positioning frame, the last cutting line can be quickly and accurately positioned, thereby realizing continuous rubber tapping and meeting the standard requirements of rubber tapping. At the same time, it also realizes the characteristics of "one machine for multiple trees" and greatly reduces the maintenance cost.

[0026] 4. The composite multifunctional rubber tapping robot of the present invention adopts an intelligent pesticide spraying manipulator. During the pesticide spraying operation, it autonomously identifies the desired pesticide spraying position through a visual sensor, and sprays pesticides at the desired pesticide spraying position in coordination with a spray head, a manipulator arm and an all-terrain crawler chassis. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 1 is a schematic structural diagram of a composite multifunctional rubber tapping robot in one embodiment of the present invention;

[0028] Figure 2 is a schematic diagram of the auxiliary positioning frame structure in one embodiment of the present invention;

[0029] Figure 3 It is a schematic diagram of the structure of a rubber tapping robot in one embodiment of the present invention;

[0030] Figure 4 It is a schematic diagram of the structure of a composite multifunctional rubber tapping robot spraying pesticides and mowing grass in one embodiment of the present invention;

[0031] Figure 5The present invention is a flow chart of a composite multifunctional rubber tapping robot control method in one embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0033] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0034] In one embodiment of the present invention, Figure 1 As shown, the present invention provides a composite multifunctional rubber tapping robot, which comprises:

[0035] Mobile chassis 1, used to drive the robot to walk;

[0036] The tag identifier 2 is arranged at the front of the mobile chassis 1 and is used to read and identify the electronic tag preset on the rubber tree; in this embodiment, the tag identifier 2 is preferably an RFID reader / writer;

[0037] A mechanical arm 3 is arranged on the mobile chassis 1, and a rubber tapping manipulator 4 is arranged at the end thereof; the mechanical arm 3 is a multi-degree-of-freedom mechanical arm;

[0038] An auxiliary positioning frame 5 is pre-set on the rubber tree and is used to cooperate with the rubber tapping robot 4;

[0039] The controller is arranged in the mobile chassis 1, controls the movement of the mobile chassis 1, receives the label information transmitted by the label identifier 2, controls the robot arm 3 to drive the rubber tapping robot 4 to move in the auxiliary positioning frame 5, and realizes the fast and accurate positioning of the last cutting line for continuous rubber tapping.

[0040] In the above embodiment, a laser radar 6 is also provided on the front of the mobile chassis 1. When in use, the laser radar 6 establishes a terrain map of the rubber garden, and the controller performs path planning to ensure that the robot drives to the designated position of each rubber tree, and reads the electronic tag fixed on the rubber tree through the RFID reader, identifies the rubber tapping information of the rubber tree, and realizes the function of continuous rubber tapping.

[0041] In the above embodiment, if Figure 2 As shown, the auxiliary positioning frame 5 is a non-closed annular structure, which includes:

[0042] There are two arc-shaped fixing frames 7, which are used to fix the auxiliary positioning frame 5 on the rubber tree;

[0043] The upper circular frame 8 is connected to the arc-shaped fixing frame 7 located at the upper part via at least two first connecting members 9;

[0044] The lower circular frame 10 is connected to the arc-shaped fixing frame 7 located at the bottom through at least two first connecting members 9;

[0045] There are two convex-shaped tracks 12, which are respectively arranged at the bottom of the upper circular frame 8 and the top of the lower circular frame 10;

[0046] The support rod 11 is arranged at the ends of both sides between the upper circular frame 8 and the lower circular frame 10, and is used to limit the distance between the upper circular frame 8 and the lower circular frame 10; the support rod 11, the upper circular frame 8 and the lower circular frame 10 surround the arc-shaped working space of the rubber tapping robot 4;

[0047] The two convex-shaped tracks 12 are symmetrically arranged, and the length of the convex-shaped tracks 12 is smaller than the length of the circular frame in the working space. The parts of one end of the upper circular frame 8 and the lower circular frame 10 where the convex-shaped tracks 12 are not arranged form track openings for cooperating with the rubber tapping robot 4.

[0048] In this embodiment, the visual positioning sensor of the existing rubber tapping robot is replaced by the auxiliary positioning frame 5 and the rubber tapping manipulator 4, and the convex track 12 on the auxiliary positioning frame 5 is a single-side open semi-enclosed track.

[0049] In the above embodiment, if Figure 3 As shown, the rubber tapping robot 4 comprises:

[0050] The fan ring frame 13 is connected to the end of the robot arm 3 through the second connecting member 14; its curvature is matched with the working space of the auxiliary positioning frame 5 so as to enter the working space for operation;

[0051] The first limit sensor 15 is arranged on the top of the fan ring frame 13, and is used to limit the action of the robot arm 3 driving the rubber tapping robot 4 to move to the track opening side of the auxiliary positioning frame 5, and transmit the limit information to the controller;

[0052] The second limit sensor 16 is arranged on the left side wall of the fan ring frame 13, and is used to limit the movement of the rubber tapping robot 4 from the track opening side to the left side in the auxiliary positioning frame 5, and transmit the limit information to the controller;

[0053] The positioning sensor 17 is arranged at the upper front part of the fan ring frame 13 and is electrically connected to the controller, and is used to locate the track opening side of the auxiliary positioning frame 5 and transmit the positioning information to the controller;

[0054] The rubber tapping mechanism is arranged in the fan ring frame 13, and the action of the rubber tapping mechanism is controlled by the controller according to the received information.

[0055] Among them, the rubber tapping institutions include:

[0056] The up-and-down motion mechanism is arranged in the fan ring frame 13, and its movement is controlled by the controller;

[0057] The centripetal motion mechanism is arranged on the up-and-down motion mechanism, driven by the up-and-down motion mechanism to move up and down, and its movement is controlled by the controller;

[0058] The rubber knife assembly 18 is arranged on the centripetal motion mechanism and is driven by the centripetal motion mechanism to perform the knife advancing or retreating action.

[0059] In this embodiment, both the up-down motion mechanism and the centripetal motion mechanism adopt the existing ball screw slide structure, the up-down motion mechanism includes an up-down motion motor, a motor reducer, a first coupling, an up-down motion ball screw slide module, a ball screw limit sensor and a first L-shaped plate, and the up-down motion motor is fixed to the fan ring frame 13 through the first L-shaped plate; the centripetal motion mechanism includes a centripetal motion ball screw slide module, a second coupling, a centripetal motion motor and a second L-shaped plate, and the centripetal motion ball screw slide module is fixed to the slide of the up-down motion ball screw slide module through the second L-shaped plate, and the spatial angle between the up-down motion mechanism and the centripetal motion mechanism is 90°. The remaining structures are the same as the existing ball screw slide structure, and the specific connection structure is not repeated here.

[0060] In the above embodiment, the rubber tapping robot also includes: a distance sensor 19, which is arranged on the centripetal motion mechanism and is located below the rubber knife assembly 18, and is used to limit the advance and retreat movement of the rubber knife assembly 18 and transmit the limit information to the controller; the controller controls the movement of the centripetal motion mechanism according to the received information.

[0061] In the above embodiment, the rubber tapping robot also includes a universal ball roller 20 and a soft rubber bearing pulley 21; the universal ball roller 20 and the soft rubber bearing pulley 21 are both arranged at the top and bottom of the fan ring frame 13, and are located in front of the first limit sensor 15; the universal ball roller 20 and the soft rubber bearing pulley 21 cooperate with the convex track 12 to realize the movement of the rubber tapping robot 4 along the convex track.

[0062] In the above embodiment, if Figure 4 As shown, the rubber tapping robot of the present invention also includes:

[0063] The pesticide spraying manipulator is arranged at the end of the mechanical arm 3, and includes a spray head 22 and a visual sensor 23, wherein the visual sensor 23 is located above the spray head 22;

[0064] A weeding mechanism 24 is arranged on the rear part of the mobile chassis 1;

[0065] The water tank 25 is on the same plane as the mechanical arm 3 and is connected to the nozzle 22 through a rubber hose to provide the nozzle 22 with nutrient solution required for spraying pesticides.

[0066] In one embodiment of the present invention, Figure 5 As shown, a control method for a composite multifunctional rubber tapping robot is provided, and the control method is implemented based on the rubber tapping robot in the above embodiment, and is used to achieve fast and accurate positioning of the last cutting line. In this embodiment, the method includes the following steps:

[0067] Step 1, carry out route planning according to the map obtained, make mobile chassis 1 travel to the position specified by each rubber tree, and identify the rubber tapping information of the rubber tree according to the tag information transmitted to by the tag identifier;

[0068] Step 2, according to the positioning information transmitted by the positioning sensor 17, the rubber tapping robot 4 is driven by the robot arm 6 to enter the track opening side of the auxiliary positioning frame 5, so that the rubber tapping robot 4 moves to the left to the initial point position of this rubber tapping operation;

[0069] Step 3, taking the initial point position as the zero point position, the rubber knife assembly 18 is spirally moved from the upper left to the lower right of the working space, and at the same time, the distance sensor 19 performs real-time distance information scanning and recording on the bark cut surface of the rubber tree;

[0070] Step 4, determine the entry point position, the rubber knife assembly 18 determines the entry depth according to the distance information, and moves spirally from the lower right to the upper left to reach the knife retraction point position, completing the rubber tapping operation, and the rubber tapping robot 4 exits the auxiliary positioning frame 5.

[0071] In the above step 1, a topographic map of the rubber garden is established by the laser radar 6.

[0072] In the above step 2, the rubber tapping robot 4 is moved leftward to the initial point position of this rubber tapping operation, including the following steps:

[0073] Step 21, according to the limit information transmitted by the first limit sensor 15, the action of the robot arm 3 driving the rubber tapping robot 4 to gradually enter the track opening side of the auxiliary positioning frame 5 is stopped, and the rubber tapping robot 4 just enters the track opening side of the auxiliary positioning frame 5;

[0074] When in use, the positioning sensor 17 on the rubber tapping robot 4 positions one side of the track opening of the auxiliary positioning frame, and the mobile chassis 1, the robotic arm 3 and the rubber tapping robot 4 are linked to adjust the spatial posture of the rubber tapping robot 4 to align it with the track opening of the auxiliary positioning frame 5. The robotic arm 3 drives the rubber tapping robot 4 to gradually enter the track opening of the auxiliary positioning frame 5. The first limit sensor 15 stops the action of the robotic arm 3 driving the rubber tapping robot 4 to gradually enter the track opening of the auxiliary positioning frame 5. At this time, the rubber tapping robot 4 just enters the track opening of the auxiliary positioning frame 5.

[0075] Step 22, the rubber tapping robot 4 moves to the left from the track opening side in the auxiliary positioning frame 5 until the second limit sensor 16 contacts the support rod 11, and the rubber tapping robot 4 stops moving;

[0076] When in use, the mobile chassis 1, the mechanical arm 3 and the rubber tapping robot 4 are linked to realize that the rubber tapping robot 4 cooperates with the convex track 12 through the soft rubber bearing pulley 21 and the universal ball roller 20, so that the rubber tapping robot 4 moves to the left along the convex track 12 until the second limit sensor 16 contacts the support rod 11, and the rubber tapping robot 4 stops moving; the up and down motion mechanism starts to work, the up and down motion motor drives the motor reducer to rotate, the motor reducer drives the first coupling to rotate, the first coupling drives the screw in the up and down motion ball screw slide module to rotate, the rubber knife assembly is located on the centripetal motion ball screw slide module, the rotation of the screw in the up and down motion ball screw slide module drives the centripetal motion ball screw slide module fixed on the slide in the up and down ball screw slide module to move upward, after moving to the highest point, the up and down motion motor stops rotating, the up and down motion mechanism stops working, and at this time the rubber knife assembly 18 is located at the origin position of the rubber tapping operation.

[0077] Step 23, determining the number of rubber tapping times that the rubber tree has passed through through the rubber tapping information, determining the downward movement distance of the rubber knife assembly 18 according to the number of rubber tapping times, and the position after the downward movement is the initial point position of this rubber tapping operation;

[0078] When in use, the electronic tag fixed on the rubber tree is read by the RFID reader, the rubber tapping information of the rubber tree is identified, and the number of times the rubber tree has been tapped is obtained. For example, after X times of tapping, the up and down motion mechanism drives the rubber knife assembly 18 to move downward by 1mm*X. At this time, the position of the rubber knife assembly 18 is the initial point position of this tapping operation.

[0079] Specifically, the up-and-down motion motor drives the motor reducer to rotate, the motor reducer drives the first coupling to rotate, the first coupling drives the screw in the up-and-down motion ball screw slide module to rotate, and the screw in the up-and-down motion ball screw slide module drives the slide in the up-and-down ball screw slide module to move downward by 1mm*X. At this time, the rubber knife assembly is located at the initial point of this rubber tapping operation.

[0080] In the above step 3, the rubber knife assembly 18 is spirally moved from the upper left to the lower right of the workspace, specifically: the robotic arm 3 drives the rubber tapping robot 4 to move 90° to the right at a uniform speed along the convex track 12 with the initial point as the zero position, and at the same time, the up and down motion motor drives the motor reducer to rotate, the motor reducer drives the first coupling to rotate, the first coupling drives the screw in the up and down motion ball screw slide module to rotate, the screw rotation in the up and down motion ball screw slide module drives the slide in the upper and lower ball screw slide module to move downward a certain distance H1, the two movements are superimposed to realize the spiral trajectory from the upper left to the lower right, and at the same time, the distance sensor 19 in the rubber tapping robot 4 scans the bark of the rubber tree in real time, and records the distance information of the cut surface.

[0081] The distance H1 is preferably:

[0082] H1=R×tan(θ)

[0083] Wherein, R is the radius of the rubber tapping robot 4 running along the convex track 12, the value range of θ is [25°, 30°], and the value of θ can be obtained from the rubber tapping information.

[0084] In the above step 4, the entry point position is determined, including: after the rubber knife assembly 18 spirally moves from the upper left to the lower right of the working space, the rubber knife assembly 18 is moved down again according to the distance between the distance sensor 19 and the rubber knife assembly 18 to determine the entry point position of this rubber tapping operation.

[0085] Specifically, when the mechanical arm 3 drives the rubber tapping manipulator 4 to move to the right at a constant speed along the convex track 12 to the 90° position with the initial point as the zero point, the mechanical arm 3 stops moving. Since the rubber knife assembly 18 and the distance sensor 19 have a certain height difference H2, the up-and-down motion motor drives the motor reducer to rotate, the motor reducer drives the first coupling to rotate, the first coupling drives the screw in the up-and-down motion ball screw slide module to rotate, and the screw in the up-and-down motion ball screw slide module drives the slide in the up-and-down ball screw slide module to move downward by a distance of H2. At this time, the rubber knife assembly 18 is located at the entry point of this rubber tapping operation.

[0086] In the above step 4, the rubber knife assembly 18 determines the cutting depth according to the distance information, and moves from the lower right to the upper left in a spiral motion, specifically:

[0087] The mechanical arm 3 drives the rubber tapping manipulator 4 to move leftward at a constant speed along the convex track 12. At the same time, the up-and-down motion motor drives the motor reducer to rotate, the motor reducer drives the first coupling to rotate, the first coupling drives the screw in the up-and-down motion ball screw slide module to rotate, the screw rotation in the up-and-down motion ball screw slide module drives the slide in the up-and-down motion ball screw slide module to move upward a certain distance H1, and at the same time, the centripetal motion motor drives the second coupling to rotate, the second coupling drives the screw in the centripetal motion ball screw slide module to rotate, the screw rotation in the centripetal motion ball screw slide module drives the slide in the centripetal motion ball screw slide module to move, and the slide in the centripetal motion ball screw slide module drives the rubber knife assembly 18 to realize the rubber knife assembly advance and retreat function according to the distance information recorded by scanning the bark. The three motions are superimposed to realize the rubber tapping operation.

[0088] In the above step 4, the position of the knife retracting point includes: the centripetal motion mechanism drives the rubber knife assembly to advance according to the distance information recorded by the distance sensor, and at the same time, the up and down motion mechanism drives the rubber knife assembly to spirally move from the lower right to the upper left. When the second limit sensor contacts the support rod again, the movement stops. At this time, the position of the rubber knife assembly is the knife retracting point position of this rubber tapping operation.

[0089] Specifically, when the second limit sensor 16 contacts the support rod 11 again, the three movements stop at the same time. At this time, the rubber knife assembly 18 is located at the knife retracting point of this rubber tapping operation, and the centripetal motion motor drives the second coupling to rotate, and the second coupling drives the screw in the centripetal motion ball screw slide module to rotate, and the screw rotation in the centripetal motion ball screw slide module drives the slide in the centripetal motion ball screw slide module to move, and the slide in the centripetal motion ball screw slide module drives the rubber knife assembly to realize the rubber knife assembly retracting function. At this time, the rubber knife assembly is located at the end point of this rubber tapping operation.

[0090] In the above step 4, the rubber tapping robot 4 exits the auxiliary positioning frame 5, specifically:

[0091] The robotic arm 3 drives the rubber tapping robot 4 to move rightward at a constant speed along the convex track 12 to the 120° position with the end point as the zero point, and then stops moving, so that the rubber tapping robot 4 reaches the track opening side of the auxiliary positioning frame 5, and the robotic arm 3 drives the rubber tapping robot 4 to withdraw from the track opening side of the auxiliary positioning frame 5.

[0092] In one embodiment of the present invention, a control method for a composite multifunctional rubber tapping robot is also provided. The control method is implemented based on the rubber tapping robot in the above embodiment and is used to achieve weeding and pesticide spraying functions.

[0093] After turning on the weeding function, first use the laser radar 6 and the controller to plan the path for the scope of weeding, and then carry out weeding work according to the planned path. Before turning on the pesticide spraying function, it is necessary to replace the manipulator 4 of the rubber tapping robot with the pesticide spraying manipulator, and connect the infusion tube on the pesticide spraying manipulator to the water tank 25 equipped with pesticides. After turning on the pesticide spraying function, the robot will first use the laser radar 6 to plan the path for the scope of pesticide spraying, and then carry out the pesticide spraying work according to the planned path. After the robot arrives at a rubber tree according to the path planning, the RFID reader reads the electronic tag fixed on the rubber tree to identify the rubber tapping information of the rubber tree. By reading the time information of the last pesticide spraying of the rubber tapping information, it is judged whether the rubber tree needs to be sprayed with pesticides, if it is otherwise, it will proceed to the next rubber tree. If it is, the mechanical arm 3 drives the intelligent pesticide spraying manipulator to move to one side of the track opening of the auxiliary positioning frame 5, and the visual sensor 23 on the intelligent pesticide spraying manipulator identifies the cutting line. After the cutting line is identified, the robot arm 3 drives the intelligent pesticide spraying robot to spray pesticides along the cutting line and the 2 cm wide area of ​​the new cutting surface above the cutting line. After the pesticide spraying is completed, the robot arm 3 is retracted and goes to the next rubber tree.

[0094] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0095] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0096] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0097] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

Claims

1. A composite multifunctional rubber tapping robot, characterized in that: include: A mobile chassis, used to drive the robot to walk; A tag identifier, arranged at the front of the mobile chassis, for reading and identifying an electronic tag preset on the rubber tree; A mechanical arm is arranged on the mobile chassis, and a rubber tapping manipulator is arranged at the end thereof; An auxiliary positioning frame is pre-set on the rubber tree and is used to cooperate with the rubber tapping robot; The controller is arranged in the mobile chassis, controls and drives the mobile chassis to move; receives the label information transmitted by the label identifier, controls the mechanical arm to drive the rubber tapping manipulator to move in the auxiliary positioning frame, and realizes fast and accurate positioning of the last cutting line, so as to perform continuous rubber tapping; The auxiliary positioning framework includes: Two arc-shaped fixing frames are provided, and are used to fix the auxiliary positioning frame on the rubber tree; An upper circular frame connected to the arc-shaped fixing frame located at the upper portion via at least two first connecting members; A lower circular frame connected to the arc-shaped fixing frame at the bottom via at least two of the first connecting members; There are two convex-shaped tracks, which are respectively arranged at the bottom of the upper circular frame and the top of the lower circular frame; Support rods are arranged at ends on both sides between the upper circular frame and the lower circular frame, and the support rods, the upper circular frame and the lower circular frame enclose an arc-shaped working space of the rubber tapping robot; The two convex-shaped tracks are symmetrically arranged, and the parts of one end of the upper ring frame and the lower ring frame where the convex-shaped tracks are not arranged form track openings for cooperating with the rubber tapping robot; The rubber tapping robot comprises: A fan ring frame is connected to the end of the robot arm through a second connecting member; its curvature is matched with the working space of the auxiliary positioning frame so as to enter the working space for operation; A first limit sensor is arranged at the top of the fan ring frame, and is used to limit the action of the mechanical arm driving the rubber tapping robot to move to the track opening side of the auxiliary positioning frame, and transmit the limit information to the controller; A second limit sensor is arranged on the left side wall of the fan ring frame, and is used to limit the movement of the rubber tapping robot from the track opening side to the left side in the auxiliary positioning frame, and transmit the limit information to the controller; A positioning sensor, arranged at the upper front side of the fan ring frame, electrically connected to the controller, and used to position the track opening side of the auxiliary positioning frame and transmit positioning information to the controller; The rubber tapping mechanism is arranged in the fan ring frame, and the controller controls the action of the rubber tapping mechanism according to the received information; A laser radar is also arranged on the front of the mobile chassis.

2. The robot according to claim 1, characterized in that: The rubber tapping mechanism comprises: The up-and-down motion mechanism is arranged in the fan ring frame and its motion is controlled by the controller; A centripetal motion mechanism, which is arranged on the up-and-down motion mechanism, is driven by the up-and-down motion mechanism to move up and down, and its movement is controlled by the controller; The rubber knife assembly is arranged on the centripetal motion mechanism and is driven by the centripetal motion mechanism to perform the knife advancing or knife retreating action.

3. The robot according to claim 2, characterized in that: The rubber tapping robot also includes: A distance sensor is arranged on the centripetal motion mechanism and is located below the glue knife assembly, and is used to limit the advance and retreat movements of the glue knife assembly and transmit the limit information to the controller; The controller controls the action of the centripetal motion mechanism according to the received information.

4. The robot according to claim 1, characterized in that: Also includes: A pesticide spraying manipulator, which is arranged at the end of the mechanical arm and includes a spray head and a visual sensor, wherein the visual sensor is located above the spray head; A weeding mechanism is arranged on the rear part of the mobile chassis; The water tank is on the same plane as the mechanical arm and is connected to the spray head through a rubber hose to provide the spray head with nutrient solution required for spraying pesticides.

5. A composite multifunctional rubber tapping robot control method, characterized in that: The method is implemented based on the robot according to any one of claims 1 to 4, and is used to quickly and accurately locate the last cutting line, comprising: Performing path planning according to the acquired map, making the mobile chassis travel to the position specified by each rubber tree, and identifying the rubber tapping information of the rubber tree according to the label information transmitted by the label identifier; According to the positioning information transmitted by the positioning sensor, the rubber tapping manipulator is driven by the robotic arm to enter the track opening side of the auxiliary positioning frame, so that the rubber tapping manipulator moves leftward to the initial point position of this rubber tapping operation; With the initial point position as the zero point position, the rubber knife assembly is spirally moved from the upper left to the lower right of the working space, and at the same time, the distance sensor scans and records the real-time distance information of the cut surface of the rubber tree bark; Determine the entry point position, the rubber knife assembly determines the entry depth based on the distance information, and moves spirally from the lower right to the upper left to reach the knife retraction point position, completing the rubber tapping operation, and the rubber tapping robot exits the auxiliary positioning frame.

6. The method according to claim 5, characterized in that The step of causing the rubber tapping robot to move leftward to the initial point position of the current rubber tapping operation includes: According to the limit information transmitted by the first limit sensor, the action of the robotic arm driving the rubber tapping robot to gradually enter the track opening side of the auxiliary positioning frame is stopped, and the rubber tapping robot just enters the track opening side of the auxiliary positioning frame; The rubber tapping robot moves to the left from one side of the track opening in the auxiliary positioning frame until the second limit sensor contacts the support rod, and the rubber tapping robot stops moving; The number of times the rubber tree has been tapped is determined through the tapping information, and the downward movement distance of the rubber knife assembly is determined according to the number of tapping times. The position after the downward movement is the initial point position of this tapping operation.

7. The method according to claim 5, characterized in that: Determining the position of the entry point includes: after the rubber knife assembly spirally moves from the upper left to the lower right of the working space, the rubber knife assembly is moved downward again according to the distance between the distance sensor and the rubber knife assembly to determine the position of the entry point of this rubber tapping operation.

8. The method according to claim 5, characterized in that The knife retraction point position includes: the centripetal motion mechanism drives the rubber knife assembly to advance according to the distance information recorded by the distance sensor, and at the same time, the up and down motion mechanism drives the rubber knife assembly to spirally move from the lower right to the upper left. When the second limit sensor contacts the support rod again, the movement stops. At this time, the position of the rubber knife assembly is the knife retraction point position of this rubber tapping operation.

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