Control System and Method for Multi-Section Rubber Tapping Platform Based on Machine Vision

Abstract

This invention relates to the field of robot control technology, and in particular to a multi-line rubber tapping platform control system and method based on machine vision. The system includes a system support frame, a vision acquisition module, a central processing unit, a three-dimensional slide rail platform, and a rubber tapping mechanism. The rubber tapping mechanism performs the tapping motion on the rubber tree. The three-dimensional slide rail platform controls the vision acquisition module to acquire color and depth images of the rubber tree to be tapped. The central processing unit performs image processing on the color and depth images to obtain the tapping position coordinates. Based on feedback from the three-dimensional slide rail platform and the rubber tapping mechanism, the central processing unit drives the three-dimensional slide rail platform, enabling the rubber tapping mechanism to determine the tapping path according to the tapping position coordinates. The rubber tapping mechanism employs a multi-tap knife execution module, enabling simultaneous multi-line tapping, significantly increasing tapping output. Furthermore, the rubber tapping mechanism can adjust the angle of the tapping execution module in real time, ensuring the quality of the tapping.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, and in particular to a control system and method for a multi-line rubber tapping platform based on machine vision. Background Technology

[0002] Natural rubber is an important strategic resource for my country, playing an irreplaceable role in both military and civilian applications. However, rubber tapping requires nighttime operations and is extremely labor-intensive, leading to a shortage of rubber tappers. Currently, to address this issue, products such as electric rubber tapping knives, rubber tapping machines, and self-propelled rubber tapping robots have emerged on the market. Electric rubber tapping knives still require rubber tappers to work at night, failing to fundamentally solve the problems of high labor intensity and labor shortages. Rubber tapping machines are the most widely used of the three products mentioned, fundamentally solving the problem of rubber tappers working at night. However, they still require manual installation on the trees and manual calibration for the first cut, and face issues such as theft. Self-propelled rubber tapping robots are currently mainly in the research and development stage. Compared to rubber tapping machines, they have a higher degree of automation. One self-propelled rubber tapping robot can handle an area, eliminating the need for manual installation and initial calibration, achieving completely unmanned operation. Currently, self-propelled rubber tapping robots mainly consist of a tracked chassis and a robotic arm, resulting in a very high price and significant technical difficulty. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides a machine vision-based multi-cut rubber tapping platform control system and method. It replaces the expensive robotic arm with a three-axis slide rail platform, using machine vision to identify the tapping point and precisely control the three-axis slide rail platform to simultaneously tap the rubber tree with multiple cuts. The principle is simple, the control is sensitive, and it offers good safety and stability.

[0004] In a first aspect, the machine vision-based multi-line rubber tapping platform control system provided by the present invention includes a system support frame, a vision acquisition module, a central processing unit, a three-dimensional slide rail platform, and a rubber tapping mechanism. The three-dimensional slide rail platform is installed in the system support frame and is used to control the movement trajectory of the rubber tapping mechanism around the rubber tree to be tapped, and to feed back the movement trajectory to the central processing unit. The rubber tapping mechanism, installed on the three-dimensional slide rail platform, is used to perform rubber tapping operations on the rubber tree to be tapped according to the control signals from the central processing unit, and to feed back the distance between the rubber tapping mechanism and the rubber tree to be tapped to the central processing unit. The vision acquisition module, installed on the three-dimensional slide rail platform, is used to acquire color and depth images of the rubber tree to be tapped. The central processing unit, installed on the system support frame, is used to receive external control signals, perform image processing on the color and depth images to acquire the rubber tapping position coordinates on the rubber tree to be tapped, and drive the three-dimensional slide rail platform according to the information fed back from the three-dimensional slide rail platform and the rubber tapping mechanism, so that the rubber tapping mechanism determines the tapping path according to the rubber tapping position coordinates.

[0005] Furthermore, the three-dimensional slide rail platform includes X-axis slide rail assemblies, Y-axis slide rail assemblies, and Z-axis slide rail assemblies with identical structures. Each assembly includes a slide rail, a slider, a spatial laser sensor, a limit switch, and a stepper motor. The spatial laser sensor and the limit switch are located at the same end of the slide rail. The spatial laser sensor measures and feeds back the slider's movement distance on the slide rail to the central processing unit, while the limit switch determines the slider's movement origin on the slide rail. The stepper motor is fixed to the corresponding slide rail and is used to control the slider's movement distance on the slide rail.

[0006] Furthermore, there are two X-axis slide rail assemblies, with the slide rails in the X-axis slide rail assembly arranged horizontally at the top and bottom of the system support frame, respectively; the two ends of the slide rail in the Y-axis slide rail assembly are respectively installed on the sliders in the two X-axis slide rail assemblies, so that the Y-axis slide rail assembly is arranged vertically between the two X-axis slide rail assemblies; the slider in the Z-axis slide rail assembly is connected to the slider in the Y-axis slide rail assembly, and the rubber cutting mechanism is installed on one end of the slide rail in the Z-axis slide rail assembly, so that the spatial laser sensor measures and feeds back the spatial coordinates of the rubber cutting mechanism.

[0007] Furthermore, the rubber tapping mechanism includes a servo motor, a distance laser sensor, a tapping motor, a lead screw, a lead screw protection box, a moving plate, connecting parts, at least two sets of electromagnets, and at least two tapping execution modules. The lead screw is installed inside the lead screw protection box for fixing it in place. The tapping motor is mounted on the lower end of the lead screw, driving its rotation. The moving plate is mounted on the lead screw, and the lead screw rotates forward and backward to move the moving plate up and down. The tapping execution modules are fixed to the moving plate along its length, and engage with the feed gears arranged on the lead screw to contact and tap the rubber tree. Rubber tapping operation; at least two distance laser sensors are fixed on both sides of the lead screw protection box to detect and feed back the distance information between the rubber tapping execution module and the rubber tree to be tapped to the central processor; a servo motor is installed on the slide rail in the Z-axis slide rail assembly and is connected to the back of the lead screw protection box through a connector. The output end of the servo motor cooperates with the gear in the connector to adjust the tapping angle of the rubber tapping execution module; the number of electromagnets is consistent with the number of rubber tapping execution modules. Each set of electromagnets includes two electromagnets. Each set of electromagnets is fixed on both sides of the lead screw protection box and corresponds to the position of the rubber tapping execution module on the lead screw protection box.

[0008] Furthermore, the rubber tapping execution module includes a tool feed holder, a positioning plate, a rubber tapping knife fixing plate, a rubber tapping knife support box, and a rubber tapping knife. The rubber tapping knife is mounted on one end of the rubber tapping knife fixing plate, and the other end of the rubber tapping knife fixing plate is hinged to the rubber tapping knife support box. The positioning plate has a hollow strip structure with a fixing bolt on one inner end. The positioning plate is embedded in a groove on the side of the rubber tapping knife support box near the rubber tapping knife fixing plate, and magnets are fixed at both outer ends of the positioning plate. The tool feed holder is a U-shaped frame and is fixed to the movable... On the plate, two racks of the same length are arranged on one side of the feed holder, with the two racks arranged vertically and connected end to end; at the bottom of the feed holder, there is a push rod facing the positioning plate, and the push rod has a positioning hole; the push rod extends into the rubber cutting knife support box and passes through the slide groove, so that the push rod contacts and pushes the rubber cutting knife fixing plate; the moving plate is controlled by the lead screw to move, so that the magnet is close to the electromagnet, and then the positioning plate moves towards the side of the energized electromagnet. When the fixing bolt is inserted into or pulled out of the positioning hole, the rubber cutting knife advances and retracts.

[0009] Furthermore, the central processing unit includes a data processing module, an output control module, and a power supply module. The data processing module is connected to the vision acquisition module to process color and depth images and obtain the tapping position coordinates on the rubber tree to be tapped. It is also connected to a spatial laser sensor and a distance laser sensor to receive spatial coordinates and distance information, and determines the tapping path based on the tapping position coordinates, spatial coordinates, and distance information. The power supply module supplies power to the overall control system. The output control module, in conjunction with the power supply module, controls the stepper motor, tapping motor, and electromagnet according to the tapping path.

[0010] Secondly, the present invention provides a machine vision-based control method for a multi-line rubber tapping platform, applicable to the machine vision-based multi-line rubber tapping platform control system provided in the first aspect. The method specifically includes the following steps:

[0011] S1. Initialize the central processing unit, provide power to the power supply module, so that the three-dimensional slide rail platform can drive the rubber cutting mechanism to move to the origin and control the rubber cutting mechanism to reset.

[0012] S2. The mobile three-axis sliding rail rubber tapping platform reaches the designated position of the rubber tree, the vision acquisition module is activated, and the color image and corresponding depth image of the tapped surface of the rubber tree are acquired and transmitted to the data processing module through the communication line.

[0013] S3. The data processing module determines whether a color image and a depth image have been received, and performs cut point detection on the color image and depth image using a cut point detection algorithm.

[0014] S4. The data processing module extracts the two-dimensional pixel coordinates of the starting point and converts the two-dimensional pixel coordinates into rubber cutting pixel coordinates with the rubber cutting knife as the reference system.

[0015] S5. The output control module controls the rubber cutting mechanism to adjust the rubber cutting angle and perform the cutting motion based on the rubber cutting pixel coordinates; at the same time, it controls the three-dimensional slide rail platform to move the rubber cutting blade to the rubber cutting pixel coordinates.

[0016] S6. Control the rubber tapping motor and servo motor, and by changing the position of the moving plate and the angle of the rubber tapping blade, make the rubber tapping blade move along the rubber tapping path to tap the rubber tree.

[0017] S7. When the rubber tapping blade is at the end of the rubber tapping path, the three-dimensional slide rail platform drives the rubber tapping mechanism to reset, and the rubber tapping blade performs a retraction action to end the rubber tapping motion.

[0018] Furthermore, the process of the feed action in step S5 is as follows:

[0019] S51. The rubber cutting motor runs, causing the lead screw to move the moving plate, so that the feed gear and the lower rack of the feed holder come into contact. At this time, the rubber cutting execution module moves up to the corresponding electromagnet.

[0020] S52. Rotate the feed gear so that the rack drives the push rod through the positioning plate and the rubber cutting knife support box to advance the rubber cutting knife;

[0021] S53. The power supply module supplies power to the row of electromagnets furthest from the fixing bolt. Through the interaction of magnetic force and magnets, the positioning plate moves toward the side of the energized electromagnet until the fixing bolt is inserted into the positioning hole, thus completing the feed operation.

[0022] Furthermore, the process of the retraction action in step S7 is as follows:

[0023] S71, the rubber tapping motor rotates in reverse, the lead screw drives the moving plate to move, so that the feed gear and the upper rack of the feed holder come into contact. At this time, the rubber tapping execution module moves down to the corresponding electromagnet.

[0024] S72. The power supply module supplies power to a row of electromagnets near the fixing bolt. Through the cooperation of magnetic force and magnets, the locking plate moves towards the side of the energized electromagnet until the fixing bolt is pulled out of the positioning hole.

[0025] S73. Rotate the feed gear to make the rack drive the feed holder to retract the push rod from the clamping plate and the rubber cutting knife support box until the rack separates from the feed gear, and the retraction operation is completed.

[0026] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0027] 1. This invention provides stable control with no interference between modules, and each control component is easy to install and fix, facilitating later maintenance.

[0028] 2. This invention uses a three-dimensional sliding rail platform, which significantly reduces costs compared to a robotic arm. It also uses limit switches and laser sensors to obtain the specific position of the rubber cutting knife in different coordinate systems. The method is simple, highly accurate, easy to control, and stable.

[0029] 3. This invention enables simultaneous multi-line tapping, which greatly improves the tapping output compared to existing tapping methods. Furthermore, the use of a servo motor allows for real-time adjustment of the tapping execution module's attitude, ensuring tapping quality and preventing damage to trees during tapping. Attached Figure Description

[0030] Figure 1 This is an overall structural diagram of the machine vision-based multi-line rubber tapping platform control system provided in an embodiment of the present invention;

[0031] Figure 2 This is a structural diagram of the X-axis slide rail assembly provided according to an embodiment of the present invention;

[0032] Figure 3 This is a structural diagram of the Y-axis slide rail assembly provided according to an embodiment of the present invention;

[0033] Figure 4 This is a structural diagram of the Z-axis slide rail assembly provided according to an embodiment of the present invention;

[0034] Figure 5 This is a structural diagram of the rubber tapping mechanism provided according to an embodiment of the present invention from a first perspective;

[0035] Figure 6 This is a structural diagram of the rubber-tapping mechanism provided according to an embodiment of the present invention from a second perspective;

[0036] Figure 7 This is a structural diagram of the rubber cutting execution module provided in an embodiment of the present invention;

[0037] Figure 8 This is a structural diagram of the rubber-cutting knife support box provided according to an embodiment of the present invention;

[0038] Figure 9 This is a structural diagram of the tool feed holder provided according to an embodiment of the present invention;

[0039] Figure 10 This is a flowchart of a machine vision-based multi-line rubber cutting platform control method provided in an embodiment of the present invention.

[0040] Figure reference numerals: 1. System support frame; 2. Vision acquisition module; 3. Central processing unit; 4. 3D slide rail platform; 4-1. X-axis slide rail assembly; 4-2. Z-axis slide rail assembly; 4-3. Limit switch; 4-4. Spatial laser sensor; 4-5. Slide rail; 4-6. Slider; 4-7. Stepper motor; 4-8. Rubber cutting mechanism; 5. Servo motor; 5-1. Distance laser sensor; 5-2. Rubber cutting motor; 5-3. Lead screw; 5-4. Lead screw protection box. 5-5, Moving plate; 5-6, Rubber cutting execution module; 5-7, Cutting tool holder; 5-7-1, Positioning plate; 5-7-2, Rubber cutting knife fixing plate; 5-7-3, Rubber cutting knife support box; 5-7-4, Rubber cutting knife; 5-7-5, Magnet; 5-7-6, Slide groove; 5-7-7, Fixing bolt; 5-7-8, Push rod; 5-7-9, Rack; 5-7-10, Positioning hole; 5-7-11, Electromagnet; 5-8, Connector; 5-9, Cutting gear; 5-10. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not constitute a limitation thereof.

[0042] Firstly, the machine vision-based multi-line tapping platform control system provided by this invention ensures no interference between modules and utilizes a three-axis slide rail platform to enable three-dimensional movement of the tapping mechanism. Machine vision recognition is then used to accurately control the movement position of the tapping mechanism. Simultaneously, a multi-tap blade end effector enables simultaneous multi-line tapping, significantly increasing tapping output compared to existing methods. Furthermore, an end-effector attitude adjustment module is employed to adjust the tapping mechanism's attitude in real time, ensuring tapping quality and preventing damage to trees during the process.

[0043] Figure 1 The overall structure of a machine vision-based multi-line rubber tapping platform control system provided according to an embodiment of the present invention is shown.

[0044] like Figure 1 As shown, the machine vision-based multi-line rubber tapping platform control system includes a system support frame 1, a vision acquisition module 2, a central processing unit 3, a three-dimensional slide rail platform 4, and a rubber tapping mechanism 5.

[0045] The central processing unit 3 is mounted on the system support frame 1 and includes a data processing module, an output control module, and a power supply module.

[0046] The data processing module is connected to the vision acquisition module 2 to process color and depth images and obtain the coordinates of the tapping position on the rubber tree to be tapped. The power supply module supplies power to the overall control system. The output control module, in conjunction with the power supply module, controls the three-dimensional slide rail platform 4 and the tapping mechanism 5 according to the tapping path.

[0047] The three-dimensional sliding rail platform 4 is installed in the system support frame 1 and is used to control the movement trajectory of the rubber tapping mechanism 5 around the rubber tree to be tapped, and to feed back the movement trajectory to the central processing unit 3. The rubber tapping mechanism 5 is installed on the three-dimensional sliding rail platform 4 and is used to perform rubber tapping operations on the rubber tree to be tapped according to the control signals from the central processing unit 3, and to feed back the distance between the rubber tapping mechanism 5 and the rubber tree to be tapped to the central processing unit 3.

[0048] The visual acquisition module 2 is mounted on the three-dimensional sliding platform 4 and is used to acquire color and depth images of the rubber tree to be tapped. The visual acquisition module 2 can use, but is not limited to, a depth camera capable of simultaneously capturing depth and color images. Alternatively, the depth camera can work in conjunction with a color camera to simultaneously capture both depth and color images, or a dual-color camera can obtain binocular color images, and binocular visual matching can be performed on the binocular color images to obtain the corresponding depth images. Preferably, this specific embodiment uses a depth camera capable of simultaneously capturing depth and color images.

[0049] The central processing unit 3 is installed on the three-dimensional slide rail platform 4. It is used to receive external control signals, perform image processing on color and depth images, obtain the rubber tapping position coordinates on the rubber tree to be tapped, and drive the three-dimensional slide rail platform 4 according to the information fed back by the three-dimensional slide rail platform 4 and the rubber tapping mechanism 5, so that the rubber tapping mechanism 5 determines the rubber tapping path according to the rubber tapping position coordinates.

[0050] Figures 2-4 The structures of the X-axis slide rail assembly, Y-axis slide rail assembly, and Z-axis slide rail assembly provided according to embodiments of the present invention are shown respectively.

[0051] like Figures 2-4 As shown, the three-dimensional slide rail platform 4 includes X-direction slide rail assembly 4-1, Y-direction slide rail assembly 4-2 and Z-direction slide rail assembly 4-3 with identical structures, each including slide rail 4-6, slider 4-7, spatial laser sensor 4-5, limit switch 4-4 and stepper motor 4-8.

[0052] The spatial laser sensor 4-5 and the limit switch 4-4 are located at the same end of the slide rail 4-6. The spatial laser sensor 4-5 measures and feeds back the movement distance of the slider 4-7 on the slide rail 4-6 to the data processing module, while the limit switch 4-4 determines the origin of the slider 4-7's movement on the slide rail 4-6. The stepper motor 4-8 is fixed to the corresponding slide rail 4-6 and is used to control the movement distance of the slider 4-7 on the slide rail 4-6.

[0053] like Figure 1 As shown, there are two X-axis slide rail assemblies 4-1, and the slide rails 4-6 in the X-axis slide rail assembly 4-1 are arranged horizontally at the top and bottom of the system support frame 1 respectively; the two ends of the slide rail 4-6 in the Y-axis slide rail assembly 4-2 are respectively installed on the sliders 4-7 in the two X-axis slide rail assemblies 4-1, so that the Y-axis slide rail assembly 4-2 is arranged vertically between the two X-axis slide rail assemblies 4-1; the slider 4-7 in the Z-axis slide rail assembly 4-3 is connected to the slider 4-7 in the Y-axis slide rail assembly 4-2, and the rubber cutting mechanism 5 is installed on one end of the slide rail 4-6 in the Z-axis slide rail assembly 4-3, so that the spatial laser sensor 4-5 measures and feeds back the spatial coordinates of the rubber cutting mechanism 5.

[0054] Figure 5 and Figure 6 The structures of the rubber-cutting mechanism are shown from two different perspectives according to embodiments of the present invention.

[0055] like Figure 5 and Figure 6 As shown, the rubber cutting mechanism 5 includes a servo motor 5-1, a distance laser sensor 5-2, a rubber cutting motor 5-3, a lead screw 5-4, a lead screw protection box 5-5, a moving plate 5-6, a connector 5-9, no fewer than two sets of electromagnets 5-8, and no fewer than two rubber cutting execution modules 5-7.

[0056] The lead screw 5-4 is installed inside the lead screw protection box 5-5 to fix the lead screw 5-4. The rubber tapping motor 5-3 is installed at the lower end of the lead screw 5-4 to drive the rotation of the lead screw 5-4. The moving plate 5-6 is installed on the lead screw 5-4, and the lead screw 5-4 drives the moving plate 5-6 to move up and down by rotating forward and reverse.

[0057] The rubber tapping execution module 5-7 is fixed on the moving plate 5-6 along its length. It engages with the feed gear 5-10 on the lead screw 5-4 to bring the rubber tapping execution module 5-7 into contact with the rubber tree to perform the tapping operation. At least two distance laser sensors 5-2 are fixed on both sides of the lead screw protection box 5-5 to detect and transmit distance information between the rubber tapping execution module 5-7 and the rubber tree to the data processing module.

[0058] Servo motor 5-1 is mounted on slide rail 4-6 in Z-axis slide rail assembly 4-3 and connected to the back of lead screw protection box 5-5 via connector 5-9. The output end of servo motor 5-1 cooperates with the gear in connector 5-9 to adjust the cutting angle of rubber cutting execution module 5-7.

[0059] The number of electromagnets 5-8 is the same as the number of rubber cutting execution modules 5-7. Each group of electromagnets 5-8 includes two electromagnets 5-8. Each group of electromagnets 5-8 is fixed on both sides of the lead screw protection box 5-5 and corresponds to the position of the rubber cutting execution module 5-7 on the lead screw protection box 5-5.

[0060] In this embodiment of the invention, there are two sets of electromagnets 5-8, corresponding to the positions of the two rubber cutting execution modules 5-7. Two distance laser sensors 5-2 are also used, and are respectively fixed on both sides of the lead screw protection box 5-5.

[0061] Figure 7 and Figure 8 The structures of the rubber tapping execution module and the rubber tapping knife support box provided according to embodiments of the present invention are shown respectively.

[0062] like Figure 7 As shown, the rubber cutting execution module 5-7 includes a tool feed holder 5-7-1, a clamping plate 5-7-2, a rubber cutting knife fixing plate 5-7-3, a rubber cutting knife support box 5-7-4, and a rubber cutting knife 5-7-5.

[0063] The rubber tapping blade 5-7-5 is installed at one end of the rubber tapping blade fixing plate 5-7-3, and the other end of the rubber tapping blade fixing plate 5-7-3 is hinged to the rubber tapping blade support box 5-7-4.

[0064] like Figure 8 As shown, the positioning plate 5-7-2 is a hollow strip structure, and a fixing bolt 5-7-8 is provided at one end of the inner side of the positioning plate 5-7-2. The positioning plate 5-7-2 is embedded in the sliding groove 5-7-7 on the side of the rubber cutting knife support box 5-7-4 near the rubber cutting knife fixing plate 5-7-3, and magnets 5-7-6 are fixed at both ends of the outer side of the positioning plate.

[0065] Figure 9 The structure of the tool feed holder provided according to an embodiment of the present invention is shown.

[0066] like Figure 7 and Figure 9 As shown, the feed post 5-7-1 is a U-shaped frame fixed to the movable plate 5-6. Two racks 5-7-10 of the same length are arranged on one side of the feed post 5-7-1, arranged vertically and connected end-to-end. At the bottom of the feed post 5-7-1, a push rod 5-7-9 facing the locking plate 5-7-2 is provided, and a positioning hole 5-7-11 is provided on the push rod 5-7-9. The push rod 5-7-9 extends into the rubber cutting knife support box 5-7-4 and passes through the sliding groove 5-7-7, causing the push rod 5-7-9 to contact and push the rubber cutting knife fixing plate 5-7-3.

[0067] The moving plate 5-6 is controlled by the lead screw 5-4, which brings the magnet 5-7-6 closer to the electromagnet 5-8, thereby causing the locking plate 5-7-2 to move toward the energized electromagnet 5-8. When the fixing bolt 5-7-8 is inserted into or pulled out of the positioning hole 5-7-11, the forward and backward movement of the rubber cutting knife 5-7-5 is completed.

[0068] Secondly, the present invention also provides a machine vision-based control method for a multi-line rubber tapping platform, applicable to the machine vision-based multi-line rubber tapping platform control system provided in the first aspect.

[0069] Figure 10 The flowchart of a machine vision-based multi-line rubber cutting platform control method provided in an embodiment of the present invention is shown.

[0070] like Figure 10 As shown, the machine vision-based multi-line rubber cutting platform control method provided in this embodiment of the invention specifically includes the following steps:

[0071] S1. Initialize the central processing unit 3, provide power to the power supply module, so that the three-dimensional slide rail platform 4 drives the rubber cutting mechanism 5 to move to the moving origin, and control the rubber cutting mechanism 5 to reset.

[0072] S2. The mobile three-axis sliding rail rubber tapping platform reaches the designated position of the rubber tree, the vision acquisition module is activated, and the color image and corresponding depth image of the tapped surface of the rubber tree are acquired and transmitted to the data processing module through the communication line.

[0073] S3. The data processing module determines whether a color image and a depth image have been received, and performs cut point detection on the color image and depth image using a cut point detection algorithm.

[0074] S4. The data processing module extracts the two-dimensional pixel coordinates of the starting point and converts them into rubber-cutting pixel coordinates with the rubber-cutting blade 5-7-5 as the reference system.

[0075] S5, the output control module controls the rubber cutting mechanism 5 to complete the adjustment of the rubber cutting angle and the cutting action according to the rubber cutting pixel coordinates; at the same time, it controls the three-dimensional slide rail platform 4 to move the rubber cutting blade 5-7-5 to the rubber cutting pixel coordinates.

[0076] The process of the feed action in step S5 is as follows:

[0077] S51, the rubber cutting motor 5-3 operates, causing the lead screw 5-4 to drive the moving plate 5-6 to move, so that the feed gear 5-10 and the lower rack 5-7-10 of the feed holder 5-7-1 come into contact. At this time, the rubber cutting execution module 5-7 moves up to the corresponding electromagnet 5-8.

[0078] S52. Rotate the feed gear 5-10 so that the rack 5-7-10 drives the push rod 5-7-9 through the locking plate 5-7-2 and the rubber cutting knife support box to push the rubber cutting knife 5-7-5.

[0079] S53. The power supply module supplies power to the row of electromagnets 5-8 that are far from the fixing bolt. Through magnetic force and the cooperation of magnets 5-7-6, the locking plate 5-7-2 moves toward the side of the energized electromagnet 5-8 until the fixing bolt 5-7-8 is inserted into the positioning hole 5-7-11.

[0080] S6. Control the rubber tapping motor 5-3 and the servo motor 5-1, and change the position of the moving plate 5-6 and the angle of the rubber tapping blade 5-7-5 to make the rubber tapping blade 5-7-5 move along the rubber tapping path to tap the rubber tree.

[0081] S7. When the rubber tapping blade 5-7-5 is at the end of the rubber tapping path, the three-dimensional slide rail platform 4 drives the rubber tapping mechanism 5 to reset, and the rubber tapping blade 5-7-5 performs a retraction action to end the rubber tapping motion.

[0082] The process of retracting the blade in step S7 is as follows:

[0083] S71, the rubber cutting motor 5-3 rotates in reverse, the lead screw 5-4 drives the moving plate 5-6, so that the feed gear 5-10 and the upper rack 5-7-10 of the feed holder 5-7-1 come into contact. At this time, the rubber cutting execution module 5-7 moves down to the corresponding electromagnet 5-8.

[0084] S72. The power supply module supplies power to the row of electromagnets 5-8 near the fixing bolt 5-7-8. Through magnetic force and the cooperation of magnet 5-7-6, the locking plate 5-7-2 moves towards the side of the energized electromagnet 5-8 until the fixing bolt 5-7-8 is pulled out of the positioning hole 5-7-11.

[0085] S73. Rotate the feed gear 5-10 to cause the rack 5-7-10 to drive the feed holder 5-7-1 to retract the push rod from the locking plate 5-7-2 and the rubber cutting knife support box 5-7-3 until the rack 5-7-10 separates from the feed gear 5-10, and the retraction operation is completed.

[0086] It should be understood that the various forms of processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this invention disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this invention can be achieved, and this is not limited herein.

[0087] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A machine vision-based multi-line rubber tapping platform control system, characterized in that, This includes a system support frame, a vision acquisition module, a central processing unit, a 3D sliding rail platform, and a rubber tapping mechanism; in The three-dimensional sliding rail platform is installed in the system support frame and is used to control the movement trajectory of the rubber tapping mechanism around the rubber tree to be tapped, and to feed back the movement trajectory to the central processing unit; The rubber tapping mechanism is installed on the three-dimensional slide rail platform and is used to perform rubber tapping operations on the rubber tree to be tapped according to the control signal from the central processing unit, and to feed back the distance between the rubber tapping mechanism and the rubber tree to be tapped to the central processing unit. The three-dimensional slide rail platform includes X-axis slide rail assemblies, Y-axis slide rail assemblies, and Z-axis slide rail assemblies with identical structures. The rubber cutting mechanism includes a servo motor, a distance laser sensor, a rubber cutting motor, a lead screw, a lead screw protection box, a moving plate, connecting parts, at least two sets of electromagnets, and at least two rubber cutting execution modules. The lead screw is installed inside the lead screw protection box for fixing it. The rubber cutting motor is mounted on the lower end of the lead screw, driving its rotation. The moving plate is mounted on the lead screw, and the lead screw moves the moving plate up and down by rotating it forward and backward. The rubber cutting execution modules are fixed to the moving plate along its length and engage with the feed gears arranged on the lead screw to make contact with the rubber cutting execution modules. The rubber tree to be tapped is tapped; at least two distance laser sensors are fixed on both sides of the lead screw protection box to detect and feed back the distance information between the tapping execution module and the rubber tree to be tapped to the central processing unit; the servo motor is installed on the slide rail in the Z-axis slide rail assembly in the three-dimensional slide rail platform and is connected to the back of the lead screw protection box through the connector; the output end of the servo motor cooperates with the gear in the connector to adjust the tapping angle of the tapping execution module; the number of electromagnets is the same as the number of tapping execution modules, each group of electromagnets includes two electromagnets, each group of electromagnets is fixed on both sides of the lead screw protection box and corresponds to the position of the tapping execution module on the lead screw protection box; The rubber tapping execution module includes a tool feed holder, a positioning plate, a rubber tapping blade fixing plate, a rubber tapping blade support box, and a rubber tapping blade. The rubber tapping blade is mounted on one end of the rubber tapping blade fixing plate, and the other end of the rubber tapping blade fixing plate is hinged to the rubber tapping blade support box. The positioning plate has a hollow strip structure, with a fixing bolt at one end inside. The positioning plate is embedded in a groove on the side of the rubber tapping blade support box near the rubber tapping blade fixing plate, and magnets are fixed at both ends of the outer side of the positioning plate. The tool feed holder is a U-shaped frame and fixed to the movable plate. Two racks of the same length are arranged on one side of the feed holder, and the two racks are arranged vertically and connected end to end; a push rod facing the positioning plate is provided at the bottom of the feed holder, and a positioning hole is provided on the push rod; the push rod extends into the rubber cutting knife support box and passes through the slide groove, so that the push rod contacts and pushes the rubber cutting knife fixing plate; the moving plate is controlled by the lead screw to move the moving plate, so that the magnet is close to the electromagnet, and then the positioning plate moves towards the side of the energized electromagnet; when the fixing bolt is inserted into or pulled out of the positioning hole, the forward and backward movement of the rubber cutting knife is completed. The visual acquisition module is installed on the three-dimensional sliding rail platform and is used to acquire color and depth images of the rubber tree to be tapped. The central processing unit, mounted on the system support frame, is used to receive external control signals, perform image processing on the color image and the depth image to obtain the tapping position coordinates on the rubber tree to be tapped; and drive the three-dimensional slide rail platform according to the information fed back by the three-dimensional slide rail platform and the tapping mechanism, so that the tapping mechanism determines the tapping path according to the tapping position coordinates.

2. The machine vision-based multi-line rubber tapping platform control system according to claim 1, characterized in that, The X-axis slide rail assembly, Y-axis slide rail assembly, and Z-axis slide rail assembly all include a slide rail, a slider, a spatial laser sensor, a limit switch, and a stepper motor; among them... The spatial laser sensor and the limit switch are located at the same end of the slide rail. The spatial laser sensor is used to measure and feed back the movement distance of the slider on the slide rail to the central processing unit. The limit switch is used to determine the movement origin of the slider on the slide rail. The stepper motor is fixed on the corresponding slide rail and is used to control the movement distance of the slider on the slide rail.

3. The machine vision-based multi-line rubber tapping platform control system according to claim 2, characterized in that, The X-axis slide rail assembly consists of two components, with the slide rails in each assembly arranged horizontally at the top and bottom of the system support frame. The two ends of the slide rail in the Y-axis slide rail assembly are respectively mounted on the sliders of the two X-axis slide rail assemblies, positioning the Y-axis slide rail assembly vertically between the two X-axis slide rail assemblies. The slider in the Z-axis slide rail assembly is connected to the slider in the Y-axis slide rail assembly. The rubber cutting mechanism is mounted on one end of the slide rail in the Z-axis slide rail assembly, allowing the spatial laser sensor to measure and feedback the spatial coordinates of the rubber cutting mechanism.

4. The machine vision-based multi-line rubber tapping platform control system according to claim 3, characterized in that, The central processing unit includes a data processing module, an output control module, and a power supply module. The data processing module is connected to the vision acquisition module to perform image processing on the color image and the depth image to obtain the tapping position coordinates on the rubber tree to be tapped. It is also connected to the spatial laser sensor and the distance laser sensor to receive the spatial coordinates and distance information, and to determine the tapping path based on the tapping position coordinates, the spatial coordinates, and the distance information. The power supply module supplies power to the overall control system. The output control module, based on the tapping path, coordinates with the power supply module to control the stepper motor, the tapping motor, and the electromagnet.

5. A control method for a multi-line rubber tapping platform based on machine vision, characterized in that, The control system for the machine vision-based multi-line rubber tapping platform as described in claim 4 specifically includes the following steps: S1. Initialize the central processing unit, the power supply module provides power, so that the three-dimensional slide rail platform drives the rubber cutting mechanism to move to the moving origin, and controls the rubber cutting mechanism to reset; S2. Move the three-dimensional sliding rail platform to the designated position of the rubber tree, activate the vision acquisition module, acquire the color image and corresponding depth image of the cut surface of the rubber tree to be tapped, and transmit them to the data processing module through the communication line; S3. The data processing module determines whether the color image and the depth image have been received, and performs cut point detection algorithm on the color image and the depth image for detection. S4. The data processing module extracts the two-dimensional pixel coordinates of the starting point and converts the two-dimensional pixel coordinates into rubber cutting pixel coordinates with the rubber cutting knife as the reference system. S5. The output control module controls the rubber cutting mechanism to adjust the rubber cutting angle and perform the cutting motion according to the rubber cutting pixel coordinates; at the same time, it controls the three-dimensional slide rail platform to move the rubber cutting blade to the rubber cutting pixel coordinates. S6. Control the rubber tapping motor and the servo motor, and by changing the position of the moving plate and the angle of the rubber tapping blade, make the rubber tapping blade move along the rubber tapping path to tap the rubber tree to be tapped; S7. When the rubber tapping blade is located at the end point of the rubber tapping path, the three-dimensional slide rail platform drives the rubber tapping mechanism to reset, and the rubber tapping blade performs a retraction action to end the rubber tapping movement.

6. The machine vision-based multi-line rubber cutting platform control method according to claim 5, characterized in that, The process of the feed action in step S5 is as follows: S51. The rubber cutting motor operates, causing the lead screw to drive the moving plate to move, so that the feed gear and the lower rack of the feed holder come into contact. At this time, the rubber cutting execution module moves up to the corresponding electromagnet. S52. Rotate the feed gear so that the rack drives the push rod through the positioning plate and the rubber cutting knife support box to advance the rubber cutting knife; S53. The power supply module supplies power to a row of electromagnets away from the fixing bolt. Through magnetic force and cooperation with the magnet, the positioning plate moves towards the side of the energized electromagnet until the fixing bolt is inserted into the positioning hole, thus completing the cutting operation.

7. The machine vision-based multi-line rubber cutting platform control method according to claim 6, characterized in that, The process of retracting the blade in step S7 is as follows: S71. The rubber cutting motor operates, and the lead screw drives the moving plate to move, so that the feed gear and the upper rack of the feed holder come into contact. At this time, the rubber cutting execution module moves down to the corresponding electromagnet. S72. The power supply module supplies power to a row of electromagnets near the fixing bolt. Through magnetic force, the locking plate moves toward the side of the energized electromagnets until the fixing bolt is pulled out of the positioning hole. S73. Rotate the feed gear to cause the rack to drive the feed holder to retract the push rod from the positioning plate and the rubber cutting knife support box until the rack separates from the feed gear, and the retraction operation is completed.

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