Robotic natural rubber tapping device for hilly and mountainous regions and control method of robot natural rubber tapping device

Abstract

The invention discloses a hilly and mountainous region robot natural rubber tapping device and a control method thereof.The hilly and mountainous region robot natural rubber tapping device comprises a rubber tapping knife, a rubber tapping adjusting device, a rubber tapping mechanical arm, a visual depth camera and a four-foot walking chassis body, and the rubber tapping mechanical arm is fixedly installed on the four-foot walking chassis body; a visual depth camera is fixedly installed above the tail end of the rubber tapping mechanical arm, a rubber tapping adjusting device is further fixedly installed at the tail end of the rubber tapping mechanical arm and comprises a rubber tapping auxiliary guide rail and a rubber tapping fine adjustment mechanism, a rubber tapping moving platform is installed on the rubber tapping auxiliary guide rail, and the rubber tapping fine adjustment mechanism is fixedly installed on the rubber tapping moving platform. And a rubber tapping knife is fixedly mounted on the rubber tapping fine adjustment mechanism. The reliability and stability of the natural rubber tapping device of the hill and mountainous region robot are improved from two aspects of hardware and a control method.

Description

Technical Field

[0001] The present invention relates to the field of automated machinery, and in particular to a hilly mountain robot natural rubber tapping device and a control method thereof. Background Art

[0002] Natural rubber is an important strategic material. The natural rubber on the market is mainly obtained through semi-spiral circumcision of rubber trees. At present, the rubber tapping process in rubber plantations is still highly dependent on manual labor, with poor working environment, high labor intensity and low work efficiency. With the increasing shortage of rubber workers, the "rubber worker shortage" has become the norm, and the phenomenon of rubber plantations being abandoned and abandoned has become increasingly prominent, seriously affecting the healthy and sustainable development of the natural rubber industry.

[0003] Currently, the existing rubber tapping robots all use wheeled or tracked chassis to perform mobile tapping operations. Wheeled or tracked chassis are restricted by the terrain environment when tapping natural rubber forests, and there are problems such as low tapping efficiency, difficulty in covering the entire terrain of the rubber forest, and high energy consumption in moving and overcoming obstacles. Summary of the invention

[0004] The main purpose of the present invention is to provide a hilly mountain robot tapping device and control method, which can solve the problem of low tapping efficiency due to the difficulty in covering the entire terrain of the natural rubber forest during tapping operations in natural rubber forests, and also has the functions of automatic identification and detection and autonomous planning of tapping routes.

[0005] To achieve the above object, the technical solution adopted by the present invention is: A hilly mountain robot natural rubber tapping device comprises a tapping knife, a tapping adjustment device, a tapping mechanical arm, a visual depth camera and a four-legged walking chassis body, wherein the four-legged walking chassis body is fixedly mounted with the tapping mechanical arm, the visual depth camera is fixedly mounted above the end of the tapping mechanical arm, the end of the tapping mechanical arm is also fixedly mounted with the tapping adjustment device, the tapping adjustment device comprises a tapping auxiliary guide rail and a tapping fine-tuning mechanism, a tapping mobile platform is mounted on the tapping auxiliary guide rail, the tapping mobile platform is fixedly mounted with the tapping fine-tuning mechanism, and the tapping knife is fixedly mounted on the tapping fine-tuning mechanism.

[0006] Furthermore, the rubber tapping auxiliary guide rail is arc-shaped, and a guide slide rail is fixedly provided on the side end face of the rubber tapping auxiliary guide rail. A guide tooth portion is fixedly provided on the rubber tapping auxiliary guide rail, and a moving gear is provided on the lower end face of the rubber tapping mobile platform, and the moving gear is meshed and connected with the guide tooth portion.

[0007] Furthermore, the rubber tapping mobile platform includes a fixed platform, guide wheels and a mobile motor. The mobile motor is fixedly installed on the fixed platform, and the output end of the mobile motor is connected to a mobile gear through the fixed platform for transmission. Guide wheels are fixedly installed on both sides of the lower end surface of the fixed platform, and the guide wheels are slidably connected with the guide rails.

[0008] Furthermore, the rubber tapping fine-tuning mechanism includes a fine-tuning motor, a rubber tapping work platform, a rubber tapping motor and a fine-tuning guide rail. The fine-tuning motor is fixedly installed on the rubber tapping mobile platform. A fine-tuning guide frame is fixedly installed on the fine-tuning motor. A sliding guide hole is provided on the fine-tuning guide frame. A fine-tuning guide rail is slidably installed in the sliding guide hole. A fine-tuning tooth portion is provided on the fine-tuning guide rail. The output end of the fine-tuning motor extends through the fine-tuning guide frame to the sliding guide hole, and is transmission-connected with a fine-tuning gear. The fine-tuning gear is meshed with the fine-tuning tooth portion of the fine-tuning guide rail. A rubber tapping motor is fixedly installed on one end of the fine-tuning guide rail, and the output end of the rubber tapping motor is fixedly connected to the rubber tapping knife.

[0009] Furthermore, the rubber tapping robot arm includes a robot arm end interface, a third connecting rod, a third motor, a second connecting rod fan gear, a second connecting rod body, a second motor, a first connecting rod fan gear, a first motor, a robot arm base, a first connecting rod gear, a first connecting rod body, a fourth connecting rod and an electric push rod. The first motor is fixedly installed on the robot arm base, and the first transmission gear is fixedly installed on the output end of the first motor. The first connecting rod body is rotatably connected to the robot arm base, and the first connecting rod body is equipped with a first connecting rod gear. The first connecting rod gear is meshed and connected with the first transmission gear. The end of the first connecting rod body is swingably connected to the second connecting rod body through a rotating shaft, and the side end surface of the first connecting rod body is fixedly installed with the first connecting rod fan gear, and the second connecting rod body is fixedly installed with a first connecting rod fan gear. There is a second motor, and a second transmission gear is fixedly installed on the output end of the second motor. The second transmission gear is meshing and transmission connected with the first connecting rod fan gear. The end of the second connecting rod body away from the first connecting rod body is swingably connected with the third connecting rod through a rotating shaft. The second connecting rod fan gear is fixedly installed on the second railing body. The third motor is fixedly installed on the third connecting rod. The output end of the third motor is fixedly connected with the third transmission gear, and the third transmission gear is meshing and transmission connected with the second connecting rod fan gear. An electric push rod is also fixedly installed on the third connecting rod. A telescopic groove is opened at the end of the third connecting rod away from the second connecting rod body, and a telescopic fourth connecting rod is slidably connected in the telescopic groove. A mechanical arm end interface is fixedly installed on the end of the fourth connecting rod, and the mechanical arm end interface is fixedly connected to the output end of the electric push rod.

[0010] Furthermore, the main body of the quadruped walking chassis includes a load cover plate, a chassis main frame, a load bottom plate, a storage baffle, a yaw motor, a first joint motor, a second joint flywheel, a second joint motor, a second joint connecting rod, a first joint body, a second joint body and an electronic control unit, the upper end surface of the chassis main frame is fixedly mounted with a load cover plate, the lower end surface of the chassis main frame is fixedly mounted with a load bottom plate, the upper end surface of the load cover plate is fixedly mounted with a storage baffle, the yaw motor is fixedly mounted on the chassis main frame, the output end of the yaw motor is fixedly connected to the side wall of the first joint motor, and the first joint The output end of the joint motor is transmission-connected to one end of the first joint body, the other end of the first joint body is swing-connected to one end of the second joint body, the second joint motor is fixedly mounted on the first joint motor, the output end of the second joint motor is fixedly connected to the second joint flywheel, the second joint flywheel is rotationally connected to one end of the second joint connecting rod, the other end of the second joint connecting rod is rotationally connected to the second joint, the electric control unit is fixedly mounted on the load base plate, the electric control unit is electrically connected to the visual depth camera, and the electric control unit is also electrically connected to a power supply, which is fixedly mounted on the load base plate.

[0011] Furthermore, the electronic control unit includes an external communication device, a four-legged walking chassis motor drive, a mechanical arm motor drive, a rubber tapping mechanism motor drive and a motor encoder. The motor encoder is connected to the four-legged walking chassis motor drive, the mechanical arm motor drive and the rubber tapping mechanism motor drive, and the motor encoder is electrically connected to the external communication device.

[0012] Furthermore, the control method of the hilly mountain robot natural rubber tapping device comprises the steps of: Step 1: The visual depth camera recognizes and detects the distance L1 between the visual depth camera and the target natural rubber tree. The electronic control unit controls the first joint motor rotation angular velocity ω1, the second joint motor rotation angular velocity ω2 and the yaw motor rotation angular velocity ω3 of the quadruped walking chassis body according to the natural rubber forest environment output, so as to adjust the distance between the robot and the rubber tree. Step 2: When the distance L1 detected by the visual depth camera reaches the target distance range, the quadruped walking chassis body stops moving, and the visual depth camera further identifies the spatial position of the center point of the cut mark of the target natural rubber tree as x0, y0, z0, and feeds back the information to the electronic control unit; Step 3: The initial spatial position of the end of the rubber tapping robot arm is x1, y1, z1, and the electronic control unit controls the end of the rubber tapping robot arm to move to the target spatial position x2, y2, z2; Step 4: The electronic control unit controls the electric push rod to push the tapping auxiliary guide rail forward by a distance L3, so that the tapping auxiliary guide rail fits the cutting mark of the target rubber tree; Step 5: The fine-tuning motor adjusts the up-and-down movement distance L4 of the fine-tuning guide rail, the moving motor gives the moving speed v of the slider of the moving platform, the rubber cutting knife motor drives the rubber cutting knife to adjust the angle ω in real time, and the rubber cutting time is S; Further, when L1 ≥ 0.6m or L1 ≤ 0.2m, the electronic control unit system determines that the distance between the device and the target natural rubber tree is large, and the electronic control unit system controls the movement of the quadruped walking chassis main body, that is, ω1 > 0rad / s, ω2 > 0rad / s, ω3 > 0rad / s; When 0.2m < L1 < 0.6m, the electronic control unit system determines that the distance between the device and the target natural rubber tree meets the rubber cutting requirements of the device. The electronic control unit system controls the quadruped walking chassis main body to stop, that is, ω1 = 0rad / s, ω2 = 0rad / s, ω3 = 0rad / s, and the electronic control unit system controls the rubber cutting robotic arm to start moving; When 0.2m < L1 < 0.6m, |x1 - x2| > 0m, |y1 - y2| > 0m, and |z1 - z2| > 0m, the electronic control unit system controls the rubber cutting robotic arm to continue moving; When 0.2m < L1 < 0.6m, |x1 - x2| = 0m, |y1 - y2| = 0m, and |z1 - z2| = 0m, the electronic control unit system controls the rubber cutting robotic arm to stop, and the electronic control unit controls the electric push rod to start working; When 0.2m < L1 < 0.6m, |x1 - x2| = 0m, |y1 - y2| = 0m, |z1 - z2| = 0m, and L3 ≥ 0.008m, the electronic control unit controls the electric push rod to continue working; When 0.2m < L1 < 0.6m, |x1 - x2| = 0m, |y1 - y2| = 0m, |z1 - z2| = 0m, and 0.005m < L3 < 0.008m, the electronic control unit controls the electric push rod to stop working and lock, and the electronic control unit system controls the fine-tuning motor to start working; When 0.2m < L1 < 0.6m, |x1 - x2| = 0m, |y1 - y2| = 0m, |z1 - z2| = 0m, 0.005m < L3 < 0.008m, and L4 > 0m, the electronic control unit system controls the fine-tuning motor to continue working; When 0.2m < L1 < 0.6m, |x1 - x2| = 0m, |y1 - y2| = 0m, |z1 - z2| = 0m, 0.005m < L3 < 0.008m, and L4 = 0m, the electronic control unit controls the fine-tuning motor to stop working and lock, the electronic control unit system controls the moving motor and the rubber cutting knife motor to work for the rubber cutting action, and the electronic control unit system starts timing; When 0.2m < L1 < 0.6m, |x1 - x2| = 0m, |y1 - y2| = 0m, |z1 - z2| = 0m, 0.005m < L3 < 0.008m, L4 = 0m, and S = 10s, the rubber tapping operation of the device on the target natural rubber tree is completed.

[0013] Furthermore, it also includes Step 6. After the rubber tapping operation on the target natural rubber tree is completed, the electronic control unit controls the rubber tapping knife motor to retract the rubber tapping knife. After the rubber tapping knife retracts, the electronic control unit controls the electric push rod to retract. After controlling the electric push rod to retract, the electronic control unit controls the end of the rubber tapping robotic arm to return to the initial spatial position before rubber tapping. After the end of the rubber tapping robotic arm is reset, the electronic control unit controls the quadruped walking chassis main body to disengage from the target natural rubber tree, and the visual depth camera starts to scan and detect the next target natural rubber tree.

[0014] Compared with the prior art, the beneficial effects of the present invention are: The present invention can solve the problem of low rubber tapping operation efficiency caused by the difficulty of fully covering all terrains in the natural rubber forest during rubber tapping operations. At the same time, it also has the functions of automatic identification and detection and autonomous planning of rubber tapping routes. Description of the Drawings

[0015] Figure 1 It is the overall three-dimensional schematic diagram of the present invention; Figure 2 It is the structural schematic diagram of the rubber tapping robotic arm of the present invention; Figure 3 It is the schematic diagram of the rubber tapping adjustment device of the present invention; Figure 4 It is the partial enlarged schematic diagram of the rubber tapping adjustment device of the present invention; Figure 5 It is the flow schematic diagram of the control method of the present invention.

[0016] Reference Signs: 100. Rubber tapping mobile platform; 101. Rubber tapping fine-tuning mechanism; 102. Rubber tapping auxiliary guide rail; 111. Guide rail; 112. Guide wheel; 113. Rubber tapping work platform; 114. Rubber tapping knife; 115. Rubber tapping motor; 116. Fine-tuning guide rail; 117. Fine-tuning motor; 118. Mobile motor; 200. Rubber tapping robot arm; 211. Robot arm end interface; 212. Visual depth camera; 213. Third connecting rod; 214. Third motor; 215. Second connecting rod sector gear; 216. Second connecting rod body; 217. Second motor; 218. First connecting rod sector gear; 219. First motor; 220. Robot arm base; 221. First connecting rod Rod gear; 222. First connecting rod body; 223. Electric push rod; 300. Four-legged walking chassis body; 310. Load cover plate; 311. Chassis main frame; 312. Load bottom plate; 313. Storage baffle; 314. Yaw motor; 315. First joint motor; 316. Second joint flywheel; 317. Second joint motor; 318. Second joint connecting rod; 319. First joint body; 320. Second joint body; 400. Electronic control unit; 411. External communication equipment; 412. Four-legged walking chassis motor drive; 413. Robot arm motor drive; 414. Rubber tapping mechanism motor drive; 415. Motor encoder; 500. Power supply. DETAILED DESCRIPTION

[0017] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0018] See also Figure 1-5As shown, a hilly mountain robot natural rubber tapping device includes a tapping knife 114, a tapping adjustment device, a tapping mechanical arm 200, a visual depth camera 212 and a quadruped walking chassis body 300. The quadruped walking chassis body 300 is used to drive the entire device to move, so that the entire device is close to a target rubber tree, and adjust the relative position of the device and the target rubber tree. The quadruped walking chassis body 300 can better adapt to the terrain, thereby achieving higher movement efficiency; the four-legged walking chassis body 300 is fixedly installed with a tapping mechanical arm 200. Through the setting of the tapping mechanical arm 200, a more convenient positioning of the tapping knife 114 is achieved, so that the relative position of the tapping knife 114 and the rubber tree is adjusted; the visual depth camera 212 is fixedly installed above the end of the tapping mechanical arm 200 2. The visual depth camera 212 is used to detect the surrounding environment and determine the position of the target rubber tree, thereby adjusting the relative position of the device and the rubber tree; a tapping adjustment device is also fixedly installed at the end of the tapping robot arm 200, and the tapping adjustment device is used to fine-tune the relative position of the tapping knife 114 and the rubber tree, and guide the running trajectory of the tapping knife 114; the tapping adjustment device includes a tapping auxiliary guide rail 102 for guiding the tapping path of the tapping knife 114 and a tapping fine-tuning mechanism 101 for fine-tuning the height position of the tapping knife 114 and fine-tuning the height position of the tapping knife 114 during the tapping process, a tapping mobile platform 100 is installed on the tapping auxiliary guide rail 102, a tapping fine-tuning mechanism 101 is fixedly installed on the tapping mobile platform 100, and a tapping knife 114 is fixedly installed on the tapping fine-tuning mechanism 101.

[0019] The tapping auxiliary guide rail 102 is arc-shaped, and the tapping knife 114 can fit more closely to the tree body through the arc-shaped guide rail structure. The side end surface of the tapping auxiliary guide rail 102 is fixedly provided with a guide slide rail 111. The guide slide rail 111 can be a sliding guide rail protruding on both sides of the tapping auxiliary guide rail 102, or it can be a groove opened on the end surfaces of both sides of the tapping auxiliary guide rail 102. The tapping auxiliary guide rail 102 is fixedly provided with a guide tooth portion, and the lower end surface of the tapping mobile platform 100 is provided with a moving gear, and the moving gear is meshed and connected with the guide tooth portion.

[0020] The rubber tapping mobile platform 100 includes a fixed platform, a guide wheel 112 and a mobile motor 118. The mobile motor 118 is fixedly installed on the fixed platform. The output end of the mobile motor 118 is connected to a mobile gear through the fixed platform. Guide wheels 112 are fixedly installed on both sides of the lower end surface of the fixed platform, and the number of guide wheels 112 is not less than four. The four guide wheels 112 are slidably engaged with the lower end surface of the guide rail 111, so that the fixed platform is slidably engaged above the rubber tapping auxiliary guide rail 102 to achieve sliding positioning of the fixed platform, and the mobile gear is driven to rotate by the mobile motor 118, so that the mobile gear is engaged with the guide tooth portion to achieve sliding movement of the fixed platform along the direction of the rubber tapping auxiliary guide rail 102.

[0021] The rubber tapping fine-tuning mechanism 101 includes a fine-tuning motor 117, a rubber tapping work platform 113, a rubber tapping motor 115 and a fine-tuning guide rail 116. The fine-tuning motor 117 is fixedly installed on the rubber tapping mobile platform 100. A fine-tuning guide frame is fixedly installed on the fine-tuning motor 117. A sliding guide hole is provided on the fine-tuning guide frame. The fine-tuning guide rail 116 is slidably installed in the sliding guide hole. The fine-tuning guide rail 116 can slide and rise freely in the sliding guide hole. The sliding guide hole can realize the lifting and lowering guidance of the fine-tuning guide rail 116. A sliding limit guide rail is provided on the fine-tuning guide rail 116, and a sliding groove corresponding to the sliding limit guide rail is provided in the sliding guide hole. A fine-tuning tooth portion is provided on the fine-tuning guide rail 116. In order to achieve the lifting and lowering stability of the fine-tuning guide rail 116, The fine-tuning teeth are opened on both sides of the fine-tuning guide rail 116, and the output end of the fine-tuning motor 117 extends through the fine-tuning guide frame to the sliding guide hole and is connected to the fine-tuning gear in a transmission manner. The fine-tuning gear is meshed and connected with the fine-tuning teeth of the fine-tuning guide rail 116. In order to cooperate with the fine-tuning teeth on both sides, the two fine-tuning gears can be connected through a transmission structure. The specific structure of the transmission structure is set according to specific needs and belongs to conventional technical features. It is not shown in this application. A rubber tapping motor 115 is fixedly installed at one end of the fine-tuning guide rail 116. The rubber tapping motor 115 is a kind of rotating motor. The output end of the rubber tapping motor 115 is fixedly connected to the rubber tapping knife 114. The angle of the rubber tapping knife 114 is adjusted in real time by the rubber tapping motor 115, thereby achieving a more convenient rubber tapping effect.

[0022] The rubber tapping robot 200 includes a robot end interface 211, a third connecting rod 213, a third motor 214, a second connecting rod sector gear 215, a second connecting rod body 216, a second motor 217, a first connecting rod sector gear 218, a first motor 219, a robot base 220, a first connecting rod gear 221, a first connecting rod body 222, a fourth connecting rod and an electric push rod 223. The robot base 220 is fixedly mounted with a first motor 219, an output end of the first motor 219 is fixedly mounted with a first transmission gear, the robot base 220 is rotatably connected with a first connecting rod body 222, and the first connecting rod body 222 is sleeved with a first connecting rod. The first connecting rod gear 221 is meshed and connected with the first transmission gear. The rotation of the first motor 219 drives the rotation of the first connecting rod gear 221, so as to adjust the rotation angle of the first connecting rod body 222. The end of the first connecting rod body 222 is swung and connected with the second connecting rod body 216 through a rotating shaft. The side end surface of the first connecting rod body 222 is fixedly installed with a first connecting rod sector gear 218. The second motor 217 is fixedly installed on the second connecting rod body 216. The output end of the second motor 217 is fixedly installed with a second transmission gear. The second transmission gear is meshed and connected with the first connecting rod sector gear 218. The rotation of the second motor 217 adjusts the rotation angle of the first connecting rod body 222. The relative angle between the second connecting rod body 216 and the first connecting rod body 222 is controlled so that the second connecting rod body 216 swings relative to the first connecting rod body 222, thereby adjusting the position of the rubber tapping knife 114. The end of the second connecting rod body 216 away from the first connecting rod body 222 is swung and connected to the third connecting rod 213 through a rotating shaft. A second connecting rod sector gear 215 is fixedly installed on the second railing body. A third motor 214 is fixedly installed on the third connecting rod 213. The output end of the third motor 214 is fixedly connected to a third transmission gear, and the third transmission gear is meshed and transmission-connected with the second connecting rod sector gear 215. The third motor 214 has the same function as the second motor 217. The third motor 214 is used to adjust the angle between the third connecting rod 213 and the second connecting rod body 216; an electric push rod 223 is also fixedly installed on the third connecting rod 213, and a telescopic groove is provided at one end of the third connecting rod 213 away from the second connecting rod body 216, and a telescopic fourth connecting rod (not shown in the figure) is slidably connected in the telescopic groove. A mechanical arm end interface 211 is fixedly installed at the end of the fourth connecting rod, and the mechanical arm end interface 211 is fixedly connected to the output end of the electric push rod 223. The fourth connecting rod is driven to be telescopically extended by the electric push rod 223, so as to further adjust the distance between the rubber tapping auxiliary guide rail 102 and the target, so that the rubber tapping auxiliary guide rail 102 is closer to the target.

[0023] The fourth connecting rod is arranged in the third connecting rod 213 and can only move telescopically but cannot move rotatably.

[0024] The quadruped walking chassis body 300 includes a load cover plate 310, a chassis main frame 311, a load bottom plate 312, a storage baffle 313, a yaw motor 314, a first joint motor 315, a second joint flywheel 316, a second joint motor 317, a second joint connecting rod 318, a first joint body 319, a second joint body 320 and an electronic control unit 400. The load cover plate 310 is fixedly installed on the upper end surface of the chassis main frame 311, the load bottom plate 312 is fixedly installed on the lower end surface of the chassis main frame 311, the storage baffle 313 is fixedly installed on the upper end surface of the load cover plate 310, the yaw motor 314 is fixedly installed on the chassis main frame 311, and the output end of the yaw motor 314 is fixed to the side wall of the first joint motor 315. The output end of the first joint motor 315 is transmission-connected to one end of the first joint body 319, and the other end of the first joint body 319 is swing-connected to one end of the second joint body 320. The second joint motor 317 is fixedly mounted on the first joint motor 315, and the output end of the second joint motor 317 is fixedly connected to the second joint flywheel 316, and the second joint flywheel 316 is rotationally connected to one end of the second joint connecting rod 318, and the other end of the second joint connecting rod 318 is rotationally connected to the second joint. The electric control unit 400 is fixedly mounted on the load base plate 312, and the electric control unit 400 is electrically connected to the visual depth camera 212. The electric control unit 400 is also electrically connected to a power supply, and the power supply is fixedly mounted on the load base plate 312.

[0025] The electronic control unit 400 includes an external communication device 411, a four-legged walking chassis motor drive 412, a mechanical arm motor drive 413, a rubber tapping mechanism motor drive 414 and a motor encoder 415. The motor encoder 415 is connected to the four-legged walking chassis motor drive 412, the mechanical arm motor drive 413 and the rubber tapping mechanism motor drive 414, and the motor encoder 415 is electrically connected to the external communication device 411.

[0026] A control method for a hilly mountain robot natural rubber tapping device comprises the following steps: Step 1: The visual depth camera 212 identifies and detects the distance L1 between the visual depth camera 212 and the target natural rubber tree. The electronic control unit 400 controls the rotation angular velocity ω1 of the first joint motor 315, the rotation angular velocity ω2 of the second joint motor 317 and the rotation angular velocity ω3 of the yaw motor 314 of the quadruped walking chassis body 300 according to the natural rubber forest environment output, so as to adjust the distance between the robot and the rubber tree. Step 2: When the distance L1 detected by the visual depth camera 212 reaches the target distance range, the quadruped walking chassis body 300 stops moving, and the visual depth camera 212 further identifies the spatial position of the center point of the cut mark of the target natural rubber tree as x0, y0, z0, and feeds back the information to the electronic control unit 400; Step 3: The initial spatial position of the end of the rubber tapping robotic arm 200 is x1, y1, z1, and the electronic control unit 400 controls the end of the rubber tapping robotic arm 200 to move to the target spatial position x2, y2, z2; Step 4: The electronic control unit 400 controls the electric push rod 223 to push the rubber tapping auxiliary guide rail 102 forward by a distance L3, so that the rubber tapping auxiliary guide rail 102 fits the target rubber tree cut mark; Step 5: The fine-tuning motor 117 adjusts the up and down movement distance L4 of the fine-tuning guide rail 116, the movement motor 118 gives the movement speed v of the moving platform slider, the rubber tapping knife 114 motor drives the rubber tapping knife 114 to adjust the angle ω in real time, and the rubber tapping time is S; Step 6: After the rubber tapping action of the target natural rubber tree is completed, the electronic control unit 400 controls the rubber tapping knife 114 motor to retract the rubber tapping knife 114. After the rubber tapping knife 114 retracts, the electronic control unit 400 controls the electric push rod 223 to retract. After controlling the electric push rod 223 to retract, the electronic control unit 400 controls the end of the rubber tapping robotic arm 200 to return to the initial spatial position before rubber tapping. After the end of the rubber tapping robotic arm 200 is reset, the electronic control unit 400 controls the quadruped walking chassis main body 300 to disengage from the target natural rubber tree, and the visual depth camera 212 starts to scan and detect the next target natural rubber tree.

[0027] If L1≥0.6m or L1≤0.2m, the electronic control unit 400 system determines that the distance between the device and the target natural rubber tree is large, and the electronic control unit 400 system controls the quadruped walking chassis main body 300 to move, that is, ω1>0rad / s, ω2>0rad / s, ω3>0rad / s; If 0.2m < L1 < 0.6m, the electronic control unit 400 system determines that the distance between the device and the target natural rubber tree meets the rubber tapping requirements of the device. The electronic control unit 400 system controls the quadruped walking chassis main body 300 to stop, that is, ω1 = 0rad / s, ω2 = 0rad / s, ω3 = 0rad / s, and the electronic control unit 400 system controls the rubber tapping robotic arm 200 to start moving; If 0.2m < L1 < 0.6m, |x1 - x2| > 0m, |y1 - y2| > 0m, and |z1 - z2| > 0m, the electronic control unit 400 system controls the rubber tapping robotic arm 200 to continue moving; If 0.2m < L1 < 0.6m, |x1 - x2| = 0m, |y1 - y2| = 0m, and |z1 - z2| = 0m, the electronic control unit 400 system controls the rubber tapping robotic arm 200 to stop, and the electronic control unit 400 controls the electric push rod 223 to start working; If 0.2m < L1 < 0.6m, |x1 - x2| = 0m, |y1 - y2| = 0m, |z1 - z2| = 0m, and L3≥0.008m, the electronic control unit 400 controls the electric push rod 223 to continue working; When 0.2m < L1 < 0.6m, |x1 - x2| = 0m, |y1 - y2| = 0m, |z1 - z2| = 0m, and 0.005m < L3 < 0.008m, the electronic control unit 400 controls the electric push rod 223 to stop working and lock, and the electronic control unit 400 system controls the fine-tuning motor 117 to start working; When 0.2m < L1 < 0.6m, |x1 - x2| = 0m, |y1 - y2| = 0m, |z1 - z2| = 0m, 0.005m < L3 < 0.008m, and L4 > 0m, the electronic control unit 400 system controls the fine-tuning motor 117 to continue working; When 0.2m < L1 < 0.6m, |x1 - x2| = 0m, |y1 - y2| = 0m, |z1 - z2| = 0m, 0.005m < L3 < 0.008m, and L4 = 0m, the electronic control unit 400 controls the fine-tuning motor 117 to stop working and lock, and the electronic control unit 400 system controls the moving motor 118 and the rubber tapping knife 114 motor to work for rubber tapping action and the electronic control unit 400 system starts timing; When 0.2m < L1 < 0.6m, |x1 - x2| = 0m, |y1 - y2| = 0m, |z1 - z2| = 0m, 0.005m < L3 < 0.008m, L4 = 0m, and S = 10s, the rubber tapping action on the target natural rubber tree by the device is completed.

[0028] The above is only the preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiment. Any equivalent modification or change made by those of ordinary skill in the art according to the disclosure of the present invention shall be included in the protection scope recorded in the claims.

Claims

1. A hilly mountain robot natural rubber tapping device, comprising a tapping knife (114), a tapping adjustment device, a tapping mechanical arm (200), a visual depth camera (212) and a quadruped walking chassis body (300), characterized in that: A rubber tapping mechanical arm (200) is fixedly mounted on the four-legged walking chassis body (300), a visual depth camera (212) is fixedly mounted above the end of the rubber tapping mechanical arm (200), a rubber tapping adjustment device is also fixedly mounted on the end of the rubber tapping mechanical arm (200), the rubber tapping adjustment device comprises a rubber tapping auxiliary guide rail (102) and a rubber tapping fine-tuning mechanism (101), a rubber tapping mobile platform (100) is mounted on the rubber tapping auxiliary guide rail (102), a rubber tapping fine-tuning mechanism (101) is fixedly mounted on the rubber tapping mobile platform (100), and a rubber tapping knife (114) is fixedly mounted on the rubber tapping fine-tuning mechanism (101).

2. A hilly mountain robot natural rubber tapping device according to claim 1, characterized in that: The tapping auxiliary guide rail (102) is arc-shaped, and a guide slide rail (111) is fixedly provided on the side end surface of the tapping auxiliary guide rail (102). A guide tooth portion is fixedly provided on the tapping auxiliary guide rail (102). A moving gear is provided on the lower end surface of the tapping mobile platform (100), and the moving gear is meshed and connected with the guide tooth portion.

3. A hilly mountain robot natural rubber tapping device according to claim 2, characterized in that: The rubber tapping mobile platform (100) comprises a fixed platform, a guide wheel (112) and a mobile motor (118). The mobile motor (118) is fixedly mounted on the fixed platform, and the output end of the mobile motor (118) is connected to a mobile gear through the fixed platform. Guide wheels (112) are fixedly mounted on both sides of the lower end surface of the fixed platform, and the guide wheels (112) are slidably connected to the guide rails (111).

4. A hilly mountain robot natural rubber tapping device according to claim 1, characterized in that: The rubber tapping fine-tuning mechanism (101) comprises a fine-tuning motor (117), a rubber tapping work platform (113), a rubber tapping motor (115) and a fine-tuning guide rail (116). The fine-tuning motor (117) is fixedly mounted on the rubber tapping mobile platform (100). A fine-tuning guide frame is fixedly mounted on the fine-tuning motor (117). A sliding guide hole is provided on the fine-tuning guide frame. A fine-tuning guide rail (116) is slidably mounted in the sliding guide hole. A fine-tuning tooth portion is provided on the fine-tuning guide rail (116). The output end of the fine-tuning motor (117) passes through the fine-tuning guide frame and extends into the sliding guide hole, and is transmission-connected with a fine-tuning gear. The fine-tuning gear is meshed with the fine-tuning tooth portion of the fine-tuning guide rail (116). A rubber tapping motor (115) is fixedly mounted on one end of the fine-tuning guide rail (116). The output end of the rubber tapping motor (115) is fixedly connected to a rubber tapping knife (114).

5. The hilly mountain robot natural rubber tapping device according to claim 1, characterized in that: The rubber tapping robot arm (200) comprises a robot arm end interface (211), a third connecting rod (213), a third motor (214), a second connecting rod sector gear (215), a second connecting rod body (216), a second motor (217), a first connecting rod sector gear (218), a first motor (219), a robot arm base (220), a first connecting rod gear (221), a first connecting rod body (222), a fourth connecting rod and an electric push rod (223), wherein the first motor (215) is fixedly mounted on the robot arm base (220). 9), the output end of the first motor (219) is fixedly mounted with a first transmission gear, the mechanical arm base (220) is rotatably connected with a first connecting rod body (222), the first connecting rod body (222) is sleeved with a first connecting rod gear (221), the first connecting rod gear (221) is meshed and transmission-connected with the first transmission gear, the end of the first connecting rod body (222) is swingably connected with a second connecting rod body (216) via a rotating shaft, and the side end surface of the first connecting rod body (222) is fixedly mounted with a first connecting rod sector gear (218) A second motor (217) is fixedly mounted on the second connecting rod body (216), a second transmission gear is fixedly mounted on the output end of the second motor (217), the second transmission gear is meshed and transmission-connected with the first connecting rod sector gear (218), one end of the second connecting rod body (216) away from the first connecting rod body (222) is swingably connected to the third connecting rod (213) via a rotating shaft, a second connecting rod sector gear (215) is fixedly mounted on the second railing body, a third motor (214) is fixedly mounted on the third connecting rod (213), and the third motor The output end of (214) is fixedly connected with a third transmission gear, and the third transmission gear is meshed and transmission-connected with the second connecting rod sector gear (215). An electric push rod (223) is also fixedly installed on the third connecting rod (213). An end of the third connecting rod (213) away from the second connecting rod body (216) is provided with a telescopic groove, and a telescopic fourth connecting rod is slidably connected in the telescopic groove. The end of the fourth connecting rod is fixedly installed with a mechanical arm end interface (211), and the mechanical arm end interface (211) is fixedly connected to the output end of the electric push rod (223).

6. A hilly mountain robot natural rubber tapping device according to claim 1, characterized in that: The quadruped walking chassis body (300) comprises a load cover plate (310), a chassis main frame (311), a load bottom plate (312), a storage baffle plate (313), a yaw motor (314), a first joint motor (315), a second joint flywheel (316), a second joint motor (317), a second joint connecting rod (318), a first joint body (319), a second joint body (320) and an electric control unit (400); the load cover plate (310) is fixedly mounted on the upper end surface of the chassis main frame (311); the load bottom plate (312) is fixedly mounted on the lower end surface of the chassis main frame (311); the storage baffle plate (313) is fixedly mounted on the upper end surface of the load cover plate (310); the yaw motor (314) is fixedly mounted on the chassis main frame (311); the output end of the yaw motor (314) is fixedly mounted on the side wall of the first joint motor (315); The first joint body (319) is fixedly connected, the output end of the first joint motor (315) is transmission-connected to one end of the first joint body (319), the other end of the first joint body (319) is swing-connected to one end of the second joint body (320), the second joint motor (317) is fixedly mounted on the first joint motor (315), the output end of the second joint motor (317) is fixedly connected to the second joint flywheel (316), the second joint flywheel (316) is rotationally connected to one end of the second joint connecting rod (318), the other end of the second joint connecting rod (318) is rotationally connected to the second joint, the electric control unit (400) is fixedly mounted on the load base plate (312), the electric control unit (400) is electrically connected to the visual depth camera (212), and the electric control unit (400) is also electrically connected to a power supply (500), and the power supply (500) is fixedly mounted on the load base plate (312).

7. A hilly mountain robot natural rubber tapping device according to claim 6, characterized in that: The electric control unit (400) comprises an external communication device (411), a four-legged walking chassis motor drive (412), a mechanical arm motor drive (413), a rubber tapping mechanism motor drive (414) and a motor encoder (415). The motor encoder (415) is connected to the four-legged walking chassis motor drive (412), the mechanical arm motor drive (413) and the rubber tapping mechanism motor drive (414). The motor encoder (415) is electrically connected to the external communication device (411).

8. A control method for a hilly mountain robot natural rubber tapping device as claimed in any one of claims 1 to 7, characterized in that: Includes steps: Step 1: The visual depth camera (212) identifies and detects the distance L1 between the visual depth camera (212) and the target natural rubber tree, and the electronic control unit (400) controls the rotation angular velocity ω1 of the first joint motor (315), the rotation angular velocity ω2 of the second joint motor (317), and the rotation angular velocity ω3 of the yaw motor (314) of the quadruped walking chassis body (300) according to the natural rubber forest environment output, so as to adjust the distance between the robot and the rubber tree; Step 2: When the distance L1 detected by the vision depth camera (212) reaches the target distance range, the quadruped walking chassis main body (300) stops moving. The vision depth camera (212) further identifies and detects the spatial position of the center point of the target natural rubber tree tapping scar as x0, y0, z0, and feeds the information back to the electronic control unit (400). Step 3: The initial spatial position of the end of the tapping robotic arm (200) is x1, y1, z1. The electronic control unit (400) controls the end of the tapping robotic arm (200) to move to the target spatial position x2, y2, z2. Step 4: The electronic control unit (400) controls the electric push rod (223) to push the tapping auxiliary guide rail (102) forward by a distance L3, so that the tapping auxiliary guide rail (102) fits the target rubber tree tapping scar. Step 5: The fine-tuning motor (117) adjusts the up and down movement distance L4 of the fine-tuning guide rail (116), the movement motor (118) gives the movement speed v of the moving platform slider, the tapping knife (114) motor drives the tapping knife (114) to adjust the angle ω in real time, and the tapping time is S.

9. The control method according to claim 8, characterized in that: If L1 ≥ 0.6m or L1 ≤ 0.2m, the electronic control unit (400) system determines that the distance between the device and the target natural rubber tree is large. The electronic control unit (400) system controls the quadruped walking chassis main body (300) to move, that is, ω1 > 0rad / s, ω2 > 0rad / s, ω3 > 0rad / s. If 0.2m < L1 < 0.6m, the electronic control unit (400) system determines that the distance between the device and the target natural rubber tree meets the tapping requirement of the device. The electronic control unit (400) system controls the quadruped walking chassis main body (300) to stop, that is, ω1 = 0rad / s, ω2 = 0rad / s, ω3 = 0rad / s, and the electronic control unit (400) system controls the tapping robotic arm (200) to start moving. If 0.2m < L1 < 0.6m, |x1 - x2| > 0m, |y1 - y2| > 0m, and |z1 - z2| > 0m, the electronic control unit (400) system controls the tapping robotic arm (200) to continue moving. If 0.2m < L1 < 0.6m, |x1 - x2| = 0m, |y1 - y2| = 0m, and |z1 - z2| = 0m, the electronic control unit (400) system controls the tapping robotic arm (200) to stop, and the electronic control unit (400) controls the electric push rod (223) to start working. If 0.2m < L1 < 0.6m, |x1 - x2| = 0m, |y1 - y2| = 0m, |z1 - z2| = 0m, and L3 ≥ 0.008m, the electronic control unit (400) controls the electric push rod (223) to continue working. If 0.2m < L1 < 0.6m, |x1 - x2| = 0m, |y1 - y2| = 0m, |z1 - z2| = 0m, and 0.005m < L3 < 0.008m, the electronic control unit (400) controls the electric push rod (223) to stop working and lock, and the electronic control unit (400) system controls the fine-tuning motor (117) to start working. When 0.2m < L1 < 0.6m, |x1 - x2| = 0m, |y1 - y2| = 0m, |z1 - z2| = 0m, 0.005m < L3 < 0.008m, and L4 > 0m, the electronic control unit (400) system controls the fine-tuning motor (117) to continue working; When 0.2m < L1 < 0.6m, |x1 - x2| = 0m, |y1 - y2| = 0m, |z1 - z2| = 0m, 0.005m < L3 < 0.008m, and L4 = 0m, the electronic control unit (400) controls the fine-tuning motor (117) to stop working and lock. The electronic control unit (400) system controls the movement motor (118) and the rubber tapping knife (114) motor to work for rubber tapping action, and the electronic control unit (400) system starts timing; When 0.2m < L1 < 0.6m, |x1 - x2| = 0m, |y1 - y2| = 0m, |z1 - z2| = 0m, 0.005m < L3 < 0.008m, L4 = 0m, and S = 10s, the rubber tapping action on the target natural rubber tree is completed.

10. The control method according to claim 8, characterized in that: It also includes step six. After the rubber tapping action on the target natural rubber tree is completed, the electronic control unit (400) controls the rubber tapping knife (114) motor to retract the rubber tapping knife (114). After the rubber tapping knife (114) retracts, the electronic control unit (400) controls the electric push rod (223) to retract. After controlling the electric push rod (223) to retract, the electronic control unit (400) controls the end of the rubber tapping robotic arm (200) to return to the initial spatial position before rubber tapping. After the end of the rubber tapping robotic arm (200) is reset, the electronic control unit (400) controls the quadruped walking chassis main body (300) to disengage from the target natural rubber tree, and the visual depth camera (212) starts scanning and detecting the next target natural rubber tree.

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