A Natural Rubber Tapping Device for Hilly and Mountainous Region Robots and Its Control Method

Abstract

The present invention discloses a natural rubber tapping device for a hilly and mountainous area robot and its control method, which includes a tapping knife, a tapping adjustment device, a tapping robotic arm, a visual depth camera, and a quadruped walking chassis body. The quadruped walking chassis body is fixedly installed with a tapping robotic arm. Above the end of the tapping robotic arm, a visual depth camera is fixedly installed. At the end of the tapping robotic arm, a tapping adjustment device is also fixedly installed. The tapping adjustment device includes a tapping auxiliary guide rail and a tapping fine adjustment mechanism. A tapping moving platform is installed on the tapping auxiliary guide rail. The tapping fine adjustment mechanism is fixedly installed on the tapping moving platform. The tapping knife is fixedly installed on the tapping fine adjustment mechanism. The present invention improves the reliability and stability of the natural rubber tapping device for the hilly and mountainous area robot from two aspects of hardware and control method.

Description

Technical Field

[0001] The present invention relates to the field of automated machinery, and particularly to a natural rubber tapping device for a hilly and mountainous area robot and its control method. Background Art

[0002] Natural rubber is an important strategic material. The natural rubber on the market is mainly obtained by semi-helical circumcision of rubber trees. At present, the rubber tapping process in rubber plantations still highly depends on manual labor. Rubber tappers work in poor environments, with high labor intensity and low work efficiency. With the increasing shortage of rubber tappers, the "shortage of rubber tappers" has become the norm, and the phenomenon of abandoned management and tapping in rubber plantations has become increasingly prominent, seriously affecting the healthy and sustainable development of the natural rubber industry.

[0003] Currently, all existing rubber tapping robots perform mobile tapping operations through wheeled or tracked chassis. When the wheeled or tracked chassis is used for rubber tapping operations in natural rubber forests, it will be restricted by the terrain environment, and there are problems such as low rubber tapping operation efficiency, difficult full-terrain coverage of the rubber tapping operation area, and high energy consumption for moving over obstacles. Summary of the Invention

[0004] The main object of the present invention is to provide a rubber tapping device and control method for a hilly and mountainous area robot, which can solve the problem of low rubber tapping operation efficiency caused by the difficulty of full-terrain coverage of the natural rubber forest area during rubber tapping operations in natural rubber forests, and also has the functions of automatic recognition and detection and autonomous planning of rubber tapping routes.

[0005] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] A natural rubber tapping device for a hilly and mountainous area robot includes a tapping knife, a tapping adjustment device, a tapping robotic arm, a vision depth camera, and a quadruped walking chassis main body. The quadruped walking chassis main body is fixedly installed with a tapping robotic arm. A vision depth camera is fixedly installed above the end of the tapping robotic arm. The end of the tapping robotic arm is also fixedly installed with a tapping adjustment device. The tapping adjustment device includes a tapping auxiliary guide rail and a tapping fine adjustment mechanism. A tapping moving platform is installed on the tapping auxiliary guide rail. The tapping fine adjustment mechanism is fixedly installed on the tapping moving platform, and the tapping knife is fixedly installed on the tapping fine adjustment mechanism.

[0007] Further, the tapping auxiliary guide rail is arc-shaped. A guiding slide rail is fixedly provided on the side end face of the tapping auxiliary guide rail. A guiding tooth part is fixedly provided on the tapping auxiliary guide rail. A moving gear is provided on the lower end face of the tapping moving platform, and the moving gear is meshed with the guiding tooth part.

[0008] Further, the rubber tapping mobile platform includes a fixed platform, guide wheels and a mobile motor. A mobile motor is fixedly installed on the fixed platform. The output end of the mobile motor passes through the fixed platform and is drivingly connected with a mobile gear. Guide wheels are fixedly installed on both sides of the lower end surface of the fixed platform, and the guide wheels are fitted and slidably connected with the guiding slide rails.

[0009] Further, the rubber tapping fine-tuning mechanism includes a fine-tuning motor, a rubber tapping working platform, a rubber tapping motor and fine-tuning guide rails. 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 formed in the fine-tuning guide frame. A fine-tuning guide rail is slidably installed in the sliding guide hole. A fine-tuning tooth portion is formed on the fine-tuning guide rail. The output end of the fine-tuning motor passes through the fine-tuning guide frame and extends into the sliding guide hole, and is drivingly connected with a fine-tuning gear. The fine-tuning gear is meshed and connected with the fine-tuning tooth portion of the fine-tuning guide rail. One end of the fine-tuning guide rail is fixedly installed with a rubber tapping motor, and the output end of the rubber tapping motor is fixedly connected with a rubber tapping knife.

[0010] Further, the rubber tapping robotic arm includes a robotic arm end interface, a third connecting rod, a third motor, a second connecting rod sector gear, a second connecting rod body, a second motor, a first connecting rod sector gear, a first motor, a robotic arm base, a first connecting rod gear, a first connecting rod body, a fourth connecting rod and an electric push rod. A first motor is fixedly installed on the robotic arm base. The output end of the first motor is fixedly installed with a first transmission gear. A first connecting rod body is rotatably connected to the robotic arm base. A first connecting rod gear is sleeved on the first connecting rod body. The first connecting rod gear is meshed and drivingly connected with the first transmission gear. The end of the first connecting rod body is swingably connected with a second connecting rod body through a rotating shaft. A first connecting rod sector gear is fixedly installed on the side end surface of the first connecting rod body. A second motor is fixedly installed on the second connecting rod body. The output end of the second motor is fixedly installed with a second transmission gear. The second transmission gear is meshed and drivingly connected with the first connecting rod sector gear. One end of the second connecting rod body away from the first connecting rod body is swingably connected with a third connecting rod through a rotating shaft. A second connecting rod sector gear is fixedly installed on the second connecting rod body. A third motor is fixedly installed on the third connecting rod. The output end of the third motor is fixedly connected with a third transmission gear. The third transmission gear is meshed and connected with the second connecting rod sector gear. An electric push rod is also fixedly installed on the third connecting rod. A telescopic groove is formed at one end of the third connecting rod away from the second connecting rod body. A telescopic fourth connecting rod is slidably connected in the telescopic groove. The end of the fourth connecting rod is fixedly installed with a robotic arm end interface, and the robotic arm end interface is fixedly connected with the output end of the electric push rod.

[0011] Further, the quadruped walking chassis main body 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 load cover plate is fixedly installed on the upper end surface of the chassis main frame, the load bottom plate is fixedly installed on the lower end surface of the chassis main frame, the storage baffle is fixedly installed on the upper end surface of the load cover plate, the yaw motor is fixedly installed on the chassis main frame, the output end of the yaw motor is fixedly connected to the side wall of the first joint motor, the output end of the first joint motor is drivingly connected to one end of the first joint body, the other end of the first joint body is swingably connected to one end of the second joint body, the second joint motor is fixedly installed 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, and the electronic control unit is fixedly installed on the load bottom plate. The electronic control unit is electrically connected to the vision depth camera, and the electronic control unit is also electrically connected to a power supply, and the power supply is fixedly installed on the load bottom plate.

[0012] Further, the electronic control unit includes an external communication device, a quadruped walking chassis motor drive, a robotic arm motor drive, a rubber tapping mechanism motor drive and a motor encoder. The motor encoder is connected to the quadruped walking chassis motor drive, the robotic arm motor drive and the rubber tapping mechanism motor drive, and the external communication device is electrically connected to the motor encoder.

[0013] Further, a control method for a natural rubber tapping device of a hilly and mountainous area robot includes the steps of:

[0014] Step 1: The vision depth camera identifies and detects the distance L1 between the vision depth camera and the target natural rubber tree. The electronic control unit outputs to control the rotational angular velocities ω1 of the first joint motor, ω2 of the second joint motor and ω3 of the yaw motor of the quadruped walking chassis main body according to the natural rubber forest environment, so as to adjust the distance between the robot and the rubber tree.

[0015] Step 2: When the distance L1 identified and detected by the vision depth camera reaches the target distance range, the quadruped walking chassis main body stops moving. The vision depth camera further identifies and detects 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.

[0016] Step 3: The initial spatial position of the end of the rubber tapping robotic arm is x1, y1, z1. The electronic control unit controls the end of the rubber tapping robotic arm to move to the target spatial position x2, y2, z2.

[0017] Step 4: The electronic control unit controls the electric push rod to push the rubber tapping auxiliary guide rail forward by a distance L3, so that the rubber tapping auxiliary guide rail fits the cut mark of the target rubber tree.

[0018] Step 5: The fine-tuning motor adjusts the up-and-down moving distance L4 of the fine-tuning guide rail, the moving motor gives the moving speed v of the moving platform slider, the rubber tapping knife motor drives the rubber tapping knife to adjust the angle ω in real time, and the rubber tapping time is S;

[0019] 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;

[0020] 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 tapping 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 tapping robotic arm to start moving;

[0021] When 0.2m < L1 < 0.6m, |x1 - x2| > 0m, |y1 - y2| > 0m, and |z1 - z2| > 0m, the electronic control unit system controls the rubber tapping robotic arm to continue moving;

[0022] When 0.2m < L1 < 0.6m, |x1 - x2| = 0m, |y1 - y2| = 0m, and |z1 - z2| = 0m, the electronic control unit system controls the rubber tapping robotic arm to stop, and the electronic control unit controls the electric push rod to start working;

[0023] 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;

[0024] 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;

[0025] 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;

[0026] 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, and the electronic control unit system controls the movement motor and the rubber tapping knife motor to work for rubber tapping, and the electronic control unit system starts timing;

[0027] 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 on the target natural rubber tree is completed.

[0028] 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.

[0029] Compared with the prior art, the beneficial effects of the present invention are:

[0030] 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, and 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

[0031] Figure 1 It is an overall three-dimensional schematic diagram of the present invention;

[0032] Figure 2 It is a schematic diagram of the structure of the rubber tapping robotic arm of the present invention;

[0033] Figure 3 It is a schematic diagram of the rubber tapping adjustment device of the present invention;

[0034] Figure 4 It is a partially enlarged schematic diagram of the rubber tapping adjustment device of the present invention;

[0035] Figure 5 It is a schematic flow diagram of the control method of the present invention.

[0036] Reference Signs:

[0037] 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

[0038] 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.

[0039] See also Figures 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.

[0040] 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.

[0041] 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.

[0042] The rubber tapping fine-tuning mechanism 101 includes a fine-tuning motor 117, a rubber tapping working 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 moving 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 freely slide up and down in the sliding guide hole. The sliding guide hole can realize the lifting 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 part is provided on the fine-tuning guide rail 116. In order to realize the lifting stability of the fine-tuning guide rail 116, the fine-tuning tooth part can be provided on both sides of 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 drivingly connected with a fine-tuning gear. The fine-tuning gear is meshed and connected with the fine-tuning tooth part of the fine-tuning guide rail 116. In order to cooperate with the fine-tuning tooth parts on both sides, two fine-tuning gears can be connected through a transmission structure. The specific structure of the transmission structure is set according to specific requirements and belongs to conventional technical features, which are not shown in this application. One end of the fine-tuning guide rail 116 is fixedly installed with a rubber tapping motor 115. The rubber tapping motor 115 is a kind of rotary motor. The output end of the rubber tapping motor 115 is fixedly connected with a rubber tapping knife 114. The angle of the rubber tapping knife 114 is adjusted in real time through the rubber tapping motor 115, so as to achieve a more convenient rubber tapping effect.

[0043] 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.

[0044] The fourth connecting rod is arranged in the third connecting rod 213 and can only move telescopically but cannot move rotatably.

[0045] The quadruped walking chassis main 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, the output end of the yaw motor 314 is fixedly connected to the side wall of the first joint motor 315, the output end of the first joint motor 315 is drivingly connected to one end of the first joint body 319, the other end of the first joint body 319 is swingably connected to one end of the second joint body 320, the second joint motor 317 is fixedly installed 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, and the electronic control unit 400 is fixedly installed on the load bottom plate 312. The electronic control unit 400 is electrically connected to the vision depth camera 212, and the electronic control unit 400 is also electrically connected to a power supply, and the power supply is fixedly installed on the load bottom plate 312.

[0046] The electronic control unit 400 includes an external communication device 411, a quadruped walking chassis motor driver 412, a robotic arm motor driver 413, a rubber tapping mechanism motor driver 414 and a motor encoder 415. The motor encoder 415 is connected to the quadruped walking chassis motor driver 412, the robotic arm motor driver 413 and the rubber tapping mechanism motor driver 414, and the external communication device 411 is electrically connected to the motor encoder 415.

[0047] A control method for a natural rubber tapping device of a hilly and mountainous area robot includes the steps of:

[0048] Step 1: The vision depth camera 212 identifies and detects the distance L1 between the vision depth camera 212 and the target natural rubber tree. The electronic control unit 400 outputs the rotational angular velocity ω1 of the first joint motor 315, the rotational angular velocity ω2 of the second joint motor 317 and the rotational angular velocity ω3 of the yaw motor 314 for controlling the quadruped walking chassis main body 300 according to the natural rubber forest environment, so as to adjust the distance between the robot and the rubber tree.

[0049] Step 2: When the distance L1 identified and 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 cut mark of the target natural rubber tree as x0, y0, z0, and feeds back the information to the electronic control unit 400.

[0050] 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;

[0051] 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;

[0052] 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;

[0053] 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 vision depth camera 212 starts to scan and detect the next target natural rubber tree.

[0054] 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;

[0055] 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;

[0056] 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;

[0057] 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;

[0058] When 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;

[0059] 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;

[0060] 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;

[0061] 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;

[0062] 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.

[0063] 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); the rubber tapping fine-tuning mechanism (101) comprises a fine-tuning motor (117), a rubber tapping working platform (113), A rubber tapping motor (115) and a fine-tuning guide rail (116), wherein 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), an 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), and the output end of the rubber tapping motor (115) is fixedly connected to a rubber tapping knife (114);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). The third connecting rod (213) is also fixedly installed with an electric push rod (223). The 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 with the output end of the electric push rod (223). ; 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 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).

5. A hilly mountain robot natural rubber tapping device according to claim 4, 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).

6. A control method for a hilly mountain robot natural rubber tapping device as claimed in any one of claims 1 to 5, 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. The electronic control unit (400) outputs the rotational angular velocities ω1 of the first joint motor (315), ω2 of the second joint motor (317), and ω3 of the yaw motor (314) to control the quadruped walking chassis main body (300) according to the natural rubber forest environment, for adjusting the distance between the robot and the rubber tree. Step 2: When the distance L1 identified and detected by the visual depth camera (212) reaches the target distance range, the quadruped walking chassis main body (300) stops moving. The visual depth camera (212) further identifies and detects the spatial position of the center point of the cut mark on the target natural rubber tree 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 rubber tapping robotic arm (200) is x1, y1, z1. 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 cut mark of the target rubber tree. 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 motor of the rubber tapping knife (114) drives the rubber tapping knife (114) to adjust the angle ω in real time. The rubber tapping time is S.

7. The control method according to claim 6, characterized in that: If L1 ≥ 0.6 m or L1 ≤ 0.2 m, 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 > 0 rad / s, ω2 > 0 rad / s, ω3 > 0 rad / s. If 0.2 m < L1 < 0.6 m, 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 = 0 rad / s, ω2 = 0 rad / s, ω3 = 0 rad / s. The electronic control unit (400) system controls the rubber tapping robotic arm (200) to start moving. If 0.2 m < L1 < 0.6 m, |x1 - x2| > 0 m, |y1 - y2| > 0 m, and |z1 - z2| > 0 m, the electronic control unit (400) system controls the rubber tapping robotic arm (200) to continue moving. If 0.2 m < L1 < 0.6 m, |x1 - x2| = 0 m, |y1 - y2| = 0 m, and |z1 - z2| = 0 m, the electronic control unit (400) system controls the rubber tapping robotic arm (200) to stop. The electronic control unit (400) controls the electric push rod (223) 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 (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 perform the 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.

8. The control method according to claim 6, 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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