CN105494031B - A kind of integrated automatic rubber tapping receipts gluing method and device based on image recognition - Google Patents
A kind of integrated automatic rubber tapping receipts gluing method and device based on image recognition Download PDFInfo
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- CN105494031B CN105494031B CN201610072762.1A CN201610072762A CN105494031B CN 105494031 B CN105494031 B CN 105494031B CN 201610072762 A CN201610072762 A CN 201610072762A CN 105494031 B CN105494031 B CN 105494031B
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- glue
- rubber
- manipulator
- rubber tapping
- tapping
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
- A01G23/10—Tapping of tree-juices, e.g. caoutchouc, gum
Abstract
The invention discloses a kind of, and the integrated automatic rubber tapping based on image recognition receives gluing method, first, pass through the imaging identification system received on glue manipulator carried on the workbench of track-movable, judge rubber tree position, the parameters such as the position and direction that glue bowl is put, it sends out to instruct to receipts glue manipulator and determines whether the tree taps rubber and be well placed glue bowl, secondly, utilize the rubber tapping manipulator for having imaging identification system carried on track-movable workbench, by imaging identification system instruction is sent out to rubber tapping manipulator, manipulator tap rubber by instruction requirement rubber tapping, then, utilize the receipts glue manipulator for having imaging identification system carried on track-movable workbench, by imaging identification system instruction is sent out to glue manipulator is received, it receives glue manipulator and receives glue by instruction requirement.The automation for tapping rubber and receiving glue may be implemented in the present invention, has the characteristics that full-automation is completed, is efficient.Meanwhile technology of the invention can spread over other economic trees.
Description
Technical field
The present invention relates to receive glue rubber tapping technical field more particularly to a kind of integrated automatic rubber tapping receipts based on image recognition
Gluing method and device.
Background technology
Rubber tapping and receipts glue are the important links in natural rubber production.Rubber tapping is usually in 2:00 AM by rubber tapping work to 6 points
Manual operations is carried out, is tapped rubber 300~500 for each person every day, not only the amount of labour used is big, and work is also very arduous.Therefore, rubber tapping expense
Occupy the 70%~80% of production cost.Meanwhile after dumping stops, glue work need to also carry out receipts glue by gum, time-consuming to take
Power.Because the land area of rubber tree plant utilization is big, the reasons rubber tapping such as rubber tapping needs technology higher and receipts glue fail always reality
Now automate.Keeping falling due to natural rubber price in recent years, rubber tapping work is lost in and Aging Problem getting worse, is badly in need of
The method of development automation rubber tapping and receipts glue.
Invention content
In view of this, the present invention provides a kind of, the integrated automatic rubber tapping based on image recognition receives gluing method, solves
Needing manually rubber tapping to receive glue in the prior art leads to time-consuming and laborious technical problem.
The technological means that the present invention uses is as follows：A kind of integrated automatic rubber tapping receipts gluing method based on image recognition, profit
With the rubber tapping manipulator for having imaging identification system carried on track-movable workbench, according to imaging identification system acquisition
Face information on to rubber tree sends out instruction by imaging identification system to rubber tapping manipulator, and rubber tapping manipulator is wanted by instruction
Ask rubber tapping.
Preferably, before rubber tapping, pass through taking the photograph on the receipts glue manipulator that is carried on the workbench of track-movable
As identifying system, the position and direction that judgement rubber tree position, glue bowl are put send out instruction to receipts glue manipulator and determine that the tree is
No rubber tapping is simultaneously well placed glue bowl.During receiving glue, there is imaging identification system using what is carried on track-movable workbench
The receipts glue manipulator of system sends out instruction by imaging identification system to glue manipulator is received, and receives glue manipulator and receives glue by instruction requirement.
Preferably, following steps are specifically included：
1) it lays a railway track：It lays track in advance in plantation, the workbench that can be moved in orbit is installed in orbit,
Mechanical arm is installed, mechanical arm includes tap rubber manipulator and receipts glue manipulator, tap rubber manipulator and receipts glue machinery on workbench
Hand front is equipped with imaging identification system；
2) pre- rubber tapping：It holds front and back waterline successfully on rubber tree, glue tongue is installed on every rubber tree, receives glue frame, glue bowl,
And more than 1 knife of accurately tapping rubber, cut out the face that can be used for image recognition；
3) judge and put glue bowl：Pass through the camera shooting received on glue manipulator carried on the workbench of track-movable
Identifying system acquires glue bowl parameter, and glue bowl parameter includes：Position that rubber tree position, glue bowl are put, glue bowl placing direction, glue tongue
Glue rack position is received in position.If collecting does not have glue tongue, receives any one in glue frame and glue bowl, moved to next tree；If
The placing direction for collecting glue bowl is incorrect, then sends out instruction to receipts glue manipulator, is well placed glue bowl and is sent out to rubber tapping manipulator
Go out instruction；
4) it taps rubber：Pass through cutting for the face cut out of tapping rubber in advance in the imaging identification system acquisition step 2) of machinery on hand of tapping rubber
Glue parameter, rubber tapping parameter include：Rubber tree position, rubber tapping initial position, secant trend, rubber tapping depth, rubber tapping final position, take the photograph
Rubber tapping parameter as identifying system according to acquisition sends out instruction to rubber tapping manipulator, and rubber tapping manipulator is by instruction requirement rubber tapping；
5) glue is received：To after receiving the glue time, glue parameter is received by the imaging identification system acquisition received on glue manipulator, receives glue ginseng
Number includes：Glue container position is received in rubber tree position, glue bowl position, imaging identification system according to acquisition receipts glue parameter to receiving glue
Manipulator sends out instruction, receives glue manipulator and receives glue by instruction requirement.
Preferably, in step 1), ground rail is laid in the rubber plantation of a piece of quasi- rubber tapping, it can be in-orbit for placing
The workbench moved on road, ground rail are layed in the row and plantation surrounded by mountains of rubber tapping one side.
Preferably, in step 2), front and back waterline is held successfully on rubber tree by professional glue work or rubber tapping counsellor etc., accurately
It taps rubber more than 1 knife.
Preferably, in step 3), imaging identification system acquisition glue bowl parameter sends out enabled instruction to glue manipulator is received, and sends out
The enabled instruction gone out includes：It does not tap rubber to next tree movement, be well placed glue bowl, startup rubber tapping manipulator.
Preferably, in step 4), rubber tapping of the imaging identification system according to the face acquisition that rubber tapping is cut out in advance in step 2)
Parameter sends out instruction to rubber tapping manipulator, and the instruction sent out includes：Rubber tree position, rubber tapping initial position, secant trend, rubber tapping
Depth, rubber tapping final position, automatic rubber tapping knife are turned on and off.
Preferably, in step 5), imaging identification system sends out instruction according to the receipts glue parameter of acquisition to glue manipulator is received,
The instruction sent out includes：The position of rubber tree, receive the position of glue frame, the initial position of glue bowl, glue bowl and receive glue container distance,
The duration for the bowl of falling glue.
The present invention also provides a kind of, and the integrated automatic rubber tapping based on image recognition receives adhesive dispenser, including：
Track, the track installation is on ground；
Workbench, the workbench can move on the track；
Mechanical arm, the mechanical arm are installed on the workbench, and the mechanical arm includes rubber tapping manipulator, described to cut
Glue manipulator front is equipped with imaging identification system；
Glue container is received, the receipts glue container is removably mounted on the workbench, and the receipts glue container is located at described
One side of mechanical arm.
Preferably, the mechanical arm further includes receiving glue manipulator, and receipts glue manipulator front is equipped with imaging identification system.
Using a kind of integrated automatic rubber tapping receipts gluing method based on image recognition provided by the present invention, may be implemented to cut
Glue and the automation for receiving glue have the characteristics that full-automation is completed, is efficient.Meanwhile technology of the invention can spread over other
Economic tree.
Description of the drawings
Fig. 1 is the flow diagram of the present invention；
Fig. 2 is the structural schematic diagram of the present invention.
Specific implementation mode
The principles and features of the present invention are described below, and illustrated embodiment is served only for explaining the present invention, is not intended to
Limit the scope of the present invention.
As shown in Figure 1 and Figure 2, a kind of integrated automatic rubber tapping based on image recognition receives gluing method, first, using can edge
The receipts glue manipulator 31 carried on the workbench 2 that track 1 moves is sentenced by receiving the imaging identification system 33 on glue manipulator 31
Determine the parameters such as rubber tree position, the position and direction that glue bowl is put, sending out instruction to receipts glue manipulator 31 decides whether to the tree
Rubber tapping, if being well placed glue bowl and if sending out instruction to rubber tapping manipulator 32.Secondly, the work that can be moved along track 1 is utilized
Rubber tapping manipulator 32 equipped with imaging identification system 33 on platform 2 is sent out by imaging identification system 33 to rubber tapping manipulator 32
Go out instruction, rubber tapping manipulator 32 is by instruction requirement rubber tapping.Then, using can be along the workbench 2 that track 1 moves equipped with taking the photograph
As the receipts glue manipulator 31 of identifying system 33, instruction is sent out to glue manipulator 31 is received by imaging identification system 33, receives glue machinery
Hand 31 receives glue by instruction requirement and reversely puts back to glue bowl on receipts glue frame original on rubber tree.What needs to be explained here is that can
With a kind of integrated automatic rubber tapping receipts gluing method automatic rubber tapping based on image recognition using the present invention, received using other methods
Glue；Alternatively, tapped rubber using other methods, a kind of integrated automatic rubber tapping receipts gluing method based on image recognition using the present invention
It is automatic to receive glue.It can be seen that the automation that may be implemented to tap rubber and receive glue using the present invention, has full-automatic complete, efficiently
The features such as.Meanwhile technology of the invention can spread over other economic trees.
As shown in Figure 1 and Figure 2, following steps are specifically included：
Step 101：It lays a railway track：After a piece of rubber forest reaches and opens the standard of cutting, track 1 is laid in advance in plantation, preferably
Ground rail 1 is laid in the row and plantation surrounded by mountains of quasi- rubber tapping one side, ground rail 1 can be single depending on plantation landform
Rail can also be double track, is equipped with the workbench 2 that can be moved on track 1 on track 1, is installed on workbench 2 organic
Tool arm 3, mechanical arm 3 include receiving glue manipulator 31 and rubber tapping manipulator 32, receive glue manipulator 31 and 32 front of rubber tapping manipulator is equal
Equipped with imaging identification system 33.
Step 201：Pre- rubber tapping：Face planning is carried out by the rubber tapping counsellor or glue work of profession, before being held successfully on rubber tree
Waterline afterwards installs glue tongue on every rubber tree, receives glue frame, glue bowl, and more than 1 knife of accurately tapping rubber, usually cuts 2~3 knives i.e.
Can, cut out the face that can be used for image recognition.
Step 301：Judge and put glue bowl：It needs to instruct or control electric power starting, workbench 2 when rubber tapping by mobile phone
It can be moved along rubber tree distributed areas in a piece of rubber forest, pass through the receipts glue carried on the workbench 2 of track-movable
Imaging identification system 33 on manipulator 31 identifies rubber tree, and imaging identification system 33, can be when recognizing a rubber tree
The trunk middle position of the tree temporarily ceases movement, further identification of then taking pictures, and acquires glue bowl parameter, and glue bowl parameter includes：
Glue rack position is received in position that rubber tree position, glue bowl are put, glue bowl placing direction, glue tongue position, if collect do not have glue tongue,
Any one in glue frame and glue bowl is received, then is moved to next tree, if the placing direction for collecting glue bowl is incorrect, to receipts
Glue manipulator 31 sends out instruction, is well placed glue bowl and sends out instruction to rubber tapping manipulator 32, the instruction sent out includes：Do not tap rubber to
Next tree is mobile, be well placed glue bowl, starts rubber tapping manipulator 32.Because in a piece of rubber forest, being cut because partial rubber tree not up to opens
Standard or generation dead skin can not tap rubber temporarily, can be by way of not installing glue tongue, glue bowl on rubber tree and receiving glue frame to being
System sends out instruction of not tapping rubber.
Step 401：Rubber tapping：When being judged to needing rubber tapping, rubber tapping manipulator 32 starts work.Taking the photograph on rubber tapping manipulator 32
As identifying system 33 further takes pictures identification to the existing face of rubber tree, acquisition rubber tapping parameter, rubber tapping parameter includes：Rubber
Gum position, tapped part of rubber tree, secant position, rubber tapping depth.Imaging identification system 33 according to acquisition rubber tapping parameter to rubber tapping
Manipulator 32 and automatic rubber tapping knife thereon send out instruction, and rubber tapping manipulator 32 is tapped rubber by instruction requirement；Wherein, instruction packet is sent out
It includes：Rubber tree position, rubber tapping initial position, secant trend, rubber tapping depth, rubber tapping final position, automatic rubber tapping knife are opened or are closed
It closes.It is moved automatically to next tree after having cut this tree, repeats above-mentioned 301,401 step process.Cut the rubber of complete slice setting
Lin Hou can close power supply along 1 auto-returned initial position of track.
Step 501：Receive glue：To after receiving the glue time, electric power starting is instructed or controlled again by mobile phone, by receiving glue machinery
Glue parameter is received in the acquisition of imaging identification system 33 on hand 31, is received glue parameter and is included：Glue container 4, is received at glue bowl position in rubber tree position
Position, imaging identification system 33 send out instruction according to the receipts glue parameter of acquisition to glue manipulator 31 is received, and receive glue manipulator 31 by finger
It enables and requires to receive glue；Wherein, the instruction sent out includes：The position of glue frame, the initial position of glue bowl, glue bowl are received in the position of rubber tree
With the duration for receiving the distance of glue container 4, the bowl of falling glue.Specifically, imaging identification system 33 is when recognizing a rubber tree, at this
The trunk middle position of tree temporarily ceases movement, then identifies the position of glue bowl, sends out instruction to receiving glue manipulator 31, is received
Glue.Meanwhile the position that glue container 4 is received in the identification of imaging identification system 33 on glue manipulator 31 is received, enable receipts glue manipulator 31 accurate
The glue in glue bowl poured into receive glue container 4, then glue bowl is reversely put back on the receipts glue frame of each tree.Complete full wafer setting
Rubber forest receipts glue work after, system can along 1 auto-returned initial position of track, close power supply；Glue work need to only rise in track 1
Collect the latex of glue container 4 in beginning position.In order to save the energy, receipts temporarily can not be placed in rubber tapping on workbench 2
Glue container 4, when due-in glue, are placed again.
As shown in Fig. 2, the present invention also provides a kind of, the integrated automatic rubber tapping based on image recognition receives adhesive dispenser, the dress
Set including：
Track 1, track 1 are installed on ground, for the movement of workbench 2.
Workbench 2, workbench 2 can move on track 1, realize round-trip rubber tapping and receive glue.
Mechanical arm 3, mechanical arm 3 are installed on workbench 2, and mechanical arm 3 includes receiving glue manipulator 31 and rubber tapping manipulator
32, it receives glue manipulator 31 and 32 front of rubber tapping manipulator is equipped with imaging identification system 33.When rubber tapping, receive on glue manipulator 31
Imaging identification system 33 can temporarily cease movement when recognizing a rubber tree in the trunk middle position of the tree, then right
This sets further identification of taking pictures, and judges the parameters such as position and direction that glue bowl is put, including：On rubber tree position, rubber tree
Whether there is glue tongue, whether have receipts glue frame and glue bowl, the placement position of glue bowl and direction whether accurate.To whether judge this tree
Rubber tapping.If you do not need to rubber tapping then continues to move to next tree, if necessary to tap rubber, then instruction is sent out to receipts glue manipulator,
It is well placed glue bowl and sends out enabled instruction to rubber tapping manipulator 32.After manipulator 32 of tapping rubber starts, to being cut to rubber tree is existing
Face carries out further identification of taking pictures, and identifies the position of secant, the position of front and back waterline, the trend and rubber tapping depth of secant, to cutting
Automatic rubber tapping knife on glue manipulator 32 sends out instruction, taps rubber.It moves, repeats to next tree automatically after having cut this tree
The above process.After the rubber forest for cutting complete slice setting, power supply can be closed along 1 auto-returned initial position of track.When receiving glue, receive
Imaging identification system 33 on glue manipulator 31 is temporarily ceased when recognizing a rubber tree in the trunk middle position of the tree
It is mobile, it then identifies the position of glue bowl, sends out instruction to receiving glue manipulator 31, carry out receipts glue.Meanwhile it receiving on glue manipulator 31
The position of glue container 4 is received in the identification of imaging identification system 33, enables receipts glue manipulator 31 that the glue in glue bowl is accurately poured into receipts glue
Container 4 then reversely puts back to glue bowl on the receipts glue frame of each tree.After the receipts glue work for completing the rubber forest of full wafer setting, dress
Power supply can be closed along 1 auto-returned initial position of track by setting.What needs to be explained here is that may be used a kind of based on image knowledge
Other integration automatic rubber tapping receives adhesive dispenser automatic rubber tapping, and glue is received using other devices；Alternatively, being tapped rubber using other devices, adopt
Adhesive dispenser, which is received, with a kind of integrated automatic rubber tapping based on image recognition receives glue automatically.
Glue container 4 is received, glue container 4 is received and is installed on workbench 2, receives one side that glue container 4 is located at mechanical arm 3.It is receiving
After glue, glue work only need to collect the latex of glue container 4 in 1 initial position of track.In order to save the energy, glue container is received
4 are removably installed on workbench, can not placed temporarily on workbench 2 when rubber tapping and receive glue container 4, when due-in glue again into
Row is placed.
In conclusion using a kind of integrated automatic rubber tapping receipts gluing method based on image recognition provided by the present invention,
The automation for tapping rubber and receiving glue may be implemented, have the characteristics that full-automation is completed, is efficient.Meanwhile technology of the invention can be with
Spread over other economic trees.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent substitution, improvement and etc. done should be included within the scope of protection of the invention god.
Claims (8)
1. a kind of integrated automatic rubber tapping based on image recognition receives gluing method, which is characterized in that utilize track-movable work
That makees to carry on platform has the rubber tapping manipulator of imaging identification system, according to the face in imaging identification system acquisition to rubber tree
Information sends out instruction by imaging identification system to rubber tapping manipulator, and rubber tapping manipulator is by instruction requirement rubber tapping, in rubber tapping
Before, pass through the imaging identification system received on glue manipulator carried on the workbench of track-movable, judgement rubber tree position
It sets, the position and direction that glue bowl is put, is sent out to receipts glue manipulator and instruct the decision tree whether to tap rubber and be well placed glue bowl；It utilizes
What is carried on track-movable workbench has the receipts glue manipulator of imaging identification system, by imaging identification system to receive glue
Manipulator sends out instruction, receives glue manipulator and receives glue by instruction requirement, specifically includes following steps：
1) it lays a railway track：It lays track in advance in plantation, the workbench that can be moved in orbit is installed in orbit, work
Mechanical arm is installed, mechanical arm includes tap rubber manipulator and receipts glue manipulator, before tap rubber manipulator and receipts glue manipulator on platform
Portion is equipped with imaging identification system；
2) pre- rubber tapping：It holds front and back waterline successfully on rubber tree, glue tongue is installed on every rubber tree, receives glue frame, glue bowl, and is accurate
Really more than 1 knife of rubber tapping, the face that can be used for image recognition is cut out；
3) judge and put glue bowl：Pass through the imaging identification received on glue manipulator carried on the workbench of track-movable
System acquisition glue bowl parameter, glue bowl parameter include：Position that rubber tree position, glue bowl are put, glue bowl placing direction, glue tongue position
It sets, receive glue rack position, if collecting does not have glue tongue, receives any one in glue frame and glue bowl, moved to next tree, if adopting
The placing direction for collecting glue bowl is incorrect, then sends out instruction to receipts glue manipulator, is well placed glue bowl and is sent out to rubber tapping manipulator
Instruction；
4) it taps rubber：Pass through the rubber tapping ginseng for the face that rubber tapping is cut out in advance in the imaging identification system acquisition step 2) of machinery on hand of tapping rubber
Number, rubber tapping parameter include：Rubber tree position, rubber tapping initial position, secant trend, rubber tapping depth, rubber tapping final position, camera shooting are known
Other system sends out instruction according to the rubber tapping parameter of acquisition to rubber tapping manipulator, and rubber tapping manipulator is by instruction requirement rubber tapping；
5) glue is received：To after receiving the glue time, glue parameter is received by the imaging identification system acquisition received on glue manipulator, receives Jiao Canshuobao
It includes：Glue container position is received in rubber tree position, glue bowl position, and imaging identification system is mechanical to glue is received according to the receipts glue parameter of acquisition
Hand sends out instruction, receives glue manipulator and receives glue by instruction requirement.
2. a kind of integrated automatic rubber tapping based on image recognition according to claim 1 receives gluing method, which is characterized in that
In step 1), ground rail is laid in the rubber plantation of a piece of quasi- rubber tapping, for placing the work that can be moved in orbit
Platform, ground rail are layed in the row and plantation surrounded by mountains of rubber tapping one side.
3. a kind of integrated automatic rubber tapping based on image recognition according to claim 1 receives gluing method, which is characterized in that
In step 2), is held successfully front and back waterline on rubber tree by professional glue work or rubber tapping counsellor and more than 1 knife of accurately tapping rubber, be used for
Image recognition.
4. a kind of integrated automatic rubber tapping based on image recognition according to claim 1 receives gluing method, which is characterized in that
In step 3), imaging identification system acquisition glue bowl parameter sends out instruction to glue manipulator is received, and the instruction sent out includes：It does not tap rubber
To next tree movement, it is well placed glue bowl, startup rubber tapping manipulator.
5. a kind of integrated automatic rubber tapping based on image recognition according to claim 1 receives gluing method, which is characterized in that
In step 4), imaging identification system according to the face acquisition that rubber tapping is cut out in advance in step 2) rubber tapping parameter to rubber tapping manipulator
Instruction is sent out, the instruction sent out includes：Rubber tree position, rubber tapping initial position, secant trend, rubber tapping depth, rubber tapping stop bit
It sets, automatic rubber tapping knife is turned on and off.
6. a kind of integrated automatic rubber tapping based on image recognition according to claim 1 receives gluing method, which is characterized in that
In step 5), imaging identification system sends out instruction according to the receipts glue parameter of acquisition to glue manipulator is received, and the instruction sent out includes：
The position of rubber tree, receive the position of glue frame, the initial position of glue bowl, glue bowl and receive the distance of glue container, the bowl of falling glue duration.
7. a kind of integrated automatic rubber tapping based on image recognition according to claim 1 receives a kind of base that gluing method is realized
Adhesive dispenser is received in the integrated automatic rubber tapping of image recognition, which is characterized in that including：
Track, the track installation is on ground；
Workbench, the workbench can move on the track；
Mechanical arm, the mechanical arm are installed on the workbench, and the mechanical arm includes rubber tapping manipulator, the rubber cutting machine
Tool hand front is equipped with imaging identification system；
Glue container is received, the receipts glue container is removably mounted on the workbench, and the receipts glue container is located at the machinery
One side of arm.
8. a kind of integrated automatic rubber tapping based on image recognition according to claim 7 receives adhesive dispenser, which is characterized in that
The mechanical arm further includes receiving glue manipulator, and receipts glue manipulator front is equipped with imaging identification system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610072762.1A CN105494031B (en) | 2016-02-02 | 2016-02-02 | A kind of integrated automatic rubber tapping receipts gluing method and device based on image recognition |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610072762.1A CN105494031B (en) | 2016-02-02 | 2016-02-02 | A kind of integrated automatic rubber tapping receipts gluing method and device based on image recognition |
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| CN105494031A CN105494031A (en) | 2016-04-20 |
| CN105494031B true CN105494031B (en) | 2018-10-09 |
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Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2681995B1 (en) * | 2017-03-17 | 2019-06-28 | I&D Ferjojusa S L | AUTOMOBILE TRUCK FOR RESIN COLLECTION |
| CN107494194B (en) * | 2017-07-24 | 2020-05-22 | 中国农业大学 | Rubber tapping robot |
| CN108029500B (en) * | 2017-12-07 | 2020-10-20 | 中国热带农业科学院橡胶研究所 | Rubber garden cableway type automatic rubber tapping and collecting device and method |
| CN109122198B (en) * | 2018-09-21 | 2024-02-20 | 海南天然橡胶产业集团股份有限公司 | Automatic change tool bit of intelligent rubber tapping machine |
| CN109328973B (en) * | 2018-10-25 | 2021-07-16 | 湘潭大学 | Intelligent rubber tapping system for rubber trees and control method of intelligent rubber tapping system |
| CN110122256A (en) * | 2019-05-21 | 2019-08-16 | 中国农业大学 | A kind of rubber tapping robot system and method for tapping rubber |
| CN110073943B (en) * | 2019-05-23 | 2021-01-19 | 中国农业大学 | Natural rubber latex collection device |
| CN112205272B (en) * | 2019-07-09 | 2022-04-01 | 海南大学 | Rubber tree tapping method based on distributed high-energy pulse laser |
| CN110651686B (en) * | 2019-10-12 | 2021-10-19 | 北京理工华汇智能科技有限公司 | Tapping method and system based on tapping mechanical arm |
| CN111296225B (en) * | 2020-02-27 | 2022-01-04 | 广州大学 | Intelligent operation system and method for rubber forest |
| CN111657094A (en) * | 2020-05-25 | 2020-09-15 | 中国热带农业科学院橡胶研究所 | Automatic acupuncture rubber sampling equipment |
| CN112335516B (en) * | 2020-09-30 | 2022-09-20 | 北京工业大学 | Full-automatic intelligent rubber tapping robot |
| CN113349011A (en) * | 2021-06-01 | 2021-09-07 | 广东工业大学 | Rubber tapping equipment and use method thereof |
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| CN102613041A (en) * | 2012-04-13 | 2012-08-01 | 浙江工业大学 | Grape bagging robot system based on machine vision |
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