CN105766551B - A kind of automatic rubber tapping receipts colloid system based on Unmanned Systems - Google Patents
A kind of automatic rubber tapping receipts colloid system based on Unmanned Systems Download PDFInfo
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- CN105766551B CN105766551B CN201610123861.8A CN201610123861A CN105766551B CN 105766551 B CN105766551 B CN 105766551B CN 201610123861 A CN201610123861 A CN 201610123861A CN 105766551 B CN105766551 B CN 105766551B
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- glue
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- 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
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- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
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Abstract
The invention discloses a kind of, and the automatic rubber tapping based on Unmanned Systems receives colloid system, comprising: Unmanned Systems, the Unmanned Systems can travel on ground；Mechanical arm, the mechanical arm are installed on the Unmanned Systems, and the mechanical arm includes receiving glue manipulator and rubber tapping manipulator, and the receipts glue manipulator and rubber tapping manipulator front are respectively equipped with and receive glue imaging identification system and rubber tapping imaging identification system；Glue container is received, the receipts glue container is removably mounted on the workbench, described one side received glue container and be located at the mechanical arm.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 automatic rubber tapping receipts glue based on Unmanned Systems
System.
Background technique
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 and Aging Problem is got worse, and is badly in need of
The method of development automation rubber tapping and receipts glue.
Summary of the invention
In view of this, the present invention provides a kind of, the automatic rubber tapping based on Unmanned Systems receives colloid system, solves existing
There is the receipts glue that needs manually to tap rubber in technology to lead to time-consuming and laborious technical problem.
The technological means that the present invention uses is as follows: a kind of automatic rubber tapping receipts colloid system based on Unmanned Systems, comprising:
Unmanned Systems, the Unmanned Systems can travel on ground, can be it is wheeled be also possible to crawler type,
Power source can be rechargeable battery and be also possible to bavin Water Oil Or Gas；
Mechanical arm, the mechanical arm are installed on the Unmanned Systems, and the mechanical arm includes rubber tapping manipulator, institute
It states rubber tapping manipulator front and is equipped with rubber tapping imaging identification system；
Glue container is received, the receipts glue container is removably mounted on the Unmanned Systems, and the receipts glue container is located at
One side of the mechanical arm.
Preferably, the mechanical arm further includes receiving glue manipulator, and the receipts glue manipulator front, which is equipped with, receives glue imaging identification
System.
Preferably, the receipts glue imaging identification system includes glue wrist parameter collection module, the glue wrist parameter collection module
The glue bowl parameter information of acquisition includes: position, the glue bowl placing direction that rubber tree position, glue bowl are put, and glue frame is received in glue tongue position
Position, it is mobile to next tree if collecting does not have glue tongue, receives any one in glue frame and glue bowl, if collecting glue bowl
Placing direction it is incorrect, then issue instruction to receiving glue manipulator, enable and receiving after glue manipulator is well placed glue bowl, and is mechanical to rubber tapping
Hand issues enabled instruction.The rubber tapping imaging identification system includes rubber tapping parameter collection module, the rubber tapping parameter collection module
The rubber tapping parameter information of acquisition includes: rubber tree position, rubber tapping initial position, secant trend, rubber tapping depth and rubber tapping stop bit
It sets, rubber tapping imaging identification system issues rubber tapping instruction to rubber tapping manipulator according to the information of acquisition.Preferably, the receipts glue camera shooting
Identifying system further includes that the receipts glue parameter information of receipts glue parameter collection module acquisition described in receipts glue parameter collection module includes: rubber
It sets position, glue bowl position, receive glue container position, receipts glue imaging identification system issues receipts to glue manipulator is received according to the information of acquisition
Glue instruction.
Preferably, the rubber tapping instruction includes: rubber tree position, rubber tapping initial position, secant trend, rubber tapping depth, cuts
Glue final position.
Preferably, receiving glue instruction includes: the position of rubber tree, the receipts position of glue frame, the initial position of glue bowl, glue bowl and receipts
Distance, the duration for the bowl of falling glue of glue container.
Preferably, the Unmanned Systems front end is equipped with push and block portion.
Using a kind of automatic rubber tapping receipts colloid system based on Unmanned Systems provided by the present invention, may be implemented to tap rubber
With the automation for receiving glue, have the characteristics that full-automation is completed, is efficient.Meanwhile technology of the invention can spread over other warps
Ji tree species.
Detailed description of the invention
Fig. 1 is flow diagram of the invention；
Fig. 2 is structural schematic diagram of the invention.
Specific embodiment
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
It limits the scope of the invention.
As shown in Figure 1 and Figure 2, a kind of automatic rubber tapping based on Unmanned Systems receives colloid system, comprising:
Unmanned Systems 2, and Unmanned Systems 2 can travel on according to the rubber tapping range and travelling route pre-set
On ground, Unmanned Systems 2 can meet on rubber forest ground travel, can according to plantation ground environment select it is wheeled or
Crawler-type unmanned control loop, power source can be rechargeable battery and be also possible to bavin Water Oil Or Gas, generally selection climbing capacity
Stronger Unmanned Systems 2.In order to which driving process is more smooth, it can be equipped with push and block portion 1 in 2 front end of Unmanned Systems,
Barrier can be turned down when encountering barrier by push and block portion 1, push and block portion is in oblique " V " shape, can push barrier toward left and right sides open.
Mechanical arm 3, mechanical arm 3 are installed on Unmanned Systems 2, and mechanical arm 3 includes rubber tapping manipulator 32 and receipts glue machine
Tool hand 31, rubber tapping 32 front of manipulator are equipped with rubber tapping imaging identification system 33, receive 31 front of glue manipulator and know equipped with glue camera shooting is received
Other system 34.It receives glue imaging identification system 34 to include glue bowl parameter collection module and receive glue parameter collection module, glue bowl parameter is adopted
The information of collection module acquisition includes: position, the glue bowl placing direction that rubber tree position, glue bowl are put, and glue frame position is received in glue tongue position
It sets, it is mobile to next tree if collecting does not have glue tongue, receives any one in glue frame and glue bowl, if collecting glue bowl
Placing direction is incorrect, then issues instruction to receiving glue manipulator 31, enables and receiving after glue manipulator 31 is well placed glue bowl, and to rubber cutting machine
Tool hand 32 issues enabled instruction.Imaging identification system 33 of tapping rubber includes rubber tapping parameter collection module, and rubber tapping parameter collection module is adopted
The information of collection includes: rubber tree position, rubber tapping initial position, secant trend, rubber tapping depth and rubber tapping final position, rubber tapping camera shooting
Identifying system 33 issues rubber tapping instruction to rubber tapping manipulator 32 according to the information of acquisition.Receive the information of glue parameter collection module acquisition
Further include: glue container position, is received at glue bowl position in rubber tree position, receives glue imaging identification system 34 according to the information of acquisition to receipts
Glue manipulator, which issues, receives glue instruction.
When rubber tapping, the receipts glue imaging identification system 34 on glue manipulator 31 is received when recognizing a rubber tree, nobody drives
It sails system 2 and temporarily ceases movement in the trunk central location of the tree, further identification of taking pictures then is set to this, receive glue camera shooting and know
Other system 34 includes glue bowl parameter collection module and receipts glue parameter collection module, the packet of glue bowl parameter collection module acquisition
Include: glue rack position is received in position that rubber tree position, glue bowl are put, glue bowl placing direction, glue tongue position, if collecting no glue
Any one in tongue, receipts glue frame and glue bowl, then it is mobile to next tree, if the placing direction for collecting glue bowl is incorrect,
Instruction is issued to glue manipulator 31 is received, after enabling receipts glue manipulator 31 be well placed glue bowl, and starting is issued to rubber tapping manipulator 32 and refers to
It enables.Need to determine the parameters such as the position and direction that glue bowl is put before rubber tapping, such as: whether have on rubber tree position, rubber tree glue tongue,
Whether there are receipts glue frame and glue bowl, the placement position of glue bowl and direction whether accurate.Therefore, it is determined that whether this tree taps rubber, if not
Needing to tap rubber, it is mobile to next tree then to continue, and if necessary to tap rubber, then issues instruction to receipts glue manipulator 31, is well placed glue
Then bowl issues enabled instruction to rubber tapping manipulator 32 again.After manipulator 32 of tapping rubber starts, imaging identification system 33 of tapping rubber is to rubber
The existing face of gum carries out further identification of taking pictures, and identifies the position of secant, the position of front and back waterline, the trend of secant and cuts
Glue depth, to rubber tapping manipulator 32 on automatic rubber tapping knife issue instruction, instruction include: rubber tree position, rubber tapping initial position,
Secant trend, rubber tapping depth, rubber tapping final position, tap rubber.It is moved automatically to next tree after having cut this tree, in repetition
State process.After the rubber forest for cutting complete slice setting, system is closed.
When receiving glue, the receipts glue imaging identification system 34 on glue manipulator 31 is received when recognizing a rubber tree, in the tree
Trunk central location temporarily cease movement, then identify glue bowl position, to receive glue manipulator 31 issue instruction, received
Glue, receive glue instruction include: rubber tree position, receive the position of glue frame, the initial position of glue bowl, glue bowl and receive glue container away from
Duration from, the bowl of falling glue.The position received the identification of glue imaging identification system 34 and receive glue container 4 on glue manipulator 31 is received simultaneously, is enabled
It receives glue manipulator 31 and the glue in glue bowl is accurately poured into receipts glue container 4, glue bowl is then reversely put back to the receipts glue of each tree
On frame.Complete full wafer setting rubber forest receipts glue work after, Unmanned Systems 2 can auto-returned initial position, close system
System.What needs to be explained here is that colloid system automatic rubber tapping can be received using a kind of automatic rubber tapping based on Unmanned Systems, adopt
Glue is received with other devices；Alternatively, tapping rubber using other devices, glue system is received using a kind of automatic rubber tapping based on Unmanned Systems
System is automatic to receive glue.It can be seen that there is full-automatic completion, height using the automation of the invention that rubber tapping may be implemented and receive glue
The features such as effect.Meanwhile technology of the invention can spread over other economic trees.
Glue container 4 is received, glue container 4 is received and is installed on Unmanned Systems 2, receives one side that glue container 4 is located at mechanical arm 3.
After receiving glue, glue work need to only collect the latex for receiving glue container 4 on Unmanned Systems 2.In order to save the energy, receive
Glue container 4 is removably installed on Unmanned Systems 2, can not placed temporarily on Unmanned Systems 2 when rubber tapping and be received glue and hold
Device 4, when due-in glue, are placed again.
As shown in Figure 1 and Figure 2, the working principle of the invention specifically includes the following steps:
Step 101: building system: after a piece of rubber forest reaches and opens the standard of cutting, constructing Unmanned Systems 2 in advance, if
The rubber tapping range and travelling route of Unmanned Systems 2 have been set, mechanical arm 3 is installed on Unmanned Systems 2, mechanical arm 3 wraps
It includes and receives glue manipulator 31 and rubber tapping manipulator 32, receipts 31 front of glue manipulator, which is equipped with to take the photograph, receives glue as identifying system 34, and rubber tapping is mechanical
32 front of hand is equipped with rubber tapping imaging identification system 33.
Step 201: pre- rubber tapping: face planning being carried out by the rubber tapping counsellor or glue work of profession, before holding 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: determine and put glue bowl: instructing or control electric power starting when needing to tap rubber by mobile phone, it is unmanned
System 2 can move in a piece of rubber forest along rubber tree distributed areas, by receiving the receipts glue imaging identification system on glue manipulator 31
34 identification rubber tree of system, receives glue imaging identification system 34 when recognizing a rubber tree, can be in the trunk central location of the tree
Movement is temporarily ceased, further identification of then taking pictures acquires glue bowl parameter, and glue bowl parameter includes: that rubber tree position, glue bowl are put
Position, glue bowl placing direction, glue tongue position receives glue rack position, if collect do not have glue tongue, receive it is any in glue frame and glue bowl
It is one, then mobile to next tree, if the placing direction for collecting glue bowl is incorrect, instruction is issued to glue manipulator 31 is received,
It is well placed glue bowl, the instruction of sending includes: not tap rubber to next tree movement, be well placed glue bowl, starting rubber tapping manipulator 32.Cause
In a piece of rubber forest, it can not tap rubber temporarily because partial rubber tree not up to holds the standard of cutting or dead skin occurs, it can be by rubber tree
The mode for not installing glue tongue, glue bowl and receipts glue frame issues instruction of not tapping rubber to system.
Step 401: rubber tapping: when being judged to needing to tap rubber, rubber tapping manipulator 32 starts work.Cutting on rubber tapping manipulator 32
Glue imaging identification system 33 further takes pictures identification to the existing face of rubber tree, and rubber tapping imaging identification system 33 includes cutting
Glue parameter collection module, the information of rubber tapping parameter collection module acquisition include: that rubber tree position, rubber tapping initial position, secant are walked
To, rubber tapping depth, rubber tapping final position.Imaging identification system 33 according to acquisition information to rubber tapping manipulator 32 and thereon from
Dynamic tapping knife issues instruction, and rubber tapping manipulator 32 is by instruction requirement rubber tapping；Wherein, issuing instruction includes: rubber tree position, rubber tapping
Initial position, secant trend, rubber tapping depth, rubber tapping final position.It is moved automatically to next tree after having cut this tree, in repetition
State 301,401 step process.After the rubber forest for cutting complete slice setting, 2 correcting action of Unmanned Systems closes power supply.
Step 501: receiving glue: to after receiving the glue time, electric power starting is instructed or controlled again by mobile phone, receives glue imaging identification
System 34 includes receiving glue parameter collection module, and the information for receiving the acquisition of glue parameter collection module includes: rubber tree position, glue bowl position
It sets, receive glue container position, the information for receiving glue imaging identification system 34 according to acquisition issues receipts glue instruction to glue manipulator 31 is received.It is logical
It crosses the acquisition of receipts glue imaging identification system 34 and receives glue parameter information, receive glue parameter and include: rubber tree position, glue bowl position, receive glue appearance
4 position of device, the information for receiving glue imaging identification system 34 according to acquisition issue instruction to glue manipulator 31 is received, receive glue manipulator 31 and press
Instruction requires to receive glue；Wherein, the instruction of sending includes: the position of rubber tree, receives the position of glue frame, the initial position of glue bowl, glue
Bowl and distance, the duration for the bowl of falling glue for receiving glue container 4.Specifically, it receives glue imaging identification system 34 and is recognizing a rubber tree
When, movement is temporarily ceased in the trunk central location of the tree, then identifies the position of glue bowl, is referred to the sending of glue manipulator 31 is received
It enables, carries out receipts glue.Meanwhile the position received the identification of glue imaging identification system 34 and receive glue container 4 on glue manipulator 31 is received, it enables and receives glue
Glue in glue bowl is accurately poured into and receives glue container 4 by manipulator 31, 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, system is closed in 2 auto-returned initial position of Unmanned Systems；Glue work
The latex of the receipts glue container 4 on Unmanned Systems 2 need to only be collected.In order to save the energy, on Unmanned Systems 2
It can not temporarily be placed in rubber tapping and receive glue container 4, when due-in glue is placed again.
In conclusion using a kind of automatic rubber tapping receipts colloid system based on Unmanned Systems provided by the present invention, it can
To realize rubber tapping and receive the automation of glue, have the characteristics that full-automation is completed, is efficient.Meanwhile technology of the invention can expand
It opens up in other economic trees.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the present invention.
Claims (5)
1. a kind of automatic rubber tapping based on Unmanned Systems receives colloid system characterized by comprising
Unmanned Systems, the Unmanned Systems can travel on ground；
Mechanical arm, the mechanical arm are installed on the Unmanned Systems, and the mechanical arm includes rubber tapping manipulator, described to cut
Glue manipulator front is equipped with rubber tapping imaging identification system；
Glue container is received, the receipts glue container is removably mounted on the Unmanned Systems, and the receipts glue container is located at described
One side of mechanical arm；
The mechanical arm further includes receiving glue manipulator, and the receipts glue manipulator front, which is equipped with, receives glue imaging identification system；
The receipts glue imaging identification system includes glue wrist parameter collection module, the packet of the glue wrist parameter collection module acquisition
Include: glue rack position is received in position that rubber tree position, glue bowl are put, glue bowl placing direction, glue tongue position, if collecting no glue
Any one in tongue, receipts glue frame and glue bowl, then it is mobile to next tree, if the placing direction for collecting glue bowl is incorrect,
Instruction is issued to glue manipulator is received, after enabling receipts glue manipulator be well placed glue bowl, and issues enabled instruction to rubber tapping manipulator, it is described
Imaging identification system of tapping rubber includes rubber tapping parameter collection module, the rubber tapping parameter information packet of the rubber tapping parameter collection module acquisition
Include: rubber tree position, rubber tapping initial position, secant trend, rubber tapping depth and rubber tapping final position, rubber tapping imaging identification system according to
Rubber tapping instruction is issued to rubber tapping manipulator according to the information of acquisition.
2. a kind of automatic rubber tapping based on Unmanned Systems according to claim 1 receives colloid system, which is characterized in that institute
Stating and receiving glue imaging identification system further includes receiving glue parameter collection module, and the information for receiving the acquisition of glue parameter collection module includes:
Rubber tree position, glue bowl position, receipts glue container position, the information for receiving glue imaging identification system according to acquisition are sent out to glue manipulator is received
Glue instruction is received out.
3. a kind of automatic rubber tapping based on Unmanned Systems according to claim 1 receives colloid system, which is characterized in that institute
Stating rubber tapping instruction includes: rubber tree position, rubber tapping initial position, secant trend, rubber tapping depth, rubber tapping final position.
4. a kind of automatic rubber tapping based on Unmanned Systems according to claim 2 receives colloid system, which is characterized in that receive
Glue instruction includes: the position of rubber tree, receives the position of glue frame, the initial position of glue bowl, glue bowl and receive the distance of glue container, the glue that falls
The duration of bowl.
5. a kind of automatic rubber tapping based on Unmanned Systems according to any one of claims 1 to 4 receives colloid system, special
Sign is that the Unmanned Systems front end is equipped with push and block portion.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610123861.8A CN105766551B (en) | 2016-03-04 | 2016-03-04 | A kind of automatic rubber tapping receipts colloid system based on Unmanned Systems |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610123861.8A CN105766551B (en) | 2016-03-04 | 2016-03-04 | A kind of automatic rubber tapping receipts colloid system based on Unmanned Systems |
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| CN105766551A CN105766551A (en) | 2016-07-20 |
| CN105766551B true CN105766551B (en) | 2019-01-25 |
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Families Citing this family (5)
| 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 |
| 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 |
| 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 |
| CN110558196A (en) * | 2019-07-18 | 2019-12-13 | 北京理工华汇智能科技有限公司 | Rubber tapping robot |
| CN111296225B (en) * | 2020-02-27 | 2022-01-04 | 广州大学 | Intelligent operation system and method for rubber forest |
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