CN112056173B - Rubber tapping track planning method and device, electronic equipment and storage medium - Google Patents
Rubber tapping track planning method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention provides a tapping trajectory planning method, a tapping trajectory planning device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring rubber surface parameters of a rubber tapping track and rubber tree parameters of the rubber tapping track; acquiring path points of the automatic tapping equipment in a trunk coordinate system based on the tapping surface parameters and a preset tapping surface mathematical model, and acquiring path points of the automatic tapping equipment in an automatic tapping equipment coordinate system based on the rubber tree parameters and a preset coordinate transformation matrix; and acquiring a tapping track of the automatic tapping equipment based on the path points of the automatic tapping equipment in the coordinate system of the automatic tapping equipment. The tapping track of the automatic tapping equipment is obtained by determining the tapping surface parameters and the rubber tree parameters of the tapping track, and the tapping surface mathematical model and the coordinate transformation matrix, so that the corresponding tapping track can be adjusted according to different rubber trees, the adaptability of the automatic tapping equipment is improved, and the cost of the automatic tapping equipment is reduced.
Description
Technical Field
The invention relates to the technical field of modern agricultural intelligent equipment, in particular to a tapping trajectory planning method and device, electronic equipment and a storage medium.
Background
Tapping is an important link in the production of natural rubber, and is generally manually finished by a rubber worker from 2 to 6 points in the morning, 300-500 rubber taps are produced every day, and the labor cost occupies 70-80% of the production cost of the natural rubber. The rubber tapping can not be automatically realized all the time because the rubber tree plantation has large land area and high rubber tapping technical requirements. In recent years, as the price of natural rubber continuously drops, the problems of loss of rubber workers and aging are increasingly serious, and the development of automatic rubber tapping equipment is urgently needed.
The current research is mainly focused on a portable electric tapping knife and a fixed automatic tapping machine, the portable tapping knife can reduce the labor intensity to a certain extent, but the current situation that a gluer needs to keep high concentration all the time in tapping operation, eyes are tightly focused on a cutting surface, and a body moves along with a cutter cannot be changed. The fixed rubber tapping machine still stays in the test stage, the rubber tapping effect is poor, one machine needs to be fixed for each tree, the manufacturing and maintenance cost is too high, and the natural rubber industry sensitive to the production cost is difficult to meet.
The rubber tapping track planning method in the existing automatic rubber tapping machine has the defects that the planned rubber tapping track is inflexible, and the corresponding rubber tapping track can not be adjusted by using one rubber tapping machine according to different rubber trees so as to realize mobile automatic rubber tapping.
Disclosure of Invention
The embodiment of the invention provides a tapping trajectory planning method, a tapping trajectory planning device, electronic equipment and a storage medium, which are used for solving the defects that a planned tapping trajectory is inflexible and cannot be adjusted according to different rubber trees by using one tapping machine so as to realize mobile automatic tapping, the corresponding tapping trajectories are adjusted according to different rubber trees, the adaptability of automatic tapping equipment is improved, and the cost of the automatic tapping equipment is reduced.
The embodiment of the invention provides a tapping trajectory planning method, which comprises the following steps:
acquiring rubber surface parameters of a rubber tapping track and rubber tree parameters of the rubber tapping track; the rubber surface parameters are used for representing parameters of a rubber surface mathematical model of the rubber tree under a trunk coordinate system, and the rubber tree parameters are used for converting the rubber surface mathematical model from the trunk coordinate system into a coordinate system of the automatic rubber tapping equipment;
acquiring path points of the automatic tapping equipment in a coordinate system of the automatic tapping equipment based on the tapping surface parameters and a preset tapping surface mathematical model;
and acquiring a tapping track of the automatic tapping equipment based on the rubber tree parameters and the path points of the automatic tapping equipment in the coordinate system of the automatic tapping equipment.
According to the tapping trajectory planning method provided by the embodiment of the invention, the obtaining of the path point of the automatic tapping equipment in the coordinate system of the automatic tapping equipment based on the tapping surface parameter and the preset tapping surface mathematical model specifically comprises the following steps:
acquiring path points of the automatic tapping equipment in a trunk coordinate system based on the tapping surface parameters and a preset tapping surface mathematical model;
and acquiring the path points of the automatic tapping equipment in the coordinate system of the automatic tapping equipment based on the path points of the automatic tapping equipment in the coordinate system of the trunk and a preset coordinate transformation matrix.
According to the tapping trajectory planning method provided by the embodiment of the invention, the obtaining of the path point of the automatic tapping equipment under the trunk coordinate system based on the tapping surface parameter and the preset tapping surface mathematical model specifically comprises the following steps:
acquiring a path of the automatic tapping equipment under a trunk coordinate system based on the tapping surface parameters and a preset tapping surface mathematical model;
and performing discrete processing on paths of the automatic tapping equipment in the trunk coordinate system to obtain path points of a preset number of equidistant automatic tapping equipment in the trunk coordinate system.
According to the tapping trajectory planning method of one embodiment of the present invention, the obtaining of the tapping trajectory of the automatic tapping device based on the rubber tree parameters and the path points of the automatic tapping device in the coordinate system of the automatic tapping device specifically includes:
based on the rubber tree parameters and path points of the automatic tapping equipment in an automatic tapping equipment coordinate system;
and acquiring the tapping track of the automatic tapping equipment based on the path point of the automatic tapping equipment in the coordinate system of the automatic tapping equipment and a Cartesian space time optimal track planning method and/or a Cartesian space energy optimal track planning method.
According to the tapping trajectory planning method provided by the embodiment of the invention, the tapping surface parameters comprise any one or combination of the following contents: the eversion angle of the rubber surface, the inclination of the secant, the radius of the trunk of the rubber tree, the depth value of the secant, the bark consumption and the height coordinate of the gesture known point on the secant.
According to the tapping trajectory planning method of an embodiment of the present invention, before obtaining a path point of the automatic tapping equipment in the coordinate system of the automatic tapping equipment based on the tapping surface parameter and the preset tapping surface mathematical model, the method further includes:
the automatic tapping equipment measures the compensation quantity of the tapping depth value in real time at the end effector;
acquiring a new tapping depth value based on the compensation quantity of the tapping depth value;
and replacing the original tapping depth value according to the new tapping depth value.
According to the tapping trajectory planning method provided by the embodiment of the invention, the rubber tree parameters comprise any one or combination of the following contents: the lateral roll angle of the trunk of the rubber tree, the pitch angle of the trunk of the rubber tree, the yaw angle of the trunk of the rubber tree and the space coordinates of the origin of the coordinate system of the trunk of the rubber tree under the coordinate system of the automatic tapping equipment.
The embodiment of the present invention further provides a tapping trajectory planning device, including:
the parameter acquisition module is used for acquiring rubber surface parameters of the rubber tapping track and rubber tree parameters of the rubber tapping track; the rubber surface parameters are used for representing parameters of a rubber surface mathematical model of the rubber tree under a trunk coordinate system, and the rubber tree parameters are used for converting the rubber surface mathematical model from the trunk coordinate system into a coordinate system of the automatic rubber tapping equipment;
the path point acquisition module is used for acquiring path points of the automatic tapping equipment in a coordinate system of the automatic tapping equipment based on the tapping surface parameters and a preset tapping surface mathematical model;
and the track acquisition module is used for acquiring the tapping track of the automatic tapping equipment based on the rubber tree parameters and the path points of the automatic tapping equipment under the coordinate system of the automatic tapping equipment.
The embodiment of the invention further provides electronic equipment, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the program to realize the steps of the tapping trajectory planning method.
An embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the tapping trajectory planning method according to any one of the above-mentioned embodiments.
According to the tapping trajectory planning method and device, the electronic device and the storage medium provided by the embodiment of the invention, the tapping trajectory of the automatic tapping device is obtained by determining the tapping surface parameter, the rubber tree parameter and the tapping surface mathematical model of the tapping trajectory, the corresponding tapping trajectory can be adjusted according to different rubber trees, the adaptability of the automatic tapping device is improved, and the cost of the automatic tapping device is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a tapping trajectory planning method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a mathematical model of a tapping surface in the tapping trajectory planning method according to the embodiment of the present invention;
fig. 3 is a schematic diagram illustrating an automatic tapping trajectory planning of an automatic tapping device in the tapping trajectory planning method according to the embodiment of the present invention;
fig. 4 is a schematic structural diagram of a tapping trajectory planning device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Reference numerals:
1: a trunk of the rubber tree; 2: a front waterline; 3: cutting the dough; 4: a rear waterline; 5: discharging the glue surface; 6: tapping (current tapping trajectory); 7: a planned tapping trajectory; 8: tapping depth; 9: the inclination of the cutting line; 10: the consumption of the skins; 11: starting a cutting point; 12: a middle cutting point; 13: a final cutting point; 14: a robotic arm.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a method for planning a tapping trajectory according to an embodiment of the present invention, and as shown in fig. 1, the process may specifically include:
101, acquiring rubber surface parameters of a rubber tapping track and rubber tree parameters of the rubber tapping track; the rubber surface parameters are used for representing parameters of a rubber surface mathematical model of the rubber tree under a trunk coordinate system, and the rubber tree parameters are used for converting the rubber surface mathematical model from the trunk coordinate system into a coordinate system of the automatic rubber tapping equipment;
specifically, firstly, rubber tapping surface parameters of a rubber tapping track and rubber tree parameters of the rubber tapping track need to be acquired; the rubber tapping surface parameter of the rubber tapping track is a parameter used for representing a rubber tapping surface mathematical model of the rubber tree under a trunk coordinate system, and the rubber tree parameter is a parameter used for converting the rubber tapping surface mathematical model from the trunk coordinate system into an automatic rubber tapping equipment coordinate system.
For example, fig. 2 is a schematic diagram of a mathematical model of a rubber surface in a tapping trajectory planning method according to an embodiment of the present invention, as shown in fig. 2, when tapping, a rubber cutter is used by a rubber tapping worker to cut bark along the surface of a trunk 1 of a rubber tree, and in order to make latex flow down smoothly, a slope 9 of a tapping line needs to be ensured to be 25 ° to 30 °. The rubber cutter can be regarded as a line segment, the surface of the rubber tree trunk 1 can be idealized into a cylindrical surface, then the rubber tapping operation can be described as a line segment doing spiral motion around a vertical axis, the line segment is always perpendicular to the axis, the formed rubber tapping surface 5 is a positive spiral surface, the rubber tapping line 6 is a cylindrical spiral line, and the rotation angles of the rubber tapping surface 5 and the rubber tapping line 6 are 180 degrees and are left-handed spirals.
Coordinate system of trunk 1 of rubber tree is O T X T Y T Z T The intersection point of the axis of the trunk 1 of the rubber tree and the horizontal section at the bottom of the trunk is the origin O of a coordinate system T The direction opposite to the cut surface 3 is X T The axis of the trunk 1 of the rubber tree is outward in the positive direction, and the direction from the front waterline 2 to the rear waterline 4 is Y T The positive direction of the axis is Z along the vertical upward direction of the axis of the trunk 1 of the rubber tree T The positive direction of the axis. Coordinate system of the rubber cutter, i.e. coordinate system of the tool, o t x t y t z t The point of the rubber knife is the origin o of the coordinate system t The direction of the advancing direction of the rubber knife is x t The positive direction of the axis, the direction of the rubber knife pointing to the axis of the trunk 1 of the rubber tree is z t Positive direction of axis, y t The axes are determined by the cartesian right-hand coordinate system rule.
For example, fig. 3 is a schematic diagram of an automatic tapping trajectory planning method for an automatic tapping device in the tapping trajectory planning method according to the embodiment of the present invention, and as shown in fig. 3, in order to make the tapping trajectory planning method more general, the present patent adopts a six-degree-of-freedom articulated robot arm 14 as the automatic tapping device. The mechanical arm 14 has a coordinate system of O M X M Y M Z M The point of intersection of the rotation axis of the joint 1 of the robot arm 14 and the mounting plane thereof is the origin O M And the rotation axis of the joint 1 is vertically upward Z M Positive axial direction, the direction of travel of the robot arm 14 being X M Positive direction of axis, Y M The axes are determined by the cartesian right-hand coordinate system rule.
The tapping parameter information which needs to be obtained offline in advance and needs to be measured online can be guided according to the tapping surface parameter of the tapping track and the rubber tree parameter of the tapping track, and reference is provided for the automatic tapping equipment information obtaining module.
102, acquiring path points of the automatic tapping equipment in a coordinate system of the automatic tapping equipment based on the tapping surface parameters and a preset tapping surface mathematical model;
specifically, based on the rubber surface parameters and a preset rubber surface mathematical model, path points of the automatic rubber tapping equipment in the automatic rubber tapping equipment coordinate system can be obtained. For forming the rubber surface 5, the rubber cutter needs to pass through all points on the secant 6 in a correct posture, namely the rubber surface 5 has requirements on the posture and the position of the rubber cutter, and therefore a 4 x 4 homogeneous coordinate transformation matrix is used as the preset rubber surface mathematical model.
The preset mathematical model of the glue outlet surface is as follows:
wherein the content of the first and second substances, T Rotat t is a 3 x 3 rotation matrix and is, T Trans t is a 3 x 1 translation matrix.
The path points of the automatic tapping equipment under the coordinate system of the automatic tapping equipment are obtained based on the tapping surface parameters and the preset tapping surface mathematical model, and conditions are created for further obtaining the tapping track of the automatic tapping equipment.
And 103, acquiring a tapping track of the automatic tapping equipment based on the rubber tree parameters and the path points of the automatic tapping equipment in the coordinate system of the automatic tapping equipment.
Specifically, based on the rubber tree parameters and path points of the automatic tapping equipment in the coordinate system of the automatic tapping equipment, the tapping track of the automatic tapping equipment is generated in real time by a planning method based on the optimal Cartesian space time and/or the optimal Cartesian space energy track. If the trunk attitude of the rubber tree with small change is not considered, namely the roll angle, the pitch angle and the yaw angle are ignored, the tapping track of the automatic tapping equipment can be directly planned under the automatic tapping equipment according to the rubber surface mathematical model principle.
According to the rubber tapping trajectory planning method provided by the embodiment of the invention, the rubber tapping trajectory of the automatic rubber tapping equipment is obtained by determining the rubber tapping surface parameter, the rubber tree parameter and the rubber tapping surface mathematical model of the rubber tapping trajectory, the corresponding rubber tapping trajectory can be adjusted according to different rubber trees, the adaptability of the automatic rubber tapping equipment is improved, and the cost of the automatic rubber tapping equipment is reduced.
Optionally, on the basis of the foregoing embodiments, the obtaining a path point of the automatic tapping equipment in the coordinate system of the automatic tapping equipment based on the tapping surface parameter and a preset tapping surface mathematical model specifically includes:
acquiring path points of the automatic tapping equipment in a trunk coordinate system based on the tapping surface parameters and a preset tapping surface mathematical model;
and acquiring the path points of the automatic tapping equipment in the coordinate system of the automatic tapping equipment based on the path points of the automatic tapping equipment in the coordinate system of the trunk and a preset coordinate transformation matrix.
Specifically, based on the rubber surface parameters and a preset rubber surface mathematical model, path points of the automatic rubber tapping equipment in the automatic rubber tapping equipment coordinate system can be obtained. For forming the rubber surface 5, the rubber cutter needs to pass through all points on the secant 6 in a correct posture, namely the rubber surface 5 has requirements on the posture and the position of the rubber cutter, and therefore a 4 x 4 homogeneous coordinate transformation matrix is used as the preset rubber surface mathematical model.
The preset mathematical model of the glue outlet surface is as follows:
wherein, the first and the second end of the pipe are connected with each other, T Rotat t is a 3 x 3 rotation matrix and is, T Trans t is a 3 x 1 translation matrix.
The embodiment of the invention adopts but is not limited to a rotation matrix obtained by a ZYZ rotation sequence:
T Rotat t (θ)＝R z (θ-90°)R y (η-90°)R z (γ-90°),0≤θ≤180°；
wherein R is y 、R z Are respectively wound around Y T 、Z T And (3) a rotation matrix of the shaft, wherein eta is a gum-tapping out-turning angle, gamma is a secant inclination 9, and theta is a path point discrete angle of the planned tapping track 7. Then, the origin of the coordinate system of the trunk 1 of the rubber tree after rotation is translated to coincide with the origin of the coordinate system of the tool, and the translation matrix is as follows:
wherein, T x 、T y 、T z Are respectively along X T 、Y T 、Z T The translation amount of the axis, R is the radius of the trunk 1 of the rubber tree, omega is the tapping depth 8, T Z s for the height coordinate of the starting point 11 under the coordinate of the trunk 1 of the rubber tree, the starting point 11 can also be replaced by a point determined by other poses on the cutting line, such as a middle cutting point 9 or a final cutting point 10. Before planning the tapping trajectory, only points on the current tapping trajectory (i.e. the tapping line 6) can be acquired.
According to different use conditions, the coordinate system can be established differently, and the rotating shaft, the rotating angle, the translation shaft and the translation distance are different, but the forward helicoid mathematical model of the patent is still applicable. Transforming the matrix according to coordinates T ξ t The formation of the glue-out surface is related to the following parameters according to the rotation matrix and the translation matrix: the eversion angle eta of the rubber surface, the inclination gamma of the secant, the radius R of the trunk of the rubber tree, the rubber tapping depth omega, the bark consumption delta and the known point of the attitude on the secant (such as a starting point P) s Middle cutting point P m And a final cutting point P e ) Height coordinate of T Z is the rubber surface parameter or the internal parameter of the rubber tapping track because the parameters are only related to the trunk of the rubber tree and the shape of the rubber tapping line.
For the path points and the preset coordinate transformation matrix based on the automatic tapping equipment in the trunk coordinate system, the path points of the automatic tapping equipment in the automatic tapping equipment coordinate system are obtained, and the preset coordinate transformation matrix is as follows:
the pose of the adhesive outlet surface 5 passes through the coordinate transformation matrix T ξ t The pose under the coordinate system of the trunk 1 of the rubber tree is converted, so that the pose under the coordinate system of the trunk 1 of the rubber tree only needs to be converted into the pose under the coordinate system of the trunk 1 of the rubber tree through the coordinate transformation matrix M ξ T Converted into the pose under the 14 coordinate system of the automatic tapping equipment and transformed into a matrix by rotation M Rotat T And translation transformation matrix composition M Trans T . In order to facilitate rubber tapping, the cut surfaces 3 of the same rubber forest are in the same direction, so the advancing direction of the mechanical arm 14 is the same as the Y direction of the trunk 1 of the rubber tree M The axial directions are approximately parallel, but the front waterline 2 and the rear waterline 4 distributed at 180 degrees exist around Z T Yaw angle theta of the shaft y . The trunk 1 of the rubber tree in the natural environment does not necessarily grow vertically, so the trunk exists around X T Roll angle theta of shaft r And the trunk 1 of the rubber tree may be inclined forwards or backwards and a winding Y exists T Pitch angle theta of shaft p . Thus, this patent does not intend to be limited to ZYX rotation sequences M ξ T The rotational transformation matrix is as follows:
M Rotat T ＝R z (θ y +90°)R y (θ p )R x (θ r )；
then translating the origin of the coordinate system of the mechanical arm 14 after rotation to coincide with the origin of the coordinate system of the trunk 1 of the rubber tree, wherein the translation matrix is as follows:
M Trans T ＝[T x T y T z ] T ＝[ M x T M y T M z T ] T ；
wherein the content of the first and second substances, M x T 、 M y T and M z T is the origin O of a coordinate system of a trunk 1 of the rubber tree T Spatial coordinates in the coordinate system of the robot 14. Transforming the matrix according to coordinates M ξ T The rotation matrix and the translation matrix can know that the rubber surface of the trunk 1 of the rubber tree in the coordinate system is related to the following parameters in the coordinate system of the automatic rubber tapping equipment: rubber (lip)Roll angle theta of rubber tree trunk r Angle of pitch theta p And yaw angle theta y And origin O of coordinate system of trunk of rubber tree T Space coordinates under the coordinate system of the automatic tapping equipment ( M x T , M y T , M z T ) Since the above parameters are related to the relative pose of the rubber tree trunk and the automated tapping apparatus, the rubber tree parameters or external parameters are referred to as tapping trajectories.
The rubber tapping track of the automatic rubber tapping equipment is obtained by determining the rubber tapping surface parameters, the rubber tree parameters and the rubber tapping surface mathematical model of the rubber tapping track, the corresponding rubber tapping track can be adjusted according to different rubber trees, the adaptability of the automatic rubber tapping equipment is improved, and the cost of the automatic rubber tapping equipment is reduced.
Optionally, on the basis of the foregoing embodiments, the obtaining a path point of the automatic tapping device in the trunk coordinate system based on the tapping surface parameter and the preset tapping surface mathematical model specifically includes:
acquiring a path of the automatic tapping equipment under a trunk coordinate system based on the tapping surface parameters and a preset tapping surface mathematical model;
and performing discrete processing on paths of the automatic tapping equipment under the trunk coordinate system to obtain a preset number of path points of the automatic tapping equipment at equal intervals under the trunk coordinate system.
Specifically, the path of the automatic tapping equipment in the trunk coordinate system is subjected to discrete processing, a preset number of path points of the automatic tapping equipment with equal intervals in the trunk coordinate system are obtained, and specifically, the path of the automatic tapping equipment in the trunk coordinate system is discretized into n path points with equal intervals through an angle (0-180 °) rotating around a rubber tree trunk.
The paths of the automatic tapping equipment under the trunk coordinate system are subjected to discrete processing to form path points of the automatic tapping equipment at equal intervals under the trunk coordinate system, so that the connection between tapping technical specifications and tapping track parameters is further facilitated, and the design of the automatic tapping equipment can be guided.
Optionally, on the basis of the foregoing embodiments, the obtaining a tapping trajectory of the automatic tapping apparatus based on the rubber tree parameter and a path point of the automatic tapping apparatus in a coordinate system of the automatic tapping apparatus specifically includes:
based on the rubber tree parameters and path points of the automatic tapping equipment in an automatic tapping equipment coordinate system;
and acquiring the tapping track of the automatic tapping equipment based on the path point of the automatic tapping equipment in the coordinate system of the automatic tapping equipment and a Cartesian space time optimal track planning method and/or a Cartesian space energy optimal track planning method.
In particular, the tapping trajectory path point can use a coordinate transformation matrix M ξ T And T ξ t the description is as follows:
transforming the matrix according to the coordinates by using the rubber tree parameters of the obtained tapping trajectory M ξ T And converting the path points under the trunk coordinate system into the coordinate system of the automatic tapping equipment, and then generating the tapping track of the automatic tapping equipment in real time based on a Cartesian space time optimal and/or Cartesian space energy optimal track planning method.
The trunk attitude of the rubber tree is slightly changed, and the roll angle theta of the trunk attitude is small r Angle of pitch theta p And yaw angle theta y Negligible, the tapping trajectory path points can be described as:
the tapping track of the automatic tapping equipment is obtained by a path point of the automatic tapping equipment in an automatic tapping equipment coordinate system and a Cartesian space time optimal track planning method and/or a Cartesian space energy optimal track planning method, the corresponding tapping track can be adjusted according to different rubber trees, the adaptability of the automatic tapping equipment is improved, and the cost of the automatic tapping equipment is reduced.
Optionally, on the basis of the foregoing embodiments, the glue discharging parameter includes any one or a combination of the following: the eversion angle of the rubber surface, the inclination of the secant, the radius of the trunk of the rubber tree, the depth value of the secant, the bark consumption and the height coordinate of the gesture known point on the secant.
Specifically, the glue outlet parameter, that is, the internal parameter in the embodiment of the present invention includes any one or a combination of the following: the eversion angle eta of the rubber surface, the inclination gamma of the secant, the radius R of the trunk of the rubber tree, the rubber tapping depth omega, the bark consumption delta and the known point of the attitude on the secant (such as a starting point P) s Middle cutting point P m And a final cutting point P e ) Height coordinate of T Z。
The method is favorable for further establishing the relation between the tapping technical specification and the tapping track parameters by acquiring the tapping surface parameters of the tapping track, and can guide the design of automatic tapping equipment.
Optionally, on the basis of the foregoing embodiments, before obtaining a path point of the automatic tapping apparatus in the automatic tapping apparatus coordinate system based on the tapping surface parameter and a preset tapping surface mathematical model, the method further includes:
the automatic tapping equipment measures the compensation quantity of the tapping depth value in real time at the end effector;
acquiring a new tapping depth value based on the compensation quantity of the tapping depth value;
and replacing the original tapping depth value according to the new tapping depth value.
Specifically, to the tapping depth value in the tapping surface parameter of the tapping track, because there may be a deviation in the measurement of the radius R of the trunk of the rubber tree and the tapping depth ω, even the automatic tapping device itself may have processing, assembly, motion errors, and the like, in order to satisfy the high-precision requirement of tapping on the tapping depth ω: 1.2-2.0 mm, the automatic tapping equipment needs to measure and feed back the compensation amount omega _ offset of tapping depth in real time at the end effector and needs to follow the formula omega _ offset new ω + ω _ offset; the new tapping depth omega new And replacing the original tapping depth omega to obtain a new path point.
The accuracy of the parameters is improved by constructing a new tapping depth value according to the compensation quantity of the tapping depth value and replacing the original tapping depth value with the new tapping depth value.
Optionally, on the basis of the foregoing embodiments, the rubber tree parameter includes any one or a combination of the following: the lateral roll angle of the trunk of the rubber tree, the pitch angle of the trunk of the rubber tree, the yaw angle of the trunk of the rubber tree and the space coordinates of the origin of the coordinate system of the trunk of the rubber tree under the coordinate system of the automatic tapping equipment.
Specifically, the rubber tree parameters include any one or a combination of the following: roll angle theta of trunk of rubber tree r Angle of pitch theta p And yaw angle theta y And origin O of coordinate system of trunk of rubber tree T Space coordinates under the coordinate system of the automatic tapping equipment ( M x T , M y T , M z T ). Since the above parameters are related to the relative pose of the rubber tree trunk and the automated tapping apparatus, the rubber tree parameters or external parameters are referred to as tapping trajectories.
The rubber tree parameters of the tapping track are obtained, so that the connection between the tapping technical specification and the tapping track parameters is further established, and the design of automatic tapping equipment can be guided.
Fig. 4 is a tapping trajectory planning device provided in an embodiment of the present invention, as shown in fig. 4, specifically including: a parameter obtaining module 401, configured to obtain rubber tapping surface parameters of a rubber tapping track and rubber tree parameters of the rubber tapping track; the rubber surface parameters are used for representing parameters of a rubber surface mathematical model of the rubber tree under a trunk coordinate system, and the rubber tree parameters are used for converting the rubber surface mathematical model from the trunk coordinate system into a coordinate system of the automatic rubber tapping equipment; a path point obtaining module 402, configured to obtain path points of the automatic tapping apparatus in a coordinate system of the automatic tapping apparatus based on the tapping surface parameters and a preset tapping surface mathematical model; a track obtaining module 403, configured to obtain a tapping track of the automatic tapping apparatus based on the rubber tree parameters and path points of the automatic tapping apparatus in an automatic tapping apparatus coordinate system.
Specifically, parameters of a rubber tapping surface of a rubber tapping track and parameters of a rubber tree of the rubber tapping track are obtained through a parameter obtaining module 401; the glue outlet surface parameters, that is, the internal parameters in the embodiment of the present invention include any one or a combination of the following: the eversion angle eta of the rubber surface, the inclination gamma of the secant, the radius R of the trunk of the rubber tree, the rubber tapping depth omega, the bark consumption delta and the known point of the attitude on the secant (such as a starting point P) s Middle cutting point P m And a final cutting point P e ) Height coordinate of T Z; the rubber tree parameters include any one or combination of the following: roll angle theta of trunk of rubber tree r Angle of pitch theta r And yaw angle theta y And origin O of coordinate system of trunk of rubber tree T Space coordinates under the coordinate system of the automatic tapping equipment ( M x T , M y T , M z T )。
And finally, a rubber tapping track of the automatic rubber tapping equipment is obtained through a track obtaining module 403 based on the rubber tree parameters and the path points of the automatic rubber tapping equipment in the coordinate system of the automatic rubber tapping equipment.
The rubber tapping surface parameters and the rubber tree parameters of the rubber tapping track and the rubber tapping surface mathematical model are determined by the parameter obtaining module 401, the rubber tapping track of the automatic rubber tapping equipment is obtained by the track obtaining module 403, the corresponding rubber tapping track can be adjusted according to different rubber trees, the adaptability of the automatic rubber tapping equipment is improved, and the cost of the automatic rubber tapping equipment is reduced.
Fig. 5 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 5: a processor (processor)810, a communication Interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication Interface 820 and the memory 830 communicate with each other via the communication bus 840. The processor 810 may invoke logic instructions in the memory 830 to perform a tapping trajectory planning method comprising: acquiring rubber surface parameters of a rubber tapping track and rubber tree parameters of the rubber tapping track; the rubber tapping surface parameters are used for representing parameters of a rubber tapping surface mathematical model of the rubber tree under a trunk coordinate system, and the rubber tree parameters are used for converting the rubber tapping surface mathematical model into a coordinate system of automatic rubber tapping equipment from the trunk coordinate system; acquiring path points of the automatic tapping equipment in a coordinate system of the automatic tapping equipment based on the tapping surface parameters and a preset tapping surface mathematical model; and acquiring a tapping track of the automatic tapping equipment based on the rubber tree parameters and the path points of the automatic tapping equipment in the coordinate system of the automatic tapping equipment.
In addition, the logic instructions in the memory 830 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, an embodiment of the present invention further provides a computer program product, where the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by a computer, the computer can execute a method for rubber tapping trajectory planning provided by the above-mentioned method embodiments, where the method includes: acquiring rubber surface parameters of a rubber tapping track and rubber tree parameters of the rubber tapping track; the rubber surface parameters are used for representing parameters of a rubber surface mathematical model of the rubber tree under a trunk coordinate system, and the rubber tree parameters are used for converting the rubber surface mathematical model from the trunk coordinate system into a coordinate system of the automatic rubber tapping equipment; acquiring path points of the automatic tapping equipment in a coordinate system of the automatic tapping equipment based on the tapping surface parameters and a preset tapping surface mathematical model; and acquiring a tapping track of the automatic tapping equipment based on the rubber tree parameters and the path points of the automatic tapping equipment in the coordinate system of the automatic tapping equipment.
In another aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented by a processor to perform the tapping trajectory planning method provided in the foregoing embodiments, and the method includes: acquiring rubber surface parameters of a rubber tapping track and rubber tree parameters of the rubber tapping track; the rubber surface parameters are used for representing parameters of a rubber surface mathematical model of the rubber tree under a trunk coordinate system, and the rubber tree parameters are used for converting the rubber surface mathematical model from the trunk coordinate system into a coordinate system of the automatic rubber tapping equipment; acquiring path points of the automatic tapping equipment in a coordinate system of the automatic tapping equipment based on the tapping surface parameters and a preset tapping surface mathematical model; and acquiring a tapping track of the automatic tapping equipment based on the rubber tree parameters and the path points of the automatic tapping equipment in the coordinate system of the automatic tapping equipment.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. A tapping trajectory planning method is characterized by comprising the following steps:
acquiring rubber surface parameters of a rubber tapping track and rubber tree parameters of the rubber tapping track; the rubber surface parameters are used for representing parameters of a rubber surface mathematical model of the rubber tree under a trunk coordinate system, and the rubber tree parameters are used for converting the rubber surface mathematical model from the trunk coordinate system into a coordinate system of the automatic rubber tapping equipment;
acquiring path points of the automatic tapping equipment in a coordinate system of the automatic tapping equipment based on the tapping surface parameters and a preset tapping surface mathematical model;
acquiring a tapping track of the automatic tapping equipment based on the rubber tree parameters and path points of the automatic tapping equipment in a coordinate system of the automatic tapping equipment;
based on go out the rubber surface parameter and preset play rubber surface mathematical model, obtain the path point of automatic tapping equipment under automatic tapping equipment coordinate system, specifically include:
acquiring path points of the automatic tapping equipment in a trunk coordinate system based on the tapping surface parameters and a preset tapping surface mathematical model;
acquiring path points of the automatic tapping equipment in the coordinate system of the automatic tapping equipment based on the path points of the automatic tapping equipment in the coordinate system of the trunk and a preset coordinate transformation matrix;
the acquiring of the tapping track of the automatic tapping equipment based on the rubber tree parameters and the path points of the automatic tapping equipment in the coordinate system of the automatic tapping equipment specifically comprises:
based on the rubber tree parameters and the path points of the automatic tapping equipment in an automatic tapping equipment coordinate system;
acquiring a tapping track of the automatic tapping equipment based on a path point of the automatic tapping equipment in a coordinate system of the automatic tapping equipment and a Cartesian space-time optimal track planning method and/or a Cartesian space-energy optimal track planning method;
wherein, the glue surface parameters comprise: the eversion angle of the rubber outlet surface, the inclination of the secant, the radius of the trunk of the rubber tree, the depth value of the secant, the bark consumption and the height coordinate of the gesture known point on the secant;
the glue outlet surface mathematical model is composed of a translation matrix and a rotation matrix which are established based on glue outlet surface parameters;
the rotation matrix is established based on the rubber surface eversion angle, the secant slope and a gesture known point on the secant, and the translation matrix is established based on the secant slope, the trunk radius of the rubber tree, the tapping depth value, the bark consumption and a height coordinate of the gesture known point on the secant;
the rubber tree parameters include: the method comprises the following steps of (1) obtaining a roll angle of a trunk of a rubber tree, a pitch angle of the trunk of the rubber tree, a yaw angle of the trunk of the rubber tree, and a space coordinate of an origin of a trunk coordinate system of the rubber tree under a coordinate system of automatic tapping equipment;
the coordinate transformation matrix is established based on the rubber tree parameters.
2. The tapping trajectory planning method according to claim 1, wherein the obtaining of the path points of the automatic tapping device in the trunk coordinate system based on the tapping surface parameters and a preset tapping surface mathematical model specifically comprises:
acquiring a path of the automatic tapping equipment under a trunk coordinate system based on the tapping surface parameters and a preset tapping surface mathematical model;
and performing discrete processing on paths of the automatic tapping equipment in the trunk coordinate system to obtain path points of a preset number of equidistant automatic tapping equipment in the trunk coordinate system.
3. The tapping trajectory planning method according to claim 1, wherein before obtaining a path point of the automatic tapping equipment in a coordinate system of the automatic tapping equipment based on the tapping surface parameter and a preset tapping surface mathematical model, the method further comprises:
the automatic tapping equipment measures the compensation quantity of the tapping depth value in real time at the end effector;
acquiring a new tapping depth value based on the compensation quantity of the tapping depth value;
and replacing the original tapping depth value according to the new tapping depth value.
4. A tapping trajectory planning device is characterized by comprising:
the parameter acquisition module is used for acquiring rubber surface parameters of the rubber tapping track and rubber tree parameters of the rubber tapping track; the rubber surface parameters are used for representing parameters of a rubber surface mathematical model of the rubber tree under a trunk coordinate system, and the rubber tree parameters are used for converting the rubber surface mathematical model from the trunk coordinate system into a coordinate system of the automatic rubber tapping equipment;
the path point acquisition module is used for acquiring path points of the automatic tapping equipment in a coordinate system of the automatic tapping equipment based on the tapping surface parameters and a preset tapping surface mathematical model;
the track acquisition module is used for acquiring a tapping track of the automatic tapping equipment based on the rubber tree parameters and the path points of the automatic tapping equipment in the coordinate system of the automatic tapping equipment;
the path point acquisition module is specifically used for acquiring path points of the automatic tapping equipment in a trunk coordinate system based on the tapping surface parameters and a preset tapping surface mathematical model;
acquiring path points of the automatic tapping equipment in the coordinate system of the automatic tapping equipment based on the path points of the automatic tapping equipment in the coordinate system of the trunk and a preset coordinate transformation matrix;
the track acquisition module is specifically used for acquiring the track points of the rubber tapping equipment in the automatic tapping equipment coordinate system based on the rubber tree parameters;
acquiring a tapping track of the automatic tapping equipment based on a path point of the automatic tapping equipment in a coordinate system of the automatic tapping equipment and a Cartesian space-time optimal track planning method and/or a Cartesian space-energy optimal track planning method;
wherein, the glue surface parameters comprise: the eversion angle of the rubber outlet surface, the inclination of the secant, the radius of the trunk of the rubber tree, the depth value of the secant, the bark consumption and the height coordinate of the gesture known point on the secant;
the glue outlet surface mathematical model is composed of a translation matrix and a rotation matrix which are established based on glue outlet surface parameters;
the rotation matrix is established based on the rubber surface eversion angle, the secant slope and a gesture known point on the secant, and the translation matrix is established based on the secant slope, the trunk radius of the rubber tree, the tapping depth value, the bark consumption and a height coordinate of the gesture known point on the secant;
the rubber tree parameters include: the method comprises the following steps of (1) obtaining a roll angle of a trunk of a rubber tree, a pitch angle of the trunk of the rubber tree, a yaw angle of the trunk of the rubber tree, and a space coordinate of an origin of a trunk coordinate system of the rubber tree under a coordinate system of automatic tapping equipment;
the coordinate transformation matrix is established based on the rubber tree parameters.
5. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of a tapping trajectory planning method according to any one of claims 1 to 3 when executing the program.
6. A non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of a tapping trajectory planning method according to any one of claims 1 to 3.
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