阅读说明：本技术 一种基于割胶机械臂的割胶方法及系统 (Tapping method and system based on tapping mechanical arm ) 是由 张伟民 孙尧 周谊轩 胡学海 于 2019-10-12 设计创作，主要内容包括：本发明公开了一种基于割胶机械臂的割胶方法及系统。所述割胶方法包括：利用深度相机,获取橡胶树上的标签及标签位置；所述标签为编号信息；根据所述标签位置,控制所述割胶机械臂运动到割胶位置；在所述割胶位置处,利用所述深度相机提取橡胶树上刀痕坐标；根据所述刀痕坐标以及所述标签构建切割轨迹；根据所述切割轨迹进行割胶。采用本发明所提供的割胶方法及系统能够降低人工割胶的劳动强度以及提高割胶生产率。(The invention discloses a tapping method and a tapping system based on a tapping mechanical arm. The tapping method comprises the following steps: acquiring a label and a label position on the rubber tree by using a depth camera; the label is number information; controlling the rubber tapping mechanical arm to move to a rubber tapping position according to the label position; extracting the coordinates of tool marks on the rubber tree at the tapping position by using the depth camera; constructing a cutting track according to the cutter mark coordinates and the label; and tapping according to the cutting track. The tapping method and the tapping system provided by the invention can reduce the labor intensity of manual tapping and improve the tapping productivity.)

1. A tapping method based on a tapping mechanical arm is characterized by comprising the following steps:

acquiring a label and a label position on the rubber tree by using a depth camera; the label is number information;

controlling the rubber tapping mechanical arm to move to a rubber tapping position according to the label position;

extracting the coordinates of tool marks on the rubber tree at the tapping position by using the depth camera;

constructing a cutting track according to the cutter mark coordinates and the label;

and tapping according to the cutting track.

2. The tapping method based on the tapping mechanical arm as claimed in claim 1, wherein the controlling the tapping mechanical arm to move to the tapping position according to the label position specifically comprises:

according to the label position, resolving and determining the rotation angle of each joint of the rubber tapping mechanical arm by utilizing inverse kinematics;

and controlling the tapping mechanical arm to move to the tapping position according to the rotation angle.

3. The tapping method based on the tapping mechanical arm as claimed in claim 1, wherein the extracting of the coordinates of the tool marks on the rubber tree by using the depth camera at the tapping position specifically comprises:

and extracting the coordinates of the cutter marks on the rubber tree at the rubber tapping position by utilizing a cutter mark identification algorithm.

4. The tapping method based on tapping mechanical arm as claimed in claim 3, wherein after extracting the coordinates of the cutting mark on the rubber tree by using the cutting mark recognition algorithm at the tapping position, the tapping method further comprises:

and correcting the tool mark coordinate by using the label and the depth camera, and determining the corrected tool mark coordinate.

5. The utility model provides a tapping system based on tapping arm which characterized in that includes:

the label and label position acquisition module is used for acquiring a label and a label position on the rubber tree by using the depth camera; the label is number information;

the moving module is used for controlling the rubber tapping mechanical arm to move to a rubber tapping position according to the label position;

the cutter mark coordinate extraction module is used for extracting the cutter mark coordinate on the rubber tree at the rubber tapping position by using the depth camera;

the cutting track building module is used for building a cutting track according to the tool mark coordinates and the label;

and the tapping module is used for tapping according to the cutting track.

6. The tapping system based on tapping mechanical arm of claim 5, wherein the motion module comprises:

the rotation angle determining unit is used for resolving and determining the rotation angle of each joint of the rubber tapping mechanical arm by utilizing inverse kinematics according to the position of the label;

and the moving unit is used for controlling the rubber tapping mechanical arm to move to a rubber tapping position according to the rotating angle.

7. The tapping system based on tapping mechanical arm of claim 5, wherein the tool mark coordinate extraction module specifically comprises:

and the cutter mark coordinate extraction unit is used for extracting the cutter mark coordinates on the rubber tree at the rubber tapping position by utilizing a cutter mark recognition algorithm.

8. The tapping system based on tapping robot arm of claim 7, further comprising:

and the tool mark coordinate extracting subunit is used for correcting the tool mark coordinate by using the label and the depth camera and determining the corrected tool mark coordinate.

Technical Field

The invention relates to the field of automatic tapping, in particular to a tapping method and a tapping system based on a tapping mechanical arm.

Background

Rubber tapping is the most important link in rubber production, rubber tapping refers to the step of cutting the outer skin and the phloem of a rubber tree to enable latex to flow out, rubber tapping of the rubber tree is as long as 30-40 years, and the labor investment of rubber tapping accounts for more than 60% of the total labor investment of the whole rubber production. The quality of the tapping technology and the tapping system not only influences the yield of the rubber trees, but also influences the rubber production life of the rubber trees; meanwhile, the yield of the rubber trees is closely related to the temperature, the humidity and the illumination in the field environment, rubber tapping is usually performed in the morning in order to ensure the rubber yield, and the rubber tapping shortage is a new normality for the development of the whole natural rubber industry due to the heavy physical strength and the severe working environment, so that the development of the natural rubber is severely restricted, the labor intensity of manual rubber tapping is high, and the rubber tapping productivity is low.

Disclosure of Invention

The invention aims to provide a tapping method and a tapping system based on a tapping mechanical arm, which aim to solve the problems of high labor intensity and low tapping productivity of the existing manual tapping.

In order to achieve the purpose, the invention provides the following scheme:

a tapping method based on a tapping mechanical arm comprises the following steps:

acquiring a label and a label position on the rubber tree by using a depth camera; the label is number information;

controlling the rubber tapping mechanical arm to move to a rubber tapping position according to the label position;

extracting the coordinates of tool marks on the rubber tree at the tapping position by using the depth camera;

constructing a cutting track according to the cutter mark coordinates and the label;

and tapping according to the cutting track.

Optionally, the controlling the tapping mechanical arm to move to the tapping position according to the label position specifically includes:

according to the label position, resolving and determining the rotation angle of each joint of the rubber tapping mechanical arm by utilizing inverse kinematics;

and controlling the tapping mechanical arm to move to a tapping position according to the rotation angle.

Optionally, the extracting, at the tapping position, the coordinates of the tool marks on the rubber tree by using a depth camera specifically includes:

and extracting the coordinates of the cutter marks on the rubber tree at the rubber tapping position by utilizing a cutter mark identification algorithm.

Optionally, after extracting the coordinates of the tool marks on the rubber tree at the tapping position by using a tool mark recognition algorithm, the method further includes:

and correcting the tool mark coordinate by using the label and the depth camera, and determining the corrected tool mark coordinate.

A tapping system based on tapping mechanical arm comprises:

the label and label position acquisition module is used for acquiring a label and a label position on the rubber tree by using the depth camera; the label is number information;

the moving module is used for controlling the rubber tapping mechanical arm to move to a rubber tapping position according to the label position;

the cutter mark coordinate extraction module is used for extracting the cutter mark coordinate on the rubber tree at the rubber tapping position by using the depth camera;

the cutting track building module is used for building a cutting track according to the tool mark coordinates and the label;

and the tapping module is used for tapping according to the cutting track.

Optionally, the motion module specifically includes:

the rotation angle determining unit is used for resolving and determining the rotation angle of each joint of the rubber tapping mechanical arm by utilizing inverse kinematics according to the position of the label;

and the moving unit is used for controlling the rubber tapping mechanical arm to move to a rubber tapping position according to the rotating angle.

Optionally, the tool mark coordinate extracting module specifically includes:

and the cutter mark coordinate extraction unit is used for extracting the cutter mark coordinates on the rubber tree at the rubber tapping position by utilizing a cutter mark recognition algorithm.

Optionally, the method further includes:

and the tool mark coordinate extracting subunit is used for correcting the tool mark coordinate by using the label and the depth camera and determining the corrected tool mark coordinate.

According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the invention provides a tapping method and a tapping system based on a tapping mechanical arm, wherein the tapping mechanical arm is controlled to move to a specified position according to a label pasting position, and different tapping requirements can be met only by pasting labels as required without other changes; meanwhile, the depth camera is used for detecting the tool marks, so that the cutting requirements of trees in different states can be met, and the productivity of tapping labor is effectively improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

FIG. 1 is a flow chart of a tapping method based on a tapping mechanical arm provided by the invention;

FIG. 2 is a schematic diagram of a motion track of a tapping mechanical arm provided by the present invention;

FIG. 3 is a schematic diagram of a projection relationship provided by the present invention;

FIG. 4 is a structural diagram of a tapping system based on a tapping mechanical arm provided by the invention.

Detailed Description

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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.

The invention aims to provide a tapping method and a tapping system based on a tapping mechanical arm, which can reduce the labor intensity of manual tapping and improve the tapping productivity.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

Fig. 1 is a flowchart of a tapping method based on a tapping mechanical arm, and as shown in fig. 1, the tapping method based on the tapping mechanical arm includes:

step 101: acquiring a label and a label position on the rubber tree by using a depth camera; the label is number information.

The depth camera collects color images in real time, and the computer quickly and accurately identifies the position of the label according to the images and calculates the pose of the label relative to the camera; the label used in the invention is an AprilTag label, which is an open-source artificial characteristic developed by april laboratories; the april laboratory also provides a pose resolving method, and the pose resolving precision is extremely high and is about 0.1mm level.

Step 102: controlling the rubber tapping mechanical arm to move to a rubber tapping position according to the label position; and a depth camera is arranged on the tapping mechanical arm.

Servoing a depth camera mounted on a robotic arm to a specified pose (e.g., 40cm forward) relative to a label, this motion control process can be described as follows:

the mechanical arm is servo-controlled by signals (1) the rotation angle of each joint of the mechanical arm, and the pose of the end operator relative to the base is expressed by positive kinematics (xi)_E) (ii) a 2. Relative pose of designation (end of movement, pose relative to tag as 40cm directly in front of tag)

3. Pose transformation relation between end operator and camera4. Pose relationship of tag relative to camera

As shown in fig. 2.

To move the camera to a specified pose relative to the tag, it can be essentially concluded that moving the tip to a corresponding pose can be used

This pose can be calculated from the four signals mentioned above according to the following formula:

the pose is calculated by the computer according to inverse kinematics as the rotation angle of each joint, so that the mechanical arm can conveniently execute the pose.

Step 103: and extracting the coordinates of the tool marks on the rubber tree at the tapping position by using the depth camera.

After the depth camera reaches the designated position, continuously acquiring a color image of the tool mark; and extracting the two-dimensional pixel coordinates of all pixel points forming the cutter mark by the computer according to the image by using a cutter mark identification algorithm.

The method for identifying the tool marks comprises the following steps:

1. and (5) carrying out binarization on the image by using a color threshold segmentation method.

2. And carrying out radon transformation on the obtained binary image to find a vertical tool mark and an oblique tool mark, and taking the intersection point of the two straight lines as the rough starting point position.

3. And refining the starting point position by using edge detection.

4. And extracting the oblique tool mark, namely the final tool mark, by using an image morphology method according to the starting tool point position and the slope of the oblique tool mark.

Step 104: and constructing a cutting track according to the cutter mark coordinates and the label.

And reading depth data measured by a depth camera according to the extracted two-dimensional pixel coordinates and the projection relation to obtain a series of three-dimensional coordinates of the tool marks. The projection relation is mathematical description of the imaging process of the light reflected by the three-dimensional object on the two-dimensional plane through the lens; omitting the formula derivation, the pixel coordinates of a point in the available picture and its position in three-dimensional space (three-dimensional coordinates) can be written as:

where u, v are pixel coordinates, f is the focal length of the camera lens, dx, dy are the camera pixel sizes, and u₀，v₀Referring to the initial coordinates of the pixel plane, R, t represent the rotation and position of the camera in the world coordinate system, x_w，y_w，z_wAre three-dimensional coordinates.

Wherein except z_wBesides, other data are known, the data can be obtained by reading the depth data of the depth camera, and the three-dimensional coordinate can be obtained by solving the equation.

And (4) correcting the depth value in the three-dimensional coordinate acquired in the step (4) according to the real-time measured pose of the label relative to the camera, and constructing a cutting track of the tail end (cutting tool) of the mechanical arm by using the corrected three-dimensional coordinate value.

The correction process can be briefly described as follows:

the method comprises the steps of obtaining the depth by using two methods of tag resolving pose and depth camera reading, wherein the accuracy of the tag resolving pose is higher than the measurement accuracy of the depth camera.

Therefore, the pixel distance (Δ p) between the label center and the origin point can be obtained from the camera movement distance and the origin point pixel coordinate, the projection distance (Δ D) of the three-dimensional object distance on the two-dimensional plane is determined according to the projection relationship, and the average value of the depth value (D) and the depth value read by the depth camera is the corrected depth value, as shown in fig. 3.

Step 105: and tapping according to the cutting track.

And the rubber tapping mechanical arm completes the rubber tapping task according to the cutting track.

Fig. 4 is a structural diagram of a tapping system based on a tapping mechanical arm, and as shown in fig. 4, a tapping system based on a tapping mechanical arm includes:

a tag and tag position acquiring module 401, configured to acquire a tag and a tag position on the rubber tree by using a depth camera; the label is number information.

A moving module 402, configured to control the tapping mechanical arm to move to a tapping position according to the label position; and a depth camera is arranged on the tapping mechanical arm.

The motion module 402 specifically includes: the rotation angle determining unit is used for resolving and determining the rotation angle of each joint of the rubber tapping mechanical arm by utilizing inverse kinematics according to the position of the label; and the moving unit is used for controlling the rubber tapping mechanical arm to move to a rubber tapping position according to the rotating angle.

And a tool mark coordinate extracting module 403, configured to extract, at the rubber tapping position, a tool mark coordinate on the rubber tree by using the depth camera.

The tool mark coordinate extracting module 403 specifically includes: and the cutter mark coordinate extraction unit is used for extracting the cutter mark coordinates on the rubber tree at the rubber tapping position by utilizing a cutter mark recognition algorithm.

And a cutting track building module 404, configured to build a cutting track according to the tool mark coordinates and the label.

And a tapping module 405, configured to perform tapping according to the cutting trajectory.

The invention also includes: and the tool mark coordinate extracting subunit is used for correcting the tool mark coordinate by using the label and the depth camera and determining the corrected tool mark coordinate.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.

The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.