摘要
为实现橡胶树自动化割胶,针对目前人工割胶劳动强度大、技术要求高、作业效率低等问题,设计了基于激光测距的三坐标联动割胶装置。自动化割胶装置由三坐标平台、振动割刀及激光测距传感器组成,其工作方式以人工割线及已割面作为参考,通过激光测距实现非接触式橡胶树干已割面仿形,从而保证割胶深度与人工割胶一致。通过控制三坐标平台联动,实现割刀按激光测定的空间曲线路径运动,割刀作直线往复动作切割树皮;通过矩形运动路径,实现参考割线起始点位置及倾斜度检测,在此基础上设计了沿割线倾斜方向对已割区域进行激光测距的运动路径,实现已割面深度信息的离散采集,整合参考割线位置信息和已割面深度信息,规划出新的切割路径;进行了深度信息激光测量点数优化,当目标路径沿割胶运动坐标系中X方向长度为80 mm时,进刀深度信息测量点数为17比较合理。采用单轴定位精度为±0. 05 mm的三坐标平台、测量精度为0. 07 mm的激光测距传感器进行了割胶试验,并通过割胶深度和耗皮量评价实际割胶效果。试验结果表明,在耗皮量设定为1. 0 mm、连续进行15次割胶操作的情况下,割胶深度控制良好,未出现伤树现象,耗皮量控制误差为5%,满足割胶要求。
As manual rubber tapping is a labor-intensive work with high technical requirement and low work efficiency,it is important to realize automatic rubber tapping.A three-coordinate linkage rubber tapping device was designed and tested,and a motion path planning method based on short tapping cut was proposed.The tapping device was composed of three main modules,which were three-coordinate platform(positioning accuracy of single axis was±0.05 mm),a vibrating cutter and a laser ranging sensor(measurement accuracy was 0.07 mm).In order to control cutting depth,laser ranging was used to measure the distance between the knifepoint of vibrating cutter and the reference surface curved by skilled tapper.Based on the measurement,a spatial path was planned for three-coordinate platform simultaneously.During rubber tapping,vibrating knife cut off the bark of rubber tree continuously through the path by controlling three-coordinate platform.Therefore,the motion path planning method of the tapping device could be summarized as:detecting the start point and inclination of short tapping cut through a rectangle motion path;measuring the cutting depth through a discrete motion path;planning cutting path fused the information of tapping cut and cutting depth.Furthermore,the number of control points to approximate the short tapping cut was optimized.In the X direction of the tapping motion coordinate system,the length of short tapping cut was intercepted as 80 mm,and the reasonable number of control points was calculated as 17.Moreover,the tapping device was tested on real rubber tree trunk,and the working performance was evaluated by measuring cutting depth and bark consumption.Test results showed that the cutting depth was well controlled with no damage on rubber tree and the error of bark consumption was about 5%,which could meet the requirements of natural rubber tapping requirement.
作者
张春龙
李德程
张顺路
税勇
谭豫之
李伟
ZHANG Chunlong;LI Decheng;ZHANG Shunlu;SHUI Yong;TAN Yuzhi;LI Wei(College of Engineering, China Agricultural University, Beijing 100083, China)
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2019年第3期121-127,共7页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家重点研发计划项目(2016YFD0701501)
国家自然科学基金项目(31601217)
关键词
橡胶树
割胶装置
三坐标联动
激光测距
rubber tree
rubber tapping device
three-coordinate linkage
laser ranging
