智能橡胶收集车的设计与实现

Design and Implementation of Intelligent Rubber Collection Vehicle

摘要: 针对传统橡胶采集劳动强度大、效率低、成本高等问题，本研究设计了一款智能橡胶收集车。该系统集成双目立体视觉技术、机械臂控制及自主导航系统，通过STM32F407IGH主控芯片实现橡胶树割胶过程的自动化与精准控制。研究内容涵盖履带式移动底盘设计、双目视觉引导的机械臂割胶轨迹规划、智能导航与数据监测系统开发。创新点在于采用双目视觉实时获取树干三维信息，结合高精度传感器实现割胶位置自动定位，以及履带式结构适应复杂地形。论文成果包括完成原理样机制造及关键技术验证，为天然橡胶产业的智能化升级提供技术支撑。

Abstract: Aiming at the problems of high labor intensity, low efficiency, and high cost in traditional rubber collection, this study designs an intelligent rubber collection vehicle. The system integrates binocular stereo vision technology, manipulator control, and autonomous navigation system, and realizes automatic and precise control of the tapping process of rubber trees through the STM32F407IGH main control chip. The research content includes the design of a tracked mobile chassis, manipulator tapping trajectory planning guided by binocular vision, and the development of an intelligent navigation and data monitoring system. The innovation lies in the use of binocular vision to real-time acquire three-dimensional information of tree trunks, combined with high-precision sensors to achieve automatic positioning of tapping positions, and a tracked structure to adapt to complex terrains. The achievements of the paper include the completion of prototype manufacturing and key technology verification, providing technical support for the intelligent upgrading of the natural rubber industry.