Design and Implementation of Location Algorithm for Rubber tapping robot

In recent years, new agricultural production methods and rapidly developing new technologies have promoted the development of agricultural equipment, giving birth to intelligent equipment and agricultural robots. Tapping robots have great advantages in improving rubber productivity. Aiming at the problem of robot-based navigation and positioning and rubber tree incision recognition, a set of SLAM system based on lidar is designed, which is mounted on the robot to realize navigation and positioning, and uses the combination of monocular and binocular cameras to identify the incision and realize the position of the cutter. In the design of system algorithms such as sensor data reading and motion control, the robot navigation adopts the optimized SLAM framework. The robot's position and direction are determined through the combination of the GPS positioning module and the IMU inertial navigation module, and the rubber tree positioning is realized through the A* algorithm. The incision recognition adopts the canny edge detection algorithm, color detection, artificial marking and other methods to realize the local positioning of the rubber tree rubber tapping cutter. Several comparative experiments were carried out in this paper. According to the analysis of the experimental results, it is verified that the system has achieved the expected goals, and has the characteristics of good accuracy and high real-time performance, which provides a reference for the research and application of robots in the field of rubber tapping.