Abstract
A robotic technology consisting of an industrial robot mounted on an autonomous rover used to tap slash pine trees and collect their oleoresin for processing is introduced, and the technological challenges related to the robotic operations are discussed in detail. Unlike the case of industrial automated manufacturing systems where the relative position between the tool and workpiece can be controlled within a few hundredths of a millimeter accuracy, when used in highly unstructured environments characteristic to forestry or agriculture, the positioning accuracy between the industrial robot and the target on which it operates can be much lower than the accuracy required for the operation of the industrial robot. The paper focuses on presenting the robotic operations necessary for drilling three converging boreholes in the pine tree, spraying the boreholes with chemicals, inserting a plastic tube with pre-attached collection bag in one borehole and inserting two plugs in other two boreholes. The challenges related to performing these robotic operations in conditions of large variations in the actual shape of the pine tree trunk and variations in the relative position between the robot and the pine tree after the autonomous vehicle positions itself in front of the tree are presented. The technical solutions used to address these challenges are also described. The strategies used to programmatically adjust the robot toolpath based on detection of the borehole entry points and on the measurement of the insertion force are presented.
Highlights
Industrial automated manufacturing systems using computer numerical control (CNC)machines and industrial robots are structured environments in which the relative position between the tool performing the manufacturing operation and the workpiece can be commonly controlled within a few hundredths of a millimeter accuracy
Thisinpaper demonstrates for the first time the feasibility of the operations required This paper demonstrates for the first time the feasibility of themethod operations fora for tapping pine trees by an industrial robot using the borehole and required represents tapping pine trees by an industrial robot using the borehole method and represents a first first step in demonstrating the fully autonomous harvesting process
While trivial to human operators, there are significant challenges when executing the operations required for tapping slash pine trees by an industrial robot
Summary
Industrial automated manufacturing systems using computer numerical control (CNC). machines and industrial robots are structured environments in which the relative position between the tool performing the manufacturing operation and the workpiece can be commonly controlled within a few hundredths of a millimeter accuracy. The robotic operation cycle includes loading the spindle from the spindle from the tool stand and drilling three converging boreholes in the pine tree at tool stand and drilling three converging boreholes in the pine tree at angles that allow angles that allow the flow of oleoresin due to gravity; replacing the spindle with a nozzle the flow of oleoresin due to gravity; replacing the spindle with a nozzle and spraying the and spraying boreholes with resinchemicals flow stimulating chemicals and insecticide; boreholes withthe resin flow stimulating and insecticide; replacing the nozzlereplacwith the nozzle with picking a 3-fingers gripper, picking plastic tube collection with pre-attached aing.
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