Livestock and poultry information sensing robot based on autonomous navigation and map construction method

Abstract

The invention discloses a livestock and poultry information sensing robot based on autonomous navigation and a map construction method. The livestock and poultry information sensing robot comprises afour-wheel dolly, an autonomous navigation system, a motion module and an information acquisition module. The autonomous navigation system comprises a laser radar, an RGB-D camera, an inertia measurement unit, a speedometer and a master control module. The motion module comprises a DC motor set, a push rod motor and a microcontroller. The information acquisition module comprises a thermal imager,an environment detection sensor module and a wireless transmission module. The method is characterized by controlling the robot to move in an indoor working environment; obtaining ambient informationin the moving process by utilizing the laser radar, the RGB-D camera, the inertia measurement unit and the speedometer; and carrying out data processing to obtain positioning position and constructinga global map. The method can improve positioning precision of the robot and meet application requirements, overcomes the problem of excessive dependence on breeders and realizes automatic detection of the breeding environment, and has the advantages of being high in efficiency, high in economic benefit and wide in applicability and the like.

Description

technical field [0001] The invention relates to an intelligent agricultural equipment and method for livestock and poultry, in particular to a livestock and poultry information perception robot and map construction method based on autonomous navigation. Background technique [0002] With the continuous development of society, intensification, scale and intelligence are the inevitable trends in the development of the breeding industry. On the one hand, this breeding structure can effectively increase productivity, save social resources, reduce costs, and bring higher social and economic benefits; on the other hand, it also meets the requirements of animal welfare and is the necessary basis for implementing standardized production and improving the quality of livestock products. Animal behavior, environmental factors and other information are important indicators in the large-scale breeding production process. How to efficiently collect and manage these information brings new ...

AI Technical Summary

Problems solved by technology

However, the symmetrical structure of the livestock and poultry house also leads to a symmetrical mode of the positioning process, making it impossible for the robot to determine the current unique pose, and cannot accurately match the monitored animal information, environmental information and the relative position of the robot in the poultry house

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