Automatic path planning and positioning method and device for livestock and poultry house inspection robot

Abstract

The invention relates to the technical field of inspection robots, and discloses an automatic path planning and positioning method and device for a livestock and poultry house inspection robot. The automatic path planning and positioning method comprises the steps of obtaining the current environment information of a livestock and poultry house, constructing a global map, and planning a global path for the walking of the inspection robot on the global map; and estimating and updating the real-time walking pose of the inspection robot based on the three-axis attitude angle and acceleration information and the walking mileage information when the inspection robot walks, and controlling the inspection robot to walk along the global path. According to the invention, the inspection robot can berapidly and accurately navigated and positioned under the condition that the walking path and the road condition of the livestock and poultry house are not clear, and the method is low in cost and convenient to maintain, effectively overcomes the defects of traditional GPS navigation and other navigation modes needing to plan paths in advance and lay auxiliary equipment, and is suitable for navigation walking of the inspection robot in the livestock and poultry house breeding environment.

Description

technical field [0001] The invention relates to the technical field of inspection robots, in particular to an automatic path planning and positioning method and device for an inspection robot in livestock and poultry houses. Background technique [0002] In recent years, with the rapid development and popularization of the livestock and poultry industry, breeding enterprises have basically realized the standardization and standardization of livestock and poultry breeding and the automation and mechanization of breeding facilities. In livestock and poultry farming, there are many structural forms of livestock and poultry houses. For example, for laying hens, the chicken houses are divided into stepped chicken houses or H-shaped chicken houses. These chicken houses have multiple columns and multi-layer chicken cages. The cage length of the chicken cage is relatively long, and the cage layers are mostly more than 3 layers. For these complex-structured livestock and poultry hou...

AI Technical Summary

Problems solved by technology

However, in practical applications, for inertial reckoning positioning and dead reckoning positioning, although they do not depend on external devices and tags, both methods have accumulated errors, which are very effective for short-term and short-distance position estimation, but In the livestock and

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