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Excrement cleaning robot intelligent navigation method, device and system, medium and equipment

A technology of robot intelligence and navigation method, which is applied in the direction of measuring devices, control/regulation systems, instruments, etc., can solve the problems of high initial cost, no intelligent navigation system, many harmful substances and germs, etc., so as to save labor costs and improve cleanliness The effect of manure efficiency

Inactive Publication Date: 2021-02-02
SOUTH CHINA AGRI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Manure cleaning is a troublesome problem in animal husbandry. Animal manure is difficult to clean and contains many harmful substances and germs. If it is not cleaned in time, it will pollute the animal husbandry environment and cause a series of diseases and health problems.
The traditional aquaculture industry adopts the method of manual excrement cleaning, which involves a large amount of labor and a high risk of disease. Compared with traditional aquaculture, large-scale aquaculture mostly adopts the method of automatic manure scraping machinery, but this method has high initial costs and is difficult to maintain
As an important machine in unmanned farms, manure cleaning robots are very important for animal husbandry hygiene and disease prevention and control. However, most manure cleaning robots on the market still need to be controlled manually, and there is no complete intelligent navigation system. Realize truly unmanned operation

Method used

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  • Excrement cleaning robot intelligent navigation method, device and system, medium and equipment
  • Excrement cleaning robot intelligent navigation method, device and system, medium and equipment
  • Excrement cleaning robot intelligent navigation method, device and system, medium and equipment

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Embodiment 1

[0071] The present embodiment discloses an intelligent navigation method for a manure cleaning robot, through which the manure cleaning robot is controlled to perform automatic manure cleaning operations in livestock breeding places such as pig houses, so as to realize completely unmanned automatic operation, which is beneficial to animal husbandry hygiene and Disease prevention and control work has brought great help. like figure 1 As shown in, the method of this embodiment includes:

[0072] S1. Obtain the data detected by the laser radar and the attitude sensor set on the manure cleaning robot.

[0073] In this embodiment, the lidar is used to scan the surrounding environment of the manure cleaning robot. Putting the lidar in a transparent acrylic shell can isolate the interference of dust and manure in breeding places such as pig houses without interfering with the radar signal, making the obtained laser data more stable and reliable.

[0074] In this embodiment, the at...

Embodiment 2

[0115] The present embodiment discloses an intelligent navigation device for a manure cleaning robot, which includes an acquisition module, a map construction module, a positioning and tracking module, and a control module. The specific functions of each module are as follows:

[0116] The acquisition module is used to acquire the data detected by the lidar and the attitude sensor set on the manure cleaning robot;

[0117] The map construction module is used to construct the grid map of the occupancy of the external environment according to the data detected by the lidar and the attitude sensor. Specifically, this module constructs the grid map of the occupancy of the external environment based on the Gmapping algorithm.

[0118] The positioning and tracking module is used for autonomous positioning and position tracking of the manure cleaning robot based on the data detected by the lidar and the attitude sensor on the basis of the constructed map. Specifically, this module pe...

Embodiment 3

[0123] This embodiment discloses an intelligent navigation system for a manure cleaning robot, such as image 3 As shown, it includes the upper controller, the lower controller, the lidar, the attitude sensor, the encoder, the infrared sensor and the power module arranged on the manure cleaning robot. The attitude sensor, encoder and infrared sensor are connected to the bottom controller respectively, the lidar is connected to the upper controller, and the upper controller is connected to the bottom controller. specific:

[0124] In this embodiment, the attitude sensor is connected to the underlying controller for detecting attitude information of the manure cleaning robot, and sending the detected attitude information to the underlying controller. In this embodiment, the attitude sensor may be a nine-axis acceleration sensor.

[0125] In this embodiment, the encoder is connected to the bottom controller to transmit the detected signal to the bottom controller, and the botto...

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Abstract

The invention discloses an intelligent navigation method, device and system for an excrement cleaning robot, a medium and equipment. The method comprises the following steps: acquiring data detected by a laser radar and an attitude sensor arranged on the excrement cleaning robot; constructing an external environment occupation grid map according to data detected by the laser radar and the attitudesensor; according to data detected by a laser radar and an attitude sensor, on the basis of a constructed map, carrying out the autonomous positioning and attitude tracking on the excrement cleaningrobot; after map construction, positioning and tracking are completed, performing global path planning on the excrement cleaning robot; and controlling the robot to perform excrement cleaning work according to the planned optimal path. When the feces cleaning robot is navigated, the feces cleaning robot has a series of complete intelligent navigation functions of environment map building, self-positioning and path planning, unmanned automatic operation can be completely achieved, the feces cleaning efficiency is improved, and meanwhile the labor cost is saved.

Description

technical field [0001] The invention belongs to the technical field of livestock and poultry breeding equipment automation, and in particular relates to an intelligent navigation method, device, system, medium and equipment for a manure cleaning robot. Background technique [0002] China is a big agricultural country, and animal husbandry is very important to China's agriculture and China's economic development. The conversion rate and technological content of traditional livestock breeding resources are low, so that the ability to face disease risks, environmental health risks and market risks is weak. In recent years, African swine fever has spread to the world and has had a huge impact on my country's pig breeding industry. The Central No. 1 document released in February 2020 pointed out that it is necessary to speed up the recovery of live pig production and strengthen the role of scientific and technological support. The demand on farms is very strong. [0003] The cle...

Claims

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Application Information

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IPC IPC(8): G05D1/02G01R31/382
CPCG05D1/0257G05D1/0231G05D1/0272G05D1/0238G05D1/0242G05D1/0212G01R31/382
Inventor 张铁民杨继康
Owner SOUTH CHINA AGRI UNIV
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