Livestock cleaning method for automatic driving vehicle fusing laser radar and machine vision

Abstract

An automatic driving vehicle livestock cleaning method fusing laser radar and machine vision comprises the steps that firstly, a 3D livestock shed model is constructed through the laser radar, and a passable path for completely cleaning a livestock shed is planned according to the model by adopting an A * algorithm; secondly, taking a target three-dimensional detection frame by using a laser radar and a machine vision frame; and matching the corresponding 3D model through the three-dimensional detection frame to obtain accurate position information, and performing local path planning by adopting an artificial potential field method according to the information of the obstacle target. The processor sends a driving instruction to the microcontroller through the CAN bus, the functions of advancing, retreating, braking, steering and speed adjusting of the vehicle are achieved, and the processor determines the cleaning range and mode through cleaning target information. The PLC controls the swing of the cleaning nozzle and the rotation of the cleaning rod to realize the self-adaption to the size of the cleaning object of the livestock shed and complete the omnibearing cleaning of the fence, the baffle plate and the like of the livestock shed. The system can be suitable for various animal husbandry scenes, is high in universality, and achieves the effects of high efficiency, low cost and labor saving by integrating an automatic driving technology.

Description

technical field [0001] The invention relates to the fields of computer vision technology and laser radar modeling, and in particular to a livestock cleaning method for an automatic driving vehicle that integrates laser radar and machine vision. Background technique [0002] With the development of science and technology, artificial intelligence technology has begun to infiltrate the animal husbandry industry. However, the intelligence level of domestic animal husbandry is still at a low level. Most of the cleaning of pig houses, cow houses, and sheep houses is still done manually, which consumes manpower. The efficiency is low; the penetration rate of animal husbandry intelligent equipment is low, most of them depend on imports and the cost is high; the existing cleaning equipment has a low penetration rate and cannot achieve all-round cleaning. Therefore, it is urgent to develop an automatic driving vehicle for livestock cleaning with high efficiency, low cost and wide adap...

AI Technical Summary

Problems solved by technology

[0003] At present, most of the livestock automatic cleaning vehicles launched on the market are costly, and cannot be used in livestock houses in different environments, and the cleaning is not thorough

Therefore, the cost-effectiveness and generalizability cannot meet the market requirements.

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