Navigation switching method, device and equipment for pasture robot and medium

Abstract

The invention discloses a navigation switching method, device and equipment for a pasture robot and a medium, and the method comprises the following steps: S1, when the initial position of the pasture robot is in a charging pile, setting a charging fixed road section as magnetic navigation; s2, when it is monitored that the pasture robot leaves the charging road section, magnetic navigation is selected for navigation; s3, when entering the cowshed, writing set information into an RFID beacon, reading the information in the beacon by an RFID card reader when entering the cowshed area, comparing the numerical value of the ultrasonic wave with the signal intensity of the magnetic sensor, and switching magnetic navigation to an ultrasonic wave and inertial navigation combined positioning navigation mode to advance; s4, when the cattle walks to the broken fence position of the cowshed, the controller directly decides to inertial navigation, inertial navigation re-calibrates the direction, and follow the cattle walks according to the positive direction calibrated by the inertial navigation until the occurrence of a cattle neck cangue is detected by ultrasonic waves; and S5, continuing to advance, judging the strength of the ultrasonic signal, and if the signal is weak, switching the navigation mode into inertial navigation.

Description

Technical Field

[0001] The present application relates to the field of navigation technology, and in particular to a navigation switching method, device, equipment and medium for a ranch robot. Background Art

[0002] In modern ranches, ranch robots are gradually replacing traditional manual labor to assist in hay stacking, feeding cows and cleaning waste. Existing ranch robots must be controlled by navigation methods during their movement to operate in the ranch as needed.

[0003] The terrain of a ranch is usually uneven, with various irregular ground features such as slopes, mud, and grass. Navigation systems, such as magnetic navigation and lidar, cannot maintain high accuracy on uneven ground and are prone to positioning errors or failures. In addition, the weather environment also affects the robot's visual camera, thereby affecting the robot's navigation accuracy. Secondly, due to the complex and changeable ranch environment and the large area where the signal is not easy to cover, the navigation accuracy is further poor. Therefore, it is necessary to develop a robot navigation mode switching solution for application in ranch environments. Summary of the invention

[0004] The present application provides a navigation switching method, device, equipment and medium of a ranch robot to solve the above-mentioned problems.

[0005] In a first aspect, the present application provides a navigation switching method for a ranch robot, characterized in that the method comprises the following steps: Step S1: When the starting position of the ranch robot is at a charging pile, the fixed charging section is set to magnetic navigation; Step S2: When the ranch robot is monitored to leave the charging section, magnetic navigation is selected for navigation; Step S3: When entering a cowshed, setting information is written into an RFID beacon, and an RFID card reader entering the cowshed area reads the information in the beacon, and compares the ultrasonic value and the signal strength of the magnetic sensor, and switches the magnetic navigation to a combined ultrasonic and inertial navigation positioning and navigation mode; Step S4: When traveling to a broken fence in the cowshed, the controller directly decides to use inertial navigation, the inertial navigation recalibrates the direction, and follows the positive direction calibrated by the inertial navigation until the ultrasonic wave detects the appearance of a cow yoke; Step S5: Continue to move forward, judge the strength of the ultrasonic signal, and if the signal is weak, switch the navigation mode to inertial navigation.

[0006] In one implementation of the present application, step S2 specifically includes: after the robot leaves the charging pile section, the controller receives the collected data of each sensor; based on the sensor, the environmental characteristics are detected in real time; when the robot leaves the charging section, the signals of each sensor are transmitted to the controller, the RFID obtains the beacon information, the magnetic navigation receives the magnetic stripe induction intensity of the ground, the ultrasonic wave detects the distance signal, and the controller makes a decision. If the distance value of the ultrasonic signal of the section reaches the preset condition, the magnetic navigation is selected for navigation.

[0007] In one implementation of the present application, in step S2, the method also includes: magnetic navigation laying a magnetic stripe map in the ranch navigation area for guidance, collecting the magnetic stripe position data of the current position through the magnetic field sensor, comparing the currently collected magnetic field characteristics with the known magnetic field characteristics on the map, and determining the current position of the navigation device; using various matching algorithms, the driver outputs speed information to adjust the robot's posture, navigate according to the path planning results, and guide the ranch robot to move along the path. During the navigation process, the magnetic navigation system continuously updates the current position and performs position correction based on the real-time magnetic stripe data.

[0008] In one implementation of the present application, in step S3, the method also includes: when the robot enters the cowshed and the RFID scans the location information, it will determine that the navigation mode is a combination of ultrasonic and inertial navigation. First, the ultrasonic sensor is started, and the ultrasonic signal is emitted. When the signal encounters an object, an echo is generated. The time difference between ultrasonic emission and reception is calculated, and the distance from the navigation device to the obstacle can be measured. The measured distance is located to determine the current position of the navigation device.

[0009] In one implementation of the present application, the method also includes: establishing an environmental map through multiple measurements and distance calculations, adjusting the distance between the robot and the cattle yoke to keep it within a preset value range, measuring the distance from the ultrasonic sensor to the cattle pen, repeatedly detecting the distance value within the preset value range, and starting the inertial navigation to recalibrate the positive direction.

[0010] In one implementation of the present application, the method also includes: measuring the acceleration and angular velocity around the navigation device through an accelerometer and a gyroscope, integrating the measurements of acceleration and angular velocity to estimate the position, velocity and attitude of the navigation device. During the navigation process, the inertial navigation continuously obtains new sensor measurement data, and performs real-time updates and corrections; during the inertial navigation, the ultrasonic wave maintains continuous monitoring to monitor the distance between the robot and the cattle yoke. If the distance detection value exceeds a preset value, the inertial navigation mode is cut off, and the ultrasonic navigation program is returned to the ultrasonic navigation program, and the ultrasonic wave is restarted to adjust the posture and vehicle distance and guide the ranch robot, and this cycle is repeated until the next navigation switching point.

[0011] In one implementation of the present application, the method also includes: classifying objects in a specific area within the pasture, writing all information values ​​of the area outside the cowshed into a beacon card, comparing the data information collected by the sensor, and comparing it with the information on the beacon card, and switching the navigation mode after identifying the target.

[0012] On the second aspect, the present application also provides a navigation switching device for a ranch robot, the device comprising: a magnetic navigation module, an ultrasonic and inertial navigation combined navigation module, and an inertial navigation module, wherein the magnetic navigation module is used for the navigation of the ranch robot near the charging pile and in the fixed charging section, and is also used for navigation control when leaving the charging pile section and traveling on a section paved with magnetic strips; the ultrasonic and inertial navigation combined navigation module is used for navigation control when the ranch robot enters the cowshed and needs to push material; the inertial navigation module is used for navigation control when there is a broken fence in the cowshed.

[0013] In a third aspect, the present application also provides a navigation switching device for a ranch robot, the device comprising: at least one processor; and a memory in communication with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can complete: step S1: when the starting position of the ranch robot is at the charging pile, the fixed charging section is set to magnetic navigation; step S2: when the ranch robot is detected to leave the charging section, magnetic navigation is selected for navigation; step S3: when entering When entering the cattle shed, the setting information is written into the RFID beacon, and the RFID card reader that enters the cattle shed area reads the information in the beacon, and compares the ultrasonic value and the signal strength of the magnetic sensor, and switches the magnetic navigation to the ultrasonic and inertial navigation combined positioning navigation mode; Step S4: When traveling to the broken fence of the cattle shed, the controller directly decides to use the inertial navigation, the inertial navigation recalibrates the direction, and follows the positive direction calibrated by the inertial navigation until the ultrasonic wave detects the appearance of the cattle yoke; Step S5: Continue to move forward and judge the strength of the ultrasonic signal. If the signal is weak, switch the navigation mode to inertial navigation.

[0014] In a fourth aspect, the present application also provides a non-volatile computer storage medium for navigation switching of a ranch robot, storing computer executable instructions, which are executed by a processor to implement: Step S1: When the starting position of the ranch robot is at the charging pile, the fixed charging section is set to magnetic navigation; Step S2: When the ranch robot is monitored to leave the charging section, magnetic navigation is selected for navigation; Step S3: When entering the cowshed, the setting information is written into the RFID beacon, and the RFID card reader entering the cowshed area reads the information in the beacon, and compares the ultrasonic value and the signal strength of the magnetic sensor, and switches the magnetic navigation to the ultrasonic and inertial navigation combined positioning and navigation mode; Step S4: When traveling to the broken fence of the cowshed, the controller directly decides to use the inertial navigation, the inertial navigation recalibrates the direction, and follows the positive direction calibrated by the inertial navigation until the ultrasonic wave detects the appearance of the cow yoke; Step S5: Continue to move, judge the strength of the ultrasonic signal, and if the signal is weak, switch the navigation mode to the inertial navigation.

[0015] The present application provides a navigation switching method, device, equipment and medium for a ranch robot, which integrates multiple sensors such as magnetic navigation, ultrasonic, inertial navigation, satellite positioning navigation and RFID. The system is equipped with an efficient data processing unit that can process and fuse data from various sensors in real time. The method of randomly switching between multiple positioning and navigation methods is based on multi-sensor data fusion technology, which dynamically selects the optimal navigation method by real-time monitoring of the working status and data quality of each sensor. When the positioning accuracy of a certain navigation method decreases due to environmental factors or obstacle interference, the system will automatically switch to other navigation methods to maintain high-precision positioning and navigation. The data processing unit uses advanced algorithms to fuse data from different sensors to form a stable and reliable navigation solution. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0017] Figure 1 A navigation switching flow chart of a ranch robot provided in an embodiment of the present application;

[0018] Figure 2 A flowchart of ultrasonic and inertial navigation combined positioning and navigation provided in an embodiment of the present application;

[0019] Figure 3 A composition diagram of a navigation switching device of a ranch robot provided in an embodiment of the present application;

[0020] Figure 4A schematic diagram of a navigation switching device of a ranch robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0022] The robot is equipped with a variety of sensors (magnetic navigation, RFID, ultrasonic, inertial navigation). When the robot is running, the various sensors are randomly combined to establish a positioning navigation method to guide the robot. Due to the special environment of the ranch and poor terrain conditions, a single navigation method of the robot cannot meet the requirements. The embodiment of the present application provides a navigation switching method, device, equipment and medium for a ranch robot. The technical solution proposed in the embodiment of the present application is described in detail below through the accompanying drawings.

[0023] Figure 1 A flowchart of a navigation switching method for a ranch robot provided in an embodiment of the present application. Figure 1 As shown, the method mainly includes the following steps:

[0024] Step S1: The robot's starting position is at the charging pile. The fixed charging section is magnetic navigation. After receiving the start signal, it leaves the charging area according to the previous magnetic navigation and goes to the open area of ​​the ranch. The controller determines the environment based on the information received by the sensor and decides the navigation method.

[0025] Step S2: When the robot leaves the charging section, each sensor collects data and sends it to the controller. The robot recognizes environmental features and uses sensors (ultrasonic, RFID, magnetic navigation, etc.) to detect environmental features in real time. When the robot leaves the charging section, the signals of each sensor are transmitted to the controller, RFID obtains beacon information, magnetic navigation receives the magnetic strip induction intensity on the ground, and ultrasonic waves detect distance signals. The controller makes a decision. If the ultrasonic signal distance value of this section is too large, magnetic navigation will be selected for navigation.

[0026] Magnetic navigation requires laying a magnetic stripe map in the navigation area for guidance. The device collects the magnetic stripe position data of the current position through the magnetic field sensor, compares the currently collected magnetic field characteristics with the known magnetic field characteristics on the map, and determines the current position of the navigation device. Using various matching algorithms, the driver outputs speed information to adjust the robot's posture. The navigation device will navigate according to the path planning results and guide the robot along the path. During the navigation process, the magnetic navigation system will continuously update the current position and perform position correction based on the real-time magnetic stripe data.

[0027] Step S3: When entering the cattle shed, the setting information is written into the RFID beacon. When entering the cattle shed area, the RFID card reader reads the information in the beacon and compares it with the ultrasonic value and the signal strength of the magnetic sensor to make a decision and switch to the ultrasonic and inertial navigation combined positioning and navigation mode.

[0028] The flow chart of ultrasonic and inertial navigation combined navigation is as follows Figure 2 As shown in the figure, the cattle shed needs to push the grass. Since the requirement of the pasture is to push the grass to between 15 and 20 centimeters away from the cattle yoke, the robot will enter the cattle shed and scan the location information. It will determine that the navigation mode is ultrasonic + inertial navigation. First, the ultrasonic sensor is started. The ultrasonic wave transmits the ultrasonic signal. When the signal encounters an object, an echo is generated. The time difference between the ultrasonic emission and reception is calculated. The distance from the navigation device to the obstacle can be measured, and the measured distance is located to determine the current position of the navigation device. Through multiple measurements and distance calculations, an environmental map is established. The distance between the robot and the cattle yoke is adjusted to keep it within the preset value range. The ultrasonic measurement sensor measures the distance from the cattle pen. Since the sensor has a certain measurement blind spot (less than 20mm and higher than 4000mm), the system detects multiple distance values ​​within the preset value range and starts the inertial navigation to recalibrate the positive direction. The IMU measures the acceleration and angular velocity around the navigation device through the accelerometer and gyroscope. The acceleration and angular velocity measurements are integrated to estimate the position, velocity and attitude of the navigation device. During the navigation process, the inertial navigation will continuously obtain new sensor measurement data and update and correct it in real time. During the inertial navigation, the ultrasonic wave does not stop acting as a detection device, and constantly detects the distance between the robot and the cow collar. If the distance detection value exceeds the preset value, the inertial navigation mode is cut off, and the ultrasonic navigation program of the previous layer is returned to restart the ultrasonic wave to adjust the posture and distance and guide the robot, and this cycle continues until the next navigation switching point.

[0029] Step S4: Classify the objects in the specific area, write all the information values ​​of the area outside the cowshed into the beacon card, compare the data information received by the sensor and the information of the beacon card, and quickly switch the navigation mode after identifying the target.

[0030] In large ranches, there are broken fences in the cattle shed. When the robot arrives at the place where the broken fence is, it installs beacon cards at the beginning and end of the broken fence to indicate the position signal. At this point, RFID detects the signal, while magnetic navigation and ultrasonic wave do not detect the signal. The controller directly decides to use inertial navigation. The inertial navigation recalibrates the direction and follows the positive direction calibrated by the inertial navigation until the ultrasonic wave detects the appearance of the cattle yoke, and then performs the navigation switching procedure.

[0031] Step S5: When the controller decides the navigation mode, it first determines whether the RFID signal is located at the preset switching position, then determines the magnetic navigation signal, and then determines the strength of the ultrasonic signal. If there is no signal, it will be inertial navigation.

[0032] The above is a navigation switching method of a ranch robot provided in an embodiment of the present application. Based on the same inventive concept, an embodiment of the present application also provides a navigation switching device of a ranch robot. Figure 3 A navigation switching device composition diagram of a ranch robot provided in an embodiment of the present application, such as Figure 3 As shown, the device mainly includes: a magnetic navigation module 301, an ultrasonic and inertial navigation combined navigation module 302, and an inertial navigation module 303, wherein the magnetic navigation module is used for the navigation of the ranch robot near the charging pile and the fixed charging section, and is also used for navigation control when leaving the charging pile section and traveling on a section paved with magnetic strips; the ultrasonic and inertial navigation combined navigation module is used for navigation control when the ranch robot enters the cowshed and needs to push materials; the inertial navigation module is used for navigation control when there is a broken fence in the cowshed.

[0033] The above is a navigation switching device for a ranch robot provided in an embodiment of the present application. Based on the same inventive concept, an embodiment of the present application also provides a navigation switching device for a ranch robot. Figure 4 A schematic diagram of a navigation switching device of a ranch robot provided in an embodiment of the present application is as follows: Figure 4As shown, the device mainly includes: at least one processor 401; and a memory 402 connected to the at least one processor in communication; wherein the memory 402 stores instructions that can be executed by the at least one processor 401, and the instructions are executed by the at least one processor 401 so that the at least one processor 401 can complete: step S1: when the starting position of the ranch robot is at the charging pile, the charging fixed section is set to magnetic navigation; step S2: when the ranch robot is detected to leave the charging section, the magnetic navigation is selected for navigation; step S3: when entering the cowshed, the information is set to write Enter the RFID beacon, enter the cowshed area, use the RFID card reader to read the information in the beacon, and compare the ultrasonic value and the signal strength of the magnetic sensor, and switch the magnetic navigation to the ultrasonic and inertial navigation combined positioning navigation mode; Step S4: When reaching the broken fence of the cowshed, the controller directly decides to use the inertial navigation, the inertial navigation recalibrates the direction, and follows the positive direction calibrated by the inertial navigation until the ultrasonic wave detects the appearance of the cow yoke; Step S5: Continue to move forward and judge the strength of the ultrasonic signal. If the signal is weak, switch the navigation mode to inertial navigation.

[0034] In addition, the embodiment of the present application also provides a non-volatile computer storage medium for navigation switching of a ranch robot, storing computer executable instructions, which are executed by a processor to implement: Step S1: When the starting position of the ranch robot is at the charging pile, the fixed charging section is set to magnetic navigation; Step S2: When the ranch robot is monitored to leave the charging section, magnetic navigation is selected for navigation; Step S3: When entering the cowshed, the setting information is written into the RFID beacon, and the RFID card reader entering the cowshed area reads the information in the beacon, and compares the ultrasonic value and the signal strength of the magnetic sensor, and switches the magnetic navigation to the ultrasonic and inertial navigation combined positioning and navigation mode; Step S4: When traveling to the broken fence of the cowshed, the controller directly decides to use the inertial navigation, the inertial navigation recalibrates the direction, and follows the positive direction calibrated by the inertial navigation until the ultrasonic wave detects the appearance of the cow yoke; Step S5: Continue to move, judge the strength of the ultrasonic signal, and if the signal is weak, switch the navigation mode to the inertial navigation.

[0035] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (apparatus), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0036] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0037] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0038] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0039] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0040] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0041] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A navigation switching method for a ranch robot, characterized in that: The method comprises the following steps: Step S1: When the starting position of the ranch robot is at the charging pile, the fixed charging section is set to magnetic navigation; Step S2: When the ranch robot is detected to leave the charging section, magnetic navigation is selected for navigation; Step S3: When entering the cattle shed, the setting information is written into the RFID beacon, and the RFID card reader in the cattle shed area reads the information in the beacon, and compares the ultrasonic value and the signal strength of the magnetic sensor, and switches the magnetic navigation to the ultrasonic and inertial navigation combined positioning navigation mode; Step S4: When the vehicle reaches the broken fence of the cattle shed, the controller directly decides to use the inertial navigation, the inertial navigation recalibrates the direction, and follows the vehicle in the positive direction calibrated by the inertial navigation until the ultrasonic wave detects the appearance of the cattle yoke; Step S5: Continue moving forward and determine the strength of the ultrasonic signal. If the signal is weak, switch the navigation mode to inertial navigation.

2. The navigation switching method of a ranch robot according to claim 1, characterized in that: The step S2 specifically includes: After the robot leaves the charging pile section, the controller receives the collected data from each sensor; Real-time detection of environmental features based on sensors; When the robot leaves the charging section, the signals of each sensor are transmitted to the controller, the RFID obtains the beacon information, the magnetic navigation receives the induction intensity of the magnetic stripe on the ground, and the ultrasonic wave detects the distance signal. The controller makes a decision. If the distance value of the ultrasonic signal in the section reaches the preset condition, the magnetic navigation is selected for navigation.

3. The navigation switching method of a ranch robot according to claim 1, characterized in that: In step S2, the method also includes: magnetic navigation laying a magnetic stripe map in the ranch navigation area for guidance, collecting magnetic stripe position data of the current position through a magnetic field sensor, comparing the currently collected magnetic field characteristics with the known magnetic field characteristics on the map, and determining the current position of the navigation device; using various matching algorithms, the driver outputs speed information to adjust the robot's posture, and navigates according to the path planning results to guide the ranch robot to move along the path. During the navigation process, the magnetic navigation system continuously updates the current position and performs position correction based on real-time magnetic stripe data.

4. The navigation switching method of a ranch robot according to claim 1, characterized in that: In step S3, the method also includes: when the robot enters the cowshed and scans the location information through RFID, it will determine that the navigation mode is a combination of ultrasonic and inertial navigation. First, the ultrasonic sensor is started, and the ultrasonic signal is emitted. When the signal encounters an object, an echo is generated. The time difference between ultrasonic emission and reception is calculated, and the distance from the navigation device to the obstacle can be measured. The measured distance is located to determine the current position of the navigation device.

5. The navigation switching method of a ranch robot according to claim 4, characterized in that: The method also includes: establishing an environmental map through multiple measurements and distance calculations, adjusting the distance between the robot and the cattle yoke to keep it within a preset value range, measuring the distance from the ultrasonic sensor to the cattle pen, repeatedly detecting that the distance value is within the preset value range, and starting the inertial navigation to recalibrate the positive direction.

6. The navigation switching method of a ranch robot according to claim 4, characterized in that: The method also includes: measuring the acceleration and angular velocity around the navigation device through an accelerometer and a gyroscope, integrating the measurements of the acceleration and angular velocity to estimate the position, velocity and attitude of the navigation device, and during the navigation process, the inertial navigation continuously obtains new sensor measurement data and performs real-time updates and corrections; during the inertial navigation, the ultrasonic wave is continuously monitored to monitor the distance between the robot and the cow yoke. If the distance detection value exceeds a preset value, the inertial navigation mode is cut off, the ultrasonic wave navigation program is returned, and the ultrasonic wave is restarted to adjust the posture and vehicle distance and guide the ranch robot, and this cycle is repeated until the next navigation switching point.

7. The navigation switching method of a ranch robot according to claim 1, characterized in that: The method also includes: classifying objects in a specific area within the pasture, writing all information values ​​of the area outside the cowshed into the beacon card, comparing the data information collected by the sensor, and comparing it with the information on the beacon card, and switching the navigation mode after identifying the target.

8. A navigation switching device for a ranch robot, characterized in that: The device includes: a magnetic navigation module, an ultrasonic and inertial navigation combined navigation module, and an inertial navigation module, wherein the magnetic navigation module is used for the navigation of the ranch robot near the charging pile and in the fixed charging section, and is also used for navigation control when leaving the charging pile section and traveling on the section paved with magnetic strips; the ultrasonic and inertial navigation combined navigation module is used for navigation control when the ranch robot enters the cowshed and needs to push materials; the inertial navigation module is used for navigation control when there is a broken fence in the cowshed.

9. A navigation switching device for a ranch robot, characterized in that: The device comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can complete: Step S1: When the starting position of the ranch robot is at the charging pile, the fixed charging section is set to magnetic navigation; Step S2: When the ranch robot is monitored to leave the charging section, magnetic navigation is selected for navigation; Step S3: When entering the cowshed, the setting information is written into the RFID beacon, and the RFID card reader entering the cowshed area reads the information in the beacon, and compares the ultrasonic value and the signal strength of the magnetic sensor, and switches the magnetic navigation to the ultrasonic and inertial navigation combined positioning and navigation mode; Step S4: When traveling to the broken fence of the cowshed, the controller directly decides to use the inertial navigation, the inertial navigation recalibrates the direction, and follows the positive direction calibrated by the inertial navigation until the ultrasonic wave detects the appearance of the cow yoke; Step S5: Continue to move, judge the strength of the ultrasonic signal, and if the signal is weak, switch the navigation mode to the inertial navigation.

10. A non-volatile computer storage medium for navigation switching of a farm robot, storing computer executable instructions, characterized in that: The computer executable instructions are executed by the processor to implement: Step S1: When the starting position of the ranch robot is at the charging pile, the fixed charging section is set to magnetic navigation; Step S2: When the ranch robot is monitored to leave the charging section, magnetic navigation is selected for navigation; Step S3: When entering the cowshed, the setting information is written into the RFID beacon, and the RFID card reader entering the cowshed area reads the information in the beacon, and compares the ultrasonic value and the signal strength of the magnetic sensor, and switches the magnetic navigation to the ultrasonic and inertial navigation combined positioning and navigation mode; Step S4: When traveling to the broken fence of the cowshed, the controller directly decides to use the inertial navigation, the inertial navigation recalibrates the direction, and follows the positive direction calibrated by the inertial navigation until the ultrasonic wave detects the appearance of the cow yoke; Step S5: Continue to move, judge the strength of the ultrasonic signal, and if the signal is weak, switch the navigation mode to the inertial navigation.

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