Automatic pigeon shed reloading equipment based on autonomous navigation

Abstract

The invention discloses automatic pigeon shed reloading equipment based on autonomous navigation. The automatic pigeon shed reloading equipment comprises an intelligent chassis, a rack, an automatic feeding device, a new feed box feeding device, an old feed box recycling device and a feed box carrying device. The automatic feeding device comprises a receiving platform, a water supply mechanism and a feeding mechanism; the new feed box feeding device comprises a new feed box storage mechanism, a feeding carrying mechanism used for carrying new feed boxes in the new feed box storage mechanism to the feed receiving platform, and a feed box transferring mechanism used for transferring the new feed boxes containing feed / water in the feed receiving platform to the feed box carrying device. The old feed box recycling device comprises an old feed box recycling box and a discharging carrying mechanism used for carrying the old feed boxes carried by the feed box carrying device into the old feed box recycling box. According to the automatic feed changing equipment for the pigeon shed, the old feed box can be automatically recycled, feed and water can be injected into the new feed box, and the new feed box is placed in a pigeon feeding position.

Description

Technical Field

[0001] The invention relates to the technical field of breeding production, and in particular to an automatic material changing device for a pigeon shed based on autonomous navigation. Background Art

[0002] Pigeons mainly feed on cereals, including corn, wheat, beans, grains, etc. They generally do not eat meat such as insects. Pigeons are accustomed to eating raw materials, and can adapt to cooked food through artificial feeding. They can also be fed with granular mixed feed in artificial breeding farms.

[0003] Pigeon farms need to feed pigeons regularly during the breeding process. Existing pigeons are generally fed artificially during the breeding process. The main method is that the breeder regularly puts feed in the food box, and the pigeons will come to eat. This method is very simple to use, but its operation process is relatively complicated. The breeder needs to feed the food box in front of the pigeon cage at a fixed time and place every day. Secondly, when the pigeons finish eating the feed, there will be residual feed in the food box. If the feed is not cleaned up in time, and feed is continued to be added on the basis of it for multiple feedings, the feed will remain at the bottom of the food box for a long time, causing it to deteriorate, seriously affecting the health of the pigeons, and even causing a large number of pigeons to die.

[0004] In order to solve the above problems, it is necessary to design an automatic feeding device which can automatically recycle the old feeding box, inject feed and water into the new feeding box and put the new feeding box into the pigeon feeding position. Summary of the invention

[0005] In order to overcome the shortcomings of the prior art, the present invention provides an automatic feed changing device for a pigeon shed based on autonomous navigation, which can automatically recycle old feed boxes, inject feed and water into new feed boxes and place the new feed boxes in the pigeon feeding position, thereby ensuring the healthy growth of the pigeons.

[0006] The technical solution of the present invention to solve the above technical problems is:

[0007] An automatic feeding device for a pigeon shed based on autonomous navigation comprises an intelligent chassis, a frame arranged on the intelligent chassis, an automatic feeding device arranged on the frame, a new feed box feeding device, an old feed box recovery device, a feed box transporting device for transporting the old feed box to the old feed box recovery device and for transferring the new feed box containing feed / water to the pigeon feeding position, wherein:

[0008] The automatic feeding device comprises a feeding platform, a water delivery mechanism and a feeding mechanism, wherein the feeding platform is mounted on the frame; the water delivery mechanism comprises a water tank arranged on the frame and a water delivery driving mechanism for delivering water in the water tank to a new feed box located on the feeding platform; the feeding mechanism comprises a feed bin arranged on the frame and a feeding driving mechanism for delivering feed in the feed bin to a new feed box located on the feeding platform;

[0009] The new feed box loading device comprises a new feed box storage mechanism, a loading and transporting mechanism for transporting the new feed box in the new feed box storage mechanism to the material receiving platform, and a material box transfer mechanism for transferring the new feed box filled with feed / water in the material receiving platform to the material box transporting mechanism;

[0010] The old feed box recovery device comprises an old feed box recovery box and a material unloading and conveying mechanism for conveying the old feed box conveyed by the material box conveying device into the old feed box recovery box.

[0011] Preferably, the water delivery drive mechanism includes a peristaltic pump and a water delivery pipe, and the peristaltic pump delivers the water in the water tank to the new feed box located on the material receiving platform through the water delivery pipe; the feeding drive mechanism includes a feeder, and the feeder is used to feed the feed in the feed bin into the new feed box located on the material receiving platform.

[0012] Preferably, the new feed box storage mechanism includes a storage seat and a lifting drive mechanism for driving the storage seat to perform lifting movements, wherein multiple groups of new feed boxes are placed with their bottoms facing upward and vertically stacked in a storage slot of the storage seat, and a discharge port is provided on the frame; the lifting drive mechanism adopts a driving method combining a motor and a screw transmission mechanism.

[0013] Preferably, the loading and handling mechanism includes a swing arm, a loading nozzle arranged on the swing arm, and a loading motor for driving the swing arm to rotate, wherein the loading nozzles are in two groups; and a first avoidance groove for avoiding the loading nozzles is provided on the material receiving platform.

[0014] Preferably, a pressure sensor is provided on the material receiving platform.

[0015] Preferably, the material box transfer mechanism includes a push plate and a transfer drive mechanism for driving the push plate to perform linear motion, wherein:

[0016] Guide blocks are arranged on both sides of the material receiving platform, and two groups of guide blocks constitute guide grooves for guiding the new feed box; both sides of the push plate are installed on the frame through a guide mechanism, and both sides of the push plate are respectively provided with second avoidance grooves for avoiding the material receiving platform;

[0017] The transfer drive mechanism includes a transfer motor mounted on a frame, a gear disposed on a main shaft of the transfer motor, and a rack disposed on the push plate and meshing with the gear, wherein an extension direction of the rack is the same as an extension direction of the guide block.

[0018] Preferably, the unloading and handling mechanism includes a rotating arm, a unloading suction nozzle arranged on the rotating arm, and a unloading motor for driving the rotating arm to rotate, wherein the unloading suction nozzle is in two groups, the unloading motor is installed on the frame, and the main shaft of the unloading motor is connected to the rotating arm.

[0019] Preferably, the material box conveying device includes a material box conveying mechanism, a vertical driving mechanism for driving the material box conveying mechanism to perform vertical movement, and a horizontal driving mechanism for driving the material box conveying mechanism to perform horizontal movement, wherein the conveying mechanism includes a conveying platform, a conveying suction nozzle arranged on the conveying platform, and a longitudinal driving mechanism for driving the conveying suction nozzle to perform longitudinal movement, wherein the conveying suction nozzle is divided into two groups; and a positioning groove for positioning the material box is arranged on the conveying platform.

[0020] Preferably, a binocular camera is also provided on the transport platform, and the binocular camera is used to identify the coordinate position of the old feed box in the pigeon cage relative to the feed box transport device.

[0021] Preferably, an automatic tracking module is integrated in the intelligent chassis. The automatic tracking module adopts the path planning algorithm of A* fused with RRT, and uses the global optimization of the A* algorithm and the fast local exploration of the RRT algorithm to perform path planning to ensure that the planned path meets the global goal, and at the same time performs real-time local path adjustments based on the global path during the planning process.

[0022] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0023] 1. The automatic feeding equipment for pigeon shed based on autonomous navigation of the present invention can automatically recycle the old feed box, inject feed and water into the new feed box and put the new feed box into the pigeon feeding position (i.e. the position where the old feed box was originally located), thereby replacing the entire feed box, ensuring a clean eating environment for the pigeons, reducing the probability of cross-infection of diseases, and thus ensuring the healthy growth of the pigeons.

[0024] 2. The automatic feeding equipment of the pigeon shed based on autonomous navigation of the present invention can replace the dirty old feed box with a clean new feed box, and the new feed box can meet different needs of feeding feed or water.

[0025] 3. The automatic feeding equipment for pigeon sheds based on autonomous navigation of the present invention can realize automatic feeding of pigeons in pigeon cages, with a higher degree of automation, thereby reducing the feeding cost of pigeons. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 and Figure 2 The three-dimensional structure diagram of the automatic material changing equipment of the pigeon shed based on autonomous navigation of the present invention is shown in two different perspectives.

[0027] Figure 3 It is a side view of the automatic material changing equipment of the pigeon shed based on autonomous navigation of the present invention.

[0028] Figure 4 This is a schematic diagram of the structure of the new feed box loading device.

[0029] Figure 5 and Figure 6 Schematic diagrams of the three-dimensional structure of the material box transfer mechanism from two different perspectives.

[0030] Figure 7 It is a three-dimensional structural schematic diagram of the loading and handling mechanism.

[0031] Figure 8 and Fig. 9 Schematic diagrams of the three-dimensional structure of the material box handling device from two different perspectives.

[0032] Fig.10 and Fig.11 Schematic diagram of the three-dimensional structure of the old feed box recycling device from two different perspectives.

[0033] Fig.12 Schematic diagram of the route planning process. DETAILED DESCRIPTION

[0034] The present invention is further described in detail below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0035] See also Figure 1-Figure 12 The automatic feeding equipment of the pigeon shed based on autonomous navigation of the present invention includes an intelligent chassis 1, a frame 2 arranged on the intelligent chassis 1, an automatic feeding device arranged on the frame 2, a new feed box feeding device 7, an old feed box recovery device 6, and a feed box transporting device 5 for transporting the old feed box to the old feed box recovery device 6 and transferring the new feed box containing feed / water to the pigeon feeding position.

[0036] See also Figure 1-Figure 12 The automatic feeding device includes a material receiving platform 8, a water feeding mechanism 3 and a feeding mechanism 4, wherein:

[0037] The receiving platform 8 is installed on the frame 2, and a pressure sensor 9 is provided on the receiving platform 8. The pressure sensor 9 is used to detect the weight of feed / water in the new feed box located on the receiving platform 8, so that the water delivery mechanism 3 and the feeding mechanism 4 can accurately control the amount of water and feed added; therefore, by adopting the pressure sensor 9, the weight of the feed in the new feed box can be reasonably regulated, thereby avoiding the uncertainty of artificial addition of feed, and making it easier to manage the growth condition of pigeons.

[0038] The water delivery mechanism 3 includes a water tank 301 disposed on the frame 2 and a water delivery drive mechanism 302 for delivering water in the water tank 301 to a new feed box located on the receiving platform 8; wherein the water delivery drive mechanism 302 includes a peristaltic pump and a water delivery pipeline, and the peristaltic pump delivers the water in the water tank 301 to the new feed box located on the receiving platform 8 through the water delivery pipeline;

[0039] The feeding mechanism 4 includes a feed bin 401 arranged on the frame 2 and a feeding drive mechanism for putting the feed in the feed bin 401 into a new feed box located on the receiving platform 8; wherein, the feeding drive mechanism includes a feeder 402, and the feeder 402 is used to put the feed in the feed bin 401 into a new feed box located on the receiving platform 8.

[0040] See also Figure 1-Figure 12 The new feed box loading device 7 includes a new feed box storage mechanism, a loading and transporting mechanism for transporting the new feed box in the new feed box storage mechanism to the receiving platform 8, and a feed box transfer mechanism for transferring the new feed box filled with feed / water in the receiving platform 8 to the feed box transporting device 5, wherein:

[0041] The new feed box storage mechanism includes a storage seat 701 and a lifting drive mechanism 702 for driving the storage seat 701 to perform lifting motion, wherein multiple groups of new feed boxes are placed in a storage slot of the storage seat 701 with their bottoms facing upwards and stacked vertically, and a discharge port is provided on the frame 2; the lifting drive mechanism 702 adopts a driving mode combining a motor and a screw transmission mechanism;

[0042] The loading and transporting mechanism includes a swing arm 710, a loading suction nozzle 711 arranged on the swing arm 710, and a loading motor 709 for driving the swing arm 710 to rotate, wherein the loading suction nozzle 711 is in two groups; a first avoidance groove 802 for avoiding the loading suction nozzle 711 is arranged on the material receiving platform 8; the loading motor 709 drives the swing arm 710 to swing counterclockwise, so that the loading suction nozzle 711 on the swing arm 710 sucks the bottom of the new feed box located at the top of the storage seat 701, and then the loading motor 709 drives the swing arm 710 to swing clockwise, so that the new feed box located at the top of the storage seat The new feed box at the top of 701 is taken out and rotated 180 degrees, so that the opening of the new feed box faces upward and is placed on the receiving platform 8. Since the receiving platform 8 is provided with a first avoidance groove 802 for avoiding the feeding suction nozzle 711 (or the swing arm 710), the receiving platform 8 will not interfere with the handling of the new feed box; when the new feed box is placed on the receiving platform 8, the feeding suction nozzle 711 releases the bottom of the new feed box; then, the lifting drive mechanism 702 drives the storage seat 701 to move upward, so that the second new feed box rises again to the position where the first new feed box was originally located;

[0043] The material box transfer mechanism includes a push plate 703 and a transfer drive mechanism for driving the push plate 703 to perform linear motion, wherein:

[0044] Guide blocks 801 are provided on both sides of the material receiving platform 8, and two groups of guide blocks 801 constitute guide grooves for guiding the movement of the new feed box; the two sides of the push plate 703 are installed on the frame 2 through guide mechanisms 708 (for example, guide rods provided on the frame 2 and guide holes provided on the push plate 703), and the two sides of the push plate 703 are respectively provided with second avoidance grooves 704 for avoiding the material receiving platform 8, so as to avoid the push plate 703 from interfering with the material receiving platform 8 when pushing the new feed box on the material receiving platform 8 to the material box handling device 5;

[0045] The transfer drive mechanism includes a transfer motor 705 mounted on the frame 2, a gear 706 disposed on the main shaft of the transfer motor 705, and a rack 707 disposed on the push plate 703 and meshing with the gear 706, wherein the extension direction of the rack 707 is the same as the extension direction of the guide block 801;

[0046] When the pressure sensor 9 on the material receiving platform 8 detects that the weight of the feed / water in the new feed box reaches a predetermined value, the material box handling device 5 moves to the edge of the material receiving platform 8. Subsequently, the transfer motor 705 drives the gear 706 to rotate, thereby driving the rack 707 and the push plate 703 connected to the rack 707 to move in a straight line, thereby transferring the new feed box that is already filled with a sufficient amount of feed / water in the material receiving platform 8 to the material box handling device 5.

[0047] See also Figure 1-Figure 12 The old feed box recovery device 6 includes an old feed box recovery box 601 and a material unloading and conveying mechanism for conveying the old feed box conveyed by the material box conveying device 5 into the old feed box recovery box 601, wherein the material unloading and conveying mechanism includes a rotating arm 602, a material unloading suction nozzle 603 arranged on the rotating arm 602, and a material unloading motor 604 for driving the rotating arm 602 to rotate, wherein the material unloading suction nozzle 603 is two groups, and the material unloading motor 604 is installed on the frame 2, and the main shaft of the material unloading motor 604 is connected to the rotating arm 602.

[0048] Through the above arrangement, when the feed box transporting device 5 transports the old feed box to the old feed box recycling station, the unloading motor 604 drives the rotating arm 602 to rotate, so that the unloading suction nozzle 603 on the rotating arm 602 sucks the old feed box, and then the unloading motor 604 drives the rotating arm 602 to rotate into the old feed box recycling box 601, and then the unloading suction nozzle 603 releases the old feed box, so that the old feed box falls into the old feed box recycling box 601, thereby realizing the recycling of the old feed box.

[0049] See also Figure 1-Figure 12 The material box conveying device 5 includes a material box conveying mechanism, a vertical driving mechanism 502 for driving the material box conveying mechanism to make vertical movement, and a horizontal driving mechanism 501 for driving the material box conveying mechanism to make horizontal movement, wherein:

[0050] The transport mechanism includes a transport platform 505, a transport nozzle 504 arranged on the transport platform 505, and a longitudinal drive mechanism for driving the transport nozzle 504 to perform longitudinal movement, wherein the transport nozzle 504 is divided into two groups, and both groups of transport nozzles 504 are installed on the transport arm; the transport platform 505 is provided with a positioning groove for positioning the material box; the longitudinal drive mechanism includes an electric push rod 503, the electric push rod 503 is installed on the transport platform 505, and the telescopic rod of the electric push rod 503 is connected to the transport arm;

[0051] The horizontal driving mechanism 501 and the vertical driving mechanism 502 are both driven by a motor and a screw transmission mechanism, and are equipped with corresponding guide mechanisms for guidance;

[0052] Through the above arrangement, when the old feed box needs to be recycled, the vertical drive mechanism 502 and the horizontal drive mechanism 501 cooperate with each other, so that the transport platform 505 moves to the position where the old feed box to be recycled is located, and then the longitudinal drive mechanism drives the transport arm to extend, so that the transport suction nozzle 504 on the transport arm contacts the side of the old feed box, and then the negative pressure device is started, so that the transport suction nozzle 504 sucks the old feed box; then, the electric push rod 503 is reset, thereby driving the transport suction nozzle 504 to transport the old feed box to the positioning groove of the transport platform 505; then, the vertical drive mechanism 502 and the horizontal drive mechanism 501 cooperate with each other, so that the transport platform 505 moves to the old feed box recycling station, and the unloading transport mechanism transfers the old feed box to the old feed box recycling box 601, completing the recycling of the old feed box.

[0053] When it is necessary to transfer a new feed box filled with feed / water to the pigeon feeding position (i.e., the position of the old feed box to be recycled), first, the feed box transfer mechanism transfers the new feed box filled with feed / water to the positioning groove of the conveying platform 505; then, the vertical drive mechanism 502 and the horizontal drive mechanism 501 cooperate with each other to move the conveying platform 505 to the pigeon feeding position; then, the longitudinal drive mechanism drives the conveying arm to extend, so that the conveying suction nozzle 504 on the conveying arm sucks the side of the new feed box and sends the new feed box to the pigeon feeding position, and then the electric push rod 503 is reset; finally, the vertical drive mechanism 502 and the horizontal drive mechanism 501 drive the conveying mechanism to reset.

[0054] See also Figure 1-Figure 12 The loading suction nozzle 711, the unloading suction nozzle 603 and the transport suction nozzle 504 can share a set of vacuum pumps 11, or three sets of vacuum pumps 11 can be provided to respectively control the loading suction nozzle 711, the unloading suction nozzle 603 and the transport suction nozzle 504.

[0055] See also Figure 1-Figure 12The transport platform 505 is also provided with a binocular camera, which adopts a Stereolabs ZED binocular camera. The camera baseline is 120mm long, the depth map is 1280×720 30fps 32bit, and it has a large aperture of F / 2.0. At the same time, the binocular camera can automatically white balance, automatically adjust the exposure, and adapt to the pigeon cage environment. At the same time, the APIs provided by ultralytic are used. These APIs can quickly infer the image, including subsequent processing (non-maximum suppression algorithm NMS, etc.), thereby greatly reducing the complexity of the code. At the same time, a high-performance binocular camera is used, and the depth image is calculated using the built-in SDK. CUDA acceleration is achieved through the Jetson ORIX development board, and the inference speed and depth map generation are faster.

[0056] In addition, the binocular camera in this embodiment is installed on the transport platform 505 to deduce the depth image in real time to prepare for the subsequent object recognition. The three-dimensional coordinates of the pigeon cage relative to the transport nozzle 504 on the transport platform 505 are obtained by inference using the pre-trained Yolov 10 model, and the coordinate information is transmitted to the host computer through ROS topic communication, and the host computer outputs the coordinate position of the old feed box relative to the transport platform 505.

[0057] In the drawings, reference numeral 10 is a feed box.

[0058] See also Figure 1-Figure 12 The working principle of the automatic material changing equipment of the pigeon shed based on autonomous navigation of the present invention is:

[0059] After the automatic material changing equipment of the pigeon shed of the present invention performs SLAM mapping through the laser radar, it automatically plans the path and automatically reaches the task position through the intelligent chassis 1. After the binocular camera recognizes the old feed box on the pigeon cage, the three-dimensional coordinates of the old feed box relative to the transport platform 505 are obtained, and then the binocular camera sends the obtained data information to the ROS host computer, and the ROS host computer sends the obtained position of the old feed box relative to the transport platform 505 to the STM3 slave computer. The STM32 controls the vertical drive mechanism 502 and the horizontal drive mechanism 501 to work according to the coordinate position, so that the transport platform 505 moves to the corresponding position, and then the electric push rod 503 extends. The vacuum pump 11 on the transport platform 505 is started to absorb the old feed box; then, the electric push rod 503 is reset to take the old feed box out of the pigeon cage, and the vertical drive mechanism 502 and the horizontal drive mechanism 501 are coordinated to move the transport platform 505 to the old feed box recovery station; the unloading motor 604 drives the rotating arm 602 to rotate, moves the unloading suction nozzle 603 to the side of the old feed box, and starts the vacuum pump 11 in the unloading transport mechanism to absorb the old feed box; the unloading motor 604 drives the old feed box to move into the old feed box recovery box 601, and the vacuum pump 11 is turned off to make the old feed box fall into the old feed box recovery box 601, completing the collection of the old feed box.

[0060] Next, the lifting drive mechanism 702 drives the storage seat 701 to accurately rise to the height required to take out a new feed box, and then starts the vacuum pump 11 in the loading and transporting mechanism, so that the loading suction nozzle 711 absorbs the new feed box, and the loading motor 709 drives the swing arm 710 to rotate, so that the inverted new feed box is taken out and flipped and straightened, and then placed stably on the receiving platform 8. Since the pressure sensor 9 on the receiving platform 8 is associated with the switches of the peristaltic pump and the feeder, the amount of loaded feed or added water can be regulated. When the pressure sensor 9 on the receiving platform 8 detects that the weight of the feed / water in the new feed box reaches a predetermined value, the material box transporting device 5 moves to the edge position of the receiving platform 8. Subsequently, the transfer motor 705 drives the gear 706 to rotate, thereby driving the rack 707 and the push plate 703 connected to the rack 707 to make a linear motion, and then the new feed box that has been filled with a sufficient amount of feed / water in the receiving platform 8 is transferred to the transporting platform 505 of the material box transporting device 5;

[0061] Subsequently, the vertical drive mechanism 502 and the transverse drive mechanism 501 cooperate with each other to move the transport platform 505 to the pigeon feeding position; then, the longitudinal drive mechanism drives the transport arm to extend, so that the transport suction nozzle 504 on the transport arm sucks the side of the new feed box and delivers the new feed box to the pigeon feeding position, and then the electric push rod 503 is reset; then, the vertical drive mechanism 502 and the transverse drive mechanism 501 drive the transport mechanism to reset, completing a complete material replacement process.

[0062] In the above process, the automatic material changing equipment of the pigeon shed based on autonomous navigation of the present invention performs SLAM mapping through laser radar. After obtaining the map, the binocular camera is used to identify and locate the target material box, and the shortest operation path is quickly planned through the navigation system based on the A* path planning improved algorithm; because the wheel odometer is susceptible to interference and errors are generated in the navigation design section, an IMU and odometer fusion positioning method based on the unscented Kalman filter algorithm is designed in this embodiment; in view of the problems of excessive memory consumption and uneven path of the traditional A* algorithm, the search field is narrowed according to the actual path conditions of the pigeon shed, the algorithm running time and running memory occupancy are reduced, and the comprehensive evaluation ability of the overall system is improved.

[0063] Among the global path planning algorithms, the A* algorithm has advantages in the shortest path and path integrity, but it also has major limitations. Its disadvantages are that it traverses too many unnecessary search nodes during navigation, and the optimal path has more turning points. Since the environment of the pigeon shed is relatively regular, searching 8 directions takes a long time and requires a large memory storage node. Therefore, by improving and optimizing the traditional A* algorithm, according to the actual situation, unnecessary search directions are optimized, the cost of searching is reduced, thereby reducing the algorithm running time and running memory usage, and improving the overall system's comprehensive evaluation ability.

[0064] In addition, the present invention innovatively adopts the path planning algorithm of A* fusion RRT, using the global optimization of the A* algorithm and the fast local exploration of the RRT algorithm to complement each other to ensure that the path meets the global goal. At the same time, real-time local path adjustment is performed based on the global path during the planning process, thereby achieving a more reasonable and optimal path solution.

[0065] The advantage of the A* algorithm is that it has high computational efficiency and can quickly find the optimal or suboptimal solution; its disadvantage is that it is sensitive to the choice of heuristic function, and the design of the heuristic function directly affects the efficiency of the algorithm and the quality of the solution. In addition, when the A* algorithm processes high-dimensional space and complex environments, the memory consumption may be large and memory overflow may occur easily;

[0066] The RRT algorithm is a probabilistic complete algorithm that explores the state space through random sampling and gradually builds a tree to connect the starting point and the target point. The core of the algorithm lies in random sampling and nearest neighbor search. By iteratively expanding the tree, a path connecting the starting point and the target point is finally found. The advantage of the RRT algorithm is that it can handle high-dimensional space and complex environments, has less dependence on environmental models, and is suitable for path planning in unknown or dynamic environments; its disadvantage is that the quality of the path is relatively low, the generated path is usually not smooth enough, and the computational efficiency is relatively low.

[0067] See also Fig.12 The present invention adopts the method of integrating the A* algorithm and the RRT algorithm to update the optimal initialization path for the RRT algorithm. The formula and calculation process of the initialization path mainly involve: heuristic function h(n) and path cost function g(n); these two functions are used together to calculate the comprehensive evaluation function f(n) of node n:

[0068] f(n)=g(n)+h(n)

[0069] in:

[0070] g(n) is the actual path cost from the starting node to the current node n; h(n) is a heuristic function that selects the node with the smallest f(n) value to expand until the target node is found; the function is set to: (1) not overestimate the cost from the node to the target node; (2) for each node n and its successor node n′, satisfy:

[0071] h(n)≤c(n,n′)+h(n′)

[0072] where c(n,n′) is the actual cost from n to n′.

[0073] The algorithm for optimizing the initial path starts with an initial root node, searches in space by random sampling, and then adds leaf nodes one by one to continuously expand the random tree. When the target point enters the random tree, the random tree expansion stops immediately, and a path from the starting point to the target point can be found. The optimization calculation process is as follows:

[0074] (1) Initialize the random tree;

[0075] The starting point in the environment is used as the starting point of the random tree search. At this time, the random tree contains only one node, the root node x start ;

[0076] (2) Random sampling in the environment;

[0077] Generate a random point x in the environment random If the point is not within the obstacle range, calculate the distance from all nodes in the random tree to xrandom The Euclidean distance of , and find the node x that is closest to near , if it is within the obstacle range, regenerate x random Repeat this process until x is found. near ;

[0078] (3) Generate new nodes;

[0079] In x near and x random Connection direction, from x near Point to x random Fixed growth distance growdistance generates a new node x new , and determine whether the node is within the obstacle range. If not, x new Add it to the random tree Tree, otherwise return to step 2 to re-randomly sample the environment;

[0080] (4) Stop searching;

[0081] When x near and the target point x goal When the distance between is less than the set threshold, it means that the random tree has reached the target point, and x goal It is added to the random tree as the last path node, the algorithm ends and the planned path is obtained.

[0082] The above is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited to the above content. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. An automatic pigeon house material changing device based on autonomous navigation, characterized in that: The invention comprises an intelligent chassis, a frame arranged on the intelligent chassis, an automatic feeding device arranged on the frame, a new feed box feeding device, an old feed box recovery device, a feed box transporting device for transporting the old feed box to the old feed box recovery device and for transferring the new feed box containing feed / water to the pigeon feeding position, wherein: The automatic feeding device comprises a feeding platform, a water delivery mechanism and a feeding mechanism, wherein the feeding platform is mounted on the frame; the water delivery mechanism comprises a water tank arranged on the frame and a water delivery driving mechanism for delivering water in the water tank to a new feed box located on the feeding platform; the feeding mechanism comprises a feed bin arranged on the frame and a feeding driving mechanism for delivering feed in the feed bin to a new feed box located on the feeding platform; The new feed box loading device comprises a new feed box storage mechanism, a loading and transporting mechanism for transporting the new feed box in the new feed box storage mechanism to the material receiving platform, and a material box transfer mechanism for transferring the new feed box filled with feed / water in the material receiving platform to the material box transporting mechanism; The old feed box recovery device comprises an old feed box recovery box and a material unloading and conveying mechanism for conveying the old feed box conveyed by the material box conveying device into the old feed box recovery box.

2. The automatic material changing equipment for pigeon shed based on autonomous navigation according to claim 1 is characterized in that: The water delivery drive mechanism includes a peristaltic pump and a water delivery pipe, and the peristaltic pump delivers the water in the water tank to the new feed box located on the material receiving platform through the water delivery pipe; the feeding drive mechanism includes a feeder, and the feeder is used to put the feed in the feed bin into the new feed box located on the material receiving platform.

3. The automatic material changing equipment for pigeon shed based on autonomous navigation according to claim 2 is characterized in that: The new feed box storage mechanism includes a storage seat and a lifting drive mechanism for driving the storage seat to perform lifting movements, wherein multiple groups of new feed boxes are placed with their bottoms facing upward and vertically stacked in a storage slot of the storage seat, and a discharge port is provided on the frame; the lifting drive mechanism adopts a driving method combining a motor and a screw transmission mechanism.

4. The automatic material changing equipment for pigeon shed based on autonomous navigation according to claim 3 is characterized in that: The loading and handling mechanism includes a swing arm, a loading nozzle arranged on the swing arm, and a loading motor for driving the swing arm to rotate, wherein the loading nozzles are in two groups; and a first avoidance groove for avoiding the loading nozzles is provided on the material receiving platform.

5. The automatic material changing equipment for pigeon shed based on autonomous navigation according to claim 4 is characterized in that: A pressure sensor is arranged on the material receiving platform.

6. The automatic material changing equipment for pigeon shed based on autonomous navigation according to claim 5 is characterized in that: The material box transfer mechanism includes a push plate and a transfer drive mechanism for driving the push plate to perform linear motion, wherein: Guide blocks are arranged on both sides of the material receiving platform, and two groups of guide blocks constitute guide grooves for guiding the new feed box; both sides of the push plate are installed on the frame through a guide mechanism, and both sides of the push plate are respectively provided with second avoidance grooves for avoiding the material receiving platform; The transfer drive mechanism includes a transfer motor mounted on a frame, a gear disposed on a main shaft of the transfer motor, and a rack disposed on the push plate and meshing with the gear, wherein an extension direction of the rack is the same as an extension direction of the guide block.

7. The automatic pigeon house material changing equipment based on autonomous navigation according to claim 6 is characterized in that: The unloading and handling mechanism includes a rotating arm, an unloading suction nozzle arranged on the rotating arm, and an unloading motor for driving the rotating arm to rotate, wherein the unloading suction nozzle is in two groups, the unloading motor is installed on the frame, and the main shaft of the unloading motor is connected to the rotating arm.

8. The automatic pigeon house material changing equipment based on autonomous navigation according to claim 7 is characterized in that: The material box conveying device includes a material box conveying mechanism, a vertical driving mechanism for driving the material box conveying mechanism to make vertical movement, and a horizontal driving mechanism for driving the material box conveying mechanism to make horizontal movement, wherein the conveying mechanism includes a conveying platform, a conveying suction nozzle arranged on the conveying platform, and a longitudinal driving mechanism for driving the conveying suction nozzle to make longitudinal movement, wherein the conveying suction nozzle is divided into two groups; a positioning groove for positioning the material box is arranged on the conveying platform.

9. The automatic pigeon house material changing equipment based on autonomous navigation according to claim 8 is characterized in that: A binocular camera is also provided on the transport platform, and the binocular camera is used to identify the coordinate position of the old feed box in the pigeon cage relative to the feed box transport device.

10. The automatic pigeon house material changing equipment based on autonomous navigation according to claim 9 is characterized in that: The intelligent chassis is integrated with an automatic tracking module, which adopts the path planning algorithm of A* fusion RRT, and uses the global optimization of the A* algorithm and the fast local exploration of the RRT algorithm to perform path planning to ensure that the planned path meets the global goal. At the same time, real-time local path adjustment is performed based on the global path during the planning process.

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