Automatic pigeon loft reloading equipment based on autonomous navigation

Abstract

The application discloses a pigeon shed automatic material changing equipment based on autonomous navigation, which 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 feeding mechanism and a feeding mechanism; the new feed box feeding device comprises a new feed box storage mechanism, a feeding carrying mechanism for carrying the new feed box in the new feed box storage mechanism to the receiving platform and a feed box transferring mechanism for transferring the new feed box with feed / water in the 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 for carrying the old feed box carried by the feed box carrying device into the old feed box recycling box. The pigeon shed automatic material changing equipment can automatically realize recycling of the old feed box, injection of feed and water into the new feed box and placement of the new feed box into a pigeon feeding position.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of breeding production, in particular to a pigeon shed automatic feed changing equipment based on autonomous navigation. BACKGROUND

[0002] Pigeons mainly eat cereals, mainly corn, wheat, beans, grains, etc., and generally do not eat meat such as insects. Pigeons are used to eating raw food, and can also adapt to cooked food under artificial feeding. In artificial breeding farms, mixed granular feed can also be used for feeding.

[0003] During the process of breeding pigeons, pigeon farms need to regularly feed them. In the existing breeding process, pigeons are generally fed by artificial feeding. The main method is to place feed in the food box by the feeder, and the pigeons will come to eat. This method is very simple to use, but the operation process is relatively complex. The feeder needs to regularly and fixedly feed the food box in front of the pigeon cage. Secondly, when the pigeons finish eating the feed, there will be residual feed in the food box. If the feed is not cleaned in time and the feed is added for multiple times, the long-time residual feed at the bottom of the food box will cause the feed to deteriorate, seriously affecting the health of the pigeons, and even causing large-scale death of the pigeons.

[0004] To solve the above problems, an automatic feed changing equipment is needed, which 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. SUMMARY

[0005] The present application overcomes the deficiencies of the prior art and provides a pigeon shed automatic feed changing equipment based on autonomous navigation. The pigeon shed automatic feed changing equipment 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, thereby ensuring the healthy growth of the pigeons.

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

[0007] A pigeon shed automatic feed changing equipment based on autonomous navigation, comprising an intelligent chassis, a rack arranged on the intelligent chassis, an automatic feed dispensing device arranged on the rack, a new feed box feeding device, an old feed box recycling device, and a feed box conveying device for conveying the old feed box to the old feed box recycling device and transferring the new feed box containing feed and / or water to the pigeon feeding position, wherein,

[0008] The automatic feeding device comprises a receiving platform, a water feeding mechanism and a feeding mechanism, wherein the receiving platform is installed on the frame; the water feeding mechanism comprises a water tank arranged on the frame and a water feeding driving mechanism for feeding water in the water tank into a new feed box on the receiving platform; the feeding mechanism comprises a feed bin arranged on the frame and a feeding driving mechanism for feeding the feed in the feed bin into the new feed box on the receiving platform;

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

[0010] The old feed box recycling device comprises an old feed box recycling box and a discharging carrying mechanism for carrying the old feed box carried by the box carrying device into the old feed box recycling box.

[0011] Preferably, the water feeding driving mechanism comprises a peristaltic pump and a water feeding pipeline, the peristaltic pump feeds water in the water tank to the new feed box on the receiving platform through the water feeding pipeline; the feeding driving mechanism comprises a feeder for feeding the feed in the feed bin into the new feed box on the receiving platform.

[0012] Preferably, the new feed box storage mechanism comprises a storage seat and a lifting driving mechanism for driving the storage seat to lift, wherein a plurality of new feed boxes with bottom up are vertically stacked and placed in the storage groove of the storage seat, and a discharging opening is arranged on the frame; the lifting driving mechanism adopts a driving mode of motor combined with screw rod transmission mechanism.

[0013] Preferably, the loading carrying mechanism comprises a swing arm, a loading suction nozzle arranged on the swing arm and a loading motor for driving the swing arm to rotate, wherein the loading suction nozzle is two groups; a first avoiding groove for avoiding the loading suction nozzle is arranged on the receiving platform.

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

[0015] Preferably, the box transferring mechanism comprises a push plate and a transferring driving mechanism for driving the push plate to move linearly, wherein the push plate is arranged on the frame through a guide mechanism, and a second avoiding groove for avoiding the receiving platform is arranged on the two sides of the push plate.

[0016] The two sides of the receiving platform are provided with guide blocks, and the two groups of guide blocks form a guide groove for guiding the new feed box; the two sides of the push plate are installed on the frame through a guide mechanism, and the two sides of the push plate are respectively provided with a second avoiding groove for avoiding the receiving platform.

[0017] The transfer driving mechanism comprises a transfer motor mounted on the rack, a gear arranged on the main shaft of the transfer motor and a rack arranged on the push plate and engaged with the gear, wherein the extension direction of the rack is the same as the extension direction of the guide block.

[0018] Preferably, the blank carrying mechanism comprises a rotating arm, a blank suction nozzle arranged on the rotating arm and a blank motor for driving the rotating arm to rotate, wherein the blank suction nozzle is two groups, and the blank motor is mounted on the rack, and the main shaft of the blank motor is connected with the rotating arm.

[0019] Preferably, the material box carrying device comprises a material box carrying mechanism, a vertical driving mechanism for driving the material box carrying mechanism to move vertically and a horizontal driving mechanism for driving the material box carrying mechanism to move horizontally, wherein the carrying mechanism comprises a carrying platform, a carrying suction nozzle arranged on the carrying platform and a longitudinal driving mechanism for driving the carrying suction nozzle to move longitudinally, and the carrying suction nozzle is two groups; the carrying platform is provided with a positioning groove for positioning the material box.

[0020] Preferably, the carrying platform is further provided with a binocular camera, and the binocular camera is used for identifying the coordinate position of the old feeding box in the pigeon cage relative to the material box carrying device.

[0021] Preferably, the intelligent chassis is integrated with an automatic tracking module, the automatic tracking module adopts an A* fusion RRT path planning algorithm, utilizes the global optimization of the A* algorithm and the rapid local exploration of the RRT algorithm to perform path planning to ensure that the planned path meets the global target, and simultaneously performs real-time local path adjustment based on the global path during the planning process.

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

[0023] 1. The pigeon shed automatic material changing equipment based on autonomous navigation can automatically realize recycling of the old feeding box, injecting feed and water into the new feeding box and placing the new feeding box in the pigeon feeding position (i.e. the position of the old feeding box), so as to realize replacement of the entire feeding box, ensure a clean pigeon feeding environment and reduce the probability of cross infection of diseases, thereby ensuring the healthy growth of pigeons.

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

[0025] The pigeon shed automatic material changing equipment based on autonomous navigation can realize automatic feeding of pigeons in the pigeon cage, has a higher degree of automation and can reduce the feeding cost of pigeons. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 and Figure 2 The present invention is a schematic diagram of the three-dimensional structure of the automatic material changing equipment of the pigeon shed based on autonomous navigation from 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 structural diagram 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 schematic diagram of the three-dimensional structure of the loading and handling mechanism.

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

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

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

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

[0035] See also Figures 1-12 The automatic feeding equipment for pigeon sheds 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 loading 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 and / or water to the pigeon feeding position.

[0036] See also Figures 1-12 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 arranged on the receiving platform 8, which is used to detect the weight of the feed and / or water in the new feed box on the receiving platform 8, so as to accurately control the amount of water and feed added by the water feeding mechanism 3 and the feed feeding mechanism 4; therefore, by using the pressure sensor 9, the weight of the feed in the new feed box can be reasonably controlled, thereby avoiding the uncertainty of manual feed addition, and the growth condition of the pigeon is more convenient to manage.

[0038] The water feeding mechanism 3 comprises a water tank 301 arranged on the frame 2 and a water feeding driving mechanism 302 for feeding water in the water tank 301 into the new feed box on the receiving platform 8; wherein the water feeding driving mechanism 302 comprises a peristaltic pump and a water feeding pipeline, and the peristaltic pump feeds the water in the water tank 301 into the new feed box on the receiving platform 8 through the water feeding pipeline.

[0039] The feed feeding mechanism 4 comprises a feed bin 401 arranged on the frame 2 and a feed feeding driving mechanism for feeding the feed in the feed bin 401 into the new feed box on the receiving platform 8; wherein the feed feeding driving mechanism comprises a feeder 402 for feeding the feed in the feed bin 401 into the new feed box on the receiving platform 8.

[0040] Referring to Figures 1-12 , the new feed box feeding device 7 comprises a new feed box storage mechanism, a feeding conveying mechanism for conveying the new feed box in the new feed box storage mechanism to the receiving platform 8, and a box transferring mechanism for transferring the new feed box containing feed and / or water on the receiving platform 8 to the box conveying device 5, wherein

[0041] The new feed box storage mechanism comprises a storage seat 701 and a lifting driving mechanism 702 for driving the storage seat 701 to make lifting motion, wherein a plurality of new feed boxes with bottom upward are vertically stacked and placed in the storage groove of the storage seat 701, and a discharge port is arranged on the frame 2; the lifting driving mechanism 702 adopts a driving mode combining a motor and a screw rod transmission mechanism;

[0042] The feeding conveying mechanism comprises a swing arm 710, a feeding suction nozzle 711 arranged on the swing arm 710, and a feeding motor 709 for driving the swing arm 710 to rotate, wherein the feeding suction nozzle 711 is in two groups; the receiving platform 8 is provided with a first avoiding groove 802 for avoiding the feeding suction nozzle 711; the swing arm 710 is driven by the feeding motor 709 to swing counterclockwise, so that the feeding suction nozzle 711 on the swing arm 710 sucks the bottom of the new feed box located at the uppermost position of the storage seat 701, and then the swing arm 710 is driven by the feeding motor 709 to swing clockwise, so as to take out the new feed box located at the uppermost position of the storage seat 701 and rotate it by 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 the first avoiding groove 802 for avoiding the feeding suction nozzle 711 (or the swing arm 710), the receiving platform 8 will not interfere with the conveying 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 storage seat 701 is driven upward by the lifting driving mechanism 702, so that the second new feed box rises to the position of the original first new feed box again;

[0043] The box transferring mechanism comprises a push plate 703 and a transferring driving mechanism for driving the push plate 703 to move linearly, wherein,

[0044] The receiving platform 8 is provided with guide blocks 801 on both sides, and the two groups of guide blocks 801 form a guide groove for guiding the movement of the new feed box; the push plate 703 is installed on the rack 2 through a guide mechanism 708 (for example, a guide rod arranged on the rack 2 and a guide hole arranged on the push plate 703), and the two sides of the push plate 703 are respectively provided with second avoiding grooves 704 for avoiding the receiving platform 8, so as to avoid the interference between the push plate 703 and the receiving platform 8 after the push plate 703 pushes the new feed box on the receiving platform 8 to the box conveying device 5;

[0045] The transferring driving mechanism comprises a transferring motor 705 installed on the rack 2, a gear 706 arranged on the main shaft of the transferring motor 705, and a rack 707 arranged on the push plate 703 and engaged 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 receiving platform 8 detects that the weight of the feed and / or water in the new feed box reaches a predetermined value, the box conveying device 5 moves to the edge position of the receiving platform 8, and then the transfer motor 705 drives the gear 706 to rotate, thereby driving the rack 707 and the push plate 703 connected with the rack 707 to move linearly, and then transferring the new feed box with sufficient feed and / or water in the receiving platform 8 to the box conveying device 5.

[0047] Referring to Figures 1-12 , the old feed box recycling device 6 comprises an old feed box recycling box 601 and a discharging conveying mechanism for conveying the old feed box conveyed by the box conveying device 5 into the old feed box recycling box 601, wherein the discharging conveying mechanism comprises a rotating arm 602, a discharging suction nozzle 603 arranged on the rotating arm 602, and a discharging motor 604 for driving the rotating arm 602 to rotate, wherein the discharging suction nozzle 603 is in two groups, and the discharging motor 604 is installed on the rack 2, and the main shaft of the discharging motor 604 is connected with the rotating arm 602.

[0048] Through the above arrangement, when the box conveying device 5 conveys the old feed box to the old feed box recycling station, the discharging motor 604 drives the rotating arm 602 to rotate, so that the discharging suction nozzle 603 on the rotating arm 602 sucks the old feed box, and then the discharging motor 604 drives the rotating arm 602 to rotate into the old feed box recycling box 601, and then the discharging 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 recycling of the old feed box.

[0049] Referring to Figures 1-12 , the box conveying device 5 comprises a box conveying mechanism, a vertical driving mechanism 502 for driving the box conveying mechanism to move vertically, and a horizontal driving mechanism 501 for driving the box conveying mechanism to move horizontally, wherein,

[0050] The conveying mechanism comprises a conveying platform 505, a conveying suction nozzle 504 arranged on the conveying platform 505, and a longitudinal driving mechanism for driving the conveying suction nozzle 504 to move longitudinally, wherein the conveying suction nozzle 504 is in two groups, and both groups of the conveying suction nozzle 504 are installed on a conveying arm; the conveying platform 505 is provided with a positioning groove for positioning the box; the longitudinal driving mechanism comprises an electric push rod 503, and the electric push rod 503 is installed on the conveying platform 505, and the telescopic rod of the electric push rod 503 is connected with the conveying arm;

[0051] The horizontal driving mechanism 501 and the vertical driving mechanism 502 both adopt the driving mode of motor combined with screw rod transmission mechanism, and are provided with corresponding guiding mechanisms for guiding.

[0052] Through the above setting, when the old feed box needs to be recycled, the vertical driving mechanism 502 and the horizontal driving mechanism 501 cooperate with each other to make the carrying platform 505 move to the position where the old feed box to be recycled is located, then the longitudinal driving mechanism drives the carrying arm to extend, so that the carrying suction nozzle 504 on the carrying arm contacts the side surface of the old feed box, and then the negative pressure device is started to make the carrying suction nozzle 504 suck the old feed box; subsequently, the electric push rod 503 is reset to drive the carrying suction nozzle 504 to carry the old feed box into the positioning groove of the carrying platform 505; then the vertical driving mechanism 502 and the horizontal driving mechanism 501 cooperate with each other to make the carrying platform 505 move to the old feed box recycling position, and the old feed box is transferred into the old feed box recycling box 601 by the discharging carrying mechanism, so as to complete the recycling work of the old feed box.

[0053] When the new feed box containing feed and / or water needs to be transferred to the pigeon feeding position (i.e. the original position of the old feed box to be recycled), first, the box transferring mechanism transfers the new feed box containing feed and / or water into the positioning groove of the carrying platform 505; subsequently, the vertical driving mechanism 502 and the horizontal driving mechanism 501 cooperate with each other to make the carrying platform 505 move to the pigeon feeding position; then the longitudinal driving mechanism drives the carrying arm to extend, so that the carrying suction nozzle 504 on the carrying arm sucks the side surface 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 driving mechanism 502 and the horizontal driving mechanism 501 drive the carrying mechanism to reset.

[0054] Referring to Figures 1-12 The feeding suction nozzle 711, the discharging suction nozzle 603 and the carrying suction nozzle 504 can share a group of vacuum pumps 11, or three groups of vacuum pumps 11 can be provided to control the feeding suction nozzle 711, the discharging suction nozzle 603 and the carrying suction nozzle 504 respectively.

[0055] Referring to Figures 1-12The double camera is installed on the carrying platform 505, which adopts a Stereolabs ZED double camera, the camera baseline is 120 mm, the depth map is 1280*720 30fps 32 bit, and the aperture is F and / or 2.0. Meanwhile, the double camera can be automatically white balanced and automatically adjusted exposure, and is suitable for the pigeon cage environment. At the same time, the api provided by ultralytic is used, which can quickly infer the image, including subsequent processing (non-maximum suppression algorithm NMS, etc.), so as to greatly reduce the complexity of the code. At the same time, the high-performance double camera is used, and the depth image is calculated by using the built-in SDK. Through the Jetson ORIX development board, the cuda acceleration is realized, and the inference speed and the generation of the depth map are faster.

[0056] In addition, the double camera in the embodiment is installed on the carrying platform 505, and a depth image is deduced in real time, so as to prepare for the object recognition behind. A pre-trained Yolov 10 model is used to infer and identify the three-dimensional coordinates of the pigeon cage relative to the carrying suction nozzle 504 on the carrying platform 505, and the coordinate information is transmitted to the host computer in the form of ROS topic communication, and the coordinate position of the old feed box relative to the carrying platform 505 is output by the host computer.

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

[0058] Referring to Figures 1-12 The working principle of the pigeon shed automatic feed changing equipment based on autonomous navigation is:

[0059] The pigeon shed automatic material changing equipment of the application carries out SLAM mapping through laser radar, automatically plans a path, and automatically reaches a task position through an intelligent chassis 1. After a binocular camera recognizes the old feed box on the pigeon cage, the three-dimensional coordinates of the old feed box relative to the carrying platform 505 are obtained. Then the binocular camera sends the obtained data information to the ROS host computer. The ROS host computer sends the obtained position of the old feed box relative to the carrying platform 505 to the STM3 lower computer. The STM32 controls the vertical driving mechanism 502 and the horizontal driving mechanism 501 to work according to the coordinate position, so that the carrying platform 505 moves to the corresponding position. Subsequently, the electric push rod 503 extends, and the vacuum pump 11 on the carrying platform 505 is started to adsorb the old feed box. Then, when the electric push rod 503 resets, the old feed box is taken out of the pigeon cage. The vertical driving mechanism 502 and the horizontal driving mechanism 501 are coordinated to move the carrying platform 505 to the old feed box recycling 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, starts the vacuum pump 11 in the unloading carrying mechanism to adsorb the old feed box. The unloading motor 604 drives the old feed box to move into the old feed box recycling box 601, and the vacuum pump 11 is turned off to make the old feed box fall into the old feed box recycling box 601, completing the collection of the old feed box.

[0060] Then, the lifting driving mechanism 702 drives the storage seat 701 to accurately raise the height required to take out one new feed box. Then, the vacuum pump 11 in the feeding carrying mechanism is started to make the feeding suction nozzle 711 adsorb the new feed box. The feeding motor 709 drives the swing arm 710 to rotate, so that the new feed box is taken out and turned over to be placed stably on the receiving platform 8. Since the pressure sensor 9 on the receiving platform 8 is associated with the switch 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 and / or water in the new feed box reaches a predetermined value, the box carrying device 5 moves to the edge position of the receiving platform 8. Subsequently, the transfer motor 705 drives the gear 706 to rotate, so as to drive the rack 707 and the push plate 703 connected with the rack 707 to move linearly, and then transfer the new feed box with sufficient feed and / or water in the receiving platform 8 to the carrying platform 505 of the box carrying device 5.

[0061] Subsequently, the vertical driving mechanism 502 and the horizontal driving mechanism 501 cooperate, so that the conveying platform 505 moves to the pigeon feeding position; then, the longitudinal driving 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; then, the vertical driving mechanism 502 and the horizontal driving mechanism 501 drive the conveying mechanism to reset, and a complete material replacement process is completed.

[0062] In the above process, the pigeon shed automatic material replacement equipment based on autonomous navigation of the application carries out SLAM mapping by laser radar, after obtaining the map, the target material box is identified and positioned by using a binocular camera, and the shortest operation path is quickly planned through the navigation system based on the A* path planning improved algorithm; since the wheel odometer is easy to be disturbed in the navigation design block and errors are generated, therefore, in the embodiment, an IMU and odometer fusion positioning method based on the unscented Kalman filtering algorithm is designed; in view of the problems of too large memory consumption and non-smooth path of the traditional A* algorithm, according to the actual path condition of the pigeon shed, the search field is reduced, the algorithm running time and running memory occupation are reduced, and the comprehensive judgment ability of the overall system is improved.

[0063] In the global path planning algorithm, the A* algorithm has relatively superiorities in the shortest path and path integrity, but also has relatively large limitations, and the defects are that too many unnecessary search nodes are traversed during navigation, and the optimal path has relatively many turning points. Since the environment of the pigeon shed is relatively regular, it takes a long time to search 8 directions and a large memory is needed to store nodes. Therefore, the traditional A* algorithm is improved and optimized, unnecessary search directions are optimized according to the actual situation, the cost paid during search is reduced, the algorithm running time and running memory occupation are reduced, and the comprehensive judgment ability of the overall system is improved.

[0064] In addition, the application innovatively adopts the path planning algorithm of A* fusion RRT, utilizes the global optimization of A* algorithm and the rapid local exploration of RRT algorithm, complementary advantages are ensured, the path meets the global target, and real-time local path adjustment is carried out based on the global path during the planning process, so that a more reasonable and optimal path solution is realized, wherein,

[0065] The advantage of the A* algorithm lies in high calculation efficiency, and the optimal or suboptimal solution can be quickly found; the disadvantage lies in that the selection of the heuristic function is relatively sensitive, 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 environment, the memory consumption may be large, and memory overflow is prone to occur;

[0066] The RRT algorithm is a probabilistically complete algorithm that explores the state space through random sampling and gradually builds a tree to connect the start point and the goal point. The core of the algorithm lies in random sampling and nearest neighbor search, and by iteratively expanding the tree, a path connecting the start point and the goal point is finally found. The advantage of the RRT algorithm lies in its ability to handle high-dimensional space and complex environment, and its dependence on the environment model is relatively small, which is suitable for path planning in unknown or dynamic environment; the disadvantage of the RRT algorithm lies in the relatively low quality of the path, and the generated path is usually not smooth, and the calculation efficiency is relatively low.

[0067] Referring to Figure 12 , the present application adopts the method of mutual fusion of A* algorithm and RRT algorithm to update the optimal initial path for RRT algorithm. The formula and calculation process of the initial path mainly involve: heuristic function h(n) and path cost function g(n); the two functions are used together to calculate the comprehensive evaluation function f(n) of node n:

[0068]

[0069] Among them:

[0070] g(n) is the actual path cost from the start node to the current node n; h(n) is a heuristic function, and the node with the minimum f(n) value is selected for expansion until the target node is found; the function is set to require: (1) it will not overestimate the cost from the node to the target node; (2) for each node n and its successor node n', it satisfies:

[0071]

[0072] Where c(n,n') is the actual cost from n to n'.

[0073] The algorithm for optimizing the initial path takes an initial root node, searches in space through random sampling method, and then adds one after another leaf nodes to continuously expand the random tree. When the target point enters the random tree, the random tree expansion stops immediately, and at this time a path from the start point to the target point can be found. The optimization calculation process is as follows:

[0074] (1) Initialize the random tree ;

[0075] The start point in the environment is taken as the starting point of the random tree search, and at this time the random tree only contains one node, i.e. the root node ;

[0076] (2) Random sampling in the environment

[0077] A point is randomly generated in the environment, if the point is not within the range of obstacles, then the random tree All nodes in Euclidean distance and find the node closest to it , if it is within the range of the obstacle, it will be regenerated Repeat the process until you find ;

[0078] (3) Generate new nodes;

[0079] exist and Connection direction, by point to Fixed growth distance Generate a new node , and judge whether the node is within the obstacle range. If not, Add to Random Tree Otherwise, return to step 2 and re-randomly sample the environment;

[0080] (4) Stop searching;

[0081] when and target point When the distance between is less than the set threshold, it means that the random tree has reached the target point. 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 scope of protection of the present invention.

Claims

1. An automatic pigeon loft material changing device based on autonomous navigation, characterized in that: The machine 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 transporting the new feed box containing feed and / or water to the pigeon feeding position, wherein: The automatic feeding device includes a feeding platform, a water supply mechanism, and a feeding mechanism, wherein the feeding platform is mounted on the frame; the water supply mechanism includes a water tank mounted on the frame and a water supply drive mechanism for delivering water in the water tank to a new feed box located on the feeding platform; the feeding mechanism includes a feed bin mounted on the frame and a feeding drive mechanism for delivering feed in the feed bin to a new feed box located on the feeding platform; The new feed box loading device 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 feed receiving platform, and a feed box transfer mechanism for transferring the new feed box filled with feed and / or water in the feed receiving platform to the feed box transporting mechanism; The old feed box recovery device includes 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; The loading and handling mechanism includes a swing arm, a loading nozzle provided on the swing arm, and a loading motor for driving the swing arm to rotate, wherein the loading nozzles are in two groups; a first avoidance groove for avoiding the loading nozzles is provided on the material receiving platform; 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 provided on both sides of the material receiving platform, and two groups of guide blocks form a guide groove 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 a second avoidance groove for avoiding the material receiving platform; The transfer drive mechanism includes a transfer motor mounted on a frame, a gear provided on a main shaft of the transfer motor, and a rack provided 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; 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.

2. The automatic pigeon loft material changing equipment based on autonomous navigation according to claim 1 is characterized in that: The water supply drive mechanism includes a peristaltic pump and a water supply 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 supply 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 loft 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 upwards and stacked vertically in the 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 loft based on autonomous navigation according to claim 1 is characterized in that: A pressure sensor is provided on the material receiving platform.

5. The automatic pigeon loft material changing equipment based on autonomous navigation according to claim 1 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 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 in two groups; and a positioning groove for positioning the material box is provided on the conveying platform.

6. The automatic pigeon loft material changing equipment based on autonomous navigation according to claim 5 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.

7. The automatic pigeon loft material changing device based on autonomous navigation according to claim 6 is characterized in that: The intelligent chassis is integrated with an automatic tracking module, which adopts the A* fusion RRT path planning algorithm, 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 adjustments are made based on the global path during the planning process.

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