Unmanned pushing robot based on multiple sensors and pasture management method

Abstract

The invention relates to the technical field of intelligent equipment in the animal husbandry industry, and discloses a multi-sensor-based unmanned material pushing robot and a pasture management method, and the method comprises the steps: obtaining a pasture housing map and an unmanned material pushing robot driving route planning map; sequentially entering a target colony house along a preset driving route under the guidance of a navigation system, driving at a specified point according to a preset speed, pushing materials and / or checking the number of livestock, measuring the body temperature, and measuring the temperature and humidity of the colony house; at least one driving route is arranged on the outer side of the fence of the breeding house, materials are pushed from outside to inside gradually when being pushed for multiple times in one day, and the defects that in the prior art, due to the fact that magnetic stripes are laid on roads for navigation, the material pushing range is fixed, and feed is wasted are thoroughly overcome; the working instruction comprises the route, the working content, the working time and the working frequency of the unmanned pushing robot every day, so that the flow of pasture personnel is reduced, the pasture is effectively and reasonably managed, and the economic benefit of the pasture is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent equipment in the livestock industry, and particularly relates to a multi-sensor-based driverless feeding robot and a ranch management method. Background Art

[0002] Currently, in ruminant ranches, the following 4 tasks are all completed manually according to different job assignments: First, the daily feeding and pushing work of the ranch. In small and family ranches, manual pushing is mostly used. In large and medium-sized ranches, self-made pushing boards are basically used, configured on equipment such as electric vehicles or tractors, and the equipment is driven manually for pushing work. The consistency of pushing is poor. After deviation, it is necessary to reverse and repeat pushing. Moreover, the workload of manual pushing is large, the number of required personnel is large, and the efficiency is low; or a feeding robot with low-speed magnetic nail navigation is used, but it can only walk along the magnetic nail route fixed on the ground, cannot change the route, the feeding range is fixed, when the feed is less, the feed cannot be effectively pushed towards the fence, which is easy to cause waste, and it has disadvantages such as low use efficiency, slow pushing speed and short battery life; Second, most ranches use the method of manually counting and recording the number of animals. Not only is it difficult to count clearly, but it also takes time and effort; Third, animal body temperature inspection. Currently, in ranches, the body temperature is only measured manually after the animals have pathological problems such as illness, and the health status of the animals cannot be detected in a timely and early manner, often resulting in untimely treatment; Fourth, air quality detection in the animal pens. Currently, there are few or no devices in the ranch to detect the air conditions in the living environment of the animals.

[0003] The common disadvantage of manual pushing and pushing with manually driven equipment is that the personnel in the ranch have a large turnover. Since ranch employees generally are responsible for multiple tasks in the pens, the employees are uncontrollable and often cannot complete the pushing work in a timely manner according to the plan. Especially in the hot and humid weather in summer, if the pushing is not done in time, the feed is easily heated and deteriorated, and the animals are prone to disease risks after eating, which affects the efficiency of the ranch.

[0004] Therefore, there is an urgent need for an automatically controlled driverless feeding robot for ranch management. Summary of the Invention

[0005] The present invention discloses a multi-sensor-based driverless feeding robot and a ranch management method, aiming to solve the technical problems existing in the prior art.

[0006] The present invention adopts the following technical solutions: The ranch management method of the multi-sensor-based driverless feeding robot includes the following steps: S1: Obtain the map of the ranch pens and the driving route planning map of the driverless feeding robot; S2: Obtain the work instruction and the matching driving route. Under the guidance of the navigation system, the driverless feeding robot enters the first target pen from the parking space along the preset driving route and is located at the designated starting point. S3: Obtain the feeding instruction and / or obtain the health care instructions for livestock quantity inventory, body temperature measurement, and pen temperature and humidity measurement; obtain the feeding instruction, control the feeding device to descend to the ground, adjust the feeding shovel to tilt to a preset angle, move forward along the preset direction to push the feed to the side fence, drive to the designated position at the end of the pen, control the feeding shovel to return to the upright position, and lift the feeding device to the preset position; obtain the health care instruction, obtain the ear tag information, body temperature information of the livestock in the fence and the temperature and humidity information of the pen, and transmit them to the ranch control center in real time, and also stop executing the health care instruction when reaching the shovel lifting point. S4: Continue to enter other preset target pens along the driving route under the guidance of the navigation system, and repeat step three. S5: After the task is completed or when charging is required, enter the parking space along the driving route under the guidance of the navigation system to automatically park and charge.

[0007] In some embodiments, in S1, there are several driving routes in the driving route planning map of the driverless feeding robot. According to the needs, there are driving routes passing through all pens and driving routes passing through some pens, and each driving route is numbered.

[0008] In some embodiments, in S1, there are several points on the driving route. The points include the road starting point, road midpoint, and road end point for entering the road; the shovel landing point, acceleration point, center point, deceleration point, turning starting point, turning end point, and shovel lifting point for entering the pen. The points are matched with the preset speed of the driverless feeding robot.

[0009] In some embodiments, in S1, there is at least one driving route outside the fence of the pen. When there are more than one, all the driving routes are arranged in parallel at intervals, gradually approaching the fence from the outside to the inside. And when a certain pen is fed multiple times a day, the feed is pushed from the outside to the inside along the preset driving route successively.

[0010] In some embodiments, in S2, there are several work instructions. According to the needs, there are feeding instructions, health care instructions; or only feeding instructions; or only health care instructions, and the health care instructions include obtaining ear tag information, body temperature information, temperature and humidity information of the pen or some of the information. The driverless feeding robot simultaneously obtains a work instruction and a matching driving route. The work instruction further includes the pens for the driverless feeding robot to work in a day, the work content, the working hours, and the working frequency. The navigation system of the driverless feeding robot is an RTK, 3D lidar, and IMU integrated navigation system.

[0011] In some embodiments, in S3, when the driverless feeding robot enters the shoveling point in the pen, its speed is zero. The feeding device is controlled to descend to the ground, and the feeding shovel is adjusted so that the inclination angle θ of the feeding edge with respect to the forward direction is 55° - 60°. A feeding instruction is obtained, and the robot moves forward to feed according to the preset driving route. When it reaches the acceleration point, it starts to accelerate to 4 km / h, moves at a constant speed to the center point and deceleration point, and then starts to decelerate. It stops at the shovel-lifting point and raises the feeding device to a preset position; it continues to move forward according to the preset driving route. When it reaches the turning point, it drives along a preset radius route, and the turning speed is set to 2 km / h. When it reaches the shoveling point on the other side of the fence, it shovels and repeats the feeding process.

[0012] In some embodiments, in S3, the ear tag information of the livestock in the pen is obtained, including obtaining the radio frequency signal of the livestock ear tags in the pen through an ear tag identification device to realize the inventory and statistics of the number of animals; obtaining the body temperature information of the livestock in the pen through a thermal imaging camera; obtaining the temperature and humidity information of the pen through a temperature and humidity monitoring device and transmitting it to the ranch control center in real time; when the obtained data information exceeds the preset value, the driverless feeding robot sends an alarm message to the ranch control center.

[0013] In some embodiments, in S4, under the guidance of the navigation system, it continues to enter other preset target pens along the driving route in sequence, including: starting to accelerate from the shovel-lifting point of the pen under the guidance of the navigation system, passing through the preset road starting point, road midpoint, and road end point at a speed of 5 km / h in sequence, and then decelerating to 2 km / h to reach the shoveling point of the next target pen; if an obstacle is encountered ahead during the journey, it decelerates automatically, brakes automatically when the distance reaches 1 m, waits within the preset time, and sends an obstacle message to the ranch control center after exceeding the preset time.

[0014] In some embodiments, in S5, when the battery level of the driverless feeding robot reaches the preset charging limit value, or when the current work task is completed, it enters the parking space along the driving route under the guidance of the navigation system to automatically park and charge.

[0015] The present invention also discloses a multi-sensor-based driverless feeding robot for implementing the above-mentioned ranch management method, including: There is a robot body with wheels, a feeding device installed at the front end of the body, a navigation system, a temperature and humidity monitoring device for the pen installed at the top of the body, monitoring devices installed on both sides of the navigation system for monitoring the body temperature of livestock, ear tag identification devices installed on both sides of the body for counting the number of livestock, and an intelligent control system. The navigation system is an RTK, 3D lidar, IMU integrated navigation system; The intelligent control system includes a wire-controlled chassis system installed in the body and a ranch control center wirelessly communicating with the wire-controlled chassis system. The wire-controlled chassis system includes a ROS control system for intelligently controlling the movement of the driving wheels and a controller. The controller includes a memory, a processor, and a computer program stored on the memory and executable on the processor, for controlling the feeding device, the navigation system, the ear tag identification device, the body temperature monitoring device, and the temperature and humidity monitoring device to execute instructions. Advantageous Effects

[0016] The present invention discloses a multi-sensor-based driverless feeding robot and a ranch management method. Compared with the prior art, the present invention has the following advantages: A multi-sensor-based driverless feeding robot and a ranch management method. By setting up a multi-sensor-based driverless feeding robot, a ranch pen map and a driving route planning map for the driverless feeding robot are obtained. After obtaining a work instruction, it enters the target pen along the preset driving route in sequence under the guidance of the navigation system, and drives, feeds, counts the number of livestock, measures the body temperature, and measures the temperature and humidity of the pen at the designated points at a preset speed. The information is transmitted to the ranch control center in real time. At least one driving route is arranged outside the fence of the pen, and all driving routes are arranged in parallel at intervals and gradually approach the fence from the outside to the inside. When a certain pen is fed multiple times a day, the feeding is carried out from the outside to the inside along the preset driving route successively, completely solving the problems in the prior art that due to the laying of magnetic stripe navigation on the road, the feeding range is fixed, when the feed is less, the feed cannot be effectively pushed to the fence, which is easy to cause waste, and the feeding speed is slow and the battery life is short. The driverless feeding robot automatically enters the parking space along the driving route for parking and charging, improving the usage efficiency. The work instruction also includes the working pens, working content, working time, and working frequency of the driverless feeding robot in a day according to specific needs, so that the livestock in each pen of the ranch are effectively and reasonably managed without being forgotten, not only greatly reducing the flow of ranch personnel, but also being able to complete the feeding in time according to the plan, preventing feed deterioration, and at the same time timely understanding the body temperature of livestock and the temperature and humidity of the pen, protecting the health of animals, and effectively improving the economic benefits of the ranch. Brief Description of the Drawings

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings required for the description of the embodiments. These drawings form a part of the present invention. The schematic embodiments of the present invention and their descriptions explain the present invention without unduly limiting it. In the drawings: Figure 1 It is a flowchart of the pasture management method for an unmanned feeding robot based on multi-sensors provided by an embodiment of the present invention; Figure 2 It is a schematic structural diagram of the technical solution during the pasture management of an unmanned feeding robot based on multi-sensors provided by an embodiment of the present invention; Figure 3 It is a schematic structural diagram of the technical solution of an unmanned feeding robot based on multi-sensors.

[0018] In the figure: Unmanned feeding robot 1; robot body 11; feeding device 12; feeding shovel 121; lifting guide rail device 122; navigation system 13; temperature and humidity monitoring device 14; body temperature monitoring device 15; ear tag identification device 16; intelligent control system 17; wire-controlled chassis system 171; ROS control system 1711; controller 1712; pasture control center 2. Detailed implementation manners

[0019] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions of the present invention in combination with specific embodiments of the present invention and the corresponding drawings. In the description of the present invention, it should be noted that the term "comprising" mentioned in the specification and claims is an open-ended term and should be interpreted as "including but not limited to"; "several" means more than 2.

[0020] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0021] Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0022] As Figures 1 - 3 shown, the technical solution of the present invention: The present invention discloses a method for managing a pasture with a multi-sensor-based driverless feeding robot, comprising the following steps: S1: The controller 1712 in the intelligent control system 17 of the driverless feeding robot 1 obtains the pasture pen map and the driving route planning map of the driverless feeding robot 1 sent by the pasture control center 2, and stores them in the storage module; S2: The controller 1712 obtains the work instruction and the matching driving route sent by the pasture control center 2. Under the guidance of the navigation system 13, i.e., the RTK, 3D lidar, and IMU integrated navigation system, the driverless feeding robot 1 enters the first target pen along the preset driving route from the parking space and is located at the designated starting point; S3: Obtain the feeding instruction and / or obtain the health care instructions for livestock quantity inventory, body temperature measurement, and pen temperature and humidity measurement; obtain the feeding instruction, control the feeding device 12 to descend to the ground, and adjust the feeding shovel 121 to tilt to a preset angle, move forward along the preset direction to push the feed to the side fence, drive to the designated position at the end of the pen, control the feeding shovel 121 to return to the normal position, and lift the feeding device 12 to the preset position; obtain the health care instructions, the ear tag recognition device 16 obtains the ear tag information of the livestock in the fence, the body temperature monitoring device 15 obtains the body temperature information, and the temperature and humidity monitoring device 14 obtains the temperature and humidity information of the pen, and transmits them to the pasture control center 2 in real time through the controller 1712, and also stops executing the health care instructions when reaching the shovel lifting point; S4: Continue to enter other preset target pens along the driving route under the guidance of the navigation system 13, and repeat step three; S5: After the task is completed or when charging is required, enter the parking space along the driving route under the guidance of the navigation system 13 to automatically park and charge.

[0023] As Figures 1 - 3 shown, the first preferred embodiment of the present invention: The present invention discloses a method for managing a pasture with a multi-sensor-based driverless feeding robot, comprising the following steps: S1: The controller 1712 in the intelligent control system 17 of the driverless feeding robot 1 obtains the pasture pen map and the driving route planning map of the driverless feeding robot 1 sent by the pasture control center 2, and stores them in the storage module; There are several driving routes in the driving route planning map obtained by the driverless feeding robot 1; different driving paths are set according to the physiological stages and quantities of the livestock in the pens, including the driving route passing through all the pens and the driving route passing through some pens, and each of the driving routes is numbered by a computer program, and the pasture control center 2 will send the required driving route number at this stage to the driverless feeding robot 1.

[0024] And a number of points are set on the driving route. In this embodiment, the points include the road starting point O1 for entering the road, the road midpoint O2, and the road ending point O3; the shovel-down point A1, the acceleration point A2, the center point A3, the deceleration point A4, the shovel-lifting point A5, the turning starting point P1, the turning midpoint P2, and the turning ending point P3 for entering the pen. In this embodiment, point O3 coincides with point A1, point P1 coincides with point A5, point P3 coincides with point A1, and point O1 coincides with point A5.

[0025] In this embodiment, the driverless feeding robot 1 enters the pen W from the parking space E through the road starting point O1, the road midpoint O2, and the road ending point O3. １ At the shovel-down point A1, the feeding work and the inventory of the number of livestock, the body temperature measurement, and the measurement of the temperature and humidity in the pen are started, as Figure 2 shown.

[0026] The points are matched with the preset speed of the driverless feeding robot 1. In this embodiment, the maximum speed on the road is set to 5 km / h, and the maximum driving speeds in the pen and during turning are both set to 2 km / h.

[0027] There are n pens in the ranch, and at least one driving route is set outside the fence of the pen. When there are more than one, all the driving routes are arranged in parallel at intervals and gradually approach the fence from the outside to the inside. And when a certain pen is fed multiple times a day, the feeding is carried out from the outside to the inside along the preset driving route successively.

[0028] As Figure 2 shown by L1, L2, and L3, the spacing H is 25 cm to 35 cm. In this embodiment, H = 35 cm. The driverless feeding robot 1 first feeds along the L3 driving route during a day's work, pushing the outermost feed towards the fence. When the cattle have eaten for the preset time, the second feeding is carried out along the L2 driving route, and the third feeding is carried out along the L １ driving route, pushing from the outside to the inside step by step, which not only ensures that the pen is swept clean but also saves feed.

[0029] According to the need, several driving routes are set in the pen. For example, Figure 2 in the pen W １ only one driving route is set, while in the pen W nOnly 3 driving routes are set; the driving routes can also be adjusted at any time according to specific situations, and the number of times of pushing materials is adjusted, which is controlled by the intelligent control system 17. The intelligent control system 17 includes an unmanned pushing robot 1 and a ranch control center 2 connected by wireless communication. The unmanned pushing robot 1 is provided with a wire-controlled chassis system 171 in the robot body 11. The wire-controlled chassis system 171 includes a ROS control system 1711 for intelligently controlling the movement of the walking wheels and a controller 1712 for storing instructions and computer programs to control the pushing device 12, the lifting guide device 122, the navigation system 13, the ear tag identification device 16, the body temperature monitoring device 15, and the temperature and humidity monitoring device 14 to execute instructions. The ranch control center 2 sends instructions to the controller 1712 of the wire-controlled chassis system 171, and the ROS control system 1711 controls the walking wheels of the unmanned pushing robot 1 to move forward along the driving route in the instructions.

[0030] S2: The controller 1712 obtains the work instructions sent by the ranch control center 2 and the matching driving route. Under the guidance of the navigation system 13, the unmanned pushing robot 1 enters the first target pen W1 from the parking space E along the preset driving route: road starting point O1 → road midpoint O2 → road end point O3, and stops at the shoveling point A1, which is the designated starting point. The unmanned pushing robot 1 works under the driving route and the matching specific work instructions obtained at the same time, as Figure 2 shown.

[0031] There are several work instructions, which are set according to needs and include pushing instructions and health care instructions; or only pushing instructions; or only health care instructions, and the health care instructions include the acquisition of ear tag information, body temperature information, temperature and humidity information of the pen or some of the information; different driving paths and health care instructions are set according to the physiological stage and quantity of livestock in the pen and transmitted to the unmanned pushing robot 1. The work instructions also include the working pens, work content, working time and working frequency of the unmanned pushing robot 1 in one day.

[0032] S3: The unmanned pushing robot 1 obtains pushing instructions and / or obtains health care instructions for livestock quantity inventory, body temperature measurement, and pen temperature and humidity measurement, that is, the instructions issued are different according to actual needs.

[0033] When the unmanned pushing robot 1 obtains a pushing instruction, the controller 1712 controls the lifting guide device 122 to lower the pushing device 12 to the ground and adjusts the pushing shovel 121 to a preset angle. The inclination angle θ between the edge of the pushing shovel 121 and the forward direction is in the range of 55° to 60°. In this embodiment, θ is taken as 55°, that is, the pushing shovel 121 pushes the forage obliquely, and the shoveling point A １The speed of the point driverless feeding robot 1 is zero. The ROS control system 1711 controls the driving wheels to move forward along the driving route in the command, and pushes the feed forward to the left side fence in the preset direction. When it reaches the acceleration point A2, it starts to accelerate to 4 km / h, moves at a constant speed to the center point A3, and starts to decelerate when it reaches the deceleration point A4. It stops at the shovel lifting point A5, controls the feed shovel 121 to return to the normal position, and raises the feed shovel 121 to the preset position; while moving forward, according to the obtained health care command, the controller 1712 controls the ear tag recognition device 16 to obtain the ear tag information of the livestock in the fence, the body temperature monitoring device 15 to obtain the body temperature information, and the temperature and humidity monitoring device 14 to obtain the temperature and humidity information of the livestock house W １ and transmits it to the ranch control center 2 in real time through the controller 1712. When it reaches the shovel lifting point, it also stops executing the health care command. In this embodiment, obtaining the ear tag information of the livestock in the fence includes obtaining the radio frequency signal of the ear tags of the livestock in the livestock house through the ear tag recognition device 16 to realize the inventory and statistics of the number of animals; obtaining the body temperature information of the livestock in the fence through the thermal imaging camera; obtaining the temperature and humidity information of the livestock house through the temperature and humidity monitoring device 14 and transmitting it to the ranch control center 2 in real time; when the obtained data information exceeds the preset value, the driverless feeding robot 1 sends an alarm message or an alarm text message to the ranch control center 1 through the controller 1712.

[0034] The driverless feeding robot 1 continues to move forward along the preset driving route and drives along the preset radius route when it reaches the turning point. In this embodiment, the turning starting point P1 and the point A1 are set as the same point. After accelerating, when it reaches the turning midpoint P2 of the maximum radius, the speed is 2 km / h. It decelerates and reaches the turning end point P3, that is, the shovel dropping point A1 of the right fence, and then drops the shovel, and repeats the execution of the feeding command and the execution of the health care command.

[0035] S4: Under the guidance of the navigation system 13, continue to enter other preset target livestock houses along the driving route in turn, including: under the guidance of the navigation system 13, starting from the shovel lifting point A5 of the livestock house W １ it starts to accelerate. In this embodiment, O1 is set to coincide with A5. After accelerating, it passes through the preset points on the road at a speed of 5 km / h in turn, and then decelerates to 2 km / h to reach the shovel dropping point of the next target livestock house; if an obstacle is encountered ahead on the way, the ROS control system 1711 controls itself to decelerate under the guidance of the navigation system 13, brakes automatically when the distance reaches 1 m, or detours. When it cannot pass due to the narrow road, it waits within the preset time and sends an obstacle message to the ranch control center 2 after exceeding the preset time. For example, if the preset waiting time is 10 min, an obstacle message is sent to the ranch control center 2 after exceeding the time, and the ranch control center 2 will notify the relevant personnel to go and 1 clean it up.

[0036] S5: When the power of the driverless material pushing robot 1 reaches the preset charging limit or when the current work task is completed, it automatically parks and charges in the parking space E along the driving route under the guidance of the navigation system 13.

[0037] In the second preferred embodiment of the present invention, as Figure 3 shown: The present invention also discloses a multi-sensor-based driverless material pushing robot for implementing a multi-sensor-based driverless material pushing robot ranch management method, including: The driverless material pushing robot 1 is wirelessly communicatively connected to the ranch control center 2, and the ranch control center 2 includes a computer, a mobile phone, etc.

[0038] The driverless material pushing robot 1 is provided with a robot body 11 with wheels, a material pushing device 12 installed at the front end of the robot body 11 for pushing materials, a navigation system 13 installed on the top of the robot body 11 for navigation, a temperature and humidity monitoring device 14 for measuring the temperature and humidity in the pen, a body temperature monitoring device 15 installed on both sides of the navigation system 13 for monitoring the body temperature of livestock, and an ear tag recognition device 16 installed on both sides of the robot body 11 for counting the number of livestock by identifying livestock ear tags. The material pushing device 12 includes a material pushing shovel 121 and a lifting guide rail device 122 for driving the movement of the material pushing shovel 121, and further includes an intelligent control system 17 for intelligent control. The navigation system 13 is an RTK, 3D lidar, IMU integrated navigation system.

[0039] The intelligent control system 17 includes a wire-controlled chassis system 171 installed in the robot body 11 and the ranch control center 2 wirelessly communicatively connected to the wire-controlled chassis system 171. The wire-controlled chassis system 171 includes a ROS control system 1711 for intelligently controlling the movement of the wheels and a controller 1712. The controller 1712 includes a memory, a processor, and a computer program stored on the memory and executable on the processor. After receiving an instruction sent by the ranch control center 2, the controller 1712 controls the material pushing device 12, the navigation system 13, the ear tag recognition device 16, the body temperature monitoring device 15, and the temperature and humidity monitoring device 16 to execute the instruction.

[0040] After the ear tag recognition device 16 obtains the radio frequency signals of the livestock ear tags in the pen and realizes the inventory and statistics of the number of animals, the data is sent to the ranch control center 2 through the controller 1712; the body temperature information of the livestock in the fence is obtained through the thermal imaging camera, and the temperature and humidity information of the pen is obtained through the temperature and humidity monitoring device 14, and both are sent to the ranch control center 2 in real time through the controller 1712; when the obtained data information exceeds the preset value, the driverless feeding robot 1 sends an alarm message or an alarm text message to the ranch control center 1 through the controller 1712 to urge the relevant ranch personnel to handle it in time to ensure the health of the livestock.

[0041] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the spirit and scope protected by the claims of the present invention, and all of them belong to the protection scope of the present invention.

Claims

1. A pasture management method for a driverless material pushing robot based on multi-sensors, characterized in that: It includes the following steps: S1: Obtain the map of the ranch pens and the driving route planning map of the driverless feed pusher robot; S2: Obtain the work instructions and the matching driving route. Under the guidance of the navigation system, the driverless feed pusher robot enters the first target pen along the preset driving route from the parking space and is located at the designated starting point; S3: Obtain the feed pushing instruction and / or obtain the health care instructions for livestock quantity inventory, body temperature measurement, and pen temperature and humidity measurement; Obtain the feed pushing instruction, control the feed pushing device to descend to the ground, and adjust the feed shovel to tilt to a preset angle, move forward along the preset direction to push the feed to the side fence, drive to the designated position at the end of the pen, control the feed shovel to return to the upright position, and lift the feed pushing device to the preset position; Obtain the health care instructions, obtain the ear tag information, body temperature information of the livestock in the fence and the temperature and humidity information of the pen, and transmit them to the ranch control center in real time; Stop executing the health care instructions when reaching the shovel lifting point; S4: Continue to enter other preset target pens along the driving route under the guidance of the navigation system, and repeat step three; S5: After the task is completed or when charging is required, drive into the parking space along the driving route under the guidance of the navigation system to automatically park and charge.

2. The method for managing a pasture by a multi-sensor-based driverless material pushing robot according to claim 1, characterized in that: In S1, there are several driving routes in the driving route planning map of the driverless feed pusher robot. According to the needs, there are driving routes passing through all pens and driving routes passing through some pens, and each driving route is numbered.

3. The method for managing a pasture by a multi-sensor-based driverless material pushing robot according to claim 2, wherein: In S1, there are several points on the driving route. The points include the road starting point, road midpoint, and road end point of the access road; the shovel dropping point, acceleration point, center point, deceleration point, turning starting point, turning end point, and shovel lifting point for entering the pen. The points match the preset speed of the driverless feed pusher robot.

4. The method for managing a pasture by a multi-sensor-based driverless pusher robot according to claim 3, characterized in that: In S1, there is at least one driving route outside the fence of the pen. When there are more than one, all the driving routes are arranged in parallel at intervals, gradually approaching the fence from the outside to the inside. And when a certain pen is fed multiple times a day, the feed is pushed from the outside to the inside along the preset driving route successively.

5. The method for managing a pasture by a multi-sensor-based driverless material pushing robot according to claim 1, characterized in that: In S2, there are several work instructions. According to the needs, there are included the feed pushing instruction, health care instruction; or only the feed pushing instruction; or only the health care instruction, and the health care instruction includes the acquisition of ear tag information, body temperature information, temperature and humidity information of the pen or some of the information; The driverless feed pusher robot obtains the work instructions and the matching driving route at the same time. The work instructions also include the pens for the driverless feed pusher robot to work in a day, the work content, work time, and work frequency. The navigation system of the driverless feed pusher robot is an RTK, 3D lidar, IMU integrated navigation system.

6. The method for managing a pasture by a multi-sensor-based driverless material pushing robot according to claim 3, characterized in that: In S3, when the driverless feeding robot enters the shoveling point in the pen, its speed is zero. Control the feeding device to descend to the ground, and adjust the feeding shovel so that the inclination angle θ between the feeding edge and the forward direction is 55° - 60°. Obtain a feeding instruction, move forward to feed along a preset driving route. Start to accelerate to 4 km / h when reaching the acceleration point, move at a constant speed to the center point and deceleration point, then start to decelerate, stop at the shovel-lifting point and lift the feeding device to a preset position; continue to move forward along the preset driving route, drive along a preset radius route when reaching the turning point, and set the turning speed to 2 km / h. Shovel when reaching the shoveling point on the other side of the fence, and repeat the feeding process.

7. The method for managing a pasture by a multi-sensor-based driverless pusher robot according to claim 1, wherein: In S3, obtain the ear tag information of the livestock in the pen, including obtaining the radio frequency signal of the livestock ear tags in the pen through the ear tag identification device to realize the inventory statistics of the number of animals; obtain the body temperature information of the livestock in the pen through the thermal imaging camera; obtain the temperature and humidity information of the pen through the temperature and humidity monitoring device and transmit it to the ranch control center in real time; when the obtained data information exceeds the preset value, the driverless feeding robot sends an alarm message to the ranch control center.

8. The method for managing a pasture by a multi-sensor-based driverless material pushing robot according to claim 3, wherein: In S4, continue to enter other preset target pens along the driving route under the guidance of the navigation system, including: starting to accelerate from the shovel-lifting point of the pen under the guidance of the navigation system, passing through the preset road starting point, road midpoint, and road end point at a speed of 5 km / h in sequence, then decelerating to 2 km / h, and reaching the shoveling point of the next target pen; if an obstacle is encountered ahead during the journey, decelerate automatically, brake automatically when the distance reaches 1 m, wait within the preset time, and send an obstacle message to the ranch control center after exceeding the preset time.

9. The method for managing a pasture using a multi-sensor-based driverless pusher robot according to claim 1, characterized in that: In S5, when the battery power of the driverless feeding robot reaches the preset charging limit value, or when the current work task is completed, enter the parking space along the driving route under the guidance of the navigation system to park and charge automatically.

10. An unmanned feeding robot based on multi-sensors, characterized in that: For implementing the ranch management method according to claims 1 - 9, including: It is provided with a robot body with wheels, a feeding device installed at the front end of the body, a navigation system, a pen temperature and humidity monitoring device installed on the top of the body, a body temperature monitoring device installed on both sides of the navigation system for monitoring the body temperature of livestock, an ear tag identification device installed on both sides of the body for inventorying the number of livestock, and an intelligent control system. And the navigation system is an RTK, 3D lidar, IMU integrated navigation system; The intelligent control system includes a wire-controlled chassis system installed in the body and a ranch control center wirelessly communicating with the wire-controlled chassis system; the wire-controlled chassis system includes a ROS control system for intelligently controlling the movement of the walking wheels and a controller. The controller includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and controls the feeding device, the navigation system, the ear tag identification device, the body temperature monitoring device, and the temperature and humidity monitoring device to execute instructions.

Images