Automatic deviation correction control system and method for colony house spraying trolley based on laser positioning

Abstract

The invention discloses an automatic deviation correction control system and method for a colony house spraying trolley based on laser positioning. The automatic deviation correction control system comprises a laser transmitter, the spraying trolley and a control unit. The laser transmitter is fixedly mounted at one end of the colony house, and laser beams transmitted by the laser transmitter form an intangible linear reference path; a left laser receiving target, a middle laser receiving target, a right laser receiving target and a control system are arranged on the spraying trolley; the height of the laser transmitter is flush with that of a middle laser receiving target on the spraying trolley, and laser of the laser transmitter just irradiates the center position of the middle laser receiving target; the control system receives signals of the left laser receiving target, the middle laser receiving target and the right laser receiving target, judges the relative position of the current walking path of the spraying trolley and the datum line, calculates the correction direction and force and then controls the motion path of the spraying trolley.

Description

Technical Field

[0001] This invention relates to the field of agricultural automation equipment technology, and in particular to an automated spraying device for disinfection or cooling of livestock and poultry pens, specifically a laser-based autonomous correction control system and method for a pens spraying trolley. Background Technology

[0002] In modern large-scale farming, regular spraying for disinfection and cooling of livestock pens is crucial. Automated spraying vehicles are widely used due to their efficiency and labor-saving capabilities. However, existing spraying vehicles mostly rely on pre-embedded rails, magnetic tracks, or dead reckoning based on wheel encoders for navigation. Pre-embedded rails or magnetic tracks require infrastructure modifications, resulting in high costs and poor flexibility. Dead reckoning based on wheel encoders is highly susceptible to wheel slippage due to muddy, slippery surfaces or the presence of debris in the pens, leading to accumulated errors and ultimately causing the vehicle to deviate significantly from its intended path. This results in uneven spraying, affecting disinfection and cooling effectiveness, and may even cause damage from collisions with fences. Therefore, there is an urgent need for a non-contact, high-precision navigation and correction solution that is unaffected by ground conditions to ensure that the spraying vehicle can stably travel along a straight path over the long term. Summary of the Invention

[0003] The present invention aims to solve the problem of yaw caused by wheel slippage and accumulated errors in the existing technology of spraying vehicles, and provides a linear walking control system that is unaffected by ground conditions and can correct yaw in real time with high precision.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention discloses an autonomous correction control system for a pen spraying vehicle based on laser positioning, comprising a laser emitter, a spraying vehicle, and a control unit; The laser emitter is fixedly installed at one end of the enclosure, and the laser beam emitted by it forms an invisible reference path. The spray vehicle is equipped with a left laser receiving target, a middle laser receiving target, a right laser receiving target, and a control system. The height of the laser emitter is level with the middle laser receiving target on the spray vehicle, and the laser emitted by the laser emitter hits the center of the middle laser receiving target. The control system receives signals from the left, middle, and right laser receiving targets, determines the relative position of the spray vehicle's current travel path with respect to the baseline, calculates the correction direction and force, and then controls the movement path of the spray vehicle.

[0005] As a further technical solution, the first set of laser receiving tubes is welded on the left laser receiving target, the second set of laser receiving tubes is welded on the middle laser receiving target, and the third set of laser receiving tubes is welded on the right laser receiving target.

[0006] As a further technical solution, the first group of laser receiver tubes, the second group of laser receiver tubes, and the third group of laser receiver tubes are each arranged in a circular cross-shaped array.

[0007] As a further technical solution, the center points of the left laser receiving target, the middle laser receiving target, and the right laser receiving target are at the same height.

[0008] As a further technical solution, laser emitters can be installed in multiple locations within the enclosure, depending on its overall structure.

[0009] As a further technical solution, the spraying vehicle includes a vehicle body, front wheels, rear wheels, a travel motor, a steering servo, a spraying device, and a control unit; the bottom of the vehicle body is the front wheel and the rear wheel; wherein, the front wheel is connected by a front wheel steering shaft, and the front wheel steering shaft is connected to the steering servo via a rocker arm; the rear wheel is driven by the travel motor; the spraying device is located at the rear end of the vehicle body; the control unit is mounted on the vehicle body; and a laser receiving target is positioned at the front of the vehicle body.

[0010] As a further technical solution, the left laser receiving target, the middle laser receiving target, and the right laser receiving target are all horizontally arranged and fixed on the front bumper of the spray vehicle.

[0011] Secondly, based on the aforementioned laser-positioned autonomous correction control system for the enclosure spraying vehicle, this invention also proposes a specific control method, as follows: The spray vehicle travels along a preset path, and the control unit reads the signals from the left laser receiving target, the middle laser receiving target, and the right laser receiving target in real time. If the laser receiving target has a signal, the control unit can control the spraying vehicle to move straight. If the left laser receiving target receives a signal, the control unit will control the spray cart to turn to the left; If the right laser receiving target receives a signal, the control unit will control the spraying cart to turn right; If both the left and middle laser receiving targets receive signals, the control unit will control the spray vehicle to turn slightly to the left to make corrections. If both the right laser receiving target and the middle laser receiving target have signals, the control unit will control the spraying vehicle to turn slightly to the right to make corrections. If there is no signal, the control unit will sound an alarm.

[0012] As a further technical solution, when laser emitters are installed in multiple locations in the enclosure, the laser emitters in each location do not interfere with each other and are controlled independently, and the spraying vehicle only receives control from the laser emitter in one location.

[0013] The working principle of this invention is as follows: Ideally, the laser beam should only illuminate the central laser receiving target. Once the vehicle deviates from its course, the laser beam will illuminate either the left or right laser receiving target. After detecting this change, the microcontroller immediately sends a command to the steering servo, driving the wheels to turn in the opposite direction until the laser beam returns to the central laser receiving target, thereby achieving dynamic correction of the vehicle's deviation.

[0014] Compared with the prior art, the present invention has the following significant advantages: The autonomous correction control system and method for a pen sprayer based on laser positioning proposed in this invention have high accuracy and high reliability. The interaction between the emitter and the left, middle, and right laser receiving targets enables deviation correction. Throughout the control process, the laser linearity is excellent, providing an absolute baseline. The deviation correction process is a real-time closed-loop feedback, eliminating cumulative errors and achieving a much higher accuracy than the mileage estimation method.

[0015] The laser-based positioning-based autonomous correction control system and method for pen spraying vehicles proposed in this invention have strong adaptability: they are completely unaffected by environmental factors such as uneven ground, mud, and slippery surfaces, and are suitable for various harsh pen environments.

[0016] The autonomous correction control system and method for the pen spraying vehicle based on laser positioning proposed in this invention are low in cost and easy to deploy: no tracks need to be pre-buried, only a laser transmitter needs to be installed at a fixed point. The deployment is simple and inexpensive, making it particularly suitable for the renovation and upgrading of existing pen housing.

[0017] The autonomous correction control system and method for the enclosure spraying vehicle based on laser positioning proposed in this invention can achieve intelligence: it can handle multiple signal states (such as signal loss) and make corresponding intelligent decisions (such as alarm and shutdown), thereby improving the safety and automation of the system. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall system structure layout; Figure 2 This is a schematic diagram of the chassis structure layout; Figure 3 This is the electrical structure block diagram of the control unit; Figure 4 This is the logic flow chart for the correction control of the spray vehicle; Figure 5 This is a schematic diagram of the laser receiver tube arrangement of a laser receiving target; In the diagram: 1-Laser emitter, 2-Left laser receiver target, 3-Spraying trolley, 4-Wall, 5-Middle laser receiver target, 6-Right laser receiver target, 7-Spraying device, 8-Steering servo, 9-Control unit, 10-Power module, 11-Walking motor, 12-Front wheel steering shaft, 13-Front wheel, 14-Rear wheel, 15-Rocker arm; Detailed Implementation It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0019] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, unless otherwise expressly indicated by the invention, the singular form is also intended to include the plural form. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof. The present invention will be further described below with reference to the accompanying drawings: like Figure 1 , Figure 2 , Figure 3 As shown, this embodiment discloses an autonomous correction control system for a pigsty spraying vehicle based on laser positioning, including a laser emitter 1, a spraying vehicle 3, and a control unit 9; wherein, the spraying vehicle includes a vehicle body, front wheels 13, rear wheels 14, a drive motor 11, a steering servo motor 8, a spraying device 7, and a control unit 9; the front wheels 13 and rear wheels 14 are located at the bottom of the vehicle body; wherein, the front wheels 13 are connected by a front wheel steering shaft 12, and the front wheel steering shaft 12 is connected to the steering servo motor 8 through a rocker arm 15; the rear wheels 14 are driven by the drive motor 11; the spraying device 7 is located at the rear end of the vehicle body; the control unit 9 is mounted on the vehicle body; a laser receiving target is positioned at the front of the vehicle body; as shown Figure 5 As shown, the laser receiving target includes a left laser receiving target 2, a middle laser receiving target 5, and a right laser receiving target 6. The center points of the left laser receiving target 2, the middle laser receiving target 5, and the right laser receiving target 6 are at the same height to ensure that the received signal has no error. Furthermore, a set of laser receiving tubes L is welded onto the left laser receiving target 2, a set of laser receiving tubes C is welded onto the middle laser receiving target 5, and a set of laser receiving tubes R is welded onto the right laser receiving target 6. The laser receiving tubes L, C, and R are each arranged in a circular star-shaped array to ensure sufficient reception of the far-end laser signal; specifically as follows... Figure 5 As shown. It should be further noted that, to improve control precision, the laser receiver L, laser receiver C, and laser receiver R can also be... Figure 5On top of that, add several more columns. The denser the arrangement of laser receiver tubes L, C, and R, the higher the control precision.

[0020] Furthermore, such as Figure 1 As shown, the left laser receiving target 2, the middle laser receiving target 5, and the right laser receiving target 6 are all horizontally arranged and fixed on the front bumper of the spray vehicle 3.

[0021] Furthermore, the laser emitter 1 is installed on the wall 4 at one end of the enclosure, at the same height as the central laser receiving target 5 on the spray cart 3. The spray cart 3 is adjusted so that the laser emitted by the laser emitter 1 hits the exact center of the central laser receiving target 5. After startup, the spray cart 3 travels along a preset path. The laser-based positioning-based autonomous correction control system and method for the enclosure spray cart proposed in this invention has high accuracy and high reliability. Through the cooperation of laser emitter 1 with left laser receiver target 2, middle laser receiver target 5, and right laser receiver target 6, the deviation correction is achieved. The laser linearity is good throughout the control process, providing an absolute baseline. The deviation correction process is a real-time closed-loop feedback, with no cumulative error, and the accuracy is much higher than that of the mileage estimation method.

[0022] It should be further explained that: the laser emitter 1 in this embodiment can be set in multiple locations of the enclosure according to the overall structure of the enclosure; when the trolley turns to a certain direction by itself, the laser emitter 1 in that direction begins to control the running path of the trolley; the laser emitters 1 in each location do not interfere with each other and are controlled independently, and the spraying trolley only receives control from the laser emitter in one location.

[0023] Furthermore, this embodiment also provides an autonomous correction control system for a pen sprayer based on laser positioning. The specific control method is as follows: Figure 4 As shown; The spray vehicle 3 travels along a preset path, and the control unit reads the signals from the left laser receiving target 2, the middle laser receiving target 5, and the right laser receiving target 6 in real time. If the laser receiving target 5 receives a signal, the control unit 9 can control the spray cart 3 to move straight. If the left laser receiving target 2 receives a signal, the control unit 9 controls the spray cart 3 to turn to the left; If the right laser receiving target 6 receives a signal, the control unit 9 controls the spray cart 3 to turn right; If both the left laser receiving target 2 and the middle laser receiving target 5 have signals, the control unit 9 controls the spray cart 3 to turn slightly to the left to make corrections. If both the right laser receiving target 6 and the middle laser receiving target 5 have signals, the control unit 9 controls the spray cart 3 to turn slightly to the right to make corrections. If there is no signal, control unit 9 will sound an alarm; The hardware control circuit corresponding to the above control method can be found in [reference]. Figure 3 The details are as follows: In this invention, the control unit 9 is the core, and its signal source is mainly the detection module: composed of three (left, center, and right) laser receiving targets, arranged horizontally at the front of the vehicle, used to capture laser signals. The control brain is a microcontroller (Arduino UNO R3): the microcontroller acts as the control brain, its I / O ports are connected to the laser receiving targets, and by analyzing the signal combination of the three target points, it determines the relative position of the vehicle to the baseline, calculates the correction direction and force, and controls the steering servo and the travel motor 11 by outputting PWM signals. The steering servo 8 and the travel motor 11 are mechanically connected to the front wheel steering mechanism of the vehicle, and execute steering actions according to the instructions of the microcontroller.

[0024] The speed signal of the walking motor 11 is obtained from the 1.0-4.2V analog voltage signal output by the microcontroller pin (D3) for speed control. When the voltage is 1.0V, the speed is 0. When the voltage is greater than 1.0V, the speed of the spraying vehicle 3 is adjusted according to the voltage. By default, the analog voltage value output by the microcontroller pin (D3) is fixed at 1.5V to ensure that the spraying vehicle 3 operates at a constant speed.

[0025] like Figure 1 , Figure 3 As shown, the start / stop signal of the spray device 7 comes from the digital signal output by the microcontroller pin (D8). After the spray cart 3 starts, the microcontroller pin (D8) outputs a low-level '0' signal, and the spray device 7 starts spraying. When the spray cart 3 stops, the microcontroller pin (D8) outputs a high-level '1' signal, and the spray device 7 stops spraying.

[0026] like Figure 2 , Figure 3 As shown, the core of the control unit 9 is a microcontroller, specifically an Arduino UNO R3. The steering servo 8 is a servo with a torque of 500KG, connected to the front wheel steering axle 12 of the spray vehicle 3 via the rocker arm 15. The microcontroller acquires the digital signals from the left, center, and right laser receivers through three I / O ports (D4, D5, D6) (low level '0' for received laser light, high level '1' for no received laser light).

[0027] Control unit 9 control logic as follows Figure 4 As shown, the microcontroller executes the following steps in a loop: Read the voltage levels of pins D4, D5, and D6, and query the preset control strategy based on the combination of these levels. (C=0, L=1, R=1): Linear movement, outputting the servo motor's mid-position PWM signal (1.5ms pulse width). (C=1, L=0, R=1): Shift to the right and output a PWM signal (1.3ms pulse width) to turn left. (C=1, L=1, R=0): Shift to the left and output a PWM signal (1.7ms pulse width) that turns to the right. (C=0, L=0, R=1): Severe right deviation, outputs a larger angle left turn PWM signal (1.1ms pulse width). (C=0, L=1, R=0): Severe left deviation, output a larger right turn PWM signal (1.9ms pulse width). (C=1, L=1, R=1): No signal was received at any target point, so the spray vehicle 3 was stopped and the alarm light was turned on.

[0028] The calculated PWM signal is output from the designated pin (D9) to the steering servo 8. After waiting for a short period of 20ms, the process returns to step 1 to achieve continuous control.

[0029] Through the above methods, the present invention achieves high-precision, high-reliability autonomous straight-line walking and deviation correction for the spray vehicle.

[0030] This invention can achieve high-precision control with high reliability, good laser linearity, and provides an absolute reference line. The correction process is a real-time closed-loop feedback, with no cumulative error, and the accuracy is much higher than that of the mileage calculation method.

[0031] This invention is highly adaptable: it is completely unaffected by environmental factors such as uneven ground, mud, and slippery surfaces, and is suitable for various harsh enclosure environments.

[0032] This invention is low-cost and easy to deploy: no tracks need to be pre-buried, only a laser emitter needs to be installed at a fixed point. The deployment is simple and inexpensive, making it particularly suitable for the renovation and upgrading of existing enclosures.

[0033] This invention enables intelligent operation: it can handle various signal states (such as signal loss) and make corresponding intelligent decisions (such as alarms and shutdowns), thereby improving the system's security and automation level.

[0034] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A laser positioning-based automatic deviation correction control system for a hog house spraying trolley, characterized in that, The laser emitter, the spraying trolley and the control unit are included; The laser emitter is fixedly installed at one end of the cage house, and the laser beam emitted by the laser emitter constitutes an invisible straight line reference path. The left laser receiving target, the middle laser receiving target and the right laser receiving target are arranged at the front end of the spraying trolley; the spraying trolley is provided with a control unit, a steering device and a spraying device; the height of the laser emitter is leveled with the middle laser receiving target on the spraying trolley, and the laser of the laser emitter is just on the center of the middle laser receiving target; the control unit receives the signals of the left laser receiving target, the middle laser receiving target and the right laser receiving target, judges the relative position of the current walking path of the spraying trolley and the reference line, calculates the correction direction and intensity, and then controls the steering device of the spraying trolley to realize the motion path control.

2. The laser positioning based automatic deviation correction control system for a hog house spraying trolley as claimed in claim 1, wherein, The first group of laser receiving tubes are welded on the left laser receiving target, the second group of laser receiving tubes are welded on the middle laser receiving target, and the third group of laser receiving tubes are welded on the right laser receiving target.

3. The laser positioning based automatic deviation correction control system for a hog house spraying trolley as claimed in claim 2, wherein, The first group of laser receiving tubes, the second group of laser receiving tubes and the third group of laser receiving tubes are arranged in a circumferential meter sign type array respectively.

4. The laser positioning based automatic deviation correction control system for a hog house spraying trolley as claimed in claim 2, wherein, The center points of the left laser receiving target, the middle laser receiving target and the right laser receiving target are at the same height.

5. The laser positioning based hog spray trolley autonomous deviation correction control system of claim 1, wherein, According to the overall structure of the cage house, the laser emitters are arranged at multiple directions of the cage house.

6. The laser positioning based hog spray trolley autonomous deviation correction control system of claim 1, wherein, The steering device is a steering rudder; the front wheels of the spraying trolley are connected with a front wheel steering shaft, and the front wheel steering shaft is connected with the steering rudder through a rocker arm.

7. The laser positioning based hog spray trolley autonomous deviation correction control system of claim 1, wherein, The rear wheels of the spraying trolley are driven by a walking motor, and the spraying device is located at the rear end of the vehicle body. 8.The control method of the laser positioning-based cage house spraying trolley autonomous correction control system according to claim 7, characterized in that, The left laser receiving target, the middle laser receiving target and the right laser receiving target are horizontally arranged and fixed on the front beam of the spraying trolley. 9.The control method of the laser positioning-based cage house spraying trolley autonomous correction control system according to any one of claims 1-8, characterized in that, The spraying trolley walks along the preset path, and the control unit reads the signals of the left laser receiving target, the middle laser receiving target and the right laser receiving target in real time; If the middle laser receiving target has a signal, the control unit controls the spraying trolley to go straight; If the left laser receiving target has a signal, the control unit controls the spraying trolley to turn left; If the right laser receiving target has a signal, the control unit controls the spraying trolley to turn right; If the left laser receiving target and the middle laser receiving target both have signals, the control unit controls the spraying trolley to turn left slightly for correction; If the right laser receiving target and the middle laser receiving target both have signals, the control unit controls the spraying trolley to turn right slightly for correction; If there is no signal, the control unit alarms.

10. The control method of the laser positioning-based automatic deviation correction control system of the hog house spraying trolley according to claim 9, characterized in that, When multiple directions of the cage house are provided with laser emitters, the laser emitters at different directions do not interfere with each other and are independently controlled, and the spraying trolley only receives the control of the laser emitter at one direction.

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