CN105929826B - Feeding robot and its accurate positioning method based on indoor electronic map - Google Patents
Feeding robot and its accurate positioning method based on indoor electronic map Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000008569 process Effects 0.000 claims abstract description 16
- 241001465754 Metazoa Species 0.000 claims abstract description 10
- 241001269238 Data Species 0.000 claims abstract description 4
- 238000005259 measurement Methods 0.000 claims description 12
- 230000001186 cumulative effect Effects 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 7
- 230000009897 systematic effect Effects 0.000 claims description 7
- 238000005192 partition Methods 0.000 claims description 6
- GNFTZDOKVXKIBK-UHFFFAOYSA-N 3-(2-methoxyethoxy)benzohydrazide Chemical compound COCCOC1=CC=CC(C(=O)NN)=C1 GNFTZDOKVXKIBK-UHFFFAOYSA-N 0.000 claims description 3
- FGUUSXIOTUKUDN-IBGZPJMESA-N C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 Chemical compound C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 FGUUSXIOTUKUDN-IBGZPJMESA-N 0.000 claims description 3
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000007480 spreading Effects 0.000 claims description 3
- 238000007726 management method Methods 0.000 abstract description 8
- 230000006870 function Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 241000283690 Bos taurus Species 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001784 detoxification Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000021050 feed intake Nutrition 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
- 244000144972 livestock Species 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 235000020095 red wine Nutrition 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of feeding robot and its accurate positioning method based on indoor electronic map, the feeding robot is by upper control computer, Xbee wireless transmitter, feeding robot controller three parts composition；The indoor electronic map establishing feeding management system in upper control computer and being consistent with animal house actual geometry；The electronic map is responsible for the walking path of management feeding robot, the speed of travel, the ordinal relation of feeding, and these information are sent to corresponding feeding robot controller by Xbee wireless transmitter；After feeding robot controller receives these information, is run by defined scale of feeding, operating path, the speed of service, and the various real time datas in operational process are timely feedbacked to upper control computer, database data is updated.The present invention realizes unmanned, the path planning of feeding robot, and realizes the accurate positioning of feeding robot in the process of running.
Description
Technical field
The present invention relates to herding feeding program field, refer specifically to a kind of feeding robot based on indoor electronic map and its
Accurate positioning method.
Background technique
Feeding is mechanical under the background that cattle farm feeding is gradually popularized, and improves the mechanical automation of feeding, informationization, intelligence
Change, reduce the labor intensity of worker, reduce feed waste, improves labor efficiency and China's livestock is promoted further to develop
Important measure.
Chinese patent CN 201110442498.3 discloses a kind of using single-chip microcontroller as the control of the accurate feeding machine of control core
System.The feeding machine is by bimodulus walking mechanism, accurate batch charging mechanism, single-chip microcontroller automatic identification control system and host computer message tube
Reason system composition.The patented technology cannot achieve autonomous without reference to accurate positioning function and navigation of electronic map function
Path planning and unmanned walking.
Chinese patent CN200810239151.7 discloses a kind of using single-chip microcontroller as the control of the accurate feeding machine of control core
System.The system using radio RF recognition technology to carry out individual identification, using computer as information management platform, with single-chip microcontroller
For data processing and control platform, fining feeding is realized.The shortcomings that technology is the row that feeding equipment is pushed by manually
Into large labor intensity；The patented technology cannot achieve certainly without reference to accurate positioning function and navigation of electronic map function
Main path planning and unmanned walking.
European patent EP 1661454 discloses a kind of detoxification device, which first identifies the identity of ox,
Be then transferred to control unit, control unit by the Push And Release of control ox neck cangue control ox eating time number.This is specially
Sharp technology cannot achieve autonomous path planning and drive with nobody without reference to accurate positioning function and navigation of electronic map function
Sail walking.
Summary of the invention
An object of the present invention be to provide it is a kind of based on indoor electronic map navigation feeding robot, it can be achieved that nobody
Drive walking；
The second object of the present invention is to provide a kind of feeding robot accurate positioning method based on indoor electronic map, make
Feeding robot can realize accurate positioning indoors.
In order to achieve the above objectives, the technical solution adopted by the present invention are as follows:
A kind of feeding robot based on indoor electronic map, the feeding robot by upper control computer, Xbee without
Line R-T unit, feeding robot controller three parts composition；In upper control computer establish feeding management system and with
The indoor electronic map that animal house actual geometry is consistent；The electronic map is responsible for the walking path of management feeding robot,
The speed of travel, the ordinal relation of feeding, and these information are sent to corresponding feeding machine by Xbee wireless transmitter
People's controller；After feeding robot controller receives these information, run by defined scale of feeding, operating path, the speed of service,
And timely feedback the various real time datas in operational process to upper control computer, database data is updated.
A kind of accurate positioning method of the feeding robot based on indoor electronic map, the specific steps are as follows:
A: several infrared road signs are set in animal house；
B: the front-wheel of robot is fed, rear-wheel passes through speed reducer and connects with DC servo motor, the DC servo motor
Tail portion is equipped with rotary encoder；Rotary encoder includes the encoder of front-wheel and the encoder of rear-wheel；Feed robot front-wheel
Encoder to measure the angle in its operational process, feed the encoder of robot rear-wheel to measure in its operational process
Range ability；The code device signal of front and rear wheel be sent into feeding robot controller to calculate feeding robot relative to
The X-axis and Y axis coordinate of initial point；
C: rotary infrared distance measuring sensor and gyroscope are mounted on the preceding top for feeding robot；To measure feeding machine
Absolute position of the people relative to infrared road sign；The signal of infrared distance sensor and gyroscope is through feeding robot controller operation
Afterwards, it is converted into polar coordinate position of the feeding robot relative to initial point；
D: the umber of pulse measured by the DC servo motor encoder connected with front and back wheel, through the control of feeding robot
The current position of the calculated feeding robot of device is relative to the position and attitude of initial point；
E: polar coordinates of the infrared road sign away from feeding robot are measured by rotary infrared distance measuring sensor and gyroscope；
F: the current location posture that robot is fed in step d is converted into polar coordinates desired value；
G: being compared matching to desired polar value in the polar value and step f measured in step e,,In normal distribution；By corrected impulse equivalent, backlash compensation value, linear partition interval point, find out
The smallest one group of parameter of variance, is optimal positioning accuracy；
H: by the optimum pulse equivalent found in step g, backlash compensation value, linear partition interval point, i.e.,Variance is most
Small parameter spreading kalman wave filter generates the position and attitude of the next control beat of feeding robot
WhereinIt is the X axis coordinate for feeding the next control beat of robot,It is the feeding next control of robot
The Y axis coordinate of beat processed,It is the feeding next control beat of robot and X-axis angle；
The increment of motion of next control beat
；
In above formula,It is the move distance of off hind wheel,It is the move distance of left rear wheel, b is two rear-wheel of feeding machine
The distance between；
It is final to realize due to measurement error, system to overcome the uncertain problem of next control beat navigation
Error, cumulative errors lead to not the problem of being accurately positioned navigation.
The indoor electronic map executes manager three parts by map edit manager, Orientation on map manager, map
Composition；The map edit manager is to establish corresponding electronic map according to the actual geometry of animal house；According to feeding
Sequence establishes the topological relation in feeding path；The speed of service of feeding robot is managed；The Orientation on map manager
It is to be positioned in real time to feeding robot；Map, which executes manager, to be calculated under it according to the current location of feeding robot
The travel distance of one step, traffic direction, the speed of service, and these data are generated into control command, control feeding robot is by rule
The path precise motion pulled.
The present invention realizes unmanned, the path planning of feeding robot, and by correcting measurement error, system mistake
Difference, cumulative errors realize the accurate positioning in the process of running of feeding robot, solve navigation during the navigation process not
The problem of determining, can not being travelled by desired path planning.
Detailed description of the invention
Fig. 1 is control system frame diagram of the invention；
Specific embodiment
The present invention is described in more detail with reference to the accompanying drawing.
Such as Fig. 1, a kind of feeding robot based on indoor electronic map, the feeding robot by upper control computer,
Xbee wireless transmitter, feeding robot controller three parts composition；Feeding management system is established in upper control computer
System and the electronic map being consistent with animal house actual geometry；The electronic map is responsible for the walking road of management feeding robot
Diameter, the speed of travel, the ordinal relation of feeding, and these information are sent to corresponding feeding by Xbee wireless transmitter
Robot controller；After feeding robot controller receives these information, by defined scale of feeding, operating path, the speed of service
Operation, and the various real time datas in operational process are timely feedbacked to upper control computer, database data is carried out more
Newly.
The upper control computer selects AIMB-784, i5 processor, 4G using magnificent industrial control computer, mainboard is ground
Memory, 32 windows7 operating systems.Electronic map is to be carried out on the basis of 10.1 desktop software of ArcGIS with C#
Secondary development, the main contents of secondary development include: to establish datum level transformation, establish SQL database, feed machine to XY figure layer
People moves the access for carrying out time attribute, is updated in real time to the location information of feeding robot by time sliding block, in SQL
User list and user right are established in data, to the walking path of feeding robot, the speed of travel, the interface of the sequence of feeding
Program is developed.
The electronic map is executed manager three parts and is formed by map edit manager, Orientation on map manager, map.
The map edit manager is to establish corresponding electronic map according to the actual geometry of animal house；It is built according to feed processing system
The topological relation in vertical feeding path；The speed of service of feeding robot is managed；The Orientation on map manager is to feeding
Robot is fed to be positioned in real time；It is to calculate its next step according to the current location of feeding robot that map, which executes manager,
Travel distance, traffic direction, the speed of service, and these data are generated into control command, control feeding robot, which is pressed, have been planned
Path movement.
The feeding robot controller uses Coretex-A9 processor, 2GB memory, 16GB eMMC Flash, and 10.1
Very little capacitance touch screen.The peripheral functional modules of feeding robot controller have rotary infrared ranging, bar code recognition, DC servo
Motor drive control, accurately feed intake control, accumulator electric-quantity management, the composition such as Xbee wireless receiving and dispatching.The control system passes through
It is fixed to solve feeding the unmanned of robot, indoor navigation in Cow-feeding operation for indoor electronic map, wireless navigation positioning
The problem of position, accurate feeding.
Upper control computer is connected with Xbee wireless transmitter by serial ports, feed robot controller and Xbee without
Line R-T unit is connected also by serial ports, 100 meters of Xbee-PRO wireless transmitter indoor communications, outdoor communication distance 1500
Rice, 100 milliwatt of transmission power, receiving sensitivity -10dBm, data transmission rate 25KB/S are anti-using Direct Sequence Spread Spectrum Communication
Interference performance is strong.
During feeding, the Crack cause of position error has measurement error, systematic error, cumulative errors.Measurement error
It is since the rotary encoder at DC servo motor rear portion generates in measurement process, which belongs to incremental pulse volume
Code device, mechanical clearance, vibration, sliding, electromagnetic interference in operational process can cause measurement error.Systematic error is due to raising
The actual coordinate fed is to be calculated the time difference for being issued to receiving by pulse equivalency or infrared ray, due to pulse equivalency and
Inherently there is error in the time difference, to form systematic error.Cumulative errors are due to being ceaselessly overlapped in a computer
What operation was formed.
Since above-mentioned measurement error, systematic error, cumulative errors exist and cause to feed robot automatic running indoors
It can not be accurately positioned in the process, cause causes the uncertain problem of guidance path to solve by the following method:
A: pressing every 20 meters of length direction in animal house, if extra dry red wine is arranged in 4 vertex of rectangle of the width direction less than 20 meters
Outer road sign；
B: the front-wheel of robot is fed, rear-wheel is connected with the speed reducer of DC servo motor, DC servo motor tail portion
Rotary encoder is installed；Rotary encoder includes the encoder of front-wheel and the encoder of rear-wheel;Feed the volume of robot front-wheel
Code device feeds the encoder of robot rear-wheel to measure the fortune in its operational process to measure the angle in its operational process
Row distance.It is former relative to starting to calculate feeding robot that the code device signal of front and back wheel is sent into feeding robot controller
The X-axis and Y axis coordinate of point.
C: rotary infrared distance measuring sensor and gyroscope are mounted on the preceding bottom for feeding robot；To measure feeding machine
Absolute position of the people relative to road sign.The signal of infrared distance sensor and gyroscope after feeding robot controller operation,
It is converted into polar coordinate position of the feeding robot relative to initial point.
D: the umber of pulse measured by the DC servo motor encoder connected with front and back wheel, through the control of feeding robot
The current position of the calculated feeding robot of device is relative to the position and attitude of initial point。
In above formula,It is the move distance of off hind wheel,The move distance of left rear wheel, b be two rear-wheel of feeding machine it
Between distance.It can be seen that the posture of feeding robot any time is equal to the position and attitude of previous moment by the formula
Add increment of motion.All measurement error, systematic error, cumulative errors calculate by superposition repeatedly and calculate feeding machine
The current location of device people, it is this very big by the calculated current location of rotary encoder measurement and physical location deviation.
E: polar coordinates of the infrared road sign away from feeding robot are measured by rotary infrared distance measuring sensor and gyroscope,,It is polar angle,It is polar radius.Since the infrared road sign being mounted in cowshed is fixed
Motionless, therefore distance of the feeding machine away from infrared road sign measured with infrared distance sensor is only influenced by measurement accuracy, is not had
There is systematic error and adds up.
F: the current position and attitude of robot will be fed in step d, it is converted into polar coordinates desired value,
。
G: matching is compared to desired polar value in the polar value and step f measured in step e,In normal distribution.By corrected impulse equivalent, backlash compensation value, linear partition interval point, find out
The smallest one group of parameter of variance, is optimal positioning accuracy；
H: by the optimum pulse equivalent found in step g, backlash compensation value, linear partition interval point, i.e.,
Variance is most
One group of small parameter spreading kalman wave filter generates the position and attitude of the next control beat of feeding robot
WhereinIt is the X axis coordinate for feeding the next control beat of robot,It is the feeding next control of robot
The Y axis coordinate of beat processed,It is the feeding next control beat of robot and X-axis angle；
The increment of motion of next control beat
In above formula,It is the move distance of off hind wheel,It is the move distance of left rear wheel, b is two rear-wheel of feeding machine
The distance between；It is final to realize due to measurement error, be to overcome the uncertain problem of next control beat navigation
System error, cumulative errors lead to not the problem of being accurately positioned navigation.
Claims (2)
1. a kind of feeding robot based on indoor electronic map, it is characterised in that: the feeding robot is calculated by upper control
Machine, Xbee wireless transmitter, feeding robot controller three parts composition；Feeding management is established in upper control computer
System and the indoor electronic map being consistent with animal house actual geometry；The electronic map is responsible for the row of management feeding robot
Path, the speed of travel, the ordinal relation of feeding are walked, and these information are sent to corresponding by Xbee wireless transmitter
Feed robot controller；After feeding robot controller receives these information, by defined scale of feeding, operating path, operation
Speed operation, and the various real time datas in operational process are timely feedbacked to upper control computer, to database data into
Row updates；Specific step is as follows for a kind of accurate positioning method of the feeding robot based on indoor electronic map:
A: several infrared road signs are set in animal house；
B: the front-wheel of robot is fed, rear-wheel passes through speed reducer and connects with DC servo motor, the DC servo motor tail portion
Be equipped with rotary encoder: rotary encoder includes the encoder of front-wheel and the encoder of rear-wheel；Feed the volume of robot front-wheel
Code device feeds the encoder of robot rear-wheel to measure the fortune in its operational process to measure the angle in its operational process
Row distance；The code device signal of front and rear wheel is sent into feeding robot controller to calculate feeding robot relative to starting
The X-axis and Y axis coordinate of origin；
C: rotary infrared distance measuring sensor and gyroscope are mounted on the preceding top for feeding robot；To measure feeding robot phase
For the absolute position of infrared road sign；The signal of infrared distance sensor and gyroscope after feeding robot controller operation,
It is converted into polar coordinate position of the feeding robot relative to initial point；
D: the umber of pulse measured by the DC servo motor encoder connected with front and back wheel, through feeding robot controller meter
The current position of feeding robot of calculating is relative to the position and attitude of initial point；
E: polar coordinates of the infrared road sign away from feeding robot are measured by rotary infrared distance measuring sensor and gyroscope；
F: the current location posture that robot is fed in step d is converted into polar coordinates desired value；
G: being compared matching to desired polar value in the polar value and step f measured in step e,,In normal distribution；By corrected impulse equivalent, backlash compensation value, linear partition interval point, look for
The smallest one group of parameter of variance out, is optimal positioning accuracy；
H: by the optimum pulse equivalent found in step g, backlash compensation value, linear partition interval point, i.e.,Variance is the smallest
Parameter spreading kalman wave filter generates the position and attitude of the next control beat of feeding robot
WhereinIt is the X axis coordinate for feeding the next control beat of robot,It is the next control section of feeding robot
The Y axis coordinate of bat,It is the feeding next control beat of robot and X-axis angle；
The increment of motion of next control beat
；
In above formula,It is the move distance of off hind wheel,It is the move distance of left rear wheel, b is between two rear-wheel of feeding machine
Distance；
To overcome the uncertain problem of next control beat navigation, it is final realize due to measurement error, systematic error,
Cumulative errors lead to not the problem of being accurately positioned navigation.
2. a kind of feeding robot based on indoor electronic map according to claim 1, it is characterised in that: the interior
Electronic map is executed manager three parts and is formed by map edit manager, Orientation on map manager, map；The map edit
Manager is to establish corresponding electronic map according to the actual geometry of animal house；Feeding path is established according to feed processing system
Topological relation；The speed of service of feeding robot is managed；The Orientation on map manager is carried out to feeding robot
Positioning in real time；It is to calculate the travel distance of its next step according to the current location of feeding robot that map, which executes manager, is run
Direction, the speed of service, and these data are generated into control command, the path precise motion planned is pressed by control feeding robot.
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| CN107702722A (en) * | 2017-11-07 | 2018-02-16 | 云南昆船智能装备有限公司 | A kind of las er-guidance AGV natural navigation localization methods |
| CN108205312B (en) * | 2018-03-19 | 2020-07-10 | 中南大学 | Unmanned BRT vehicle automatic start-stop implementation method based on high-precision map and infrared beacon |
| CN109566440B (en) * | 2018-10-31 | 2021-06-22 | 南宁学院 | Unmanned vehicle-based large-scale breeding and feeding control method |
| JP7320473B2 (en) * | 2020-03-27 | 2023-08-03 | Ckd株式会社 | butterfly valve |
| CN111631167B (en) * | 2020-06-11 | 2021-12-14 | 宁波财经学院 | Automatic path planning system of mobile robot |
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