CN110480644A - A kind of pig farm crusing robot based on UWB positioning - Google Patents
A kind of pig farm crusing robot based on UWB positioning Download PDFInfo
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- CN110480644A CN110480644A CN201910609803.XA CN201910609803A CN110480644A CN 110480644 A CN110480644 A CN 110480644A CN 201910609803 A CN201910609803 A CN 201910609803A CN 110480644 A CN110480644 A CN 110480644A
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- 230000007246 mechanism Effects 0.000 claims abstract description 51
- QGZKDVFQNNGYKY-UHFFFAOYSA-N Ammonia Chemical compound N QGZKDVFQNNGYKY-UHFFFAOYSA-N 0.000 claims abstract description 42
- 238000013016 damping Methods 0.000 claims abstract description 35
- 238000007689 inspection Methods 0.000 claims abstract description 31
- 229910021529 ammonia Inorganic materials 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims abstract description 12
- 230000008569 process Effects 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 230000004888 barrier function Effects 0.000 claims description 36
- 230000003287 optical effect Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 4
- 241000282887 Suidae Species 0.000 claims description 3
- 238000013527 convolutional neural network Methods 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000013135 deep learning Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 238000012549 training Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 239000004519 grease Substances 0.000 abstract description 2
- 230000000007 visual effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 3
- 238000005457 optimization Methods 0.000 description 2
- 238000004321 preservation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 244000052616 bacterial pathogen Species 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of pig farm crusing robots based on UWB positioning, including robot body, damping walking mechanism, avoidance mechanism, ultrasonic evadible system, UWB positioning system, monitored video camera system and master control system；It during examining robot inspection, opens camera and adjusts camera shooting grease head highness and angle to carry out visual identity, acquire the image of crusing robot pig and carry out the identification judgement of pig growing state；In addition, ammonia detection module is opened by robot during inspection, the concentration of ammonia in environment is detected；The quantity of display real-time display ammonia concentration, current robot travel speed and the pig up to standard, not up to standard recognized, and these information are sent to the administrator on pig farm by way of wireless transmission.Crusing robot of the invention is obviously improved the accuracy rate of walking compared with existing apparatus, and the autonomous ranging of ultrasonic wave can weaken robot ambulation error, improve the safety coefficient of robot inspection process, realizes safely and fast intelligent patrol detection.
Description
Technical field
The present invention relates to pig farm wisdom inspection technical fields, and in particular to a kind of pig farm inspection machine based on UWB positioning
People.
Background technique
Instantly scale wisdom pig farm, which has begun, is applied to each province of China, and large-scale pig farm is to monitoring personnel
It is required that it is high, the isolation that carries out disinfection to it is needed, outer germs is reduced and enters pig farm.
Environment as where monitoring objectives individual has notable difference and target also persistently changes, to bat
The requirement taken the photograph is very high.Target monitoring usually makes a response at once to target action, therefore inspection real-time is also that should be satisfied.
But robot can not carry out wisdom inspection in different pig farms in practical application, the reason for this is that used at present
Pig farm crusing robot can not adjust in real time in different environments, in order to be applied in the pig farm of varying environment.
Summary of the invention
The object of the present invention is to provide a kind of pig farm crusing robots based on UWB positioning, to improve pig farm inspection process
In data-handling efficiency and accurate rate.
In order to realize above-mentioned task, the invention adopts the following technical scheme:
It is a kind of based on UWB positioning pig farm crusing robot, including robot body, damping walking mechanism, avoidance mechanism,
Ultrasonic evadible system, UWB positioning system, monitored video camera system and master control system, in which:
Robot body includes chassis, and chassis top is equipped with support plate by bracket, is provided with stand above support plate；
Damping walking mechanism includes the damping driving wheel being arranged at four angles of tray bottom, the damping driving wheel packet
Chassis is included, the side of chassis is provided with side frame, and the other side is provided with damping spring；Tray side is equipped with idler wheel, and in chassis
On be provided with motor cabinet, the first driving motor and steering mechanism, the first driving motor, steering mechanism and institute are installed on motor cabinet
The idler wheel connection stated；Hinge is provided on the side frame, hinge and the damping driving wheel are connected to tray bottom；
Avoidance mechanism is arranged at four angles above chassis, and avoidance mechanism includes the fixed column being fixed on chassis, Gu
Through-hole is radially opened up on fixed column, is equipped with slide bar across through-hole, slide bar is fixedly arranged at the front end with two end connections and mutually hangs down
Straight avoidance baffle, each avoidance baffle are parallel with the side on its immediate chassis；The rear end of slide bar is provided with block, is keeping off
Reset spring is set on slide bar between block and fixed column；
Ultrasonic evadible system includes multiple 10 ultrasonic wave modules for being distributed in chassis side, and number is A to J, position
It sets and is respectively as follows: the middle part on front side of chassis A, the middle part on rear side of chassis B, the left side before chassis C, behind the chassis D left side, and E is before chassis
Right side, the right side behind chassis F, G is in chassis front left side, and H is in chassis forward right side, and I is in chassis left rear side, and J is in chassis right lateral side；
The UWB positioning system includes the UWB positioning label being arranged in above chassis, and is arranged in around pig farm
Four base stations；Using UWB location technology, UWB positions label and four base station real time distances, finds out robot according to distance measurement result
Spatial position, to reach positioning purpose；
Monitored video camera system includes crane, and crane is driven by the lift drive mechanism inside stand is arranged in；Lifting
Driving mechanism includes the screw rod being arranged at the top of stand, between bottom and more optical axises, wherein driving is provided on screw rod
The second driving motor is arranged in the support plate bottom in plate, and the second driving motor passes through shaft coupling connection wire rod；The drive
Threaded hole is opened up on movable plate, driving plate is assemblied on screw rod by threaded hole；It is provided with and drives on the bottom plate of the crane
The sliding sleeve of movable plate connection, sliding sleeve are sleeved on the optical axis；Camera is equipped with by transverse bearing on the top plate of crane；
It is provided with display on the leading flank of the stand, ammonia detection module is provided in support plate；
Master control system includes master controller and industrial personal computer, and master controller is responsible for the whole regulation of robot, described
First driving motor, the second driving motor, ultrasonic wave module, UWB positioning label, ammonia detection module, industrial personal computer, camera,
Display is connect with master controller；The image information for the pig that industrial personal computer is then used to acquire camera is handled, to obtain
The growing state information of pig.
Further, obstacle avoidance algorithm, obstacle avoidance algorithm are provided in the master controller are as follows:
Robot obtains the nearest obstacle distance L1 in front when walking, by ultrasonic wave module A, as L1 is greater than setting
Value, then it is assumed that all is clear ahead keeps the inspection route walking of setting；When into L10, any one value changes L3
When, then show that there are barriers for changed position, controls robot pause walking at this time, then drive the damping of robot
Driving wheel turns to, mobile with avoiding obstacles to there are the opposite directions of barrier position, makes damping driving rotation again later
Original direction is gone back to continue to move to；
Wherein, the L3 to L10, refer to ultrasonic wave module that number is C to J and its immediate avoidance baffle away from
From.
Further, UWB location algorithm, UWB location algorithm are provided in the main controller are as follows:
The signal of UWB positioning four base stations of label real-time reception in robot, measures and four, ground base station A1,A2,
A3,A4Distance four distances are obtained after sliding median filtering is respectively R1,R2,R3,R4；It is positioned by three-point fix algorithm
Robot is relative to A1,A2,A3Plane coordinates (the X of base station4,Y4)；
Similarly, calculating robot is relative to A2,A3,A4Plane coordinates (the X of base station1,Y1), robot is relative to A1,A3,A4
Plane coordinates (the X of base station2,Y2), robot is relative to A1,A2,A4Plane coordinates (the X of base station3,Y3)；Then pass through average value
Position error is reduced, then the final plane coordinates of robot (X, Y) is [X=(X1+X2+X3+ 4)/4, Y=(Y1+Y2+Y3+
Y4)/4]；Position of the robot on inspection route is corrected by the plane coordinates of robot.
Further, the image information of the pig to camera acquisition is handled, to obtain the growing state of pig
Information, comprising:
(1) photo for obtaining multiple pigs from pig farm in advance, establishes image data base；
(2) deep learning frame is built, using the image training convolutional neural networks in image data base, preservation is trained
Network model；
(3) robot obtains same head pig in different directions by camera when the inspection route according to setting is mobile
Image and pass to industrial personal computer, image is identified using trained network model in industrial personal computer, obtains pig not
Then profile on equidirectional establishes the threedimensional model of pig with this, the volume of pig is calculated by threedimensional model, multiplied by the flat of pig
Equal density obtains the weight of pig, to judge the growing state of pig；Finally the growing state of each pig is saved.
Further, the inspection process of the robot are as follows:
Robot is transported to specified start position, forms the inspection of pig farm crusing robot by the way that multiple nodes are arranged
Route；
Robot constantly goes forward side by side what line position was set by the position that UWB location algorithm obtains current robot in the process of walking
Optimization；When by tiny barrier regions such as pig farm railings, using avoidance mechanism, ultrasonic evadible system, calculated by avoidance
Method optimizes direction of travel, avoids tiny barrier；
During examining robot inspection, opens camera and adjust camera shooting grease head highness and angle to carry out visual identity, adopt
Collect the image of crusing robot pig and carries out the identification judgement of pig growing state；In addition, ammonia is opened by robot during inspection
Gas detection module detects the concentration of ammonia in environment；Display real-time display ammonia concentration, current robot travel speed and
The quantity of the pig up to standard, not up to standard recognized, and these information are sent to the management on pig farm by way of wireless transmission
Member.
The present invention has following technical characterstic:
1. crusing robot of the invention is obviously improved the accuracy rate of walking compared with existing apparatus, the autonomous ranging of ultrasonic wave can subtract
Weak robot ambulation error improves the safety coefficient of robot inspection process, realizes safely and fast intelligent patrol detection.
2. crusing robot of the invention, features simple structure, reduce cost, cost performance are high, can be realized high accuracy positioning and
It provides a set of very complete algorithm to combine, node each in crusing robot workflow is together in series, overall workflow is made
Journey is more efficient.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is side structure schematic view of the invention；
Fig. 3 is the structural schematic diagram of damping walking mechanism；
Fig. 4 is the structural schematic diagram of avoidance mechanism；
Fig. 5 is schematic diagram when robot passes through railing region；
Fig. 6 is the schematic diagram of avoidance ranging during robot ambulation；
Fig. 7 is the schematic diagram that robot carries out UWB positioning；
Fig. 8 is robot course of work schematic diagram.
Figure label explanation: 1 idler wheel, 2 steering mechanism, 3 motor cabinets, 4 first driving motors, 5 side frames, 6 hinges, 7 dampings
Spring, 8 chassis, 9 fixed columns, 10 reset springs, 11 avoidance baffles, 111 slide bars, 112 avoidance mechanisms, 113 blocks, 12 ultrasonic waves
Module, 13 master controllers, 14UWB position label, 15 industrial personal computers, 16 ammonia detection modules, 17 support plates, 18 second driving electricity
Machine, 19 shaft couplings, 20 screw rods, 21 stands, 22 optical axises, 23 sliding sleeves, 24 driving plates, 25 cranes, 26 bottom plates, 27 transverse bearings,
28 top plates, 29 cameras, 30 displays.
Specific embodiment
The invention discloses a kind of pig farm crusing robots based on UWB positioning, as shown in Figures 1 to 8, including robot
Ontology, damping walking mechanism, avoidance mechanism 11, ultrasonic evadible system, UWB positioning system, monitored video camera system and master control
System processed, in which:
1. robot body
Robot body includes chassis 8, is equipped with support plate 17 by bracket above chassis 8, is arranged above support plate 17
There is stand 21；Wherein, 8 bottom of chassis is used to install avoidance mechanism 11, ultrasound above chassis 8 for installing damping walking mechanism
Wave obstacle avoidance system, UWB positioning system and master control system etc.；And monitored video camera system is then mounted in stand 21.This implementation
In example, the bracket, stand 21 are rectangular frame structure.
2. damping walking mechanism
Damping walking mechanism includes the damping driving wheel being arranged at the angle of chassis 8 bottom four, the damping driving wheel
Including chassis, the side of chassis is provided with side frame 5, and the other side is provided with damping spring 7；Idler wheel 1 is mounted on tray side, chassis
On be provided with motor cabinet 3, the first driving motor 4 and steering mechanism 2, the first driving motor 4, steering mechanism are installed on motor cabinet 3
2 connect with the idler wheel 1；Hinge 6 is provided on the side frame 5, hinge 6 and the damping spring 7 are connected to
8 bottom of chassis.
It include four damping driving wheels, damping driving wheel is using movable in the damping walking mechanism designed in this programme
Connection type is connect with chassis 8, i.e., on the one hand by 6 connecting base plate 8 of hinge with certain rotational freedom, on the other hand then
It is connected by damping spring 7.Idler wheel 1 is driven by the first driving motor 4, and steering mechanism 2 is then for controlling the steering of idler wheel 1.It turns to
Mechanism 2 in the prior art more application, and this will not be repeated here.In robot ambulation pot hole or high spot, due to hinge 6
Effect, so that the angle between chassis and chassis 8 changes, in the process, the compression of damping spring 7 or extension,
So that idler wheel 1 while keeping being steadily contacted with ground, also can guarantee that chassis 8 is steadily advanced, reach good damping
Effect.
3. avoidance mechanism 11
An avoidance mechanism 11 is respectively set at four angles above chassis 8 in this programme, as shown, each avoidance machine
Structure 11 includes the fixed column 9 being fixed on chassis 8, radially opens up through-hole in fixed column 9, is equipped with slide bar 111 across through-hole,
Slide bar 111 is fixedly arranged at the front end with the connection of two ends and orthogonal avoidance baffle 112, each avoidance baffle 112 with it most
The side on close chassis 8 is parallel；The rear end of slide bar 111 is provided with block 113, the slide bar between block 113 and fixed column 9
Reset spring 10 is set on 111.
Since there are some relatively fine barriers, such as the railing of pigsty etc., ultrasonic wave moulds for many places in piggery enviroment
The ultrasonic wave that block 12 issues is not ideal enough to the detection effect of tiny barrier, and in order to promote detection effect, another party is in order to protect
Shield robot will not cause to damage because bumping against barrier when walking, and avoidance mechanism 11 is devised in this programme.As shown,
Chassis 8 is rectangular configuration in this programme, and an avoidance mechanism 11 is respectively arranged at four angles, the slide bar 111 in avoidance mechanism 11
Axially on the cornerwise extended line in chassis 8；The avoidance baffle 112 of 111 front end of slide bar is then located at the not ipsilateral of chassis 8 in this way,
As shown in the figure.During robot ambulation, such as lead to machine because ultrasonic evadible system does not detect tiny barrier
People touches with tiny barrier, then since 112 position of avoidance baffle protrudes from robot outer surface, is easiest to and hinders
Object is hindered to contact；After bar contact, the reset spring 10 is stretched, and slide bar 111 is axially moveable；This aspect makes machine
Device people touches with barrier can obtain elastic buffer, protect robot body, on the other hand then can be by detecting avoidance baffle 112
Position, to determine the position of barrier, to submit necessary information for ultrasonic evadible system.
4. ultrasonic evadible system
Ultrasonic evadible system includes multiple ultrasonic wave modules 12 for being distributed in 8 side of chassis, as shown, in this programme
It is provided with 10 ultrasonic wave modules 12 altogether, number is A to J, and position is respectively as follows: A in the middle part of 8 front side of chassis, and B is behind chassis 8
Middle side part, the left side before chassis 8 C, behind the chassis D 8 left side, the right side before chassis 8 E, and F right side, G behind chassis 8 is left front on chassis 8
Side, H is in 8 forward right side of chassis, and I is in 8 left rear side of chassis, and J is in 8 right lateral side of chassis.
Wherein, A and B is respectively used to the obstacle distance in detection robot front, dead astern, remembers immediate barrier
Distance respectively L1, L2；When the detected value of L1, L2 are greater than safe distance, such as safe distance is set as 1m, then it is assumed that front
Or rear does not have barrier.C to J then corresponds to 8 avoidance baffles 112 in this programme, and it is closest with it to be respectively used to detection
Avoidance baffle 112 distance, note distance be respectively L3 to L10.
The specific setting of avoidance baffle 112 is described in front, i.e., 112 two, avoidance baffle are one group, are located at 8 side of chassis
At angle.For scheming, for the avoidance mechanism 11 being arranged at 8 left-front corner of chassis, kept off with two avoidances in the avoidance mechanism 11
The immediate ultrasonic wave module 12 of plate 112 is C and G, such as obstacle has touched in the avoidance mechanism 11 during robot ambulation
Object, then ultrasonic wave module 12C and G is by detection and its immediate avoidance baffle 112 distance L3 and L7, it can be learnt that obstacle
Level is in the front left side of robot or the distance of this approximate location of preceding left side and barrier.After learning this information, machine
Device people turns to and avoids the barrier of this position.
Due to the main purpose of robot in this programme be in order to carry out inspection, to barrier it is accurate detection it is not excessively high
Requirement, therefore it is only necessary to know that barrier approximate location so that robot avoids being able to satisfy design requirement.
If you need to be accurately positioned, then avoidance mechanism 11 can be improved, i.e., a cunning is arranged in 112 rear portion of avoidance baffle
Bar 111, fixed column 9,10 mechanism of reset spring, are respectively arranged an avoidance baffle 112 on front side of C to J, then are able to achieve more accurate
Barrier positioning.
5.UWB positioning system
The UWB positioning system includes the UWB positioning label 14 that 8 top of chassis is arranged in, and setting is in pig farm week
Four base stations enclosed, i.e. first base station to the 4th base station；The line of four base stations is not arranged on the same straight line；UWB is fixed
The basic role of position system is that, using UWB location technology, UWB positions label 14 and four base station real time distances, according to ranging knot
Fruit finds out the spatial position of robot, to reach positioning purpose.
6. monitored video camera system
Monitored video camera system includes crane 25, and crane 25 is driven by the lift drive mechanism inside stand 21 is arranged in
It is dynamic；Lift drive mechanism include be arranged at the top of stand, the screw rod 20 between bottom and more optical axises 22, wherein screw rod 20
On be provided with driving plate 24, the second driving motor 18 is set in 17 bottom of support plate, the second driving motor 18 passes through connection
19 connection wire rod 20 of axis device；Threaded hole is opened up in the driving plate 24, driving plate 24 is assemblied on screw rod 20 by threaded hole；
The crane 25 has top plate 28 and bottom plate 26, is provided on the bottom plate 26 of crane 25 and connects with driving plate 24
The sliding sleeve 23 connect, sliding sleeve 23 are sleeved on the optical axis 22；It is equipped on the top plate 28 of crane 25 by transverse bearing 27
Camera 29；It is provided with display 30 on the leading flank of the stand 21, ammonia detection module 16 is provided in support plate 17.
Screw rod 20 rotates under the driving effect of the second driving motor 18, drive driving plate 24 on screw rod 20 on move down
It is dynamic；When driving plate 24 is mobile, sliding sleeve 23 is driven to move synchronously, so that crane 25 be driven to realize elevating function.The camera shooting
First 29 is rotatable, cooperates crane 25, can make the adjustment of camera 29 height and Plane Rotation position, to carry out image information
Acquisition.
7. master control system
Master control system includes master controller 13 and industrial personal computer 15, and master controller 13 is responsible for the whole regulation of robot,
First driving motor 4, the second driving motor 18, ultrasonic wave module 12, UWB positioning label 14, ammonia detection module 16,
Industrial personal computer 15, camera 29, display 30 are connect with master controller 13；The pig that industrial personal computer 15 then is used to acquire camera 29
Image information handled, to obtain the growing state information of pig；Wireless receiving and dispatching is also connected on the master controller 13
Module is responsible for carrying out wireless communication sending and receiving data with the external world.
It is provided with obstacle avoidance algorithm and UWB location algorithm in the master controller 13, to make robot according to setting
Route is mobile, and evades to barrier.
Wherein, the obstacle avoidance algorithm are as follows:
Robot obtains the nearest obstacle distance L1 in front when walking, by ultrasonic wave module 12A, sets as L1 is greater than
Definite value, then it is assumed that all is clear ahead keeps original route to walk；When into L10, any one value changes L3, then
Show that there are barriers for changed position, controls robot pause walking at this time, then make the damping driving wheel of robot
It turns to, it is mobile with avoiding obstacles to there are the opposite directions of barrier position, so that damping driving wheel is gone back to original again later
The direction come continues to move to.
Wherein, L3, L7, which change, shows left front or preceding left there are barrier, L5, L8 change show the right side before
There are barriers for square or preceding right；L4, L9 change, and show left back or rear left there are barrier, L6, L10 occur
Variation then shows that there are barriers for right back or rear right.When there are barrier, control robot moves in the opposite direction,
The axial of slide bar 111 along the avoidance mechanism 11 for touching barrier is moved to the direction far from barrier, and move distance S is only needed
Variable quantity (default value of the L3 to L10 when not touching barrier with the difference for touching the value after barrier) greater than 2 times
Meet the requirement of avoiding obstacles；During carrying out avoidance obstacle, speed is carried out to the first driving motor 4 using PID controller
The regulation of degree.
The UWB location algorithm are as follows:
Robot is set in the inspection route on pig farm, and keeps robot mobile according to the inspection route；
The signal of UWB positioning 14 four base stations of real-time reception of label in robot, measures and four, ground base station A1,A2,
A3,A4Distance four distances are obtained after sliding median filtering is respectively R1,R2,R3,R4；It is positioned by three-point fix algorithm
Robot is relative to A1,A2,A3Plane coordinates (the X of base station4,Y4)；
Similarly, calculating robot is relative to A2,A3,A4Plane coordinates (the X of base station1,Y1), robot is relative to A1,A3,A4
Plane coordinates (the X of base station2,Y2), robot is relative to A1,A2,A4Plane coordinates (the X of base station3,Y3)；Then pass through average value
Position error is reduced, then the final plane coordinates of robot (X, Y) is [X=(X1+X2+X3+ 4)/4, Y=(Y1+Y2+Y3+
Y4)/4]；Position of the robot on inspection route is corrected by the plane coordinates of robot.
In the present solution, the image information for the pig that the industrial personal computer 15 then is used to acquire camera 29 is handled, with
Obtain the growing state information of pig, comprising:
(1) photo for obtaining multiple pigs from pig farm in advance, establishes image data base；
(2) deep learning frame is built, using the image training convolutional neural networks in image data base, preservation is trained
Network model；
(3) robot obtains same head pig in not Tongfang by camera 29 when the inspection route according to setting is mobile
To image and pass to industrial personal computer 15, image is identified using trained network model in industrial personal computer 15, is obtained
The profile of pig in different directions, establishes the threedimensional model of pig then with this, and the volume of pig is calculated by threedimensional model, multiplied by
The averag density of pig obtains the weight of pig, thus judge pig growing state (weight be less than threshold value think not up to standard, otherwise it is assumed that
It is up to standard)；Finally the growing state of each pig is saved.
The ammonia detection module 16 is used to detect the ammonia concentration in current environment, and in real time on the display 30
It is shown.Meanwhile current robot travel speed and the pig up to standard, not up to standard recognized are also shown on display 30
Quantity.
Overall work process of the invention are as follows:
Robot is transported to specified start position, forms the inspection of pig farm crusing robot by the way that multiple nodes are arranged
Route；
Robot constantly goes forward side by side what line position was set by the position that UWB location algorithm obtains current robot in the process of walking
Optimization；When by tiny barrier regions such as pig farm railings, using avoidance mechanism 11, ultrasonic evadible system, pass through avoidance
Algorithm optimizes direction of travel, avoids tiny barrier；
During examining robot inspection, opens camera 29 and adjust 29 height of camera and angle to carry out vision knowledge
Not, it acquires the image of crusing robot pig and carries out the identification judgement of pig growing state；In addition, during inspection, robot
Ammonia detection module 16 is opened, the concentration of ammonia in environment is detected；30 real-time display ammonia concentration of display, current robot row
The quantity of pig up to standard, not up to standard sailing speed and recognizing, and these information are sent to by way of wireless transmission
The administrator on pig farm.
Claims (5)
1. it is a kind of based on UWB positioning pig farm crusing robot, which is characterized in that including robot body, damping walking mechanism,
Avoidance mechanism (11), ultrasonic evadible system, UWB positioning system, monitored video camera system and master control system, in which:
Robot body includes chassis (8), is equipped with support plate (17) above chassis (8) by bracket, above support plate (17)
It is provided with stand (21)；
Damping walking mechanism includes the damping driving wheel being arranged at the angle of chassis (8) bottom four, the damping driving wheel packet
Chassis is included, the side of chassis is provided with side frame (5), and the other side is provided with damping spring (7)；Tray side is equipped with idler wheel (1),
And motor cabinet (3) are provided on chassis, the first driving motor (4) and steering mechanism (2) are installed, first drives on motor cabinet (3)
Dynamic motor (4), steering mechanism (2) connect with the idler wheel (1)；It is provided with hinge (6) on the side frame (5), hinge (6)
And the damping spring (7) is connected to chassis (8) bottom；
Avoidance mechanism (11) is arranged at four angles above chassis (8), and avoidance mechanism (11) includes being fixed on chassis (8)
Fixed column (9), fixed column radially open up through-hole on (9), are equipped with slide bar (111) across through-hole, and the front end of slide bar (111) is solid
It is fixed that there are two end connection and orthogonal avoidance baffle (112), each avoidance baffle (112) and its immediate chassis
(8) side is parallel；The rear end of slide bar (111) is provided with block (113), the slide bar between block (113) and fixed column (9)
(111) reset spring (10) are set on；
Ultrasonic evadible system includes multiple (10) a ultrasonic wave modules (12) for being distributed in chassis (8) side, and number is A to J,
Its position is respectively as follows: the middle part on front side of chassis (8) A, the middle part on rear side of chassis (8) B, C left side, the chassis D (8) before chassis (8)
Left side afterwards, the right side before chassis (8) E, F is on chassis (8) right side afterwards, and G is in chassis (8) front left side, and H is in chassis (8) forward right side, I
In chassis (8) left rear side, J is in chassis (8) right lateral side；
The UWB positioning system includes that the UWB being arranged above chassis (8) positions label (14), and setting is in pig farm week
Four base stations enclosed；Using UWB location technology, UWB positions label (14) and four base station real time distances, is asked according to distance measurement result
The spatial position of robot out, to reach positioning purpose；
Monitored video camera system includes crane (25), and crane (25) is driven by the internal lift drive mechanism of stand (21) is arranged in
It is dynamic；Lift drive mechanism includes screw rod (20) and more piece optical axises (22) of the setting at the top of stand (21), between bottom,
In, it is provided with driving plate (24) on screw rod (20), the second driving motor (18) are set in support plate (17) bottom, second
Driving motor (18) passes through shaft coupling (19) connection wire rod (20)；Threaded hole, driving plate are opened up in the driving plate (24)
(24) it is assemblied on screw rod (20) by threaded hole；It is provided on the bottom plate (26) of the crane (25) and driving plate (24)
The sliding sleeve (23) of connection, sliding sleeve (23) are sleeved on the optical axis (22)；Pass through radial direction on the top plate (28) of crane (25)
Bearing (27) is equipped with camera (29)；It is provided with display (30) on the leading flank of the stand (21), support plate (17)
On be provided with ammonia detection module (16)；
Master control system includes master controller (13) and industrial personal computer (15), and master controller (13) is responsible for the whole of robot and is adjusted
Control, first driving motor (4), the second driving motor (18), ultrasonic wave module (12), UWB position label (14), ammonia
Detection module (16), industrial personal computer (15), camera (29), display (30) are connect with master controller (13)；Industrial personal computer (15)
Then the image information of the pig for acquiring to camera (29) is handled, to obtain the growing state information of pig.
2. the pig farm crusing robot as described in claim 1 based on UWB positioning, which is characterized in that the master controller
(13) obstacle avoidance algorithm, obstacle avoidance algorithm are provided in are as follows:
Robot obtains the nearest obstacle distance L1 in front when walking, by ultrasonic wave module (12) A, as L1 is greater than setting
Value, then it is assumed that all is clear ahead keeps the inspection route walking of setting；When into L10, any one value changes L3
When, then show that there are barriers for changed position, controls robot pause walking at this time, then drive the damping of robot
Driving wheel turns to, mobile with avoiding obstacles to there are the opposite directions of barrier position, makes damping driving rotation again later
Original direction is gone back to continue to move to；
Wherein, the L3 to L10 refers to ultrasonic wave module (12) and its immediate avoidance baffle that number is C to J
(112) distance.
3. the pig farm crusing robot as described in claim 1 based on UWB positioning, which is characterized in that in the main controller
It is provided with UWB location algorithm, UWB location algorithm are as follows:
The signal of UWB positioning label (14) four base stations of real-time reception in robot, measures and four, ground base station A1,A2,
A3,A4Distance four distances are obtained after sliding median filtering is respectively R1,R2,R3,R4；It is positioned by three-point fix algorithm
Robot is relative to A1,A2,A3Plane coordinates (the X of base station4,Y4)；
Similarly, calculating robot is relative to A2,A3,A4Plane coordinates (the X of base station1,Y1), robot is relative to A1,A3,A4Base station
Plane coordinates (X2,Y2), robot is relative to A1,A2,A4Plane coordinates (the X of base station3,Y3)；Then subtracted by average value
Few position error, then the final plane coordinates of robot (X, Y) is [X=(X1+X2+X3+ 4)/4, Y=(Y1+Y2+Y3+Y4)/4]；
Position of the robot on inspection route is corrected by the plane coordinates of robot.
4. the pig farm crusing robot as described in claim 1 based on UWB positioning, which is characterized in that described to camera
(29) image information of the pig acquired is handled, to obtain the growing state information of pig, comprising:
(1) photo for obtaining multiple pigs from pig farm in advance, establishes image data base；
(2) deep learning frame is built, using the image training convolutional neural networks in image data base, saves trained net
Network model；
(3) robot obtains same head pig in different directions by camera (29) when the inspection route according to setting is mobile
Image and pass to industrial personal computer (15), image is identified using trained network model in the industrial personal computer (15), is obtained
To the profile of pig in different directions, the threedimensional model of pig is then established with this, and the volume of pig is calculated by threedimensional model, multiplied by
The weight of pig is obtained with the averag density of pig, to judge the growing state of pig；Finally the growing state of each pig is protected
It deposits.
5. the pig farm crusing robot as described in claim 1 based on UWB positioning, which is characterized in that the robot
Inspection process are as follows:
Robot is transported to specified start position, forms the inspection road of pig farm crusing robot by the way that multiple nodes are arranged
Line；
Robot in the process of walking constantly by UWB location algorithm obtain current robot position go forward side by side line position set it is excellent
Change；When by tiny barrier regions such as pig farm railings, using avoidance mechanism (11), ultrasonic evadible system, pass through avoidance
Algorithm optimizes direction of travel, avoids tiny barrier；
During examining robot inspection, opens camera (29) and adjust camera (29) and highly carry out vision knowledge with angle
Not, it acquires the image of crusing robot pig and carries out the identification judgement of pig growing state；In addition, during inspection, robot
It opens ammonia detection module (16), detects the concentration of ammonia in environment；Display (30) real-time display ammonia concentration, current machine
People's travel speed and the quantity of the pig up to standard, not up to standard recognized, and these information are sent out by way of wireless transmission
Give the administrator on pig farm.
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