CN113239134B - Pig house navigation map building method and device, electronic equipment and storage medium - Google Patents
Pig house navigation map building method and device, electronic equipment and storage medium Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The application discloses a method, a device, electronic equipment and a storage medium for establishing a pig house navigation map, wherein the method comprises the steps of calling a pig house drawing to acquire parameter information of a pig house; the parameter information comprises the size of a pig house, the first width of a column in the pig house, coordinates of path points at two ends of a patrol road, and the second width of a path switching road communicated with one end of the patrol road, wherein the coordinates comprise an abscissa and an ordinate; according to the first width, the second width and the position numbers of the columns, determining the ordinate of the inspection stop points on the inspection road, and determining the abscissa of the inspection stop points as the abscissa of the path points; writing the pig house size, the abscissa and the ordinate of the inspection stop points and the coordinates into a pre-built map file to obtain an inspection navigation map of the inspection robot. According to the application, when the patrol navigation map is built, parameter information is directly acquired from the pig house drawing, the patrol robot is not required to be controlled to walk through all pig house shooting images, the time consumption is short, and the map building efficiency is improved.
Description
Technical Field
The application relates to the technical field of intelligent farming and animal husbandry, in particular to a pig house navigation map building method, a pig house navigation map building device, electronic equipment and a computer readable storage medium.
Background
With the development of artificial intelligence technology, more and more industries perform equipment upgrading by applying artificial intelligence technology to save labor cost, for example, an intelligent inspection robot is utilized to complete daily inspection tasks of pigs in a pig house in a breeding farm.
The intelligent inspection robot needs a reliable map to ensure the normal operation of the intelligent inspection robot to complete the autonomous operation in the inspection area. At present, when a navigation map is established for an intelligent inspection robot, a remote controller is required to be manually controlled to control the intelligent inspection robot to walk through an area needing inspection, a plurality of images are shot in a laser scanning mode in the walking process, a map file of the inspection area is generated according to the images, and then an inspection path is marked in the map file to obtain an inspection navigation map required by inspection of the inspection robot, so that inspection is performed. The whole area needing to be inspected is required to be finished, so that the time consumption of the inspection navigation map building process is long.
Therefore, how to solve the above technical problems should be of great interest to those skilled in the art.
Disclosure of Invention
The application aims to provide a pig house navigation map building method, a pig house navigation map building device, electronic equipment and a computer readable storage medium so as to improve map building efficiency.
In order to solve the technical problems, the application provides a pig house navigation map building method, which comprises the following steps:
Invoking a pig house drawing to acquire parameter information of a pig house; the parameter information comprises a pig house size, a first width of a field in the pig house, coordinates of path points at two ends of a patrol road, and a second width of a path switching road communicated with one end of the patrol road, wherein the coordinates comprise an abscissa and an ordinate;
according to the first width, the second width and the position numbers of the columns, determining the ordinate of the inspection stop points on the inspection road, and determining the abscissa of the inspection stop points as the abscissa of the path points;
writing the pig house size, the abscissa and the ordinate of the inspection stop point and the coordinates into a pre-built map file to obtain an inspection navigation map of the inspection robot.
Optionally, the determining, according to the first width, the second width, and the position number of the column, the ordinate of the patrol stop on the patrol road includes:
Determining the ordinate of the patrol stop on the patrol road according to yn=l+d (0.5+n);
wherein n is the position number of the column, n=0, 1,2,3 …, yn is the ordinate of the inspection stop point, d is the first width, and L is the second width.
Optionally, before writing the piggery size, the abscissa and the ordinate of the inspection stop point, and the coordinates into the pre-built map file, the method further comprises:
Acquiring position information of a charging pile in the pig house;
and writing the position information into the map file.
Optionally, after obtaining the inspection navigation map of the inspection robot, the method further includes:
And sending the inspection navigation map to the inspection robot so that the inspection robot can inspect.
Optionally, before acquiring the parameter information of the pig house, the method further includes:
judging whether the patrol navigation map exists in the patrol robot or not;
if the patrol navigation map exists, judging whether to modify the patrol navigation map;
And if the patrol navigation map is modified, acquiring new parameter information, and updating the patrol navigation map according to the new parameter information.
The application also provides a pig house navigation map building device, which comprises:
The calling and acquiring module is used for calling the pigsty drawing to acquire parameter information of the pigsty; the parameter information comprises a pig house size, a first width of a field in the pig house, coordinates of path points at two ends of a patrol road, and a second width of a path switching road communicated with one end of the patrol road, wherein the coordinates comprise an abscissa and an ordinate;
the coordinate determining module is used for determining the ordinate of the inspection stop point on the inspection road according to the first width, the second width and the position number of the column, and determining the abscissa of the inspection stop point as the abscissa of the path point;
The map obtaining module is used for writing the pig house size, the abscissa and the ordinate of the inspection stop point and the coordinates into a pre-built map file to obtain an inspection navigation map of the inspection robot.
Optionally, the method further comprises:
the acquisition module is used for acquiring the position information of the charging piles in the pigsty;
And the writing module is used for writing the position information into the map file.
Optionally, the method further comprises:
the first judging module is used for judging whether the patrol navigation map exists in the patrol robot or not;
the second judging module is used for judging whether the patrol navigation map is modified if the patrol navigation map exists;
and the updating module is used for acquiring new parameter information if the patrol navigation map is modified, and updating the patrol navigation map according to the new parameter information.
The present application also provides an electronic device including:
A memory for storing a computer program;
and the processor is used for realizing any one of the steps of the pig house navigation map building method when executing the computer program.
The application also provides a computer readable storage medium, wherein the computer readable storage medium is stored with a computer program, and the computer program realizes the steps of any one of the pig house navigation map building methods when being executed by a processor.
The application provides a pig house navigation map building method, which comprises the following steps: invoking a pig house drawing to acquire parameter information of a pig house; the parameter information comprises a pig house size, a first width of a field in the pig house, coordinates of path points at two ends of a patrol road, and a second width of a path switching road communicated with one end of the patrol road, wherein the coordinates comprise an abscissa and an ordinate; according to the first width, the second width and the position numbers of the columns, determining the ordinate of the inspection stop points on the inspection road, and determining the abscissa of the inspection stop points as the abscissa of the path points; writing the pig house size, the abscissa and the ordinate of the inspection stop point and the coordinates into a pre-built map file to obtain an inspection navigation map of the inspection robot.
Therefore, the method of the application obtains the parameter information of the pig house by calling the pig house drawing, then the first width of the column in the parameter information, the second width of the path switching road and the position number of the column determine the ordinate of the inspection stop point on the inspection road, the abscissa of the inspection stop point is the same as the abscissa of the path point on the inspection road, and then the pig house size, the abscissa and the ordinate of the inspection stop point and the coordinates of the path point are written into the pre-built map file, thereby obtaining the inspection navigation map of the pig house, directly obtaining the parameter information from the pig house drawing when the inspection navigation map is built, without operating the inspection robot to walk through all the pig house shooting images, the time consumption is short, and the map building efficiency is improved.
In addition, the application also provides a device, electronic equipment and a computer readable storage medium with the advantages.
Drawings
For a clearer description of embodiments of the application or of the prior art, the drawings that are used in the description of the embodiments or of the prior art will be briefly described, it being apparent that the drawings in the description below are only some embodiments of the application, and that other drawings can be obtained from them without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a method for creating a pig house navigation map according to an embodiment of the present application;
FIG. 2 is a flowchart of another method for creating a pig house navigation map according to an embodiment of the present application;
FIG. 3 is a flowchart of another method for creating a pig house navigation map according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a navigation map built in the present application;
fig. 5 and fig. 6 are schematic diagrams showing parameter information used in the present application when a navigation inspection map is established on an electronic device;
fig. 7 is a block diagram of a pig house navigation map building device according to an embodiment of the present application;
Fig. 8 is a schematic structural diagram of an electronic device according to the present application.
Detailed Description
In order to better understand the aspects of the present application, the present application will be described in further detail with reference to the accompanying drawings and detailed description. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
As described in the background art, currently, when a navigation map is built for an intelligent inspection robot, a remote controller is required to be manually controlled to control the intelligent inspection robot to walk through an area needing inspection, a plurality of images are shot in a laser scanning mode in the walking process, a map file of the inspection area is generated according to the images, and then an inspection path is marked in the map file to obtain an inspection navigation map required by inspection of the inspection robot, so that inspection is performed. The whole area needing to be inspected is required to be finished, so that the time consumption of the inspection navigation map building process is long.
In view of the above, the present application provides a method for creating a navigation map of a pig house, please refer to fig. 1, fig. 1 is a flowchart of a method for creating a navigation map of a pig house according to an embodiment of the present application, which includes:
Step S101: invoking a pig house drawing to acquire parameter information of a pig house; the parameter information comprises a pig house size, a first width of a field in the pig house, coordinates of path points at two ends of a patrol road, and a second width of a path switching road communicated with one end of the patrol road, wherein the coordinates comprise an abscissa and an ordinate.
The pig house is generally rectangular, and the pig house dimensions, i.e. the length and width of the pig house, are measured in order to determine the range of the whole indoor patrol navigation map.
The columns comprise a single column and a obstetric table, the single column is a place in the pig house for housing pregnant sows or reserved sows, the obstetric table is a place in the pig house for housing lactating sows and piglets, and the columns are generally distributed in the pig house in a row-by-row mode.
The inspection road is a walking route when the inspection robot inspects pigs in the columns, and the inspection road can be determined by coordinates of path points at two ends of the inspection road. The number of the inspection roads is multiple, and when the inspection on one inspection road is finished, the inspection road is changed to the other inspection road through a path switching road communicated with one end of the inspection road. The inspection road is a longitudinal road, parallel to the y axis, the path switching road is a transverse road, and parallel to the x axis.
The parameter information may further include a first length of columns, a number of columns, an abscissa of a path point located at both ends of the path switching road, a road type of the inspection road, a running direction of the inspection road, and the like, wherein the running direction of the inspection road, that is, the inspection direction, may be represented by pi/2 or-pi/2, pi/2 represents that the forward direction is a positive direction of the y axis of the map, -pi/2 represents that the forward direction is a negative direction of the y axis of the map, and the road types of the path switching road and the inspection road may be positive single direction, represent that only forward is possible, and unidirectional inspection is performed.
Step S102: and determining the ordinate of the inspection stop point on the inspection road according to the first width, the second width and the position number of the column, and determining the abscissa of the inspection stop point as the abscissa of the path point.
Since the columns are typically distributed in the pig house in a column-by-column fashion, numbering is initiated in a row from the first column in the first column.
The inspection robot walks on the inspection road, so the abscissa is the same as the abscissa of the path point on the inspection road.
Wherein, according to the position numbers of the first width, the second width and the columns, determining the ordinate of the inspection stop point on the inspection road includes:
Determining the ordinate of the patrol stop on the patrol road according to yn=l+d (0.5+n);
wherein n is the position number of the column, n=0, 1,2,3 …, yn is the ordinate of the inspection stop point, d is the first width, and L is the second width.
Step S103: writing the pig house size, the abscissa and the ordinate of the inspection stop point and the coordinates into a pre-built map file to obtain an inspection navigation map of the inspection robot.
In this embodiment, the inspection navigation map of the inspection robot is a map in a text file format, for example, the format of the map file may be map.
It should be noted that, in the application, the patrol navigation map in the picture format can also be generated and sent to the display terminal for display for the staff to watch.
It should be noted that, before the pig house navigation map is established, connection with the inspection robot needs to be established. The connection mode is not particularly limited in the present application, and a WiFi connection mode, a bluetooth connection mode, or the like may be adopted.
According to the method, the parameter information of the pig house is obtained by calling the pig house drawing, the first width of the column in the parameter information, the second width of the path switching road and the position number of the column are used for determining the ordinate of the inspection stop point on the inspection road, the abscissa of the inspection stop point is identical to the abscissa of the path point on the inspection road, and the dimensions of the pig house, the abscissa and the ordinate of the inspection stop point and the coordinates of the path point are written into the pre-built map file, so that the inspection navigation map of the pig house is obtained, the parameter information is directly obtained from the pig house drawing when the inspection navigation map is built, the inspection robot does not need to be controlled to walk through all the pig house shooting images, the time consumption is short, and the map building efficiency is improved.
On the basis of the foregoing embodiments, in one embodiment of the present application, before the writing of the piggery size, the abscissa and the ordinate of the patrol stop, and the coordinates into the pre-built map file, the method further includes:
Acquiring position information of a charging pile in the pig house;
and writing the position information into the map file.
The position information of the charging pile comprises an abscissa, an ordinate and a yaw angle of the charging pile, and the yaw angle is generally expressed by N multiplied by pi/2.
According to the embodiment, the position information of the charging pile is written into the map file, so that the navigation map for inspection further comprises the position information of the charging pile, and the charging pile can be automatically searched for charging when the robot for inspection needs to be charged, thereby being more convenient.
The inspection navigation map is generated on an electronic device, and the inspection robot can start to inspect after obtaining the inspection navigation map, and in one embodiment of the application, after obtaining the inspection navigation map of the inspection robot, the method further comprises:
And sending the inspection navigation map to the inspection robot so that the inspection robot can inspect.
Referring to fig. 2, fig. 2 is a flowchart of another method for creating a pig house navigation map according to an embodiment of the present application, including:
Step S201: judging whether the patrol navigation map exists in the patrol robot or not.
Step S202: and if the patrol navigation map exists, judging whether the patrol navigation map is modified.
If the patrol navigation map does not exist, the process proceeds to step S204.
Step S203: and if the patrol navigation map is modified, acquiring new parameter information, and updating the patrol navigation map according to the new parameter information.
When the parameter information changes, the new parameter information is called, for example, the first width of the field is 5 meters originally, the first width of the field is 7 meters now, and then 7 meters is the new field width.
And if the patrol navigation map is not modified, ending.
Step S204: invoking a pig house drawing to acquire parameter information of a pig house; the parameter information comprises a pig house size, a first width of a field in the pig house, coordinates of path points at two ends of a patrol road, and a second width of a path switching road communicated with one end of the patrol road, wherein the coordinates comprise an abscissa and an ordinate.
Step S205: and determining the ordinate of the inspection stop point on the inspection road according to the first width, the second width and the position number of the column, and determining the abscissa of the inspection stop point as the abscissa of the path point.
Step S206: writing the pig house size, the abscissa and the ordinate of the inspection stop point and the coordinates into a pre-built map file to obtain an inspection navigation map of the inspection robot.
Step S207: and sending the inspection navigation map to the inspection robot so that the inspection robot can inspect.
According to the pig house navigation map building method, when the inspection robot has the inspection navigation map and the pig house scene changes, new parameter information is required to be acquired, the existing inspection navigation map is updated by the new parameter information, the inspection navigation map is multiplexed to the maximum extent, and the map is not required to be reconstructed.
The method for creating a pig house navigation map according to the present application will be described in detail with reference to fig. 3.
Step 1, searching WiFi hot spot signals carried by the inspection robot; the hot spot signals sent by a general robot are named as robot ID.
Step 2, selecting a network of a corresponding inspection robot, filling in a user name, a password and an ID of the inspection robot on a login interface, logging in the inspection robot, verifying the user name and the password of logging equipment in the inspection robot, and allowing logging in if verification is successful; otherwise, the login is refused.
Step 3, judging whether a pig house navigation map file exists in the inspection robot, if yes, reading the map file in the inspection robot, displaying the map file in an electronic equipment terminal as shown in fig. 4, and executing step 4; if not, step 6 is performed.
And step 4, judging whether parameter information of the map file in the inspection robot needs to be modified according to the business logic, if so, executing step 5, and if not, ending and displaying the current existing pig house navigation map.
And 5, modifying parameter information, such as modifying the abscissa of the charging pile.
Step 6, invoking a pig house drawing to input drawing construction parameter information and charging pile position information, wherein in the drawing, A1 and A2 respectively represent the length and the width of the pig house, A3 to A5 respectively represent the abscissa, the ordinate and the yaw angle of the charging pile, A6 respectively represent the width of a No. 0 road, A7 and A8 respectively represent the length and the width of columns, A9 respectively represent the total number of columns, A10 and A11 respectively represent the abscissa and the ordinate of the starting point of the path point on the No. 0 road, A12 and A13 respectively represent the abscissa and the ordinate of the ending point of the path point on the No. 0 road, A14 respectively represent that the type of the No. 0 road is unidirectional, represents that only can go forward and is a unidirectional patrol robot, A15 respectively represent the abscissa and the ordinate of the starting point of the path point on the patrol road, A18 and A19 respectively represent the abscissa and the ordinate of the ending point on the patrol road, A20 respectively represent whether a stop point is generated or not, and if no stop point is currently generated, A21 represents the type of the patrol road.
And 7, calculating a stop point of the inspection robot, wherein n=0, 1,2,3 … and Yn represent the ordinate of the stop point, the abscissa of the stop point is the same as the path point, L represents the width of a path switching road (the No. 0 road in fig. 4), d represents the field width, and n represents the n+1th field by a formula yn=l+d (0.5+n).
Step 8, writing the generated inspection stop point information, parameter information and charging pile position information into a file in a certain format to generate two types of map files, wherein one type of map files is read locally by electronic equipment and used for being displayed at the electronic equipment end; the other is an inspection robot internal reading for pig house indoor navigation applications such as map.yaml.
And 9, packaging the generated map file and sending the packaged map file to the inspection robot.
The schematic diagram of the generated map file is shown in fig. 4, one inspection stop point corresponds to one column, a correction point is further arranged in the inspection navigation map, when the inspection robot reaches the correction point, the coordinates of the inspection robot are obtained, and compared with the coordinates of the correction point, so that the inspection correction is carried out on the position of the inspection robot, and the information of the correction point is stored in the two-dimensional code at the top of the column. The arrow parallel to the Y-axis in fig. 4 indicates the direction of the intelligent inspection robot in the column of the current inspection road.
The following describes a pig house navigation map building device provided by the embodiment of the application, and the pig house navigation map building device and the pig house navigation map building method described above can be correspondingly referred to each other.
Fig. 7 is a block diagram of a pig house navigation map building apparatus according to an embodiment of the present application, and referring to fig. 7, the pig house navigation map building apparatus may include:
A calling and acquiring module 100, configured to call a pig house drawing to acquire parameter information of a pig house; the parameter information comprises a pig house size, a first width of a field in the pig house, coordinates of path points at two ends of a patrol road, and a second width of a path switching road communicated with one end of the patrol road, wherein the coordinates comprise an abscissa and an ordinate;
the coordinate determining module 200 is configured to determine an ordinate of the inspection stop point on the inspection road according to the first width, the second width, and the position number of the column, and determine an abscissa of the inspection stop point as an abscissa of the path point;
the map obtaining module 300 is configured to write the pig house size, the abscissa and the ordinate of the inspection stop point, and the coordinates into a pre-built map file, so as to obtain an inspection navigation map of the inspection robot.
The pig house navigation map building apparatus of the present embodiment is used to implement the aforementioned pig house navigation map building method, so that the specific implementation of the pig house navigation map building apparatus can be seen in the foregoing example portions of the pig house navigation map building method, for example, the calling and obtaining module 100, the coordinate determining module 200, and the map obtaining module 300 are respectively used to implement steps S101, S102, and S103 in the aforementioned pig house navigation map building method, so that the specific implementation thereof can refer to the description of the corresponding examples of each portion and will not be repeated herein.
Optionally, the pig house navigation map building device further includes:
the acquisition module is used for acquiring the position information of the charging piles in the pigsty;
And the writing module is used for writing the position information into the map file.
Optionally, the pig house navigation map building device further includes:
And the sending module is used for sending the patrol navigation map to the patrol robot so that the patrol robot can carry out patrol.
Optionally, the pig house navigation map building device further includes:
the first judging module is used for judging whether the patrol navigation map exists in the patrol robot or not;
the second judging module is used for judging whether the patrol navigation map is modified if the patrol navigation map exists;
and the updating module is used for acquiring new parameter information if the patrol navigation map is modified, and updating the patrol navigation map according to the new parameter information.
The electronic device provided by the embodiment of the application is introduced below, and the electronic device described below and the pig house navigation map building method described above can be correspondingly referred to each other.
Referring to fig. 8, fig. 8 is a schematic structural diagram of an electronic device according to the present application, including:
a memory 11 for storing a computer program;
And a processor 12, configured to implement the steps of the pig house navigation map building method according to the above embodiment when executing the computer program.
The following describes a computer readable storage medium provided in an embodiment of the present application, where the computer readable storage medium described below and the pig house navigation map building method described above may be referred to correspondingly.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the pig house navigation map building method according to the above embodiment.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, so that the same or similar parts between the embodiments are referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The navigation map building method, the navigation map building device, the electronic equipment and the computer readable storage medium provided by the application are described in detail. The principles and embodiments of the present application have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present application and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the application can be made without departing from the principles of the application and these modifications and adaptations are intended to be within the scope of the application as defined in the following claims.
Claims (10)
1. The pig house navigation map building method is characterized by comprising the following steps of:
Invoking a pig house drawing to acquire parameter information of a pig house; the parameter information comprises a pig house size, a first width of a field in the pig house, coordinates of path points at two ends of a patrol road, and a second width of a path switching road communicated with one end of the patrol road, wherein the coordinates comprise an abscissa and an ordinate;
according to the first width, the second width and the position numbers of the columns, determining the ordinate of the inspection stop points on the inspection road, and determining the abscissa of the inspection stop points as the abscissa of the path points;
Writing the pig house size, the abscissa and the ordinate of the inspection stop point and the coordinates of the path point into a pre-built map file to obtain an inspection navigation map of the inspection robot.
2. The method of claim 1, wherein determining the ordinate of the patrol stop on the patrol road according to the first width, the second width, and the position number of the column comprises:
Determining the ordinate of the patrol stop on the patrol road according to yn=l+d (0.5+n);
wherein n is the position number of the column, n=0, 1,2,3 …, yn is the ordinate of the inspection stop point, d is the first width, and L is the second width.
3. The pigsty navigation map construction method of claim 1, further comprising, before said writing the pigsty size, the abscissa and ordinate of the patrol stop, and the coordinates of the route points into a pre-built map file:
Acquiring position information of a charging pile in the pig house;
and writing the position information into the map file.
4. The method for creating a pig house navigation map according to claim 1, further comprising, after obtaining the patrol navigation map of the patrol robot:
And sending the inspection navigation map to the inspection robot so that the inspection robot can inspect.
5. The method for constructing a pig house navigation map according to any one of claims 1 to 4, further comprising, before acquiring parameter information of the pig house:
judging whether the patrol navigation map exists in the patrol robot or not;
if the patrol navigation map exists, judging whether to modify the patrol navigation map;
And if the patrol navigation map is modified, acquiring new parameter information, and updating the patrol navigation map according to the new parameter information.
6. A pigsty navigation map building device, comprising:
The calling and acquiring module is used for calling the pigsty drawing to acquire parameter information of the pigsty; the parameter information comprises a pig house size, a first width of a field in the pig house, coordinates of path points at two ends of a patrol road, and a second width of a path switching road communicated with one end of the patrol road, wherein the coordinates comprise an abscissa and an ordinate;
the coordinate determining module is used for determining the ordinate of the inspection stop point on the inspection road according to the first width, the second width and the position number of the column, and determining the abscissa of the inspection stop point as the abscissa of the path point;
The map obtaining module is used for writing the pig house size, the abscissa and the ordinate of the inspection stop point and the coordinates of the path point into a pre-built map file to obtain an inspection navigation map of the inspection robot.
7. The pigsty navigation map building apparatus of claim 6, further comprising:
the acquisition module is used for acquiring the position information of the charging piles in the pigsty;
And the writing module is used for writing the position information into the map file.
8. The pigsty navigation map building apparatus of claim 6, further comprising:
the first judging module is used for judging whether the patrol navigation map exists in the patrol robot or not;
the second judging module is used for judging whether the patrol navigation map is modified if the patrol navigation map exists;
and the updating module is used for acquiring new parameter information if the patrol navigation map is modified, and updating the patrol navigation map according to the new parameter information.
9. An electronic device, comprising:
A memory for storing a computer program;
A processor for implementing the steps of the pig house navigation map building method according to any one of claims 1 to 5 when executing said computer program.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the pig house navigation map building method according to any of claims 1 to 5.
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| CN114326752A (en) * | 2022-01-17 | 2022-04-12 | 河南牧原智能科技有限公司 | Method and device for positioning inspection trolley and readable storage medium |
| CN114387700B (en) * | 2022-01-25 | 2024-01-09 | 高新兴科技集团股份有限公司 | Simulation inspection method, device, medium and equipment for power equipment |
| CN114543674B (en) * | 2022-02-22 | 2023-02-07 | 成都睿畜电子科技有限公司 | Detection method and system based on image recognition |
| CN114608549A (en) * | 2022-05-10 | 2022-06-10 | 武汉智会创新科技有限公司 | Building measurement method based on intelligent robot |
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