CN113282042A - Control system and control method of intelligent dung cleaning robot in pig house - Google Patents
Control system and control method of intelligent dung cleaning robot in pig house Download PDFInfo
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- CN113282042A CN113282042A CN202110597397.7A CN202110597397A CN113282042A CN 113282042 A CN113282042 A CN 113282042A CN 202110597397 A CN202110597397 A CN 202110597397A CN 113282042 A CN113282042 A CN 113282042A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 30
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- 238000012545 processing Methods 0.000 claims abstract description 20
- 238000003860 storage Methods 0.000 claims abstract description 11
- 239000010871 livestock manure Substances 0.000 claims description 7
- 238000005507 spraying Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 241000282887 Suidae Species 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 4
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The invention provides a control system of an intelligent dung cleaning robot in a hog house, which comprises a controller, a sensor module, a signal processing module, a water storage processing module, a charging module, an IMU module, an encoder and a driving module, wherein the controller comprises a master controller and a slave controller which are connected with each other; also provides a control method based on the intelligent dung cleaning robot control system in the pig house. The invention can intelligently plan a map and a walking route and can accurately control the operation of the robot.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a control system and a control method of an intelligent dung cleaning robot in a hog house.
Background
Most of the pigsty floors in China are in a dung leaking plate mode, dung and dirt of pigs can easily fall into a dung collecting groove, the pigsty is kept clean and sanitary, and the breeding of germs is reduced. However, in practice, the pig manure cannot completely fall into the manure collecting groove through the manure leaking plate gaps, and meanwhile, due to the fact that the pig manure has certain viscosity, the manure which does not fall off is trampled by the pig feet and then easily adheres to the pig feet, pig hoof diseases are generated, live pigs move in a stall, the opportunity of breeding and spreading of bacterial microorganisms is increased, and the health level and disease resistance of the pigs are low. Therefore, the dung cleaning robot with the autonomous path planning and navigation functions is developed, dung and dirt which do not fall off are pushed and scraped into the dung collecting groove in real time, and the influence on the pigs cannot be caused in the dung cleaning process.
Disclosure of Invention
The invention provides a control system and a control method of an intelligent dung cleaning robot in a pig house, which can intelligently plan a map and a walking route and can accurately control the robot to operate.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a control system of clear excrement robot of intelligence in pig house, control system includes controller, sensor module, signal processing module, water storage processing module, the module of charging, IMU module, encoder and drive module, the controller includes interconnect's main control unit and follows the controller, sensor module is connected with main control unit, follow the controller respectively, signal processing module, water storage processing module, the module of charging, IMU module, encoder, drive module all are connected with main control unit.
Further, the sensor module includes laser radar sensor and ultrasonic sensor, the laser radar sensor with from the controller be connected, ultrasonic sensor is connected with main control unit, the laser radar sensor has the scanning environment topography function, ultrasonic sensor has the detection barrier, discernment barrier distance function.
Further, the water storage processing module comprises a water adding module and a water spraying module, and the water adding module and the water spraying module are both connected with the main controller.
Furthermore, the driving module is a brushless direct current motor and is used for driving the traveling wheels to move.
Further, the signal processing module is a remote controller.
A control method of an intelligent dung cleaning robot in a pig house is based on a control system of the intelligent dung cleaning robot in the pig house, and the control method comprises the following steps:
A. starting the robot and scanning the terrain environment through a laser radar sensor;
B. the laser radar sensor sends the scanned terrain environment information to the controller and establishes a map;
C. the controller carries out autonomous positioning and pose tracking on the robot according to the established map, and carries out full-map path planning;
D. the driving module is used for driving the robot by fusing the odometer with the encoder and the IMU module, and detecting whether an obstacle exists on a path or not through the ultrasonic sensor in the process that the robot starts to operate according to path planning;
E. monitoring the water quantity condition or the electric quantity condition of the robot, and carrying out water adding operation on the robot through a water adding module or carrying out charging operation on the robot through a charging module;
F. and after the water or electricity is supplemented to the robot, continuing to plan the operation according to the path until the operation is finished.
And further, the map is built in the step B by starting a chassis node of the robot and a map building SLAM node, the manual remote control robot walks in the operation field, the terrain in the field is scanned by the laser radar sensor and then the environment information is sent to the slave controller, the slave controller automatically generates the map according to the received terrain environment information, and after the robot walks in the operation field for a closed loop, the map is built and stored.
Furthermore, in the step D, if the ultrasonic sensor detects an obstacle which is scanned by the laser radar sensor, the robot keeps the original speed to continue the operation, and if the ultrasonic sensor detects an obstacle which is not scanned by the laser radar sensor, the robot decelerates to avoid the operation of the obstacle.
Compared with the prior art, the invention has the beneficial effects that: the laser radar sensor and the ultrasonic sensor can scan and survey the environment terrain during working, can detect dead angles, are beneficial to accurately acquiring the actual situation of a site, have the advantages of high resolution, strong anti-interference performance, no influence of light rays and the like, automatically store map information after being used for the first time, do not need to rebuild a map when being used for the next time, can automatically update the map when the environment information is changed, and can detect obstacles, so that the high-efficiency feces cleaning and the collision avoidance with a wall body are realized, and the accurate distance measurement of the obstacles is facilitated; the control system integrates the technologies of autonomous positioning navigation, a sensor, PID control, autonomous charging, water adding and the like, and realizes the functions of robot real-time map building, GUI interface interaction, navigation positioning, path planning, accurate control and the like; the driving module is provided with an IMU module, so that the driving course and the stroke metering accuracy are improved.
Drawings
FIG. 1 is a schematic diagram of a control system according to the present invention;
fig. 2 is a schematic view of the flow structure of the control method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
It will be understood that when an element/feature is referred to as being "disposed on" another element/feature, it can be directly on the other element/feature or intervening elements/features may also be present. When a component/part is referred to as being "connected/coupled" to another component/part, it can be directly connected/coupled to the other component/part or intervening components/parts may also be present. The term "connected/coupled" as used herein may include electrical and/or mechanical physical connections/couplings. The term "comprises/comprising" as used herein refers to the presence of features, steps or components/features, but does not preclude the presence or addition of one or more other features, steps or components/features. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
Please refer to fig. 1, a control system of an intelligent dung cleaning robot in a pig house, the control system comprises a controller, a sensor module, a signal processing module, a water storage processing module, a charging module, an IMU module, an encoder and a driving module, the controller comprises a main controller and a slave controller which are connected with each other, the sensor module is respectively connected with the main controller and the slave controller, and the signal processing module, the water storage processing module, the charging module, the IMU module, the encoder and the driving module are all connected with the main controller.
The walking wheel of robot is driven by drive module respectively, at the cooperation encoder, fuses the odometer that obtains the odometer of encoder and IMU module data, uses PID control algorithm to control clear excrement robot, realizes its straight line walking and accurate turn.
In some embodiments, the sensor module comprises a laser radar sensor and an ultrasonic sensor, the laser radar sensor is connected with the slave controller through Ethernet communication, the ultrasonic sensor is connected with the master controller through serial port communication, the laser radar sensor has a function of scanning the environment terrain, and the ultrasonic sensor has a function of detecting obstacles and identifying the distance between the obstacles.
The dung cleaning robot adopts a laser radar sensor to rotate at a high speed to acquire point cloud data of obstacles in a pigsty, a Robot Operating System (ROS) with good openness and a distributed architecture is used as a research and development platform, a Karto algorithm is used for building a map of the environment in the pigsty, a virtual wall is arranged in the algorithm for objects which cannot be scanned by the laser radar, such as fences in the pigsty, and the like, and the path planning is realized by fusing an A method and a D method according to an AMCL positioning algorithm.
In some embodiments, the water storage treatment module comprises a water adding module and a water spraying module, and the water adding module and the water spraying module are both connected with the main controller.
In some embodiments, the driving module is a dc brushless motor for driving the road wheels to move.
In the during operation, the sensor module is responsible for scanning and surveying topographic environment, and give the controller with data transmission, the odometer that drive module's drive obtained the encoder by the controller fuses with the odometer of IMU module data, use PID control algorithm to control clear excrement robot, drive module realizes its straight line walking and accurate turn, water storage processing module's the module of adding water is responsible for the water tank of automation for the robot and adds water, water spray module is responsible for controlling the water cooperation shower nozzle in the water tank and carries out the spray rinsing, the module of charging is responsible for supplementing the electric energy for the robot.
In some embodiments, the signal processing module is a remote control. The robot is communicated with the remote controller by adopting a 2.4G wireless communication module, and the related operation control of the dung cleaning robot is achieved by controlling the remote controller. The remote controller is provided with a left switch and a right switch, and the left switch is rotated to realize the switching of three control modes of manual remote control, automatic operation and starting and recharging of the dung cleaning robot; the right switch is rotated to realize the selection of three modes of a brake switch, normal control and emergency brake of the dung cleaning robot. The remote controller is provided with a power supply and a signal indicator light, the power supply and signal conditions of the remote controller can be displayed in real time, and the remote controller can effectively help an operator to complete the selection and control of the operation task of the dung cleaning robot.
Two modes of operation: firstly, in an automatic control mode, the robot automatically finishes the functions of path planning and navigation, charging, water adding, excrement cleaning and the like without manual participation; two, manual remote control mode, appear when the robot in the operation in the pig house repeatedly spin or the route of traveling is interrupted, operating condition etc. can twinkle and suggestion this moment, then start manual remote control button, get into manual remote control mode, in order to improve work efficiency, clear excrement robot is equipped with two kinds of mode: firstly, quickly cleaning, namely selecting the mode when the environment in the pigsty is poor, and pushing the excrement to a fixed accumulation position uniformly to wait for subsequent treatment; and secondly, slowly cleaning, selecting the mode when the environment in the house is relatively good for long-term cleaning, and dropping the excrement into the excrement collecting groove through the gap of the excrement leaking plate in the mode.
Referring to fig. 2, a control method of an intelligent dung cleaning robot in a pig house is based on a control system of the intelligent dung cleaning robot in the pig house, and the control method includes the following steps:
A. starting the robot and scanning the terrain environment through a laser radar sensor;
B. the laser radar sensor sends the scanned terrain environment information to the controller and establishes a map;
C. the controller carries out autonomous positioning and pose tracking on the robot according to the established map, and carries out full-map path planning;
D. the driving module is used for driving the robot by fusing the odometer with the encoder and the IMU module, and detecting whether an obstacle exists on a path or not through the ultrasonic sensor in the process that the robot starts to operate according to path planning;
E. monitoring the water quantity condition or the electric quantity condition of the robot, and carrying out water adding operation on the robot through a water adding module or carrying out charging operation on the robot through a charging module;
F. and after the water or electricity is supplemented to the robot, continuing to plan the operation according to the path until the operation is finished.
In some embodiments, the map is established in step B by starting a chassis node of the robot and an map building SLAM node, the robot is manually and remotely controlled to walk in the operation field, the terrain in the field is scanned by the laser radar sensor and then the environment information is sent to the slave controller, the slave controller automatically generates the map according to the received terrain environment information, and after the robot walks in the operation field to complete a closed loop, the map is established and stored.
In some embodiments, in step D, if the ultrasonic sensor detects an obstacle that has been scanned by the lidar sensor, the robot continues to operate at the original speed, and if the ultrasonic sensor detects an obstacle that has not been scanned by the lidar sensor, the robot decelerates to avoid the obstacle.
According to the laser radar sensor and the ultrasonic sensor, when the laser radar sensor works, the laser radar sensor can scan and survey the environment terrain, can detect dead angles, is beneficial to accurately acquiring the actual situation of a site, has the advantages of high resolution, strong anti-interference performance, no influence of light rays and the like, can automatically store map information after being used for the first time, does not need to rebuild a map when being used for the next time, can automatically update the map when the environment information is changed, can detect obstacles, can realize efficient manure removal and avoid collision with a wall body, and is beneficial to accurate distance measurement of the obstacles; the control system integrates the technologies of autonomous positioning navigation, a sensor, PID control, autonomous charging, water adding and the like, and realizes the functions of robot real-time map building, GUI interface interaction, navigation positioning, path planning, accurate control and the like; the driving module is provided with an IMU module, so that the driving course and the stroke metering accuracy are improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. The utility model provides a control system of clear excrement robot of intelligence in pig house, a serial communication port, control system includes controller, sensor module, signal processing module, water storage processing module, the module of charging, IMU module, encoder and drive module, the controller includes interconnect's main control unit and follows the controller, sensor module is connected with main control unit, follow the controller respectively, signal processing module, water storage processing module, the module of charging, IMU module, encoder, drive module all are connected with main control unit.
2. The control system of the intelligent dung cleaning robot in the pig house according to the claim 1, wherein the sensor module comprises a laser radar sensor and an ultrasonic sensor, the laser radar sensor is connected with a slave controller, the ultrasonic sensor is connected with a master controller, the laser radar sensor has a function of scanning the terrain of the environment, and the ultrasonic sensor has functions of detecting obstacles and identifying the distance between the obstacles.
3. The control system of the intelligent dung cleaning robot in the pig house according to claim 1, wherein the water storage processing module comprises a water adding module and a water spraying module, and the water adding module and the water spraying module are both connected with the main controller.
4. The control system of the intelligent dung cleaning robot in the pig house according to claim 1, wherein the driving module is a brushless DC motor for driving a traveling wheel to move.
5. The control system of the intelligent dung cleaning robot in the pig house according to claim 1, wherein the signal processing module is a remote controller.
6. A control method of an intelligent dung cleaning robot in a pig house is characterized in that based on the control system of the intelligent dung cleaning robot in the pig house of claims 1-5, the control method comprises the following steps:
A. starting the robot and scanning the terrain environment through a laser radar sensor;
B. the laser radar sensor sends the scanned terrain environment information to the controller and establishes a map;
C. the controller carries out autonomous positioning and pose tracking on the robot according to the established map, and carries out full-map path planning;
D. the driving module is used for driving the robot by fusing the odometer with the encoder and the IMU module, and detecting whether an obstacle exists on a path or not through the ultrasonic sensor in the process that the robot starts to operate according to path planning;
E. monitoring the water quantity condition or the electric quantity condition of the robot, and carrying out water adding operation on the robot through a water adding module or carrying out charging operation on the robot through a charging module;
F. and after the water or electricity is supplemented to the robot, continuing to plan the operation according to the path until the operation is finished.
7. The control method of the intelligent pig house manure cleaning robot as claimed in claim 6, wherein the map is established in the step B by starting a chassis node of the robot and establishing a map SLAM node, the robot is manually and remotely controlled to walk in the operation field, the environment information is sent to the slave controller after scanning the terrain in the field by the laser radar sensor, the slave controller automatically generates the map according to the received terrain environment information, and the map is established and stored after the robot walks in the operation field for a closed loop.
8. The method for controlling the intelligent robot for clearing dung in the pig house according to the claim 6, wherein in the step D, if the ultrasonic sensor detects the obstacle which is scanned by the laser radar sensor, the robot keeps the original speed to continue the operation, and if the ultrasonic sensor detects the obstacle which is not scanned by the laser radar sensor, the robot decelerates to avoid the obstacle operation.
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| CN202110597397.7A CN113282042A (en) | 2021-05-28 | 2021-05-28 | Control system and control method of intelligent dung cleaning robot in pig house |
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| CN202110597397.7A CN113282042A (en) | 2021-05-28 | 2021-05-28 | Control system and control method of intelligent dung cleaning robot in pig house |
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Cited By (2)
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| CN114296470A (en) * | 2022-01-21 | 2022-04-08 | 河南牧原智能科技有限公司 | Robot navigation method, device and medium |
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Application publication date: 20210820 |