CN113741430A - Autonomous navigation method, apparatus and computer storage medium for dung cleaning robot - Google Patents
Autonomous navigation method, apparatus and computer storage medium for dung cleaning robot Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The invention relates to an autonomous navigation method, an apparatus and a computer storage medium for a dung cleaning robot, wherein the method comprises the following steps: receiving a dung cleaning task instruction, wherein the dung cleaning task instruction indicates one or more off-board units needing dung cleaning; a task route is formulated according to the dung cleaning task instruction; advancing according to the task route, determining whether the vehicle reaches an entrance of one underfloor unit and is positioned at the entrance of the underfloor unit in the advancing process, loading a map of the corresponding underfloor unit, and entering the interior of the underfloor unit to execute corresponding excrement cleaning operation; the map is constructed based on laser radar point cloud data, and each under-board unit corresponds to one map. The invention can realize automatic navigation and dung cleaning, thereby avoiding the working personnel from entering the severe environment under the plate to work and simultaneously improving the dung cleaning efficiency under the plate.
Description
Technical Field
The present invention relates generally to the field of intelligent farming techniques. More particularly, the present invention relates to an autonomous navigation method, apparatus, and computer storage medium for a dung robot.
Background
In the field of pig raising, in order to save land resources, a building pigsty begins to replace a common pigsty to become a novel pigsty for raising pigs. In a pig house of a building, pigs only live on the dung leaking plate, and dung falls to the lower part of the dung leaking plate (hereinafter referred to as the lower part of the plate) through meshes on the dung leaking plate. Therefore, the feces of the pigs can accumulate under the plate, and the feces of the units under the plate need to be cleaned. Clear excrement work is mainly still to rely on the manpower to clear excrement under the field board of raising pigs at present, for example: manually washing the lower part of the plate with water; however, the space under the plate is narrow, so that manual operation is not facilitated, the excrement cleaning efficiency is low, and the environment under the plate is severe, so that certain dangerousness is realized. For another example: the remote control type dung cleaning machine is designed, a remote controller is arranged for workers, the workers and the dung cleaning machine enter the lower portion of the plate together, the actions of the dung cleaning machine are controlled through the remote controller, and the working process of the dung cleaning machine is observed.
In the fields of industry, agriculture, even daily life and the like, the robot can replace people to perform repeated labor and work in places or dangerous environments where some people cannot enter, so that great convenience is brought to production and living activities, and the robot technology is more and more widely applied. For example, in the case of a relatively common inspection robot, the inspection robot can not only realize a traveling function through a motor and a traveling mechanism, but also realize a function of acquiring field information through a mounted camera or other devices. Some kinds of patrol and examine robot still have functions such as environmental perception, route planning, automatic obstacle avoidance and automatic butt joint fill electric pile and charge.
Based on the development of the robot technology, the dung cleaning robot can be considered to be adopted for carrying out dung cleaning work, a worker is replaced to enter the under-plate unit, and dung cleaning is automatically carried out by the dung cleaning robot, so that efficient dung cleaning is realized, the biological safety risk is reduced, manual labor is liberated, and intelligent dung cleaning in a field is realized.
In order to realize the automatic control of the dung cleaning robot, the autonomous navigation control method is a very key technology, and related mature technologies or research results do not exist in the corresponding technologies.
Disclosure of Invention
The invention provides an autonomous navigation method, an autonomous navigation device and a computer storage medium for a dung cleaning robot, which are at least used for realizing the autonomous navigation control of the dung cleaning robot.
According to a first aspect of the present invention, there is provided an autonomous navigation method for a dung cleaning robot, comprising: receiving a dung cleaning task instruction, wherein the dung cleaning task instruction indicates one or more off-board units needing dung cleaning; a task route is formulated according to the dung cleaning task instruction; proceeding according to the task route, and determining whether an entrance of an under-board unit is reached in the proceeding process; loading a map of the corresponding under-board unit at the entrance of the under-board unit, and entering the inside of the under-board unit to execute corresponding dung cleaning operation; the map is constructed based on laser radar point cloud data, and each under-board unit corresponds to one map.
In one embodiment of the first aspect of the present invention, during the process of traveling along the task route, whether the vehicle passes through a dropping opening slope is judged according to information fed back by the attitude sensor; loading a map of the head sub-panel units in response to passing the manure port ramp; wherein, the head part under-plate unit is an under-plate unit where the dung dropping hole slope is positioned.
In an embodiment of the first aspect of the present invention, after passing through the fecal outlet slope, it is determined whether to pass through the channel between the head under-plate unit and the middle under-plate unit or the channel between the two middle under-plate units according to the information fed back by the attitude sensor; loading a map of the reached mid-board down cell in response to passing through a channel between the head and mid-board down cells, or between two mid-board down cells; wherein the middle under-board unit is an under-board unit other than the head under-board unit.
In one embodiment of the first aspect of the invention, an initiation point is set at the entrance of the plate-below unit to correct the initial position of the dung cleaning robot.
In one embodiment of the first aspect of the present invention, a guidance point is set in the vicinity of the initial point; in response to reaching the guide point, access is made to the interior of the underfloor unit.
In one embodiment of the first aspect of the present invention, the guidance point is preset in the map by a human.
In one embodiment of the first aspect of the invention, the guide point is determined by the dung cleaning robot on the basis of the initiation point and the positioning information.
In one embodiment of the first aspect of the invention, said entering the interior of the underfloor unit to perform a manure cleaning operation comprises: and planning a feces cleaning path according to the position of the feces discharging port in the under-board unit, and pushing the feces into the feces discharging port according to the feces cleaning path.
According to a second aspect of the present invention, there is provided an autonomous navigation device for a dung cleaning robot, comprising a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus, and the processor is configured to perform the method according to any one of the above embodiments.
According to a third aspect of the present invention, there is provided a computer storage medium having a computer program stored thereon, the computer program, when executed by a processor, implementing the method of any of the above embodiments.
According to the invention, the laser radar is utilized to establish a map of the environment under the board, when a dung cleaning task needs to be executed, the dung cleaning robot can directly call the map to carry out positioning and path planning, so that the dung cleaning robot can walk according to a planned track, automatic navigation and dung cleaning are realized, thus workers are prevented from entering the severe environment under the board to operate, and meanwhile, the dung cleaning efficiency under the board is improved.
Drawings
The above and other objects, features and advantages of exemplary embodiments of the present invention will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the present invention are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which like reference numerals refer to similar or corresponding parts and in which:
FIG. 1 is a schematic configuration diagram of a building pig house according to an embodiment of the invention;
fig. 2 is a cross-sectional view of a slope of a manure pit according to an embodiment of the present invention;
FIG. 3 is a cross-sectional view of a channel between the underfloor units according to an embodiment of the invention;
FIG. 4 is a schematic view of the main flow of the dung cleaning operation;
FIG. 5 is a schematic structural diagram of the dung cleaning robot, the background system and the terminal;
FIG. 6 is a schematic illustration of a navigation dung cleaning process according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a dung cleaning robot route corresponding to a dung cleaning task according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a dung cleaning robot path corresponding to another dung cleaning task according to an embodiment of the present invention;
FIG. 9 is a map of two adjacent off-board cells in reality;
FIG. 10 is a map of an actual certain off-board cell;
fig. 11 is a schematic structural diagram of an autonomous navigation device for a dung cleaning robot according to an embodiment 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 some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 shows a schematic configuration diagram of a building pigsty. Fig. 1 shows a plane layout of a building pigsty, which comprises a, B, C and D, wherein the a and B are oppositely arranged for arranging the pigsty, and the C and D are arranged between the a and B and oppositely arranged at the ends of the a and B respectively. Blank parts among A, B, C and D represent patios.
In fig. 1, a1, a2, A3, a4, a5, A6, a7, A8, and a9 represent pigsty units, and the pigsty units a1, a2, A3, a4, a5, A6, a7, A8, and a9 are arranged in parallel in this order. Similarly, B1, B2, B3, B4, B5, B6, B7, B8 and B9 represent pigsty units, and pigsty units B1, B2, B3, B4, B5, B6, B7, B8 and B9 are sequentially arranged in parallel. For clarity, a1, a2 … … a9, B1, B2 … … B9 are referred to herein as underfloor cells, as the onboard portion is not referred to herein.
As shown in fig. 1, a11 is the slope of the dropping opening of the a-frame pigsty, i.e. the entrance of the board of the whole a-frame pigsty, and of course, the entrance of the board lower unit a 1; similarly, B11 is the slope of the dropping hole of B pig house, i.e. the entrance of the whole B pig house, and the entrance of the unit B1. The pigsty comprises an upper board part, wherein the units are isolated, and lower board units are communicated, namely lower board units A1, A2, A3, A4, A5, A6, A7, A8 and A9 are communicated and are communicated by virtue of channels between adjacent units, such as a channel A12 between a1 and a2 of the lower board unit, a23 between a2 and A3 of the lower board unit, and channels A34, A45, A56, A67, A78 and A89 of the lower board unit of the pigsty, and channels B12, B23, B34, B45, B56, B67, B78 and B89 of the lower board unit of the B-ridge pigsty. Wherein the channel outlet is also the corresponding plate-below unit inlet. For example, a12 is the underfloor unit inlet of the underfloor unit a2, and the outlet of channel a23 (the portion corresponding to the underfloor unit A3) is the underfloor unit inlet of the underfloor unit A3. The dung cleaning robot firstly passes through the dung discharging opening slope and enters one under-plate unit, and then passes through a channel between the under-plate units and enters the next under-plate unit. For example, the dung cleaning robot first enters the underfloor unit a1 via the manure inlet ramp a11, then enters the underfloor unit a2 via the channel a12 between the underfloor units a1 and a2, and then enters the underfloor unit A3 via the channel a23 between the underfloor units a2 and A3. Since each time it enters under the plate it first has to pass under the plate unit a1, the under-plate unit corresponding to the slope of the manure-dropping hole (e.g. a1, B1) is referred to herein as the head under-plate unit, and the other under-plate units (e.g. a2, A3 … … a9, B2, B3 … … B9) are referred to herein as the middle under-plate unit; for example, a12 is the channel between the head and middle sub-board cells, and a23, a34, a45, a56, a67, a78, a89 are the channels between the middle sub-board cells.
Fig. 2 shows a cross-sectional view of the manure port ramp a 11. As shown in figure 1, 102 represents a dung leaking plate, a pigsty for a pig to live is arranged above the dung leaking plate 102, and the dung of the pig falls to the lower part of the plate through the meshes of the dung leaking plate. The dung cleaning robot can enter the plate lower unit A1 through the platform part and the inclined part 101 of the dung dropping opening slope A11. Similarly, the structure of the dropping port slope B11 is the same as A11, and the description is omitted here.
Fig. 3 shows a cross-sectional view of the passage a12 between the underfloor unit a1 and the underfloor unit a 2. It will be appreciated that the other channels are similar in construction to channel a12, and the description of channel a12 applies equally to the other channels, and therefore will be described herein with reference to channel a12 as an example.
As shown in fig. 3, the cross section of the passage between the underfloor unit a1 and the underfloor unit a2 is trapezoidal, that is, in the process of the dung cleaning robot entering the underfloor unit a2 from the underfloor unit a1, first passes through the inclined portion 1201 (uphill), then passes through the platform portion 1202, and finally passes through the inclined portion 1203 (downhill). Similarly, in returning from the board lower unit a2 to the board lower unit a1, the dung cleaning robot first passes the inclined portion 1203 (uphill), then the platform portion 1202, and finally the inclined portion 1201 (downhill).
The construction of the pig house of the building, particularly the structural characteristics of the lower plate part, is described above, and how to realize the autonomous navigation of the dung cleaning robot is described in detail below. It should be noted that the present invention does not relate to the structure of the dung cleaning robot, and the control, algorithm, etc. other than the navigation control, and those skilled in the art should understand that these contents can be directly obtained from the prior art.
In order to realize the autonomous navigation of the dung cleaning robot, the robot needs to be positioned. The pigsty boards are indoor, the environment is dark, and the light conditions are very limited, so that the pigsty boards cannot be positioned by means of a traditional positioning method, and cannot adopt modes such as video identification and the like. Based on this, the invention adopts the laser SLAM technology to construct a map of the cells under the board. Specifically, the map of the unit under the board is acquired by a laser SLAM (Simultaneous localization and mapping) algorithm. For example, point cloud data in the environment of the off-board unit is acquired by configuring a laser radar on the trolley, and a map of the off-board unit is drawn by using a SLAM algorithm in combination with the laser radar. The map of the unit under the board can be a grid map or a point cloud map.
Further, when the dung cleaning robot enters the plate lower unit, the laser SLAM algorithm can be used for real-time positioning. In one implementation scenario, a laser radar is used to acquire point cloud data of the surrounding environment of the dung cleaning robot at the current position. And matching the surrounding environment point cloud data at the current position with a map of a corresponding under-board unit to determine the current position of the dung cleaning robot. For example, the position of the dung cleaning robot in a map obtained by a laser sensor can be represented by three variables (x, y and theta), wherein x and y are coordinates of a horizontal axis and a vertical axis in a map coordinate system, and theta is a yaw angle of a vehicle body. Since the laser SLAM technology is a prior art, details about the laser SLAM technology will not be described in detail.
In addition, although the present invention relates to the path planning algorithm of the dung cleaning robot in the map, it should be noted that these path planning algorithms can also be obtained from the prior art. That is, the path planning algorithm itself is not the focus of the present invention.
Fig. 4 shows the main flow of the dung cleaning operation. Fig. 5 shows the interaction relationship among the dung cleaning robot, the background system and the terminal. As shown in fig. 4 and 5, in order to realize remote and unmanned automatic dung cleaning (dung cleaning), a network connection needs to be established among the dung cleaning robot, the background system and the terminal; for example, the background system may be an internet of things platform, and the terminal may be implemented by a mobile phone, a pad, an industrial personal computer, a PC, or the like. The background system and the terminal are connected through a network (such as the internet), and the dung cleaning robot and the background system are connected through a local area network (such as a wireless network established through wifi). For example, as shown in fig. 4, a worker may operate a mobile phone APP to log in a background system and set a dung cleaning task, as shown in step S1 in fig. 4; the background system receives task information sent by the mobile phone APP to form a dung cleaning task instruction, and the dung cleaning task instruction is sent to the dung cleaning robot, as shown in step S2 in FIG. 4; and after receiving the feces cleaning task instruction, the feces cleaning robot performs navigation feces cleaning operation, and returns to charge after the feces cleaning task is completed, as shown in step S3 in fig. 4. During the process of executing the dung cleaning task, the dung cleaning robot can upload the collected information (such as the information collected by a laser sensor or the information collected by other types of sensors configured on the dung cleaning robot) to the background system, and a worker can log in the background system through the mobile phone APP to check the information.
The setting and the execution of the dung cleaning task are based on the map mentioned above, the laser radar is used for the map building of the environment under the board, and the map building process can be one-time. Generally, the built map can be directly called when the feces clearing task is executed because the environment under the board does not change after the construction is completed.
And after receiving the dung cleaning task instruction, the dung cleaning robot establishes a task route according to the dung cleaning task instruction. For example, the dung cleaning task instruction indicates one or more underfloor units that need to be dung cleaned; a mission route covers the one or more off-board units. The dung cleaning robot will then follow the above-mentioned task route to clean all the underfloor units indicated by the dung cleaning task instruction.
Fig. 6 illustrates a flow of navigation dung cleaning according to an embodiment of the present invention. Fig. 6 may be understood as a specific process of step S3 in fig. 4.
As shown in fig. 6, in step S301, when the dung cleaning robot detects that the inlet of one under-board unit is reached, step S302 is executed to load the map of the corresponding under-board unit for positioning. The excrement cleaning robot can identify which unit inlet under the plate the excrement cleaning robot reaches; in one embodiment, the dung cleaning robot is provided with a posture sensor (including a three-axis gyroscope, a three-axis accelerometer and a three-axis electronic compass), the posture of the dung cleaning robot can be detected, and the entrances of the lower plate units are provided with slope structures, such as the inclined part 101 in the slope A11 of the lower dung opening in fig. 2 and the inclined parts 1201 and 1203 in the channel between the lower plate units in fig. 3. Therefore, when the dung cleaning robot passes through the slopes, the dung cleaning task route is combined, the dung cleaning robot can know which one of the plate lower unit inlets is located at present, and then the corresponding plate lower unit map is loaded. For example, assuming that the current dung cleaning task order requires cleaning of the underfloor units a1 and a2, when the dung cleaning robot first detects a downhill slope, it may be determined that the entrance to the underfloor unit a1 has come; the second time a downhill slope is detected, it may be determined that the entry to the underfloor unit a2 has been reached.
In the steps, the dung cleaning robot can switch the map of the unit under the board in time in the autonomous navigation process, so that the resource consumption of a processor and a memory of the dung cleaning robot is reduced, the processing speed is improved, and the control precision and accuracy of the dung cleaning robot are improved.
Next, after the corresponding under-board unit map is loaded and positioned, step S303 and step S304 are executed, and a feces cleaning operation is executed by entering the under-board unit according to the guide point. After the manure cleaning is completed, step S305 is executed to return to the guidance point. The guiding point is used for assisting the motion control of the dung cleaning robot, and the dung cleaning robot can execute turning operation when reaching the guiding point through program setting so as to smoothly avoid obstacles. The dung cleaning operation mainly comprises the steps of planning a path in the plate-below unit and cleaning dung according to the planned path. Details of the guide point and of the dung cleaning operation will be described in detail later.
Then, step S306 is executed to determine whether the cleaned off-board unit is the last unit, if yes, step S308 is executed to return to charging; if not, step S307 is executed, the next unit under the board is reached through the channel under the board, and steps S301 to S306 are repeatedly executed.
The technical solution of the present invention is explained from the perspective of navigating the feces clearing process, and the technical solution of the present invention will be further explained with reference to specific examples.
Fig. 7 shows a dung cleaning robot path corresponding to a dung cleaning task according to an embodiment of the invention. Wherein, a dotted arrow indicates that the dung cleaning robot enters a certain underfloor unit, or passes through a channel between underfloor units, and the underfloor unit filled with dark color indicates the underfloor unit which needs to be cleaned and is indicated by the dung cleaning task instruction.
As shown in FIG. 7, the dung cleaning task instruction requires cleaning of the underfloor units A1, A2, A3, A4, A5, A6, A7, A8, A9. After the dung cleaning robot receives the dung cleaning instruction, the cleaning sequence corresponding to the formulated task route is as follows: a1, A2, A3, A4, A5, A6, A7, A8 and A9, namely, the cleaning is carried out in sequence according to the arrangement order of the units under the plate. In order to complete the task, two counters can be set, wherein one counter is a downhill frequency counter and is used for recording the number of encountered downhill; and the other is a unit counter used for recording the number of the cleaned units under the board. Since this task requires cleaning 9 cells, the count threshold of the cell counter is 9.
For example, the dung cleaning robot firstly comes to a dung dropping hole slope a11 at the inlet of the plate dropping unit a1 according to a task route, when the posture sensor of the dung cleaning robot detects that the posture of the dung cleaning robot is a downhill, and the value of a downhill counter is equal to 1, the dung cleaning robot can determine that the dung cleaning robot comes to the inlet of the plate dropping unit a1, loads a map of the plate dropping unit a1, positions the dung cleaning robot, and then enters the plate dropping unit a1 to perform dung cleaning operation.
After the feces cleaning operation of the board lower unit a1 is completed, if the value of the unit counter is 1 ≠ 9, which means that the board lower unit a1 is not the last board lower unit indicated by the feces cleaning task instruction, then the map and the positioning information pass through the channel a12 between the board lower unit a1 and the board lower unit a2, and at this time, the slope is encountered again (the inclined part 1203 shown in fig. 3), and if the value of the downhill counter is 2, it can be determined that the map of the board lower unit a2 is loaded at the entrance of the board lower unit a2, the positioning is performed, and then the board lower unit a2 is entered for feces cleaning operation.
After the feces clearing operation of the board lower unit a2 is completed, the value of the unit counter is 2 ≠ 9, which means that the board lower unit a2 is not the last board lower unit indicated by the feces clearing task instruction, and the value of the downhill counter is 3 by passing through the channel a23 between the board lower units a2 and A3 according to the map and the positioning information (at this time, the slope will be encountered again), so that the user can determine that the user comes to the entrance of the board lower unit A3, load the map of the board lower unit A3, perform positioning, and then enter the board lower unit A3 to perform the feces clearing operation.
By analogy, after the feces clearing operation of the board lower unit A8 is completed, the value of the unit counter is 8 ≠ 9, which indicates that the board lower unit A8 is not the last board lower unit indicated by the feces clearing task instruction at this time, according to the map and the positioning information, the map of the board lower unit a9 can be determined to come to the entrance of the board lower unit a9 through the channel a89 between the board lower unit A8 and the board lower unit a9 (at this time, the slope will be encountered again), and the value of the downhill counter is 9, so that the map of the board lower unit a9 can be loaded for positioning, and then the board lower unit a9 is entered for feces clearing operation.
After the feces cleaning operation of the board under unit a9 is completed, at this time, the value of the unit counter is 9, and the value of the unit counter reaches the count threshold, indicating that the cleaning operation of the last board under unit has been completed and needs to be returned to the board. In order to return to the plate, the dung cleaning robot goes straight through the channels a89, a78, a67, a56, a45, a34, a23 and a12 in turn, when the downhill counter reaches 9+8 to 17, the dung cleaning robot is indicated to return to the plate lower unit a1, and then is positioned according to the plate lower unit a1 map, passes through the dung outlet slope a11 and returns to the plate.
Fig. 8 shows a dung cleaning robot path corresponding to another dung cleaning task according to an embodiment of the invention. As in fig. 7, the broken arrows indicate that the dung cleaning robot enters a certain board lower unit or passes through the channel between the board lower units, and the board lower units filled with dark colors indicate the board lower units needing dung cleaning and indicated by the dung cleaning task instruction.
As shown in FIG. 8, the dung cleaning task command requires cleaning of the underfloor units A1, A2, A3, A6, A7, A9. After the dung cleaning robot receives the dung cleaning instruction, the cleaning sequence corresponding to the formulated task route is as follows: a1, A2, A3, A6, A7 and A9. In order to complete the task, two counters can be set, wherein one counter is a downhill frequency counter and is used for recording the number of encountered downhill; and the other is a unit counter used for recording the number of the cleaned units under the board. Since this task requires 6 cells to be cleaned, the count threshold of the cell counter is 6.
For example, the dung cleaning robot firstly comes to a dung dropping hole slope a11 at the inlet of the board dropping unit a1 according to a task route, when the posture sensor of the dung cleaning robot detects that the posture of the dung cleaning robot is a downhill, and the value of a downhill counter is equal to 1, the dung cleaning robot can determine that the dung cleaning robot comes to the inlet of the board dropping unit a1, can load a map of the board dropping unit a1, can perform positioning, and then enters the board dropping unit a1 to perform dung cleaning operation.
After the feces cleaning operation of the board lower unit a1 is completed, at this time, the value of the unit counter is 1 ≠ 6, which means that the board lower unit a1 is not the last board lower unit indicated by the feces cleaning task instruction, then the map and the positioning information pass through the channel a12 between the board lower unit a1 and the board lower unit a2, since the slope (the inclined part 1203 shown in fig. 3) is encountered again at this time, and the value of the downhill counter is 2, it can be determined that the map of the board lower unit a2 is coming to the entrance of the board lower unit a2, positioning is performed, and then the board lower unit a2 is entered for feces cleaning operation.
After the feces cleaning operation of the board lower unit a2 is completed, the value of the unit counter is 2 ≠ 6, the map and the positioning information pass through the channel a23 between the board lower unit a2 and the board lower unit A3 (at this time, the slope is encountered again), the value of the down slope counter is 3, then the map which comes to the entrance of the board lower unit A3 can be determined, the map of the board lower unit A3 can be loaded, the positioning is carried out, and then the board lower unit A3 is entered to carry out the feces cleaning operation.
After the feces cleaning operation of the board lower unit A3 is completed, the value of the unit counter is 3 ≠ 6, the map and the positioning information are passed through the channels A34, A45 and A56, and at the moment, the value of the downhill counter is 6, so that the situation that the map of the board lower unit A6 is loaded and positioned at the inlet of the board lower unit A6 can be determined, and then the board lower unit A6 is entered for feces cleaning operation.
After the feces cleaning operation of the board lower unit A6 is completed, the value of the unit counter is 4 ≠ 6, the map and the positioning information are passed through the channel A67, at this time, the value of the downhill counter is 7, so that the situation that the map of the board lower unit A7 is loaded and positioned at the inlet of the board lower unit A7 can be determined, and then the board lower unit A7 is entered for feces cleaning operation.
After the feces clearing operation of the board lower unit A7 is completed, the value of the unit counter is 5 ≠ 6, the map and the positioning information are passed through the channels A78 and A89, and at the time, the value of the down-slope counter is 9, so that the situation that the map of the board lower unit A9 comes to the entrance of the board lower unit A9 is determined, the positioning is carried out, and then the board lower unit A9 is entered for feces clearing operation.
After the feces cleaning operation of the board under unit a9 is completed, the value of the unit counter becomes 6, and the value of the unit counter reaches the count threshold value, indicating that the cleaning operation of the last board under unit has been completed, and the board can be returned to. In order to return to the plate, the dung cleaning robot goes straight through the channels a89, a78, a67, a56, a45, a34, a23 and a12 in turn, when the downhill counter reaches 9+8 to 17, the dung cleaning robot is indicated to return to the plate lower unit a1, and then is positioned according to the plate lower unit a1 map, passes through the dung outlet slope a11 and returns to the plate.
In the embodiment of fig. 7 and 8, the feces clearing task instruction only includes the board-below unit of a span, and in other embodiments, one feces clearing task instruction may include the board-below unit of B span in addition to the board-below unit of a span; in order to complete the dung cleaning task, the dung cleaning robot can return to a dung outlet slope A11 at the inlet of a board lower unit A1 along a channel between the board lower units after cleaning all the board lower units of the A span, then enter a dung outlet slope B11 of the B span through the D span, and clean the board lower units of the B span one by one, wherein the cleaning mode of the board lower units of the B span is completely the same as that of the A span, so that the dung cleaning robot is not repeated. In addition, for the selection and setting of the counter, other manners may also be adopted, such as counting according to the information of the uphill slope, or counting in combination with the uphill slope and the downhill slope, which is not limited by the present invention.
The detailed description of the autonomous navigation of the dung cleaning robot is explained in detail above, and the dung cleaning process of the one under-board unit is explained in detail below.
Fig. 9 shows a map of two adjacent actual underfloor cells. Wherein the thick solid lines separate two underfloor units, each underfloor unit comprising two manure discharge openings, such as P1 and P2 in fig. 9, a plurality of support columns Z1, and a plurality of uprights L1. The channel between the two underfloor units is shown as T1 in fig. 9. As shown in fig. 9, the present invention creates an environment grid map (a map represented by three pixels, white representing a blank area, gray representing a location area, and black representing an obstacle area) under a board by providing a single line laser in combination with SLAM (simultaneous localization and mapping) technology to perform laser scanning on the environment under the board before cleaning feces. When cleaning dung, the dung cleaning robot plans the path, and mainly pushes the dung into the funnel-shaped dung discharging opening according to the position of the dung discharging opening.
Fig. 10 shows the initial point and the guide point in the map of a certain actual underfloor unit. Where D1 represents the initial point and D2 represents the guide point. Since different maps are needed for entering different cells, the present invention performs initial positioning by setting an anchor point, which is the initial point D1. For example, an initial point D1 may be set at the entrance of each underfloor unit, a map may be loaded when the robot enters the unit, and then the initial position of the robot may be determined using the map in combination with the initial point (the initial pose may also be determined in combination with the attitude sensor), so that the initial point may be used to correct the initial pose of the dung cleaning robot. As shown in fig. 9 and 10, since there are a large number of obstacles, such as supporting pillars and pillars, in the underfloor unit, in order to facilitate automatic navigation of the robot, a guiding point D2 may be provided in the map, and a guiding point D2 may be provided near the initial point D1, so that the robot may well enter the underfloor unit through the guiding point D2, thereby avoiding contact or collision with the obstacles.
The automatic navigation control of the dung cleaning robot can be optimized by setting the initial point and the guide point, so that the dung cleaning robot can achieve a good control effect in a map with lower precision and an algorithm with limited control precision. For the initial point and the guidance point, they may be manually pre-marked on the map. In addition, the guiding point can also be determined in real time by the dung cleaning robot according to the initial point and the positioning information, for example, after the dung cleaning robot reaches the initial point, as shown in fig. 10, the guiding point can be determined as the position reached by the machine operating according to the preset distance and angle by combining the positioning information to know that the dung cleaning robot is positioned at one side of the channel of the unit under the plate.
The above is a complete description of the technical solution of the method of the present invention, and according to another aspect of the present invention, the present invention further provides an autonomous navigation apparatus for a dung cleaning robot as shown in fig. 11, which includes a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus, and the processor executes the aforementioned autonomous navigation method.
According to yet another aspect of the present invention, there is also provided a computer storage medium having a computer program stored thereon, the computer program, when executed by a processor, implementing the autonomous navigation method as described above. In the present invention, the aforementioned readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. For example, the computer-readable storage medium may be any suitable magnetic or magneto-optical storage medium, such as resistive Random Access Memory (rram), Dynamic Random Access Memory (dram), Static Random Access Memory (SRAM), enhanced Dynamic Random Access Memory (edram), High-Bandwidth Memory (HBM), hybrid Memory cubic (hmc) Memory cube, and the like, or any other medium that can be used to store the desired information and that can be accessed by an application, a module, or both. Any such computer storage media may be part of, or accessible or connectable to, a device. Any applications or modules described herein may be implemented using computer-readable/executable instructions that may be stored or otherwise maintained by such computer-readable media.
In the above description of the present specification, the terms "fixed," "mounted," "connected," or "connected," and the like, are to be construed broadly unless otherwise expressly specified or limited. For example, with the term "coupled", it can be fixedly coupled, detachably coupled, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship. Therefore, unless the specification explicitly defines otherwise, those skilled in the art can understand the specific meaning of the above terms in the present invention according to specific situations.
In addition, the terms "first" or "second", etc. used in this specification are used to refer to numbers or ordinal terms for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present specification, "a plurality" means at least two, for example, two, three or more, and the like, unless specifically defined otherwise.
While various embodiments of the present invention have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. Numerous modifications, changes, and substitutions will occur to those skilled in the art without departing from the spirit and scope of the present invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in practicing the invention. It is intended that the following claims define the scope of the invention and that the module compositions, equivalents, or alternatives falling within the scope of these claims be covered thereby.
Claims (10)
1. An autonomous navigation method for a dung robot, characterized by comprising:
receiving a dung cleaning task instruction, wherein the dung cleaning task instruction indicates one or more off-board units needing dung cleaning;
a task route is formulated according to the dung cleaning task instruction;
proceeding according to the task route, and determining whether an entrance of an under-board unit is reached in the proceeding process;
loading a map of the corresponding under-board unit at the entrance of the under-board unit, and entering the inside of the under-board unit to execute corresponding dung cleaning operation;
the map is constructed based on laser radar point cloud data, and each under-board unit corresponds to one map.
2. The method of claim 1,
judging whether the manure passes through a manure discharge port slope or not according to information fed back by the attitude sensor in the process of advancing according to the task route;
loading a map of the head sub-panel units in response to passing the manure port ramp;
wherein, the head part under-plate unit is an under-plate unit where the dung dropping hole slope is positioned.
3. The method according to claim 2, characterized in that after passing through the dung outlet slope, whether a channel between the head under-plate unit and the middle under-plate unit or a channel between two middle under-plate units passes is judged according to information fed back by the attitude sensor;
loading a map of the reached mid-board down cell in response to passing through a channel between the head and mid-board down cells, or between two mid-board down cells;
wherein the middle under-board unit is an under-board unit other than the head under-board unit.
4. A method according to claim 3, characterized in that an initiation point is set at the entrance of the underfloor unit to correct the initial position of the dung cleaning robot.
5. The method of claim 4,
setting a guide point near the initial point;
in response to reaching the guide point, access is made to the interior of the underfloor unit.
6. The method of claim 5, wherein the guidance point is preset in the map by a human.
7. The method of claim 5, wherein the guide point is determined by a dung robot based on an initiation point and positioning information.
8. The method according to any one of claims 1-7, wherein said entering the interior of the underfloor unit to perform a manure cleaning operation comprises:
and planning a feces cleaning path according to the position of the feces discharging port in the under-board unit, and pushing the feces into the feces discharging port according to the feces cleaning path.
9. An autonomous navigation device for a dung robot, characterized by a processor, a memory, a communication interface and a communication bus, the processor, the memory and the communication interface completing communication with each other via the communication bus, the processor being adapted to perform the method according to any one of claims 1 to 8.
10. A computer storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the method according to any one of claims 1 to 8.
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