CN113741430B - Autonomous navigation method and device for excrement cleaning robot and computer storage medium - Google Patents
Autonomous navigation method and device for excrement cleaning robot and computer storage medium Download PDFInfo
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- CN113741430B CN113741430B CN202110939155.1A CN202110939155A CN113741430B CN 113741430 B CN113741430 B CN 113741430B CN 202110939155 A CN202110939155 A CN 202110939155A CN 113741430 B CN113741430 B CN 113741430B
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 210000003608 fece Anatomy 0.000 claims abstract description 161
- 239000010871 livestock manure Substances 0.000 claims abstract description 159
- 230000008569 process Effects 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 claims description 16
- 238000007599 discharging Methods 0.000 claims description 7
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- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to an autonomous navigation method, an autonomous navigation device and a computer storage medium for a manure cleaning robot, wherein the method comprises the following steps: receiving a manure cleaning task instruction, wherein the manure cleaning task instruction indicates one or more underfloor units needing manure cleaning; setting a task route according to the manure cleaning task instruction; advancing according to the task route, determining whether the position of an entrance of an underfloor unit is at the entrance of the underfloor unit in the advancing process, loading a map of the corresponding underfloor unit, and entering the inside 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 automatic navigation device can realize automatic navigation and excrement cleaning, thereby avoiding workers from entering into the severe environment under the board to operate, and improving the excrement cleaning efficiency under the board.
Description
Technical Field
The present invention relates generally to the field of intelligent farming technology. More particularly, the present invention relates to an autonomous navigation method, apparatus and computer storage medium for a manure cleaning robot.
Background
In the field of pig raising, in order to save land resources, a building pig house starts to replace a common pig house to become a novel pig house for raising pigs. In a pig house of a building, pigs live on a manure-leaking plate, and manure falls below the manure-leaking plate (hereinafter referred to as plate below) through meshes on the manure-leaking plate. Therefore, pig manure can accumulate under the plate, and the manure of the unit under the plate needs to be cleaned. Currently, the pig farm plate is mainly used for cleaning manure by manpower, for example: manually flushing the lower part of the plate by water; however, due to the narrow space under the plate, the manual operation is not facilitated, the manure cleaning efficiency is low, and due to the severe environment under the plate, the manure cleaning device has a certain danger. Another example is: the remote control type manure cleaning machine is designed, a remote controller is arranged for a worker, the worker and the manure cleaning machine enter the lower part of the board together, the motion of the manure cleaning machine is controlled through the remote controller, and the working process of the manure cleaning machine is observed.
In the fields of industry, agriculture, daily life and the like, robots can replace people to execute repeated labor and work in places or dangerous environments where certain people cannot enter, so that great convenience is brought to living activities, and therefore, the robot technology is increasingly widely applied. For example, taking a more common inspection robot as an example, the inspection robot can realize a walking function through a motor and a walking mechanism, and can also realize a field information acquisition function through equipment such as a camera and the like. Some inspection robots also have the functions of environment sensing, path planning, automatic obstacle avoidance, automatic butt joint charging, pile charging and the like.
Based on development of robot technology, can consider to adopt clear excrement robot to carry out clear excrement work, replace the staff to get into the unit under the board, clear excrement is carried out by clear excrement robot is automatic to realize high-efficient clear excrement, reduce biological safety risk, liberate the manual work, realize intelligent clear excrement in place.
In order to realize automatic control of the excrement cleaning robot, an autonomous navigation control method is a very key technology, and no related mature technology or research result exists in the corresponding technology.
Disclosure of Invention
The invention provides an autonomous navigation method, an autonomous navigation device and a computer storage medium for a manure cleaning robot, which are at least used for realizing autonomous navigation control of the manure cleaning robot.
According to a first aspect of the present invention, there is provided an autonomous navigation method for a manure cleaning robot, comprising: receiving a manure cleaning task instruction, wherein the manure cleaning task instruction indicates one or more underfloor units needing manure cleaning; setting a task route according to the manure cleaning task instruction; advancing according to the task route, and determining whether the task route reaches an entrance of an underfloor unit in the advancing process; loading a map of the corresponding underfloor unit at the entrance of the underfloor unit, and entering the inside 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.
In one embodiment of the first aspect of the present invention, in the traveling process according to the task route, whether the feces opening slope passes or not is judged according to information fed back by the attitude sensor; loading a map of the header subplate unit in response to passing the dropping mouth slope; the head plate lower unit is a plate lower unit where the manure dropping opening slope is located.
In one embodiment of the first aspect of the present invention, after passing through the slope of the manure dropping opening, determining whether the manure passes through a channel between the lower unit of the header plate and the lower unit of the middle plate or a channel between the lower units of the two middle plates according to information fed back by the attitude sensor; loading the map of the arriving under-mid-panel unit in response to passing through the channel between the head under-panel unit and the under-mid-panel unit, or the channel between the two under-mid-panel units; wherein the middle underfloor unit is an underfloor unit other than the head underfloor unit.
In one embodiment of the first aspect of the invention, an initial point is provided at the entrance of the underfloor unit to correct the initial position of the manure cleaning robot.
In one embodiment of the first aspect of the invention, the guidance point is set near the initial point; in response to reaching the guide point, access is made to the interior of the underfloor unit.
In an embodiment of the first aspect of the invention, the guidance points are preset in the map manually.
In an embodiment of the first aspect of the invention, the guidance point is determined by the manure cleaning robot based on the initial point and the positioning information.
In one embodiment of the first aspect of the present invention, the performing the manure cleaning operation into the under-board unit includes: and planning a manure cleaning path according to the position of a manure discharge port in the underfloor unit, and pushing manure into the manure discharge port according to the manure cleaning path.
According to a second aspect of the present invention, there is provided an autonomous navigation device for a manure cleaning robot, a processor, a memory, a communication interface and a communication bus, the processor, the memory and the communication interface completing communication with each other through the communication bus, the processor being configured to perform the method according to any of the embodiments described above.
According to a third aspect of the present invention, there is provided a computer storage medium having stored thereon a computer program which, when executed by a processor, implements a method as described in any of the embodiments above.
According to the invention, the laser radar is utilized to build the map for the under-board environment, and when the excrement cleaning task needs to be executed, the excrement cleaning robot can directly call the map to perform positioning and path planning, so that the excrement cleaning robot can walk according to the planned track, automatic navigation and excrement cleaning are realized, thereby avoiding workers from entering the under-board severe environment to operate, and simultaneously improving the under-board excrement cleaning efficiency.
Drawings
The above, as well as additional purposes, features, and advantages of exemplary embodiments of the present invention will become readily apparent from the following detailed description when read in conjunction with the accompanying drawings. In the drawings, embodiments of the invention are illustrated by way of example and not by way of limitation, and like reference numerals refer to similar or corresponding parts and in which:
FIG. 1 is a schematic illustration of a construction of a pig house according to an embodiment of the invention;
FIG. 2 is a cross-sectional view of a manure pit ramp in accordance with an embodiment of the present invention;
FIG. 3 is a cross-sectional view of a channel between underfloor units according to an embodiment of the invention;
FIG. 4 is a schematic diagram of the main flow of the manure cleaning operation;
FIG. 5 is a schematic diagram of the configuration of the manure cleaning robot, the backend system, and the terminal;
FIG. 6 is a schematic diagram of a navigation manure cleaning process according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a manure cleaning robot path corresponding to a manure cleaning task according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a manure cleaning robot path corresponding to another manure cleaning task in accordance with an embodiment of the present invention;
FIG. 9 is a map of an actual two adjacent under-board units;
FIG. 10 is a map of an actual certain under-board unit;
fig. 11 is a schematic structural view of an autonomous navigation device for a manure cleaning robot according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 shows a schematic configuration of a pig house of a building. As shown in FIG. 1, the planar layout of the pig house of the building comprises an A span, a B span, a C span and a D span, wherein the A span and the B span are oppositely arranged and are used for arranging the pig house, the C span and the D span are positioned between the A span and the B span and are oppositely arranged and are respectively positioned at the end parts of the A span and the B span. The blank portions between the a span, the B span, the C span, and the D span represent the courtyard.
In fig. 1, A2, A3, A4, A5, A6, A7, A8, A9 represent pigtail units, and the pigtail units A1, A2, A3, A4, A5, A6, A7, A8, A9 are arranged in parallel in order. Similarly, B1, B2, B3, B4, B5, B6, B7, B8, and B9 represent pigtail units, and the pigtail units B1, B2, B3, B4, B5, B6, B7, B8, and B9 are arranged in parallel in order. Since no on-board parts are referred to herein, A1, A2 … … A9, B1, B2 … … B9 are referred to herein as under-board units for clarity.
As shown in FIG. 1, A11 is the manure-dropping slope of the A pig house, namely the underfloor inlet of the whole A pig house, and is certainly the underfloor unit inlet of the underfloor unit A1; similarly, B11 is a manure-dropping slope of B, i.e. the entrance under the board of the whole B pig house, and is also the entrance under the board of the under-board unit B1. The upper part of the pig house is isolated from each other, while the under-board units are connected, i.e. under-board units A1, A2, A3, A4, A5, A6, A7, A8, A9 are connected by means of channels between adjacent units, such as channel a12 between under-board unit A1 and under-board unit A2, channel a23 between under-board unit A2 and under-board unit A3, and likewise channels a34, a45, a56, a67, a78, a89, and channels B12, B23, B34, B45, B56, B67, B78, B89 between under-board units of the pig house. Wherein the channel outlets are also corresponding under-plate unit inlets. For example, a12 is an under-board unit inlet of the under-board unit A2, and an outlet of the passage a23 (a portion corresponding to the under-board unit A3) is an under-board unit inlet of the under-board unit A3. The manure cleaning robot firstly passes through the manure discharging opening slope, enters one underfloor unit, then passes through the channel between the underfloor units, and enters the next underfloor unit. For example, the manure cleaning robot first enters the underfloor unit A1 through the manure outlet slope a11, then enters the underfloor unit A2 through the channel a12 between the underfloor units A1 and A2, and then enters the underfloor unit A3 through the channel a23 between the underfloor units A2 and A3. Because each entry under the board first has to pass under the board unit A1, the under-board unit corresponding to the slope of the manure opening (e.g., A1, B1) is referred to herein as the header under-board unit, and the other under-board units (e.g., A2, A3 … … A9, B2, B3 … … B9) are referred to herein as the middle under-board unit; for example, a12 is the channel between the head underfloor unit and the mid-underfloor unit, and a23, a34, a45, a56, a67, a78, a89 are the channels between the mid-underfloor units.
Fig. 2 shows a cross-sectional view of the manure pit ramp a 11. As shown in fig. 1, 102 represents a manure-leaking plate, a pig house where pigs live is arranged above the manure-leaking plate 102, and manure of pigs falls to the lower part of the plate through meshes of the manure-leaking plate. The manure cleaning robot passes through the platform part and the inclined part 101 of the manure discharging opening slope A11, and can enter the underfloor unit A1. Similarly, the structure of the manure dropping opening slope B11 is the same as that of the manure dropping opening slope A11, and the description thereof is omitted.
Fig. 3 shows a cross-sectional view of the channel a12 between the underfloor unit A1 and the underfloor unit A2. It will be appreciated that the construction of the other channels is similar to channel a12 and that the description of channel a12 applies equally to the other channels, and thus is described herein by way of example only with respect to channel a 12.
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 manure cleaning robot entering the underfloor unit A2 from the underfloor unit A1, first passes through the inclined portion 1201 (ascending slope), then passes through the platform portion 1202, and finally passes through the inclined portion 1203 (descending slope). Similarly, in the process of returning the manure cleaning robot from the underfloor unit A2 to the underfloor unit A1, the manure cleaning robot passes first through the inclined portion 1203 (upward slope), then through the platform portion 1202, and finally through the inclined portion 1201 (downward slope).
The configuration of the pig house of the building, particularly the structural characteristics of the lower part of the plate, is described above, and how the autonomous navigation of the manure cleaning robot is realized is described in detail below. It should be noted that the present invention does not relate to the structure of the manure cleaning robot, and controls, algorithms, etc. other than navigation control, and those skilled in the art will understand that these contents can be directly obtained from the prior art.
In order to realize autonomous navigation of the manure cleaning robot, the robot needs to be positioned. The pigsty board belongs to the room, and the environment is dim, and the light condition is very limited, so that the traditional positioning method cannot be used, and the modes such as video identification cannot be adopted. Based on this, the present invention constructs a map of the under-board unit using laser SLAM technology. Specifically, the map of the under-board unit is obtained by a laser SLAM (Simultaneous localization AND MAPPING, synchronous positioning and mapping) algorithm. For example, point cloud data in the environment in the under-board unit is acquired by configuring a laser radar on the trolley, and a map of the under-board unit is drawn by using a SLAM algorithm and a laser radar combined method. The map of the under-board unit may be a grid map or a point cloud map.
Further, when the manure cleaning robot enters the underfloor unit, the laser SLAM algorithm can be used for real-time positioning. In one implementation scenario, a laser radar is utilized to acquire ambient point cloud data of the manure cleaning robot at a 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 excrement cleaning robot. For example, the position of the manure cleaning robot in the map is obtained by a laser sensor, and can be represented by three variables (x, y, θ), wherein x, y are the coordinates of a horizontal axis and a vertical axis under the map coordinate system, and θ is the yaw angle of the vehicle body. Since the laser SLAM technology is the prior art, details concerning the laser SLAM technology are not explained in detail.
In addition, although the present invention relates to the path planning algorithm of the manure cleaning robot in the map, it should be noted that the path planning algorithm may also be obtained from the prior art. That is, the path planning algorithm itself is not an important aspect of the present invention.
Fig. 4 shows the main flow of the manure cleaning operation. Fig. 5 shows the interaction relationship among the manure cleaning robot, the background system and the terminal. As shown in fig. 4 and 5, in order to realize remote and unmanned automatic manure cleaning (manure cleaning), a manure cleaning robot, a background system and a terminal need to be connected by a network; for example, the background system can be an internet of things platform, and the terminal can be realized by adopting a mobile phone, a pad, an industrial personal computer or a PC and the like. The background system and the terminal are connected through a network (such as the Internet), and the manure 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 the mobile phone APP to log in the background system to set a manure cleaning task, as shown in step S1 in fig. 4; the background system receives task information sent by the mobile phone APP, forms a manure cleaning task instruction, and sends the manure cleaning task instruction to the manure cleaning robot, as shown in step S2 in FIG. 4; after receiving the instruction of the excrement cleaning task, the excrement cleaning robot performs navigation excrement cleaning operation, and returns to charge after the excrement cleaning task is completed, as shown in step S3 in FIG. 4. In the process of executing the manure cleaning task, the manure cleaning robot can upload collected information (such as information collected by a laser sensor or information collected by other types of sensors configured on the manure cleaning robot) to a background system, and a worker can log in the background system through a mobile phone APP to check the information.
The above-mentioned setting and execution of the manure cleaning task are based on the above-mentioned map, and the present invention uses the lidar to perform the under-board environment mapping, and this mapping process may be disposable. Generally, the under-board environment is unchanged after construction, so that the constructed map can be directly called when the manure cleaning task is executed.
After the manure cleaning robot receives the manure cleaning task instruction, a task route is formulated according to the manure cleaning task instruction. For example, the clear-to-manure task instructions indicate one or more underfloor units that need to be cleared of manure; one mission path encompasses the one or more off-board units. The manure cleaning robot will then travel along the task path described above to clean all of the under-board units indicated by the manure cleaning task instructions.
Fig. 6 illustrates a navigation manure cleaning process according to an embodiment of the invention. Fig. 6 can be understood as a specific process of step S3 in fig. 4.
As shown in fig. 6, in step S301, when the manure cleaning robot detects that the manure cleaning robot reaches the entrance of one underfloor unit, step S302 is executed, and a map of the corresponding underfloor unit is loaded for positioning. Wherein, the manure cleaning robot can identify which unit under the plate inlet the manure cleaning robot reaches; in one embodiment, the manure cleaning robot is provided with an attitude sensor (including a three-axis gyroscope, a three-axis accelerometer and a sensor of a three-axis electronic compass), so that the attitude of the manure cleaning robot can be detected, and the inlets of the underfloor units are provided with slope structures, such as a slope part 101 in a manure discharging opening slope A11 in fig. 2 and slope parts 1201 and 1203 in a channel between the underfloor units in fig. 3. Therefore, when the excrement cleaning robot passes through the slopes, the excrement cleaning robot can know which under-board unit entrance is currently positioned in combination with the excrement cleaning task route, and then the corresponding under-board unit map is loaded. For example, assuming that the current manure cleaning task instructions require cleaning of the underfloor units A1 and A2, when the manure cleaning robot detects a downhill for the first time, it may be determined that the entrance of the underfloor unit A1 has been reached; the second time a downhill slope is detected, it can be determined that it has arrived at the entrance of the underfloor unit A2.
In the steps, the excrement cleaning robot can timely switch the map of the under-board unit in the autonomous navigation process, so that the resource consumption of the excrement cleaning robot processor and the memory is reduced, the processing speed is improved, and the control precision and the accuracy of the excrement cleaning robot are improved.
Then, after loading the corresponding map of the under-board unit and positioning, step S303 and step S304 are executed, and the under-board unit is entered according to the guidance point, and the excrement cleaning operation is executed. After the cleaning of the manure is completed, step S305 is performed, and the guidance point is returned. The guide point is used for assisting in motion control of the excrement cleaning robot, for example, the excrement cleaning robot can execute turning operation when reaching the guide point through program setting, so that the obstacle is avoided smoothly. The excrement cleaning operation mainly comprises path planning in an under-board unit, and excrement cleaning is carried out according to the planned path. Details about the guidance point and the manure cleaning operation will be described in detail later.
Then, step S306 is executed to determine whether the cleaned under-board unit is the last unit, if yes, step S308 is executed to return to charging; if not the last unit, step S307 is performed, the next under-board unit is traveled through the under-board channel, and steps S301-S306 are repeated.
The technical scheme of the invention is explained from the perspective of navigation of the manure cleaning flow, and the technical scheme of the invention is further explained below by combining specific examples.
Fig. 7 illustrates a manure cleaning robot route corresponding to a manure cleaning task according to an embodiment of the present invention. Wherein the broken line arrow indicates that the excrement cleaning robot enters a certain underfloor unit or passes through a channel between the underfloor units, and the underfloor unit filled with dark color indicates the underfloor unit which is indicated by an excrement cleaning task instruction and needs to be used for cleaning the excrement.
As shown in fig. 7, the manure cleaning task instructions require cleaning of the underfloor units A1, A2, A3, A4, A5, A6, A7, A8, A9. After the manure cleaning robot receives the manure cleaning instruction, the cleaning sequence corresponding to the formulated task route is as follows: a1, A2, A3, A4, A5, A6, A7, A8 and A9 are cleaned in sequence according to the arrangement sequence of the units under the plate. For completing the task, two counters can be provided, one is a downhill frequency counter, and the counter is used for recording the number of downhill paths encountered; the other is a unit counter for recording the number of cleaned under-board units. Since this task requires cleaning 9 cells, the count threshold of the cell counter is 9.
For example, the manure cleaning robot first goes to the manure falling opening slope a11 at the entrance of the underfloor unit A1 according to the task route, when the attitude sensor of the manure cleaning robot detects that the attitude is downhill, the value=1 of the downhill counter at this time can determine that the entrance of the underfloor unit A1 is reached, loads the map of the underfloor unit A1, performs positioning, and then enters the underfloor unit A1 to perform manure cleaning operation.
After completing the excrement cleaning operation of the under-board unit A1, the value of the unit counter=1+.9 indicates that the under-board unit A1 is not the last under-board unit indicated by the excrement cleaning task instruction, the under-board unit A1 and the under-board unit A2 pass through the channel a12 between the under-board unit A1 and the under-board unit A2 according to the map and the positioning information, the slope (the inclined portion 1203 shown in fig. 3) is encountered again at this time, the value of the downhill counter=2, the position where the under-board unit A2 enters can be determined, the map of the under-board unit A2 is loaded for positioning, and then the under-board unit A2 is entered for excrement cleaning operation.
After completing the excrement cleaning operation of the underfloor unit A2, the value of the unit counter=2+.9 indicates that the underfloor unit A2 is not the last underfloor unit indicated by the excrement cleaning task instruction at this time, the value of the downhill counter=3 passes through the channel a23 between the underfloor units A2 and A3 (the slope will be encountered again at this time) according to the map and the positioning information, and then the entrance of the underfloor unit A3 is determined, the map of the underfloor unit A3 is loaded, positioning is performed, and then the underfloor unit A3 is entered for the excrement cleaning operation.
And by analogy, after the excrement cleaning operation of the underfloor unit A8 is finished, the value of the unit counter=8 not equal to 9, which means that the underfloor unit A8 is not the last underfloor unit indicated by the excrement cleaning task instruction, the value of the downhill counter=9 passes through the channel A89 between the underfloor unit A8 and the underfloor unit A9 (the slope is encountered again at the moment) according to the map and the positioning information, and then the entrance of the underfloor unit A9 can be determined, namely the map of the underfloor unit A9 can be loaded for positioning, and then the underfloor unit A9 is entered for excrement cleaning operation.
After completing the cleaning operation of the underfloor unit A9, the value of the unit counter at this time=9, and the value of the unit counter reaches the count threshold, indicating that the cleaning operation of the last underfloor unit has been completed, and that it is necessary to return to the underfloor. To return to the plate, the manure cleaning robot will pass through the channels a89, a78, a67, a56, a45, a34, a23, a12 in sequence, and when the downhill counter reaches 9+8 =17, it is indicated that the manure cleaning robot has returned to the underfloor unit A1, and then positioned according to the underfloor unit A1 map, passes through the manure outlet ramp a11, and returns to the plate.
Fig. 8 illustrates another manure cleaning robot route corresponding to a manure cleaning task according to an embodiment of the present invention. As in fig. 7, where the dashed arrow indicates that the manure cleaning robot has entered a certain underfloor unit or passed through a channel between underfloor units, the underfloor unit filled with a dark color indicates the underfloor unit that needs manure cleaning as indicated by the manure cleaning task instruction.
As shown in fig. 8, the manure cleaning task instructions require cleaning of the underfloor units A1, A2, A3, A6, A7, A9. After the manure cleaning robot receives the manure cleaning instruction, the cleaning sequence corresponding to the formulated task route is as follows: a1, A2, A3, A6, A7, A9. For completing the task, two counters can be provided, one is a downhill frequency counter, and the counter is used for recording the number of downhill paths encountered; the other is a unit counter for recording the number of cleaned under-board units. Since this task requires cleaning 6 cells, the count threshold of the cell counter is 6.
For example, the manure cleaning robot first goes to the manure falling opening slope a11 at the entrance of the underfloor unit A1 according to the task route, when the attitude sensor of the manure cleaning robot detects that the attitude is downhill, the value=1 of the downhill counter at this time can determine that the entrance of the underfloor unit A1 is reached, can load the map of the underfloor unit A1, perform positioning, and then enters the underfloor unit A1 to perform manure cleaning operation.
After completing the excrement cleaning operation of the under-board unit A1, the value of the unit counter=1+.6 indicates that the under-board unit A1 is not the last under-board unit indicated by the excrement cleaning task instruction at this time, the under-board unit A1 and the under-board unit A2 pass through the channel a12 according to the map and the positioning information, and since the slope (the inclined portion 1203 shown in fig. 3) will be encountered again at this time, the value=2 of the down slope counter can be determined, the entrance of the under-board unit A2 is reached, that is, the map of the under-board unit A2 can be loaded for positioning, and then the under-board unit A2 is entered for excrement cleaning operation.
After completing the excrement cleaning operation of the underfloor unit A2, the value=2+.6 of the unit counter passes through the channel a23 between the underfloor unit A2 and the underfloor unit A3 (the slope will be encountered again at this time) according to the map and the positioning information, and the value=3 of the downhill counter can determine that the entrance of the underfloor unit A3 is reached, that is, the map of the underfloor unit A3 can be loaded for positioning, and then the underfloor unit A3 is entered for excrement cleaning operation.
After the excrement cleaning operation of the underfloor unit A3 is completed, the value=3+.6 of the unit counter passes through the channels a34, a45 and a56 according to the map and the positioning information, and at the moment, the value=6 of the downhill counter can be determined to reach the entrance of the underfloor unit A6, the map of the underfloor unit A6 can be loaded for positioning, and then the underfloor unit A6 is entered for excrement cleaning operation.
After the excrement cleaning operation of the underfloor unit A6 is finished, the value=4 noteq 6 of the unit counter passes through the channel A67 according to the map and the positioning information, and at the moment, the value 7 of the downhill counter can be determined to reach the entrance of the underfloor unit A7, the map of the underfloor unit A7 is loaded for positioning, and then the underfloor unit A7 is entered for excrement cleaning operation.
After the under-board unit A7 is finished for cleaning the dung, the value=5 noteq 6 of the unit counter passes through the channels a78 and a89 according to the map and the positioning information, and at the moment, the value=9 of the downhill counter can be determined to reach the entrance of the under-board unit A9, the map of the under-board unit A9 is loaded for positioning, and then the under-board unit A9 is entered for cleaning the dung.
After completing the cleaning operation of the underfloor unit A9, the value of the unit counter=6, and the value of the unit counter reaches the count threshold, indicating that the cleaning operation of the last underfloor unit has been completed, and can be returned to the floor. To return to the plate, the manure cleaning robot will pass through the channels a89, a78, a67, a56, a45, a34, a23, a12 in sequence, and when the downhill counter reaches 9+8 =17, it is indicated that the manure cleaning robot has returned to the underfloor unit A1, and then positioned according to the underfloor unit A1 map, passes through the manure outlet ramp a11, and returns to the plate.
In the embodiments of fig. 7 and 8, the manure cleaning task instruction includes only an under-board unit of a span, and in other embodiments, one manure cleaning task instruction may include an under-board unit of B span in addition to an under-board unit of a span; in order to complete the manure cleaning task, the manure cleaning robot can return to the manure opening slope A11 at the inlet of the underfloor unit A1 along the channel between the underfloor units after cleaning all the underfloor units of the A span, then enter the manure opening slope B11 of the B span through the D span, clean the underfloor units of the B span one by one, and the cleaning mode of the underfloor units of the B span is identical to that of the A span, so that the description is omitted. In addition, for the selection and setting of the counter, other manners, such as counting according to the ascending slope information, or counting in combination of ascending slope and descending slope, may be adopted, which is not limited by the present invention.
The above details the autonomous navigation of the excrement cleaning robot, and the following details the excrement cleaning process of an under-board unit.
Fig. 9 shows a map of an actual two adjacent under-board units. Wherein the thick solid line separates two underfloor units, each comprising two manure drains, P1 and P2 in fig. 9, a number of support columns Z1, and a number of columns L1. The channel between the two underfloor units is shown as T1 in fig. 9. As shown in fig. 9, the present invention establishes an under-board environment grid map (map represented by three pixels, white representing a blank area, gray representing a position area, and black representing an obstacle area) by providing a single line laser, combining SLAM (synchronous localization and mapping) technique, and performing laser scanning on the under-board environment before manure cleaning. When the excrement is cleaned, the excrement cleaning robot performs path planning, and the excrement is pushed into the funnel-shaped excrement discharging port mainly according to the position of the excrement discharging port.
Fig. 10 shows the initial and guidance points in a map of an actual certain under-board unit. Where D1 represents an initial point and D2 represents a guidance point. Since different maps are needed for entering different units, the invention performs initial positioning by setting a positioning point, which is an initial point D1. For example, an initial point D1 may be set at the entrance of each underfloor unit, a map is loaded when the robot enters the unit, and then the initial position of the robot may be determined by using the map and combining the initial points (the initial pose may also be determined by combining the pose sensor), so that the initial points may be used to correct the initial pose of the manure cleaning robot. As shown in fig. 9 and 10, since there are a large number of obstacles, such as support columns and columns, etc., in the under-board unit, in order to facilitate automatic navigation of the robot, a guide point D2 may be provided in the map, and the guide point D2 is provided near the initial point D1, through which the robot can well enter the inside of the under-board unit, thereby avoiding contact or collision with the obstacles.
The automatic navigation control of the manure cleaning robot can be optimized by setting the initial point and the guide point, so that the manure cleaning robot can realize good control effect in a map with lower precision and an algorithm with limited control precision. The initial point and the guidance point may be manually marked on the map in advance. In addition, the guiding point can be determined in real time by the manure cleaning robot according to the initial point and the positioning information, for example, after the manure cleaning robot reaches the initial point, as shown in fig. 10, the guidance point can be determined by knowing that the manure cleaning robot is positioned at the channel side of the under-board unit by combining the positioning information, and the machine is made to run according to a preset distance and angle by programming.
The foregoing is a complete description of the technical solution of the method according to the present invention, and according to another aspect of the present invention, there is further provided an autonomous navigation apparatus for a manure cleaning robot as shown in fig. 11, including a processor, a memory, a communication interface, and a communication bus, where the processor, the memory, and the communication interface complete communication with each other through the communication bus, and the processor executes the foregoing 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, which when executed by a processor, implements the autonomous navigation method described above. In the context of this patent document, a 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, for example, resistance change Memory RRAM (Resistive Random Access Memory), dynamic Random Access Memory DRAM (Dynamic Random Access Memory), static Random Access Memory SRAM (Static Random-Access Memory), enhanced dynamic Random Access Memory EDRAM (ENHANCED DYNAMIC Random Access Memory), high-Bandwidth Memory HBM (High-Bandwidth Memory), hybrid storage cube HMC (Hybrid Memory Cube), or the like, or any other medium that may be used to store the desired information and that may be accessed by an application, a module, or both. Any such computer storage media may be part of, or accessible by, or connectable to, the device. Any of the 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 foregoing description of the present specification, the terms "fixed," "mounted," "connected," or "connected" are to be construed broadly, unless explicitly stated or limited otherwise. For example, in terms of the term "coupled," it may be fixedly coupled, detachably coupled, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intermediaries, or in communication with each other or in interaction with each other. Therefore, unless otherwise specifically defined in the specification, a person skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.
In addition, the terms "first" or "second" and the like used in the present specification to refer to the numbers or ordinal numbers are used 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 defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present specification, the meaning of "plurality" means at least two, for example, two, three or more, etc., unless explicitly 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. Many modifications, changes, and substitutions will now occur to those skilled in the art without departing from the spirit and scope of the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in practicing the invention. The appended claims are intended to define the scope of the invention and to cover such modular compositions, equivalents, or alternatives falling within the scope of the claims.
Claims (8)
1. An autonomous navigation method for a manure cleaning robot, comprising the steps of:
receiving a manure cleaning task instruction, wherein the manure cleaning task instruction indicates one or more underfloor units needing manure cleaning;
setting a task route according to the manure cleaning task instruction;
Advancing according to the task route, and determining whether the task route reaches an entrance of an underfloor unit in the advancing process;
loading a map of the corresponding underfloor unit at the entrance of the underfloor unit, and entering the inside 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;
Judging whether the excrement passes through the slope of the excrement discharging port or not according to the information fed back by the attitude sensor in the advancing process according to the task route;
Loading a map of the header subplate unit in response to passing the dropping mouth slope;
The head plate lower unit is a plate lower unit where a manure dropping opening slope is located;
After passing through the slope of the manure discharging opening, judging whether the manure passes through a channel between the lower unit of the head plate and the lower unit of the middle plate or a channel between the lower units of the two middle plates according to information fed back by the attitude sensor;
loading the map of the arriving under-mid-panel unit in response to passing through the channel between the head under-panel unit and the under-mid-panel unit, or the channel between the two under-mid-panel units;
Wherein the middle underfloor unit is an underfloor unit other than the head underfloor unit;
wherein the cross section of the channel between the units under the middle plate is trapezoid.
2. The method of claim 1, wherein an initial point is set at the entrance of the underfloor unit to correct the initial position of the manure cleaning robot.
3. The method of claim 2, wherein the step of determining the position of the substrate comprises,
Setting a guidance point near the initial point;
In response to reaching the guide point, access is made to the interior of the underfloor unit.
4. A method according to claim 3, characterized in that the guidance points are preset in the map manually.
5. A method according to claim 3, wherein the guidance points are determined by the manure cleaning robot based on the initial points and the positioning information.
6. The method of any one of claims 1-5, wherein the performing a manure cleaning operation into the interior of the underfloor unit comprises:
and planning a manure cleaning path according to the position of a manure discharge port in the underfloor unit, and pushing manure into the manure discharge port according to the manure cleaning path.
7. An autonomous navigation device for a manure cleaning 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 of claims 1 to 6.
8. A computer storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the method according to any of claims 1 to 6.
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