CN-121971675-A - Henhouse disinfection system and method based on raspberry pie and wheeled robot

CN121971675ACN 121971675 ACN121971675 ACN 121971675ACN-121971675-A

Abstract

The invention discloses a henhouse disinfection system, method and wheeled robot based on raspberry pie, wherein the system comprises a spraying unit, a traveling chassis, a multi-sensor coupling platform, a central processing unit, a communication unit and a communication unit, wherein the spraying unit is used for spraying disinfectant, the traveling chassis is used for traveling movement, the multi-sensor coupling platform is integrated with a laser radar, an inertial measurement unit, a depth camera and a wheeled odometer, the central processing unit is used for receiving and processing multi-source sampling data and performing path planning and navigation control, the central processing unit comprises a laser SLAM processing module, a coordinate conversion module, a fusion calibration module and a time synchronization module, the movement control unit is used for receiving instructions transmitted by the central processing unit and performing execution and feedback, the starting and stopping of the spraying unit and the movement of the traveling chassis are controlled, and the communication unit is used for establishing a data communication interface and a protocol of a dual-processor cooperative control architecture. According to the invention, through the coordination design of hardware and software, more efficient, safe and intelligent henhouse disinfection work can be realized.

Inventors

LI TAO
YU YEQING
TANG WEI

Assignees

安徽信息工程学院

Dates

Publication Date: 20260505
Application Date: 20260114

Claims (7)

1. Henhouse disinfection system based on raspberry group, characterized by comprising: The spraying unit comprises an electric water pump, a nozzle and a liquid storage module and is used for spraying disinfectant; The travelling chassis comprises a coding motor, a servo motor and rollers, and is used for travelling; The multi-sensor coupling platform is integrated with a laser radar, an inertial measurement unit, a depth camera and a wheel type odometer, wherein the laser radar is used for collecting point cloud data of a working environment in real time, supporting real-time planning of a path and detection of obstacles, the inertial measurement unit is used for collecting gesture data of the working environment in real time, supporting real-time monitoring of gestures and motion states, the depth camera is used for collecting image data of the working environment in real time, supporting real-time collection of depth information, and the wheel type odometer is used for estimating motion displacement and performing positioning assistance; The central processing unit is connected to the multi-sensor coupling platform and is used for receiving and processing multi-source sampling data and performing path planning and navigation control, and the central processing unit comprises a laser SLAM processing module, a coordinate conversion module, a fusion calibration module and a time synchronization module; The motion control unit is connected to the spraying unit and the central processing unit and is used for receiving the instructions transmitted by the central processing unit, executing and feeding back the instructions and controlling the start and stop of the spraying unit and the movement of the travelling chassis; The communication unit is connected to the central processing unit and the motion control unit and is used for establishing a data communication interface and a protocol of the dual-processor cooperative control architecture.
2. The raspberry-pie-based chicken coop disinfection system of claim 1, wherein in the central processing unit: The laser SLAM processing module is connected to the laser radar, the inertia measurement unit and the wheel type odometer and is used for acquiring and processing point cloud data and attitude data and outputting airborne position coordinates under a wheel type robot body coordinate system; The coordinate conversion module is connected to the laser radar and the depth camera and is used for acquiring and processing point cloud data and image data and aligning a radar coordinate system of the laser radar and a camera coordinate system of the depth camera; the fusion calibration module is connected to the laser SLAM processing module and the coordinate conversion module, and fusion is carried out on multi-source sampling data which are uniformly converted into a wheel robot body coordinate system based on an extended Kalman filtering algorithm so as to correct SLAM drift; The time synchronization module is connected to the laser radar, the inertial measurement unit, the depth camera and the wheel-type odometer, and is used for acquiring multi-source sampling data of the multi-sensor coupling platform and performing time alignment on the multi-source sampling data by utilizing a timestamp of the ROS frame.
3. The henhouse disinfection system based on raspberry pie of claim 2, wherein the wheel type odometer and the inertial measurement unit are subjected to data fusion by using an extended kalman filter algorithm, a nonlinear system is linearized, and the linearized system is led into 5 steps of state prediction, priori estimation covariance, calculation of kalman gain, update result and update covariance of kalman filter for calculation in sequence, so that errors generated when the wheel type odometer and the inertial measurement unit are independently positioned are reduced, and positioning accuracy is improved.
4. A henhouse disinfection system based on raspberry group as claimed in claim 3, wherein the positioning model in the wheel type odometer is used as a system state prediction equation, the real-time pose of the gyroscope and accelerometer observation system in the inertial measurement unit is used as an observation equation, the prior state estimation and measurement data are combined to calculate the optimal state estimation after the kalman gain is obtained, and the current state covariance is updated, and the above process is expressed as: The pose x k of the wheeled robot at the time k is: Wherein x k-1 represents the x-axis pose of the robot at the time of k-1, y k-1 represents the y-axis pose of the robot at the time of k-1, θ k-1 represents the angular velocity of the robot at the time of k-1, Representing the x-axis motion delta of the robot at time k, Representing the y-axis motion delta of the robot at time k, Representing the z-axis motion increment of the robot at the moment k, and W k represents the error of the wheel type odometer; The state function is subjected to Taylor series expansion at the time k-1, and then the jacobian matrix A k of the state function is: wherein f represents a state transfer function of the nonlinear system, x represents a state value of the nonlinear system, and U k represents a control input at a time of k; the observation equation of the inertial measurement unit is expressed as: Wherein H represents an observation matrix of the inertial measurement unit, V imu represents observation noise of the inertial measurement unit, V x and V y represent linear accelerations of the inertial measurement unit on an x axis and a y axis respectively, and θ z represents an angular velocity of the inertial measurement unit around a z axis.
5. The henhouse disinfection system based on raspberry group as claimed in claim 1, wherein the central processing unit selects raspberry group, the motion control unit selects Arduino Mega, and a data communication interface and protocol are established between the raspberry group and the motion control unit through the communication unit, wherein the data communication interface and protocol at least comprises USB/serial port, two-way communication protocol or heartbeat/feedback mechanism.
6. A henhouse disinfection method based on raspberry pie, which is realized by adopting the henhouse disinfection system based on raspberry pie as claimed in any one of claims 1 to 5, and is characterized by comprising the following steps: S1, initializing, namely when the system is started, the central processing unit performs hardware self-checking, and the position and the gesture of the wheeled robot are calibrated through the inertial measurement unit, and path planning and navigation recognition are initialized; S2, receiving and analyzing the instructions, namely receiving the user instructions through man-machine interaction software by the central processing unit, analyzing the task types according to the instructions, and executing corresponding task planning, wherein when receiving the automatic spraying instructions, the central processing unit controls the wheeled robot to return to a starting point to reset the path through the motion control unit, and when receiving the target point instructions, the central processing unit controls the wheeled robot to carry out path planning through the motion control unit so as to reach a specified disinfection area; s3, real-time path planning and obstacle detection, namely, monitoring a front working environment in real time by a laser radar and a depth camera, and performing dynamic path adjustment by a central processing unit based on multi-source sampling data of a multi-sensor coupling platform so as to ensure that a wheeled robot runs in a complex working environment to avoid obstacles smoothly; S4, spraying and sterilizing, namely after the wheeled robot reaches a target area, the motion control unit receives an instruction from the central processing unit and drives the spraying unit to spray sterilizing liquid to perform sterilizing operation, and meanwhile, the central processing unit monitors the position and the running track of the wheeled robot in real time through the inertial measurement unit and the laser radar so as to detect whether the path is accurate or not; s5, alarm monitoring and emergency response, namely when the multi-sensor coupling platform detects a sudden/abnormal working condition or an alarm signal, the central processing unit interrupts the current path in time, plans a new path to an alarm position, performs disinfection operation or emergency treatment operation, and returns to the original task after the disinfection or emergency treatment task is finished; And S6, after the spraying task is finished, the wheeled robot returns to the starting point according to the original path and automatically charges through the charging equipment, so that the wheeled robot is ready for the next task.
7. The raspberry-pie-based chicken house disinfection wheeled robot is characterized by integrating the raspberry-pie-based chicken house disinfection system as claimed in any one of claims 1-5 and establishing real-time communication connection with man-machine interaction software arranged at a remote end.

Description

Henhouse disinfection system and method based on raspberry pie and wheeled robot Technical Field The invention relates to the technical field of automation and intelligent control, in particular to a henhouse disinfection system and method based on raspberry pie and a wheeled robot. Background With the development of modern breeding industry, the disinfection work of the large-scale chicken house is increasingly prominent in importance of chicken flock health and production efficiency. At present, the traditional chicken house disinfection mode mainly depends on manual operation or simple semi-automatic equipment. Although these methods meet the basic disinfection requirements to some extent, there are major limitations in terms of efficiency, accuracy and automation. Representative state of the art mainly includes the following aspects: (1) The manual spraying mode is the most common current sterilization mode, has simple operation and lower cost, but has the defects of high labor intensity, low efficiency, uneven coverage and the like. In the manual spraying process, it is difficult to ensure that the liquid medicine covers all areas, especially to reach high or hidden positions. Meanwhile, the long-time contact of the disinfectant threatens the personal health of staff. (2) Semi-automatic disinfection equipment, which is a part of existing semi-automatic spraying equipment on the market, usually adopts a fixed spray head or a hand-push type device for operation. The equipment improves the spraying efficiency to a certain extent, but still needs to be manually operated, and is difficult to realize unmanned completely. In addition, the fixed nozzle is difficult to flexibly adjust according to the actual layout of the henhouse, and the problems of uneven spraying, waste of liquid medicine and the like are easily caused. (3) Initial application of unmanned disinfection apparatus some intelligent robots have been used in agricultural fields such as pesticide spraying or simple disinfection operations. These devices typically travel along a predetermined path, but lack flexibility in complex environments, particularly when encountering obstacles or emergencies, it is difficult to adjust the path in real time. In addition, most of the existing equipment lacks accurate positioning and real-time monitoring functions, is difficult to make dynamic response according to environmental changes, and has the defects of low disinfection efficiency, incomplete coverage and the like. Disclosure of Invention The henhouse disinfection system and method based on raspberry group and the wheeled robot provided by the invention have the advantages that the automation degree is higher, the disinfection work is more in place, and at least one of the technical problems can be solved. In order to solve the technical problems, the invention adopts the following technical scheme: henhouse disinfection system based on raspberry group includes: The spraying unit comprises an electric water pump, a nozzle and a liquid storage module and is used for spraying disinfectant; The travelling chassis comprises a coding motor, a servo motor and rollers, and is used for travelling; The multi-sensor coupling platform is integrated with a laser radar, an inertial measurement unit, a depth camera and a wheel type odometer, wherein the laser radar is used for collecting point cloud data of a working environment in real time, supporting real-time planning of a path and detection of obstacles, the inertial measurement unit is used for collecting gesture data of the working environment in real time, supporting real-time monitoring of gestures and motion states, the depth camera is used for collecting image data of the working environment in real time, supporting real-time collection of depth information, and the wheel type odometer is used for estimating motion displacement and performing positioning assistance; The central processing unit is connected to the multi-sensor coupling platform and is used for receiving and processing multi-source sampling data and performing path planning and navigation control, and the central processing unit comprises a laser SLAM processing module, a coordinate conversion module, a fusion calibration module and a time synchronization module; The motion control unit is connected to the spraying unit and the central processing unit and is used for receiving the instructions transmitted by the central processing unit, executing and feeding back the instructions and controlling the start and stop of the spraying unit and the movement of the travelling chassis; The communication unit is connected to the central processing unit and the motion control unit and is used for establishing a data communication interface and a protocol of the dual-processor cooperative control architecture. Further, in the central processing unit: The laser SLAM processing module is connected to the laser radar, the inertia measurement unit and the w