摘要
盒养动物自动化喂养可以减少人工作业强度,降低人力成本,提高养殖的自动化水平,而自动喂养机器人的导航定位系统的研究是实现自动化喂养的关键。为此,研究了基于磁带和RFID标签的导航定位技术,设计开发了磁导航传感器的信息处理及导航纠正算法,以及利用RFID标签的站点定位技术,此外,对自动喂养机器人的避障系统进行了分析与设计。开发了自动喂养机器人导航定位控制系统,最后通过样机验证了导航定位算法的可行性和正确性,满足了自动化喂养的现场要求。
Automated feeding of box-fed animals can reduce the intensity of manual work,reduce the cost of manpower,and improve the level of automation of farming.While the research of navigation and positioning system of automatic feeding robot is the key to realize automatic feeding.Based on this,the navigation and positioning technology are researched based on magnetic tape and Radio Frequency Identification(RFID)tag.The information processing and navigation correction algorithm of magnetic navigation sensor were designed and developed,and the site positioning technology of RFID tag was used.In addition,the obstacle avoidance system of automatic feeding robot was analyzed and designed.The navigation and positioning control system of the automatic feeding robot was developed.Finally,the feasibility and correctness of the navigation and positioning algorithm is verified by the prototype,which meets the requirements of the automatic feeding robot on site.
作者
刘志海
柏海龙
崔鑫龙
尹翔
LIU Zhihai;BAI Hailong;CUI Xinlong;YIN Xiang(College of Transportation,Shandong University of Science and Technology,Qingdao Shandong 266590,China)
出处
《机床与液压》
北大核心
2020年第5期59-62,共4页
Machine Tool & Hydraulics
基金
山东省教育厅2017年研究生导师指导能力提升项目(SDYY17032)
山东省重点研发计划项目(2019GGX104048)
山东省研究生教育质量提升计划建设项目。
关键词
自动喂养机器人
磁带导航
RFID定位
ToF避障
Automatic feeding robot
Tape navigation
RFID Positioning
ToF Time of flight obstacle avoidance
