智能清粪机器人系统的设计与试验

Design and Experiment of Intelligent Robot System for Excrement Cleaning

针对现代化封闭式养殖舍内漏粪板上粪污不能完全掉落至集粪槽的问题,设计了一种智能清粪机器人。设计基于ROS系统和激光雷达,以SLAM算法为基础,利用小型工控机为上层控制器,ARM系列芯片为底层控制器,融合红外和超声波传感器技术,实现所需功能;采用万向轮与两个对称驱动轮形成三点支撑行走架构,保持机体运行稳定;前后各设水喷头用于干固粪污的湿润及刮后漏粪板的清洗;刮粪板采用耐磨橡胶材质,避免与地面发生刮刺,影响漏粪板平整及刮粪板使用寿命,刮粪板置于机身前端下部,跟随整机行走,实现清粪功能。试验结果表明:清粪机器人能实现自动行走、自主建图、自动充电与加水,有较好的识别障碍物及路径规划功能,能实时清理猪舍粪污;在同等清洁度要求下,可减少人工,降低劳动强度。研究结果可为大栏畜禽养殖舍内漏粪板上粪污智能化清理设备提供参考。

In order to solve the problem that the excrement on the leaking board can not fall into the excrement collecting trough completely in the modern enclosed culture house,an intelligent excrement cleaning robot is designed.The robot is designed based on ROS system and Lidar,SLAM algorithm,using small industrial computer as upper controller and ARM chips as bottom controller,fusing infrared and ultrasonic sensor technology to achieve the required functions.The universal wheel and two symmetrical driving wheels are used to form a three-point supporting walking frame to keep the body running stably.The water spray heads are arranged at the front and rear of the machine for drying and fixing the excrement and cleaning the excrement leakage board after scraping.The excrement board is made of wear-resistant rubber,avoid scraping with the ground,affect the floor of the leaking board flat and the service life of the leaking board,the leaking board is placed in front of the lower part of the fuselage,follow the whole machine to achieve the cleaning function.The experiment shows that the robot can realize automatic walking,independent drawing,automatic charging and water adding,has better function of recognizing obstacles and path planning,and can clean the piggery waste in real time,reduce labor and the intensity of labor.The research content can provide equipment reference for intelligent cleaning of excrement on the leaking board in the livestock and poultry breeding house.