农机化研究2024，Vol.46Issue(2)：103-107,112,6.
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
摘要
Abstract
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 univer-sal 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 excre-ment 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 lea-king 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,re-duce labor and the intensity of labor.The research content can provide equipment reference for intelligent cleaning of ex-crement on the leaking board in the livestock and poultry breeding house.关键词
畜禽养殖/清粪机器人/粪污清理/建图与导航Key words
livestock and poultry breeding/excrement robot/excrement clean/mapping and navigation分类
农业科技引用本文复制引用
高彦玉,罗土玉,边峰,周昆乐,钟日开..智能清粪机器人系统的设计与试验[J].农机化研究,2024,46(2):103-107,112,6.基金项目
广东省乡村振兴战略专项-农业科技创新与推广项目(2019KJ129) （2019KJ129）
广东广兴牧业机械设备有限公司自主研发项目(ZG202104) （ZG202104）
