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饲草推送机器人饲草覆盖率地图的创建
发表时间：2017-05-15 浏览量：1860 下载量：261
| 全部作者： | 李宝胜，谭彧，朱凯，赵振焱，石安卓 |
| 作者单位： | 中国农业大学工学院 |
| 摘 要： | 为实现饲草推送机器人的动态推送，提出一种构建饲草地图的方法。该方法首先将地图划分为栅格地图，再根据机器人的位姿状态和饲草覆盖区域模型，推算出机器人周边单元格的面积覆盖率。然后通过电流传感器采集驱动机器人旋转机构的无刷电机电流。之后将电流值和面积覆盖率转化为单元格的覆盖值，从而可以估计饲草的相对数量。饲草地图的建立可以为之后的动态路径规划提供一个基础。最后通过试验，将采集到的试验数据通过Matlab进行仿真，绘制出牛场的饲草分布地图。试验结果显示，饲草地图的创建是可行且有效的。 |
| 关 键 词： | 畜牧机械化；机器人应用；覆盖率地图；饲草推送；地图创建 |
| Title： | Building the coverage of forage maps of feed push robot |
| Author： | LI Baosheng, TAN Yu, ZHU Kai, ZHAO Zhenyan, SHI Anzhuo |
| Organization： | College of Engineering, China Agricultural University |
| Abstract： | In order to achieve the dynamic pushing of the feed push robot, the method of building forage maps was proposed. With this method, the map was firstly divided into a grid map. Then according to the pose of the robot and the model of forage cover area, the area coverage rates of surrounding cells of the robot were calculated. Moreover, the current of brushless direct current (BLDC) motor that was used to drive rotary mechanism was collected by a current sensor. Furthermore, the values of current and area coverage rates were turned into the coverage values of cells. So the relative quantities of forage were predicted. The establishment of forage maps offered one of the basis of dynamic path planning later. In final, the data collected by tests were simulated by Matlab and then the forage distribution map was mapped. The results showed that the establishment of forage map was available and valid. |
| Key words： | mechanization of animal husbandry; robot applications; coverage maps; feed pushing; map establishment |
| 发表期数： | 2017年5月第9期 |
| 引用格式： | 李宝胜，谭彧，朱凯，等. 饲草推送机器人饲草覆盖率地图的创建[J]. 中国科技论文在线精品论文，2017，10（9）：1043-1051. |
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