| With the vigorous development of national intelligent agriculture,customization and fine farming have become an urgent need for agriculture.Committed to improving the quality of dairy living environment,the development of barn cleaning robot is to improve the work efficiency and cleanliness of cleaning dairy cow as the starting point.In this paper,the system modeling and overall design,motion performance,path planning,prototype experiment and other aspects of the barn clean robot are studied and analyzed,and the system performance research and experimental design are carried out.The overall test results show that the performance of clean robot in speed performance,turning radius,intelligent obstacle avoidance and path planning,cleaning rate can meet the design requirements.The development of barn cleaning robot is to ensure the economic benefits of the farm.Firstly,this paper combs the way of clean-up of cattle barn,and according to the characteristics of foreign intelligent planning and obstacle avoidance,and combining with the domestic cleaning equipment.This paper puts forward the main problem of how to realize the flexibility of cleaning robot.According to the cleaning area and cleaning efficiency of the barn cleaning robot,the structural layout of the wheeled robot "front scraper,double wheel differential" is put forward.At the same time,the paper puts forward the system control method and strategy combining ARM,inertial measurement sensor,current detection sensor and infrared sensor,and completes the overall scheme design of intelligent barn cleaning robotic system,and the cleaning robot system ontology structure is global multi-objective optimization.Secondly,the mathematic model of barn cleaning robot is established by using nonholonomic system modeling method.The kinematics of the robot is modeled and its basic motion trajectory is analyzed.At the same time,the robot system was modeled in three dimensions.Based on the kinetic model,the dynamic simulation of the working system was studied.Based on the influence curve of system motion control performance,the mechanical properties of the system under different wheel treads,different friction contact and other factors were analyzed.And the working performance of the system under the condition of emergency braking was analyzed,which provided necessary basis for engineering design.Thirdly,based on the analysis of the path planning of clean robots,the algorithm of intelligent obstacle avoidance and path planning based on particle swarm is put forward for different working modes and layout types of barn environment.In order to verify whether the robots can achieve the path planning and design requirements of different work behaviors and the correctness of program code design,the GUI interface of the barn cleaning robot is designed and the path planning and simulation of the system is carried out in the interface environment.The experimental results show that the particle swarm optimization(PSO)algorithm is feasible for the robot to accomplish the path planning under the pre-determined target.It also shows that the robot can realize the sweeping under obstacle avoidance and realize the path planning function of the robot.Finally,the experimental prototype was assembled and overall tested.The results in specific field experiments showed that the robot can realize intelligent trajectory planning and autonomous obstacle avoidance,simuteneously,its performances can meet such mechanical functional requirements as turning radius,working speed,cleaning ratio and so on.Specially,cleaning robots meet the performance requirements of speed indicator,obstacle avoidance and path planning under a variety of working behaviors.Therefore,starting from the environmental and working conditions,intelligent robot technologies were applied in barn cleaning process and the barn intelligent cleaning was realized.For various work behaviors on intelligent cleaning,mechanical reasearches have important practical value for intelligent agricultural engineering. |
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