US 12,281,918 B2
Control method and equipment for livestock and poultry health inspection robot for multi-index collection
Deqin Xiao, Guangzhou (CN); Gengqian Wu, Guangzhou (CN); Yigui Huang, Guangzhou (CN); Jianzhao Feng, Guangzhou (CN); Zujie Tan, Guangzhou (CN); Bin Zhang, Guangzhou (CN); Handong Wang, Guangzhou (CN); and Qiumei Yang, Guangzhou (CN)
Assigned to SOUTH CHINA AGRICULTURAL UNIVERSITY, Guangzhou (CN)
Filed by SOUTH CHINA AGRICULTURAL UNIVERSITY, Guangzhou (CN)
Filed on Jun. 22, 2024, as Appl. No. 18/751,244.
Application 18/751,244 is a continuation of application No. PCT/CN2023/132828, filed on Nov. 21, 2023.
Claims priority of application No. 202310030905.2 (CN), filed on Jan. 10, 2023.
Prior Publication US 2024/0341283 A1, Oct. 17, 2024
Int. Cl. B25J 9/16 (2006.01); A01K 45/00 (2006.01); B25J 19/02 (2006.01); G01D 21/02 (2006.01)
CPC G01D 21/02 (2013.01) [A01K 45/00 (2013.01); B25J 9/1615 (2013.01); B25J 9/1664 (2013.01); B25J 9/1697 (2013.01); B25J 19/022 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A control method for a livestock and poultry health inspection robot for multi-index collection, comprising the following steps:
S1: performing initial detection on the robot;
S2: according to a set inspection time and a target inspection point, generating a target position instruction and sending the target position instruction to the robot;
S3: according to the target position instruction in the step S2, updating an optimal estimated position of the robot in a current positioning period by adopting a multi-sensor fusion positioning method based on an adaptive Kalman filtering algorithm, and controlling the robot to reach a target inspection point; wherein the step S3 comprises the following substeps:
S31: according to the optimal estimated position of the robot in the previous positioning period, the reading of an encoder and the reading of a laser ranging sensor, determining the optimal estimated position of the robot in the current positioning period;
S32: judging whether a difference between the optimal estimated position of the robot in the current positioning period in the substep S31 and a target position is less than a set target error threshold; if yes, determining the robot has reached the target inspection point; otherwise, proceeding to substep S33;
S33; judging whether the laser data of the robot is abnormal; if yes, performing alarming; otherwise, proceeding to substep S34;
S34: according to the target position and the optimal estimated position of the previous positioning period, determining a current value of a motor controlled in the current speed control period;
S35: controlling the robot to move according to the current value of the motor in the current speed control period in the substep S34, updating the reading of the encoder and the reading of the laser ranging sensor, and jumping to the substep S31;
S4: controlling the robot to collect multi-index data at the target inspection point reached in the step S3; and
S5: judging whether the inspection of the set target inspection point is completed; if yes, returning to a charging pile; otherwise, jumping to the step S2.