基于覆盖率地图的饲草推送机器人饲草地图创建

With the modernization of farms, automated equipment has been widely used in agriculture and animal husbandry. Feed push robot as an independent robot system can be flexibly applied to a variety of dairy farms. The robot can reduce labor and costs, improve feeding efficiency and milk production. During the feed pushing process, if the amount of forage was large, forage resistance would affect the stability of the robot motion and push effect. Therefore, in order to achieve the dynamic pushing of the robot, the method of building forage maps was proposed. With this method, the map was first 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 BLDC motor that was used to drive rotary mechanism was collected by a current sensor. Ultimately, 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. By comparing correlativity of robot trajectory and forage coverage rate maps as well as current values and forage coverage maps, it was indicated that the forage map, the movement state and the current values from the sensor had great corresponding relations. The results showed that the establishment of forage map was available and valid.