面向猪舍环境的感知机器人系统和改进综合评价模型设计  

Design of aware robot system and improved comprehensive evaluation model for piggery environment

作　　者：李嘉豪 刘飞飞 伍昕宇 陈鑫宇 LI Jiahao;LIU Feifei;WU Xinyu;CHEN Xinyu(School of Mechanical Engineering,Jiangxi University of Science and Technology,Ganzhou Jiangxi 341000,China;School of Electrical Engineering and Automation,Jiangxi University of Science and Technology,Ganzhou Jiangxi 341000,China)

机构地区：[1]江西理工大学机电工程学院,江西赣州341000 [2]江西理工大学电气工程与自动化学院,江西赣州341000

出　　处：《东北农业大学学报》2021年第11期67-79,共13页Journal of Northeast Agricultural University

基　　金：江西省重点研发项目(20192BBE50010)。

摘　　要：文章针对目前中小型生猪养殖场人工管理存在疾病防控难、环境检测成本高等问题,结合中小型生猪养殖场实际生产需求,设计了一套基于猪舍环境监控的环境感知机器人系统,采用LoRa无线技术将生猪养殖场环境控制设备组成无线网络系统,实现猪舍无人化远程监控。为实现猪舍多区域环境参数准确检测,采用卡尔曼滤波融合算法采集猪舍环境参数。为优化猪舍环境突变造成的猪舍环境评定不准确问题,环境感知机器人系统基于熵值法的模糊综合算法模型评定猪舍环境优劣。结果表明,在25.6℃环境下,采用卡尔曼滤波融合算法时,温度数据检测误差为0.19%,满足猪舍多区域环境参数准确检测需求,并基于检测数据采用改进算法模型评价猪舍,可知,该算法模型可用于评价猪舍环境,预警环境突变。系统测试过程中运行稳定,可满足实际需求,实现节省人力成本,减少环境污染,无人化管理目的。In order to solve the current problems of difficult disease prevention and control and high environmental testing costs caused by manual management of small and medium-sized pig farms,based on the actual production needs of small and medium-sized piggery,an environment aware robot system was designed based on piggery environment monitoring,and LoRa wireless technology was used to form a wireless network system for the environment control equipment of piggery to realize unmanned remote monitoring of piggery.In order to achieve accurate detection of environmental parameters in multiple areas of piggery,the environment aware robot system adopted the Kalman filter fusion algorithm to collect the environmental parameters of piggery.In order to optimize the problem of inaccurate evaluation of the piggery environment caused by the sudden change of piggery environment,the environment aware robot system adopted a fuzzy synthetic algorithm model based on the entropy method to evaluate the quality of piggery environment.The results showed that at 25.6℃,when the Kalman filter fusion algorithm was adopted,the temperature data detection error was only 0.19%,which met the needs of accurate detection of environmental parameters in multiple areas of piggery and based on the detection data,an improved algorithm model was adopted to evaluate piggery.The results showed that the algorithm model could meet the evaluation of piggery environment and warn of environmental mutations.In the process of system testing,the system run stably could meet actual needs,and could achieve the design goals of saving labor costs,reducing environmental pollution,and piggery unmanned management.

关 键 词：猪舍环境 远程监控 监控机器人 传感检测 嵌入式系统 LoRa无线网络 

分 类 号：S828[农业科学—畜牧学]