养鸡场巡检机器人无线充电模块设计与试验  

Design and test of wireless charging module for inspection robot in chicken farm

作　　者：白云港 祝忠钲 侯英勇 周立春 肖茂华[1] 邹修国[2] Bai Yungang;Zhu Zhongzheng;Hou Yingyong;Zhou Lichun;Xiao Maohua;Zou Xiuguo(College of Engineering,Nanj ing Agricultural University,Nanjing 210031,China;College of Artificial Intelligence,Nanjing Agricultural University,Nanjing 210031,China;Jiangsu Huali Intelligent Technology Co.,Ltd.,Changzhou 213000,China)

机构地区：[1]南京农业大学工学院,江苏南京210031 [2]南京农业大学人工智能学院,江苏南京210031 [3]江苏华丽智能科技股份有限公司,江苏常州213000

出　　处：《智能化农业装备学报（中英文）》2022年第2期45-52,共8页Journal of Intelligent Agricultural Mechanization

基　　金：江苏省国际科技合作项目(BZ2021022);江苏省现代农机装备与技术示范推广项目(NJ202001);江苏省农业科技自主创新资金项目(CX(21)3058)。

摘　　要：规模化养鸡场巡检机器人巡查鸡只生长健康状况,高效可靠的充电模块能保障巡检工作的顺利进行。针对现有无线充电模块体积大、对接方式烦琐、效率低等问题,设计巡检机器人的无线充电模块,能够使机器人完成无线自主感应充电。将机器人与充电桩的对接分为远、近两个对接过程。远程通过SLAM(simultaneous localization and mapping)完成环境建图,采用A∗(A-star)算法进行路径规划至充电桩附近;近程结合红外和超声波传感器进行精确导航实现初步对接,再通过机器人与充电桩的机械结构啮合完成精确对接。试验表明,机器人能够决策出最优路径以指定位姿精确导航至目标点;在120次近程对接测试和充电测试中,有充电桩机械结构的精确对接率达到100%,电磁感应式线圈可以在160min内将一块4800mAh的锂电池从10.8V充满至12.6V,且充电高效稳定。Inspection robot of large scale chicken farms inspects the health of chickens,and efficient and reliable charging modules can ensure continuous inspection.Existing wireless charging technology has many disadvantages,such as large size,cumbersome docking procedures and low efficiency.In order to overcome the disadvantages,a wireless charging module which could safely and quickly perform wireless automatic induction charging was proposed.The docking between the inspection robot and the charging pile was divided into two processes:remote docking and short distance docking.Remote docking was completed by establishing a virtual map of the broiler house on the basis of SLAM(simultaneous localization and mapping)algorithm.In this case,the inspection robot could determine optimal path to the vicinity of the charging pile based on A^*(A-star)algorithms.Short distance docking combined infra red with ultrasonic sensors for precise navigation so that the initial docking was completed.Then the robot was engaged with the mechanical structure of the charging pile for further precise docking.Experimental tests were carried out 120 times to gauge the accuracy of the docking between the charging pile and the inspection robot.The test results clearly demonstrated that the inspection robot was able to determine optimal path to the target location in the specified position.The accuracy of the docking could reach 100%by mechanical construction of the charging pile.The electromagnetic induction coil could fully charge a 4800 mAh lithium battery from 10.8 V to 12.6 V in 160 min.The process of charging is stable and safe.

关 键 词：巡检机器人 运动控制 SLAM技术 自主无线充电 

分 类 号：S24[农业科学—农业电气化与自动化]