Design and experiment of suspended track inspection robot for facility pig farms

doi:10.13733/j.jcam.issn.2095-5553.2024.09.008

Abstract

Abstract:

In order to solve the problems of high cost，poor efficiency and low intelligence level of traditional inspection methods of pig farms，based on the structural characteristics of pig farms in small and medium.scale facilities，an inspection scheme based on suspended rails was proposed，and a mechanical structure of a suspended intelligent inspection robot was designed. The motion control system and host computer software of the inspection robot suitable for the typical pig farm environment were developed，and the field test was carried out. The test results show that the normal inspection speed of the inspection robot can be set to be greater than 0. 15 m/s，the positioning error of a single movement is less than 2. 5 mm，the overall inspection positioning error is less than 10 mm，and the error rate is less than 0. 18%. The inspection robot can automatically acquire environmental data and images to provide data support for further analysis of the health status of pigs. This research can provide a reference for the application and promotion of inspection robots in small and medium.sized pig farms.

Key words: facility pig farm, inspection robot, suspended, motion control, sensor

摘要：

为解决猪场传统巡检方式成本高、效率差、智能化水平低等问题，以中小型规模设施猪场结构特点为依据，提出基于悬挂轨道的巡检方案，设计一种悬挂式智能巡检机器人，开发适用于典型猪场环境的巡检机器人运动控制系统和上位机软件，并进行现场测试。结果表明：设置实现巡检机器人常态巡检速度可大于 0. 15 m/s，单次运动定位误差小于 2. 5 mm，巡检定位误差整体小于 10 mm，误差率小于 0. 18%，巡检机器人可进行环境数据和图像自动获取，为后续的生猪健康状况分析提供数据支撑。该研究可为巡检机器人在中小规模生猪养殖场的应用与推广提供参考。

关键词: 设施猪场, 巡检机器人, 悬挂式, 运动控制, 传感器

CLC Number:

Liu Jun, Zheng Yifeng, Pi Jie, Kong Jie, Chen Xia. Design and experiment of suspended track inspection robot for facility pig farms[J]. Journal of Chinese Agricultural Mechanization, 2024, 45(9): 47-53.

柳军 , 郑亦峰 , 皮杰 , 孔杰 , 陈侠 . 设施猪场悬挂式轨道巡检机器人设计与试验[J]. 中国农机化学报, 2024, 45(9): 47-53.

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