CN119437248A - Navigation method and system of inspection robot in cultivation house - Google Patents
Navigation method and system of inspection robot in cultivation house Download PDFInfo
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Abstract
本发明公开了一种养殖舍内巡检机器人的导航方法及系统，涉及智能农业技术领域，该方法通过将养殖舍划分为若干区域，结合最短路径算法和深度优先搜索算法，初步规划巡检机器人的巡查路径，并利用内部传感器组和智能耳标实时采集环境数据和动物数据，通过预处理，获取健康数据组，计算出环境健康状态指数和动物健康状态指数，进一步得到综合健康指数，并与预设第一综合健康阈值和第二综合健康阈值进行评估。在健康评估触发路径规划时，采用动态路径优化模型对巡检路径进行调整，优先覆盖健康风险较高的区域，直到巡检任务区域的健康评估达到良好状态。此方法可有效提高养殖环境与动物的健康监测效率，确保养殖过程中的健康管理和风险控制。
The present invention discloses a navigation method and system for an inspection robot in a breeding house, and relates to the field of intelligent agricultural technology. The method divides the breeding house into several areas, combines the shortest path algorithm and the depth-first search algorithm, preliminarily plans the inspection path of the inspection robot, and uses an internal sensor group and an intelligent ear tag to collect environmental data and animal data in real time. Through preprocessing, a health data group is obtained, and an environmental health status index and an animal health status index are calculated. A comprehensive health index is further obtained, and it is evaluated with a preset first comprehensive health threshold and a second comprehensive health threshold. When the health assessment triggers path planning, a dynamic path optimization model is used to adjust the inspection path, and areas with higher health risks are covered first, until the health assessment of the inspection task area reaches a good state. This method can effectively improve the health monitoring efficiency of the breeding environment and animals, and ensure health management and risk control in the breeding process.
Description
Technical Field
The invention relates to the technical field of intelligent agriculture, in particular to a navigation method and a navigation system of an inspection robot in a breeding house.
Background
With the growing global population and the higher demands on food safety and quality, especially in the farming industry, there are front unprecedented challenges. The traditional cultivation mode is capable of improving the yield and simultaneously neglecting the fine management of animal health and environment monitoring, so that resource waste, environmental pollution and frequent animal diseases are caused. In addition, with the rise of labor costs and the increasing complexity of the farming environment, manual inspection and management has been difficult to meet the demands of high efficiency and precision. Therefore, the cultivation management by means of automation and intelligent technology, especially the environment and animal health monitoring by the inspection robot, has become a key way for solving the problems of low efficiency, poor precision, delayed emergency response and the like in the cultivation industry, and the development of intelligent agriculture has become an important direction for global agricultural modernization.
Although the conventional breeding house inspection robot has improved the breeding efficiency to a certain extent, some problems still exist in practical application, especially in aspects of inspection path planning and health evaluation. On the one hand, the conventional path planning algorithm, such as the shortest path algorithm, may not be easy to effectively solve the optimization problem of multiple factors such as energy consumption, equipment charging, and regional health status in a large-scale cultivation house, so that the inspection robot may not cover all the key regions due to insufficient electric quantity or overlong path. On the other hand, when the current health monitoring system evaluates the environment and animal health state, the current health monitoring system often depends on single data input too much, and nonlinear relations among a plurality of variables are difficult to consider, so that the complexity of the cultivation environment is not easy to accurately reflect. Therefore, although the robot can complete the inspection task, the robot lacks a real-time health assessment mechanism and dynamic path adjustment capability, so that the robot is not easy to respond in time when encountering a health risk area, and the comprehensive management effect of the cultivation environment and animal health is affected.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a navigation method and a navigation system for an inspection robot in a cultivation house, and solves the problems in the background art.
In order to achieve the above purpose, the invention is realized by the following technical scheme: A navigation method of a patrol robot in a cultivation house comprises the following steps:
S1, dividing a large animal breeding house into a plurality of areas, putting a plurality of inspection robots, constructing a path optimization objective function by utilizing a shortest path algorithm, primarily planning an initial inspection path of the inspection robots, and carrying out no-repeated coverage on the areas by a depth-first search algorithm;
s2, acquiring environmental data and animal data in real time through a sensor group arranged in the inspection robot and intelligent ear tags equipped for each animal, and constructing a data processing system to preprocess the environmental data and the animal data to acquire a health data group;
s3, summarizing and calculating according to the acquired health data set to acquire an environment health state index hjz and an animal health state index djk;
s4, summarizing and calculating according to the acquired environment health state index hjz and the animal health state index djk to acquire a comprehensive health index zhj, and carrying out comprehensive health assessment with a preset first comprehensive health threshold A and a preset second comprehensive health threshold B to comprehensively analyze the health states of the breeding environment and the animals;
s5, when the comprehensive health assessment triggers the path planning, a dynamic path optimization model is built, the obtained comprehensive health index zhj is input into the dynamic path optimization model, the dynamic path adjustment index ljt is obtained, the inspection robot performs inspection path adjustment according to the dynamic path adjustment index ljt, and the inspection robot readjust the inspection path to an initial inspection path until the comprehensive health assessment of the inspection task area of the inspection robot is good.
Preferably, S1 includes S11, S12 and S13;
S11, dividing the breeding house into a plurality of areas according to animal types and layout structures in the large animal breeding house, putting a plurality of inspection robots, and setting an inspection task for each inspection robot, wherein the inspection task comprises inspecting a plurality of areas;
S12, acquiring all the patrol paths in the cultivation house according to the three-dimensional drawing of the cultivation house, acquiring the distance from each region to other regions according to the patrol region of each patrol robot and the route in the patrol region, planning the shortest patrol path by utilizing a shortest path algorithm and combining the position of a charging pile, the patrol task and the energy consumption, constructing a path optimization objective function, and primarily planning the initial patrol path of the patrol robot, wherein the specific path optimization objective function is as follows:
Where P represents the node order of the path, jl (i, i+1) represents the distance between region i and region i+1, nl (i, i+1) represents the energy consumption between region i and region i+1, and n represents the total number of regions;
S13, in the routing inspection path planning process, the non-repeated coverage of the area is carried out through a depth-first search algorithm, the planned area of the robot is recorded, and the ineffective return of the inspected area is avoided.
Preferably, the S2 includes S21, S22, and S23;
S21, after an initial patrol path is preliminarily planned by the patrol robot, starting the patrol robot to patrol the task area, and acquiring environmental data and animal data in real time through a sensor group arranged inside the patrol robot and intelligent ear tags equipped for each animal;
The sensor group comprises a temperature sensor, a humidity sensor, a carbon dioxide sensor, an airflow sensor, an illumination intensity sensor and an infrared sensor;
S22, constructing a data processing system, establishing communication connection between the data processing system and the sensor group and the intelligent ear tag through a wireless network, and transmitting the environmental data and the animal data acquired by the sensor group and the intelligent ear tag to the data processing system in real time.
Preferably, S23, the data processing system receives the environmental data and the animal data in real time, and preprocesses the environmental data and the animal data, wherein the preprocessing comprises animal activity processing, denoising, missing value processing data correction and dimensionless processing, and a health data set is obtained;
The animal activity amount processing is used for monitoring the activity track of periodically collected animals in a breeding house according to intelligent ear tags equipped for each animal, calculating the animal activity amount hd according to the record of the activity path and the residence time of the animals in the house, and collecting the animal body temperature dt according to the intelligent ear tags;
the health data set comprises an environmental health data set and an animal health data set;
the environmental health data set comprises an environmental temperature wd, an environmental humidity sd, a carbon dioxide content CO2, an air flow rate ls and an illumination intensity gz;
the animal health data set includes animal body temperature dt, animal activity hd, and animal density dm.
Preferably, the S3 includes S31 and S32;
s31, summarizing and calculating according to the acquired environmental health data set to acquire an environmental health state index hjz, and analyzing the environmental health condition in each area in the breeding house in real time;
The environmental health state index hjz is obtained through calculation according to the following formula;
;
Wherein wd i represents the actual temperature of the ith area, wd o represents the appropriate temperature value for the animals in the cultivation house, sd i represents the actual humidity of the ith area, sd o represents the appropriate humidity value for the animals in the cultivation house, CO 2,i represents the actual carbon dioxide content of the ith area, CO 2,o represents the peak carbon dioxide content that the health of the animals in the cultivation house is allowed to reach, gz i represents the actual light intensity of the ith area, and gz o represents the appropriate light intensity for the animals in the cultivation house;
S32, summarizing and calculating according to the obtained animal health data set to obtain an animal health state index djk, and monitoring the health state of animals in each region in real time;
the animal health state index djk is obtained by calculation according to the following formula;
;
Where m represents the total number of animals in the ith region, dt j represents the actual body temperature of the jth animal, dt z represents the normal body temperature of the animal, hd j represents the activity level of the jth animal, and dm i represents the animal density in the ith region.
Preferably, the S4 includes S41 and S42;
S41, summarizing and calculating according to the acquired environment health state index hjz and the animal health state index djk to acquire a comprehensive health index zhj, wherein the comprehensive influence of the environment health on the animal health in the breeding house and the nonlinear relation of the mutual influence of the environment health and the animal health are reflected;
The comprehensive health index zhj is obtained through calculation according to the following formula;
;
Where e represents an exponential function, Representing the adjustment factor.
Preferably, S42, a first comprehensive health threshold a and a second comprehensive health threshold B are preset based on animal health cultivation indexes, and comprehensive health evaluation is performed with the obtained comprehensive health indexes zhj, the cultivation environment and the health state of the animals are comprehensively analyzed, and according to the evaluation result, a patrol priority is set, and a patrol route and patrol frequency are adjusted, wherein the specific evaluation scheme is as follows;
when the comprehensive health index zhj is smaller than the first comprehensive health threshold A, the area is in a dangerous state, first early warning information is generated and transmitted to a user side of related personnel through a wireless network, the related personnel are reminded to immediately take treatment measures, and path planning is triggered to plan a routing inspection path again;
When the comprehensive health threshold A is less than or equal to the comprehensive health index zhj and less than or equal to the second comprehensive health threshold B, unhealthy factors exist in the area, second early warning information is generated and transmitted to a user side of related personnel through a wireless network, the related personnel are reminded to immediately take treatment measures, and route planning is triggered to plan a routing inspection route again;
When the integrated health index zhj is greater than the second integrated health threshold B, the state of the area is good, and normal monitoring is maintained.
Preferably, the S5 includes S51 and S52;
S51, when the comprehensive health evaluation triggers the path planning, a dynamic path optimization formula is built according to a three-dimensional drawing by using a dynamic path planning algorithm, and then the obtained comprehensive health index zhj is input into a dynamic path optimization model to obtain a dynamic path adjustment index ljt;
the dynamic path optimization formula is as follows;
;
In the formula, Representing the rate of change over time of the integrated health index zhj for the ith zone, jl i representing the distance between the ith zone and the next zone, jl i representing the energy loss required from the ith zone to the next zone, nl max representing the inspection robot residual energy, n representing the total number of zones, exp representing an exponential function with the base of the natural logarithm e.
Preferably, S52, the routing inspection robot preferably adjusts the path of the dangerous area according to the dynamic path adjustment index ljt, so as to adjust the routing inspection path of the dangerous area, if health problems occur in multiple areas at the same time, the robot will re-evaluate and adjust the paths of all relevant areas, and dynamically adjust the path sequence and distance according to the real-time comprehensive health index zhj, so as to preferably cover the area with health risk in dangerous state;
After the related personnel manage, the comprehensive health index zhj is obtained according to the change trend of the comprehensive health index zhj through multiple inspection, and the inspection path of the inspection robot is adjusted again through the dynamic path adjustment index ljt until the comprehensive health evaluation of the inspection task area of the inspection robot is in good state, and the inspection robot readjust the inspection path into the initial inspection path.
The navigation system of the inspection robot in the cultivation house comprises an initial inspection path planning module, an inspection acquisition module, a health analysis module, a comprehensive health evaluation module and a path adjustment module;
The initial inspection path planning module is used for dividing the large animal breeding house into a plurality of areas, putting a plurality of inspection robots, constructing a path optimization objective function by utilizing a shortest path algorithm, initially planning an initial inspection path of the inspection robots, and carrying out no repeated coverage on the areas by a depth-first search algorithm;
The inspection acquisition module acquires environment data and animal data in real time through a sensor group arranged in the inspection robot and intelligent ear tags equipped for each animal, and a data processing system is constructed to preprocess the environment data and the animal data to acquire a health data group;
The health analysis module is used for summarizing and calculating according to the acquired health data set to acquire an environment health state index hjz and an animal health state index djk;
The comprehensive health evaluation module is used for carrying out summarized calculation according to the acquired environment health state index hjz and the animal health state index djk to acquire a comprehensive health index zhj, carrying out comprehensive health evaluation with a preset first comprehensive health threshold A and a preset second comprehensive health threshold B, and comprehensively analyzing the health states of the breeding environment and the animals;
The path adjustment module is used for constructing a dynamic path optimization model when the comprehensive health assessment triggers path planning, inputting the acquired comprehensive health index zhj into the dynamic path optimization model, acquiring a dynamic path adjustment index ljt, and performing routing inspection path adjustment by the routing inspection robot according to the dynamic path adjustment index ljt until the comprehensive health assessment of the routing inspection task area of the routing inspection robot is in good state, and the routing inspection robot readjusts the routing inspection path into an initial routing inspection path.
The invention provides a navigation method and a navigation system for an inspection robot in a cultivation house. The beneficial effects are as follows:
(1) According to the method, the large animal breeding house is divided into a plurality of inspection areas by dividing the large animal breeding house into areas, and a plurality of inspection robots are put in according to different layouts and animal types of the breeding house. Each inspection robot plans an inspection path according to a shortest path algorithm and a depth-first search algorithm according to a preset task, and ensures no repeated coverage of the path. The strategy not only improves the inspection efficiency to the maximum, but also effectively avoids repeated inspection, ensures that each area is fully monitored, and greatly reduces unnecessary energy consumption and inspection time.
(2) According to the method, the sensor group and the animal intelligent ear tag are integrated to collect environment and animal data in real time, an accurate health assessment basis is provided, the change of the culture environment can be monitored in real time, and meanwhile, the animal intelligent ear tag records key health data such as the activity track and the body temperature of each animal. Through the preprocessing function of the data processing system, the acquired data are subjected to denoising, delegation value and dimensionless processing to acquire a health data set, and the health data set is summarized and calculated to finally generate an environment health state index hjz and an animal health state index djk. The health data provides accurate data support for subsequent health assessment and dynamic path optimization, and ensures that the environment and the health condition of animals can be monitored and effectively managed in real time in the cultivation process.
(3) According to the method, the comprehensive health index zhj is obtained through summarizing and calculating the environment health state index hjz and the animal health state index djk, comprehensive health evaluation is carried out on the environment health state index hjz and the animal health state index djk, and the environment health state index and the animal health state index are comprehensively analyzed. Reflecting the influence of the culture environment on animal health and the interaction between the animal health and the culture environment. When the integrated health index djk is lower than the second integrated health threshold B, automatically triggering path adjustment, and preferentially inspecting the area with poor health condition. Through the dynamic path optimization model, the inspection robot can adjust the inspection route according to the real-time change of the health index, preferentially cover the area with higher health risk, and ensure that the breeding environment and the health problem of animals can be effectively treated in time. After the treatment, the inspection path can be automatically readjusted according to the change trend of the multi-time inspection result and the health index until the health state of all areas reaches a good level, and the inspection robot readjusts the inspection path into an initial inspection path. Through the mechanism, the inspection robot can continuously provide efficient and accurate health monitoring, and the environment and animal health of the breeding house are guaranteed to be optimally guaranteed.
Drawings
FIG. 1 is a flow chart of a navigation method of a patrol robot in a cultivation house;
FIG. 2 is a schematic diagram of steps of a navigation system of a patrol robot in a cultivation house.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1, the invention provides a navigation method of a patrol robot in a cultivation house, which is realized by the following technical scheme:
S1, dividing a large animal breeding house into a plurality of areas, putting a plurality of inspection robots, constructing a path optimization objective function by utilizing a shortest path algorithm, primarily planning an initial inspection path of the inspection robots, and carrying out no-repeated coverage on the areas by a depth-first search algorithm;
s2, acquiring environmental data and animal data in real time through a sensor group arranged in the inspection robot and intelligent ear tags equipped for each animal, and constructing a data processing system to preprocess the environmental data and the animal data to acquire a health data group;
s3, summarizing and calculating according to the acquired health data set to acquire an environment health state index hjz and an animal health state index djk;
s4, summarizing and calculating according to the acquired environment health state index hjz and the animal health state index djk to acquire a comprehensive health index zhj, and carrying out comprehensive health assessment with a preset first comprehensive health threshold A and a preset second comprehensive health threshold B to comprehensively analyze the health states of the breeding environment and the animals;
s5, when the comprehensive health assessment triggers the path planning, a dynamic path optimization model is built, the obtained comprehensive health index zhj is input into the dynamic path optimization model, the dynamic path adjustment index ljt is obtained, the inspection robot performs inspection path adjustment according to the dynamic path adjustment index ljt, and the inspection robot readjust the inspection path to an initial inspection path until the comprehensive health assessment of the inspection task area of the inspection robot is good.
In the embodiment, the breeding house is divided into a plurality of areas and a plurality of inspection robots are put in, a path optimization objective function is constructed by utilizing a shortest path algorithm, an inspection path is planned preliminarily, and no repeated coverage of the areas is realized by combining a depth-first search algorithm. The method can effectively improve the working efficiency of the inspection robot, avoid inspection omission caused by repeated paths or insufficient coverage in the traditional inspection method, and ensure that each area can be effectively monitored. Compared with the prior art, the method not only considers the distance and time in path planning, but also fully integrates the factors such as the position of the charging pile, the inspection task, the energy consumption and the like, thereby realizing more accurate and optimized path design. By combining the inspection robot with the sensor group and the intelligent ear tag, the method can collect environmental data and animal data in the breeding house in real time, and the data is preprocessed through the data processing system to obtain the health data group. Compared with the traditional manual inspection mode, the method realizes real-time data acquisition and automatic processing, improves the efficiency and precision of data processing, and avoids time delay and errors in manual monitoring. The real-time evaluation of the comprehensive health state can dynamically reflect the change of the culture environment and the animal health through the calculation of the environment health state index hjz and the animal health state index djk, and a more accurate health monitoring and management scheme is provided. Based on comprehensive health assessment, the method is characterized in that an environment health state index hjz and an animal health state index djk are subjected to summarized calculation through a dynamic path optimization model to obtain a comprehensive health index zhj, comprehensive health assessment is performed on the comprehensive health index zhj and a preset first comprehensive health threshold A and a second comprehensive health threshold B, the health states of the breeding environment and the animals are comprehensively analyzed, a patrol path is adjusted according to the change of the comprehensive health index zhj, and a region with higher health risk is preferentially covered. The innovative measures can enable the routing inspection robot to automatically adjust the path according to environmental changes, so that possible health risks can be responded in time, and the diffusion and omission of health problems are reduced. Compared with the traditional method which relies on manual inspection and fixed path, the dynamic path adjustment mechanism of the invention greatly improves the inspection flexibility and the intelligence level. Finally, by continuously optimizing the inspection path and adjusting the inspection frequency, the method can ensure that the comprehensive health evaluation of each area in the cultivation house is always kept in a good state, and remarkably improves the health management efficiency of the cultivation process and the controllability of the cultivation environment, thereby reducing the risk of animal diseases and improving the overall cultivation efficiency.
Example 2
This embodiment is explained in embodiment 1, please refer to fig. 1, specifically, S1 includes S11, S12 and S13;
S11, dividing the breeding house into a plurality of areas according to animal types and layout structures in the large animal breeding house, putting a plurality of inspection robots, and setting an inspection task for each inspection robot, wherein the inspection task comprises inspecting a plurality of areas;
S12, acquiring all the patrol paths in the cultivation house according to the three-dimensional drawing of the cultivation house, acquiring the distance from each region to other regions according to the patrol region of each patrol robot and the route in the patrol region, planning the shortest patrol path by utilizing a shortest path algorithm and combining the position of a charging pile, the patrol task and the energy consumption, constructing a path optimization objective function, and primarily planning the initial patrol path of the patrol robot, wherein the specific path optimization objective function is as follows:
Where P represents the node order of the path, jl (i, i+1) represents the distance between region i and region i+1, nl (i, i+1) represents the energy consumption between region i and region i+1, and n represents the total number of regions;
S13, in the routing inspection path planning process, the non-repeated coverage of the area is carried out through a depth-first search algorithm, the planned area of the robot is recorded, and the ineffective return of the inspected area is avoided.
In this embodiment, according to the requirements of different animal types and layout structures, the areas are reasonably divided and a plurality of inspection robots are put in, each robot bears inspection tasks of a plurality of areas, and the regional allocation not only optimizes resource utilization, but also ensures that each area can be inspected and monitored in time. By combining the three-dimensional drawings of the cultivation house, the distance between each two areas is accurately calculated, the position of the charging pile, the inspection task and the energy consumption are comprehensively considered by utilizing a shortest path algorithm, an optimal inspection path is planned, the efficiency and the accuracy of path planning are remarkably improved, and unnecessary energy waste and time waste are avoided. The path optimization not only reduces the idle running in the robot inspection process, but also provides stable guarantee for the smooth completion of tasks. Finally, the depth-first search algorithm ensures that each area is effectively covered, invalid return of the robot in the inspected area is avoided, the inspection efficiency is effectively improved, resource waste is avoided, and omnibearing support is provided for intelligent inspection of the cultivation house. The measures are combined, so that not only are the comprehensiveness and efficiency of inspection improved, but also the optimal allocation of energy and time resources is ensured, repeated work is avoided, and the operation benefit of the whole system is remarkably improved.
Example 3
This embodiment is explained in embodiment 2, please refer to fig. 1, specifically, S2 includes S21, S22 and S23;
S21, after an initial patrol path is preliminarily planned by the patrol robot, starting the patrol robot to patrol the task area, and acquiring environmental data and animal data in real time through a sensor group arranged inside the patrol robot and intelligent ear tags equipped for each animal;
The sensor group comprises a temperature sensor, a humidity sensor, a carbon dioxide sensor, an airflow sensor, an illumination intensity sensor and an infrared sensor;
S22, constructing a data processing system, establishing communication connection between the data processing system and the sensor group and the intelligent ear tag through a wireless network, and transmitting the environmental data and the animal data acquired by the sensor group and the intelligent ear tag to the data processing system in real time.
S23, the data processing system receives environment data and animal data in real time and preprocesses the environment data and the animal data, wherein the preprocessing comprises animal activity processing, denoising, missing value processing data correction and dimensionless processing, and a health data set is obtained;
The animal activity amount processing is used for monitoring the activity track of periodically collected animals in a breeding house according to intelligent ear tags equipped for each animal, calculating the animal activity amount hd according to the record of the activity path and the residence time of the animals in the house, and collecting the animal body temperature dt according to the intelligent ear tags;
the health data set comprises an environmental health data set and an animal health data set;
the environmental health data set comprises an environmental temperature wd, an environmental humidity sd, a carbon dioxide content CO2, an air flow rate ls and an illumination intensity gz;
the animal health data set includes animal body temperature dt, animal activity hd, and animal density dm.
In the embodiment, the inspection robot can continuously monitor the environmental data and the animal data through the cooperative work of the sensor group and the intelligent ear tag, and after the environmental data and the animal data are transmitted to the data processing system in real time through the wireless network, the environmental data and the animal data are obtained through the preprocessing steps of denoising, missing value processing, dimensionless processing and the like, so that the high quality and the accuracy of the data are ensured, and a solid foundation is provided for subsequent health evaluation and path optimization. The preprocessed health data set not only can accurately reflect the environmental change in the breeding house, but also can monitor the health condition of animals in real time, thereby helping breeding managers to quickly identify potential problems and take effective intervention measures. Through the systematic health monitoring and data processing flow, the cultivation house can realize the fine and real-time health management, greatly improve the stability of the cultivation environment and the guarantee of animal health, and provide powerful support for the intelligent management of the cultivation industry.
Example 4
This embodiment is explained in embodiment 3, please refer to fig. 1, specifically, S3 includes S31 and S32;
s31, summarizing and calculating according to the acquired environmental health data set to acquire an environmental health state index hjz, and analyzing the environmental health condition in each area in the breeding house in real time;
The environmental health state index hjz is obtained through calculation according to the following formula;
;
Wherein wd i represents the actual temperature of the ith area, wd o represents the appropriate temperature value for the animals in the cultivation house, sd i represents the actual humidity of the ith area, sd o represents the appropriate humidity value for the animals in the cultivation house, CO 2,i represents the actual carbon dioxide content of the ith area, CO 2,o represents the peak carbon dioxide content that the health of the animals in the cultivation house is allowed to reach, gz i represents the actual light intensity of the ith area, and gz o represents the appropriate light intensity for the animals in the cultivation house;
S32, summarizing and calculating according to the obtained animal health data set to obtain an animal health state index djk, and monitoring the health state of animals in each region in real time;
the animal health state index djk is obtained by calculation according to the following formula;
;
Where m represents the total number of animals in the ith region, dt j represents the actual body temperature of the jth animal, dt z represents the normal body temperature of the animal, hd j represents the activity level of the jth animal, and dm i represents the animal density in the ith region.
In this embodiment, first, the calculation of the environmental health state index hjz synthesizes the key factors such as the temperature wd, the humidity sd, the carbon dioxide content CO 2, the illumination intensity gz, and the like, so as to reflect in real time whether the environment of each area meets the requirements of animal health, thereby providing a timely environment adjustment basis for the cultivation manager and preventing adverse effects on animal health due to environmental problems. And secondly, the animal health state index djk is used for accurately evaluating the health condition of each animal based on the indexes such as the animal body temperature dt, the activity hd, the animal density dm and the like, and monitoring the activity and the health level of each animal in real time. The combination of the two indexes not only provides comprehensive quantitative data for the environment and animal health, but also can efficiently identify potential health hidden trouble, and timely take measures to avoid the spread of diseases or environmental deterioration. Through the comprehensive evaluation mechanism, the environment optimization and animal health management of the breeding house become more intelligent and real-time, and the breeding efficiency and animal welfare are greatly improved.
Example 5
This embodiment is explained in embodiment 4, please refer to fig. 1, specifically, S4 includes S41 and S42;
S41, summarizing and calculating according to the acquired environment health state index hjz and the animal health state index djk to acquire a comprehensive health index zhj, wherein the comprehensive influence of the environment health on the animal health in the breeding house and the nonlinear relation of the mutual influence of the environment health and the animal health are reflected;
The comprehensive health index zhj is obtained through calculation according to the following formula;
;
Where e represents an exponential function, Representing the adjustment factor.
S42, presetting a first comprehensive health threshold A and a second comprehensive health threshold B based on animal health cultivation indexes, carrying out comprehensive health assessment on the first comprehensive health threshold A and the second comprehensive health threshold B and the obtained comprehensive health indexes zhj, comprehensively analyzing cultivation environments and health states of animals, setting inspection priority according to assessment results, and adjusting inspection routes and inspection frequencies, wherein a specific assessment scheme is as follows;
when the comprehensive health index zhj is smaller than the first comprehensive health threshold A, the area is in a dangerous state, first early warning information is generated and transmitted to a user side of related personnel through a wireless network, the related personnel are reminded to immediately take treatment measures, and path planning is triggered to plan a routing inspection path again;
When the comprehensive health threshold A is less than or equal to the comprehensive health index zhj and less than or equal to the second comprehensive health threshold B, unhealthy factors exist in the area, second early warning information is generated and transmitted to a user side of related personnel through a wireless network, the related personnel are reminded to immediately take treatment measures, and route planning is triggered to plan a routing inspection route again;
When the integrated health index zhj is greater than the second integrated health threshold B, the state of the area is good, and normal monitoring is maintained.
In this embodiment, the comprehensive health index zhj is obtained by performing a summary calculation according to the obtained environmental health state index hjz and the animal health state index djk, and the method can reflect the nonlinear relationship between environmental health and animal health, comprehensively evaluate the influence of the cultivation environment, and dynamically adjust in combination with the animal health condition. When the comprehensive health index zhj is lower than a preset second comprehensive health threshold B, the early warning is automatically triggered, corresponding early warning information is generated, related personnel are notified through a wireless network, and treatment measures are timely taken. The mechanism not only effectively prevents the possible health risk in the cultivation process, but also optimizes the routing and routing frequency through intelligent path adjustment, ensures the preferential coverage of the health risk area, and thus improves the pertinence and the efficiency of routing. Finally, continuous and accurate health monitoring can be provided in the dynamically-changed cultivation environment, the cultivation environment and animal safety and health management are ensured to be in the optimal state, and the fine management level and the operation efficiency of the cultivation farm are obviously improved.
Example 6
This embodiment is explained in embodiment 5, please refer to fig. 1, specifically, S5 includes S51 and S52;
S51, when the comprehensive health evaluation triggers the path planning, a dynamic path optimization formula is built according to a three-dimensional drawing by using a dynamic path planning algorithm, and then the obtained comprehensive health index zhj is input into a dynamic path optimization model to obtain a dynamic path adjustment index ljt;
the dynamic path optimization formula is as follows;
;
In the formula, Representing the rate of change over time of the integrated health index zhj for the ith zone, jl i representing the distance between the ith zone and the next zone, jl i representing the energy loss required from the ith zone to the next zone, nl max representing the inspection robot residual energy, n representing the total number of zones, exp representing an exponential function with the base of the natural logarithm e.
S52, the routing inspection robot preferentially adjusts the path of the part in the dangerous state area according to the dynamic path adjustment index ljt, so as to adjust the routing inspection path of the area, if health problems occur in a plurality of areas at the same time, the robot can re-evaluate and adjust the paths of all relevant areas, dynamically adjust the path sequence and the distance according to the real-time comprehensive health index zhj, and preferentially cover the area in the dangerous state of health;
After the related personnel manage, the comprehensive health index zhj is obtained according to the change trend of the comprehensive health index zhj through multiple inspection, and the inspection path of the inspection robot is adjusted again through the dynamic path adjustment index ljt until the comprehensive health evaluation of the inspection task area of the inspection robot is in good state, and the inspection robot readjust the inspection path into the initial inspection path.
In this embodiment, the dynamic path optimization algorithm adjusts the routing inspection path in real time according to the change of the comprehensive health index zhj, so as to ensure that the routing inspection robot can preferentially cover the area with higher health risk, especially the area in dangerous state. The dynamic path adjustment mechanism can intelligently adjust the inspection sequence and path according to the health conditions of different areas, avoids a common fixed inspection mode in the traditional method, and improves the inspection accuracy and pertinence. Secondly, when health problems occur in a plurality of areas at the same time, the inspection robot can re-evaluate the health conditions of all relevant areas and perform path optimization according to the dynamic path adjustment index ljt and the change trend. The self-adaptive path adjustment mode not only improves the flexibility of the inspection robot, but also enhances the emergency response capability of the system, and ensures that the health hidden trouble can be discovered and processed in the shortest time. Finally, after the inspection for multiple times, the path is adjusted again according to the gradient of the change of the health index, so that the health problem is thoroughly solved, and the inspection robot readjusts the inspection path to an initial inspection path until all areas are restored to a good health state. Through the series of dynamic regulation, the system can continuously optimize the inspection path, provide efficient and fine health management, and ensure that the environment and animal health of the breeding house are optimally ensured.
Example 7
Referring to fig. 2, a navigation system of an inspection robot in a cultivation house includes an initial inspection path planning module, an inspection acquisition module, a health analysis module, a comprehensive health evaluation module and a path adjustment module;
The initial inspection path planning module is used for dividing the large animal breeding house into a plurality of areas, putting a plurality of inspection robots, constructing a path optimization objective function by utilizing a shortest path algorithm, initially planning an initial inspection path of the inspection robots, and carrying out no repeated coverage on the areas by a depth-first search algorithm;
The inspection acquisition module acquires environment data and animal data in real time through a sensor group arranged in the inspection robot and intelligent ear tags equipped for each animal, and a data processing system is constructed to preprocess the environment data and the animal data to acquire a health data group;
The health analysis module is used for summarizing and calculating according to the acquired health data set to acquire an environment health state index hjz and an animal health state index djk;
The comprehensive health evaluation module is used for carrying out summarized calculation according to the acquired environment health state index hjz and the animal health state index djk to acquire a comprehensive health index zhj, carrying out comprehensive health evaluation with a preset first comprehensive health threshold A and a preset second comprehensive health threshold B, and comprehensively analyzing the health states of the breeding environment and the animals;
The path adjustment module is used for constructing a dynamic path optimization model when the comprehensive health assessment triggers path planning, inputting the acquired comprehensive health index zhj into the dynamic path optimization model, acquiring a dynamic path adjustment index ljt, and performing routing inspection path adjustment by the routing inspection robot according to the dynamic path adjustment index ljt until the comprehensive health assessment of the routing inspection task area of the routing inspection robot is in good state, and the routing inspection robot readjusts the routing inspection path into an initial routing inspection path.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
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