多层楼房养殖场无人消杀装备系统设计研究

doi:10.16174/j.issn.1673-4645.2026.04.011

Abstract

Abstract: To address the problems of low efficiency, large blind spots, and high personnel infection risk in manual disinfection for traditional livestock farming, this paper presented an unmanned disinfection equipment tailored for complex multi-story building breeding environments. First, a hardware platform with high maneuverability and reliability was built based on an Ackermann steering chassis and multi-sensor fusion technology. Second, to overcome the slow convergence andsusceptibility to local optima of conventional ant colony algorithms, a two-layer architecture integrating the artificial potential field method and an improved ant colony algorithm was proposed, and the Timed Elastic Band (TEB) algorithm was introduced to achieve local dynamic obstacle avoidance. Finally, an intelligent control system that integrates environmental perception, path planning, and precise spraying was established using the Robot Operating System (ROS). Experimental results demonstrated that under complex road conditions, the positioning error of the equipment was controlled within ±3 cm, the disinfection efficiency exceeded 95%, the disinfection coverage rate surpassed 98%, and the sterilization rate reached 100% , which verified the effectiveness and superiority of the system for operation in multi-story livestock buildings. The relevant technologies can provide scientific support for the intelligent development of animal husbandry equipment.

Key words: pig farm, unmanned disinfection equipment, path planning, ant colony algorithm, artificial potential field method, multi-sensor fusion

CLC Number:

S828

CHEN Xinrong, PANG Wulin, SUN Erchao, ZHONG Ruqing, YUAN Peiyin, LIU Xiangdong. System design of unmanned disinfection equipment for multi-story livestock farms[J].China Swine Industry, 2026, 21(4): 102-111.

References

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System design of unmanned disinfection equipment for multi-story livestock farms