阅读说明：本技术 一种牧场推料机器人的控制方法及装置 (Control method and device for stock farm pushing robot ) 是由 李斌 董创 朱君 王海峰 郎冲冲 赵文文 于 2021-08-26 设计创作，主要内容包括：本发明提供的牧场推料机器人的控制方法及装置,包括：接收牧场主系统发送的路径规划图；按照路径规划图导航行进至首个目标禽畜舍的线路分支处；若确定满足对目标禽畜舍进行推料操作的判断条件,则控制牧场推料机器人进入目标禽畜舍,并在执行推料操作后,驶离目标禽畜舍,继续导航行进至下一个目标禽畜舍的线路分支处；若确定不满足判断条件,则控制牧场推料机器人继续导航行进至下一个目标禽畜舍的线路分支处。本发明能实现多禽畜舍之间转场,提供螺旋推料机构对奶牛食用后的饲料进行二次混合,改善饲料均匀度,提升饲料的适口感,保证了奶牛进食的营养均衡性,能减缓饲料的变质速度、降低奶牛营养类疾病的发病率,提升原奶的产量和质量。(The invention provides a method and a device for controlling a stock farm pushing robot, comprising the following steps: receiving a routing chart sent by a main system of a pasture; navigating to a line branch of a first target livestock house according to a routing graph; if the judgment condition for pushing the target livestock house is determined to be met, controlling a stock farm pushing robot to enter the target livestock house, driving away from the target livestock house after the pushing operation is executed, and continuing to navigate to the line branch of the next target livestock house; and if the judgment condition is not met, controlling the stock farm pushing robot to continue navigating to the line branch of the next target livestock house. The invention can realize transition among multiple livestock houses, provides the spiral pushing mechanism to carry out secondary mixing on the feed eaten by the dairy cows, improves the uniformity of the feed, promotes the palatable feeling of the feed, ensures the nutritional balance of the eating of the dairy cows, can slow down the deterioration speed of the feed, reduces the incidence of nutritional diseases of the dairy cows, and promotes the yield and the quality of raw milk.)

1. A control method of a pasture pushing robot is characterized by comprising the following steps:

step S1: receiving a routing graph sent by a pasture main system;

step S2: controlling a stock farm pushing robot to navigate to a line branch of a first target livestock house according to the path planning diagram;

step S31: if the judgment condition for pushing the target livestock house is determined to be met, controlling the stock farm pushing robot to enter the target livestock house, driving away from the target livestock house after the pushing operation of the target livestock house is executed, and continuing to navigate to the line branch of the next target livestock house;

step S32: if the judgment condition for pushing the target livestock house is determined not to be met, controlling the stock farm pushing robot to continue navigating to the line branch of the next target livestock house;

step S4: the steps S31 to S32 are iteratively executed until the routing graph is traversed.

2. The control method of the pasture pushing robot as claimed in claim 1, wherein a magnetic strip is laid on the traveling route corresponding to the routing chart in the whole course; a radio frequency tag is arranged at the line branch of each target livestock house;

the step S2 specifically includes:

performing tracking traveling by using a geomagnetic sensor in cooperation with the magnetic stripe, and reading each radio frequency tag by using a radio frequency identification sensor in the tracking traveling process;

and if the currently read radio frequency tag is determined to correspond to the first target livestock house, determining that the navigation is performed to the line branch of the first target livestock house.

3. The method of controlling a stock farm pusher robot according to claim 1, wherein a magnetic strip is laid all the way along the travel route in each of the target poultry houses; radio frequency tags are arranged at a starting working station and an ending working station of each target livestock house;

the control the pasture pushing robot enters the target livestock house, and executes the pushing operation of the target livestock house, and specifically includes:

in the target livestock house, a geomagnetic sensor is matched with the magnetic strip to carry out tracking advancing, and in the tracking advancing process, a radio frequency identification sensor is used for reading each radio frequency tag;

if the radio frequency tag read currently corresponds to the station for starting work, controlling the stock ground pushing robot to stop advancing, and lowering a spiral pushing mechanism of the stock ground pushing robot to a preset position;

starting the spiral pushing mechanism, controlling the stock farm pushing robot to continue to perform tracking advancing, and continuously reading each radio frequency tag by using a radio frequency identification sensor in the tracking advancing process;

and if the currently read radio frequency tag is determined to correspond to the station for finishing the work, controlling the stock ground pushing robot to stop advancing, closing the spiral pushing mechanism and lifting the spiral pushing mechanism to a preset height.

4. The method of controlling a stock farm pusher robot according to claim 1, further comprising, after controlling the stock farm pusher robot to continue navigating to a line branch of a next target poultry house:

acquiring residual electric quantity information;

in a case where it is determined that the remaining power satisfies the power demand for completing the pushing operation of the next target poultry house according to the remaining power information, performing the steps S31 to S4;

and under the condition that the residual electric quantity does not meet the electric quantity requirement for finishing the material pushing operation of the next target livestock house according to the residual electric quantity information, controlling the stock farm material pushing robot to return to a charging station for charging along the track.

5. The method of controlling a stock farm pusher robot according to claim 4, further comprising, after completion of charging:

positioning the next target livestock house before charging from the routing chart, and controlling the stock farm pushing robot to return to the line branch of the next target livestock house along the track;

the steps S31 to S4 are continuously executed.

6. The method for controlling a stock farm pusher robot according to claim 1, further comprising, during the iterative execution of the steps S31 to S32:

determining the distance of an obstacle in front of the spiral pushing mechanism by utilizing an optoelectronic switch;

generating an obstacle passing-near signal under the condition that the distance is smaller than a preset distance threshold;

and stopping the operation of the spiral pushing mechanism according to the obstacle approaching signal.

7. The method for controlling a stock farm pusher robot according to claim 1, further comprising, during the iterative execution of the steps S31 to S32:

detecting the contact action of an obstacle in front of the spiral pushing mechanism by using a mechanical touch switch;

generating an obstacle trigger signal after determining that the mechanical trigger switch is in contact with an obstacle and acts;

and stopping the operation of the spiral pushing mechanism according to the obstacle triggering signal.

8. A control device of a stock farm pusher robot, comprising:

the data receiving unit is used for receiving the routing chart sent by the pasture main system;

the mobile pushing control unit is used for controlling the pasture pushing robot to navigate to a line branch of a first target livestock house according to the routing chart;

the data processing unit is used for determining whether the judgment condition of pushing material operation of the target livestock house is met under the current condition;

under the condition that the output result of the data processing unit meets the judgment condition of pushing material operation on the target livestock house, the mobile pushing control unit controls the stock farm pushing robot to enter the target livestock house, and after the pushing material operation on the target livestock house is executed, the mobile pushing control unit drives away from the target livestock house and continues to navigate to the line branch of the next target livestock house;

and under the condition that the output result of the data processing unit does not meet the judgment condition for pushing the target livestock house, the mobile pushing control unit controls the stock farm pushing robot to continue navigating and move to the line branch of the next target livestock house.

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method steps of controlling a pasture pushing robot according to any one of claims 1 to 7 when executing the computer program.

10. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method steps of controlling a pasture pushing robot according to any one of claims 1 to 7.

Technical Field

The invention relates to the field of automatic equipment, in particular to a control method and a control device for a pasture pushing robot.

Background

With the economic development of China and the continuous improvement of the living standard of people, the animal husbandry of China is continuously developed along with the increase of the milk demand. At present, the pastures in scale in China are few and are mostly scattered households, medium and small farms. However, as the demand of milk and mutton increases, the large-scale highly automated pasture is gradually developed.

The automatic technology is applied and popularized to the field of animal husbandry, automatic feeding, scientific management, informatization service and whole-course tracing are achieved, and the method has very important significance for improving the resource utilization rate and labor productivity of animal husbandry and improving the yield, quality and safety.

Taking the feeding of the dairy cows as an example, when the dairy cows are fed in the current-scale farm, the heads of the dairy cows are extended out for feeding, and most of the feed is arched out of a feeding area along with the feeding of the dairy cows; in addition, the mixing degree and the palatability of the feed are also deteriorated in the feeding process, at the moment, a breeder needs to approach the cattle pen and manually push the feed to a feeding area, the process is circularly and repeatedly carried out until the feed is completely eaten,

the manual pushing has the following disadvantages: (1) the labor intensity of personnel is high; (2) people walk to influence the feeding of the dairy cows; (3) the manual operation can bring pollution and germs to the feed; (4) the feed mixing degree cannot be effectively adjusted, resulting in poor feed palatability.

Disclosure of Invention

The invention provides a control method and a control device of a stock farm pushing robot, which are used for overcoming the defect that manual frequent pushing is needed in the prior art and realizing the control of the stock farm pushing robot to realize automatic pushing.

In a first aspect, the present invention provides a method for controlling a stock farm pusher robot, including:

step S1: receiving a routing graph sent by a pasture main system;

step S2: controlling a stock farm pushing robot to navigate to a line branch of a first target livestock house according to the path planning diagram;

step S31: if the judgment condition for pushing the target livestock house is determined to be met, controlling a stock farm pushing robot to enter the target livestock house, driving away from the target livestock house after the pushing operation of the target livestock house is executed, and continuing to navigate to a line branch of the next target livestock house;

step S32: if the judgment condition for pushing the target livestock house is determined not to be met, controlling the stock farm pushing robot to continue navigating to the line branch of the next target livestock house;

step S4: the steps S31 to S32 are iteratively executed until the routing graph is traversed.

According to the control method of the pasture pushing robot provided by the invention, the magnetic stripes are paved on the whole course of the traveling line corresponding to the path planning diagram; a radio frequency tag is arranged at the line branch of each target livestock house;

the step S2 specifically includes:

performing tracking traveling by using a geomagnetic sensor in cooperation with the magnetic stripe, and reading each radio frequency tag by using a radio frequency identification sensor in the tracking traveling process;

and if the currently read radio frequency tag is determined to correspond to the first target livestock house, determining that the navigation is performed to the line branch of the first target livestock house.

According to the control method of the stock farm pushing robot provided by the invention, magnetic stripes are paved on the whole course of the advancing line in each target livestock house; radio frequency tags are arranged at a starting working station and an ending working station of each target livestock house;

control pasture pushing equipment people and get into target birds animal house, carry out to the material pushing operation of target birds animal house specifically includes:

in the target livestock house, a geomagnetic sensor is matched with the magnetic strip to carry out tracking advancing, and in the tracking advancing process, a radio frequency identification sensor is used for reading each radio frequency tag;

if the currently read radio frequency tag is determined to correspond to the station for starting work, stopping advancing, and lowering the spiral pushing mechanism of the stock ground pushing robot to a preset position;

starting the spiral pushing mechanism, controlling the stock farm pushing robot to continue to perform tracking advancing, and continuously reading each radio frequency tag by using the radio frequency identification sensor in the tracking advancing process;

and if the currently read radio frequency tag is determined to correspond to the station for finishing the work, controlling the stock ground pushing robot to stop advancing, closing the spiral pushing mechanism and lifting the spiral pushing mechanism to a preset height.

According to the control method of the stock farm pushing robot provided by the invention, after the stock farm pushing robot is controlled to continue navigating to the line branch of the next target livestock house, the method further comprises the following steps:

acquiring residual electric quantity information;

in a case where it is determined that the remaining power satisfies the power demand for completing the pushing operation of the next target poultry house according to the remaining power information, performing the steps S31 to S4;

and under the condition that the residual electric quantity does not meet the electric quantity requirement for finishing the material pushing operation of the next target livestock house according to the residual electric quantity information, controlling the stock farm material pushing robot to return to a charging station for charging along the track.

According to the control method of the pasture pushing robot provided by the invention, after the charging is finished, the method further comprises the following steps:

positioning the next target livestock house before charging from the routing chart, and controlling the farm pushing robot to return to the line branch of the next target livestock house along the track;

the steps S31 to S4 are continuously executed.

According to the control method of the pasture pushing robot provided by the invention, in the process of iteratively executing the step S31 to the step S32, the method further comprises the following steps:

determining the distance of an obstacle in front of the spiral pushing mechanism by utilizing an optoelectronic switch;

generating an obstacle passing-near signal under the condition that the distance is smaller than a preset distance threshold;

and stopping the operation of the spiral pushing mechanism according to the obstacle approaching signal.

According to the control method of the pasture pushing robot provided by the invention, in the process of iteratively executing the step S31 to the step S32, the method further comprises the following steps:

detecting the contact action of an obstacle in front of the spiral pushing mechanism by using a mechanical touch switch;

generating an obstacle trigger signal after determining that the mechanical trigger switch is in contact with an obstacle and acts;

and stopping the operation of the spiral pushing mechanism according to the obstacle triggering signal.

In a second aspect, the present invention also provides a control device for a stock farm pusher robot, including:

the data receiving unit is used for receiving the routing chart sent by the pasture main system;

the mobile pushing control unit is used for controlling the pasture pushing robot to navigate to the line branch of the first target livestock house according to the routing chart;

the data processing unit is used for determining whether the judgment condition of pushing material operation of the target livestock house is met under the current condition;

under the condition that the output result of the data processing unit meets the judgment condition of pushing material operation on the target livestock house, the mobile pushing control unit controls the stock farm pushing robot to enter the target livestock house, and after the pushing material operation on the target livestock house is executed, the mobile pushing control unit drives away from the target livestock house and continues to navigate to the line branch of the next target livestock house;

and under the condition that the output result of the data processing unit does not meet the judgment condition for pushing the target livestock house, the mobile pushing control unit controls the stock farm pushing robot to continue navigating and move to the line branch of the next target livestock house.

In a third aspect, the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method for controlling a stock-pushing robot in a pasture as described in any one of the above.

In a fourth aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of controlling a stock pushing robot as in any one of the above.

The control method and the device of the stock ground pushing robot provided by the invention can realize transition among multiple cowsheds, provide the spiral pushing mechanism to carry out secondary mixing on the feed eaten by the cows, improve the uniformity of the feed, improve the palatability of the feed, ensure the nutrition balance of the cow eating, slow down the deterioration speed of the feed, reduce the incidence of nutritional diseases of the cows and improve the yield and the quality of raw milk.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a schematic flow chart of a control method of a stock farm pushing robot provided by the invention;

FIG. 2 is a schematic structural diagram of a pasture pushing robot provided by the invention;

FIG. 3 is a schematic structural diagram of a spiral pushing mechanism provided by the present invention;

FIG. 4 is a path planning diagram for a pasture pushing robot provided by the present invention;

FIG. 5 is a schematic diagram of the present invention providing control of the navigation of the pasture pusher robot according to the routing diagram;

FIG. 6 is a schematic flow chart of the stock farm pushing robot provided by the invention for executing the pushing work in the target poultry house;

fig. 7 is a schematic diagram of communication between a main system and a controller and a client in a pasture provided by the present invention;

fig. 8 is a schematic structural diagram of a control device of the stock farm pushing robot provided by the invention;

FIG. 9 is a schematic structural diagram of an electronic device provided by the present invention;

wherein the reference numerals are:

1: a spiral pushing mechanism; 2: a connecting plate; 3: a slider;

4: a sliding table; 5: a sliding table fixing plate; 6: a body outer cover;

7: a microbial inoculum spraying device; 8: a radio frequency identification sensor; 9: a drive wheel;

10: a frame; 11: a geomagnetic sensor; 12: a photosensor;

13: a material pushing outer cover; 14: a screw; 15: a photoelectric switch;

16: a switch fixing plate; 17: a mechanical trigger switch; 18: a screw conveyor.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that in the description of the embodiments of the present invention, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. The terms "upper", "lower", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The terms first, second and the like in the description and in the claims of the present invention are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the invention may be practiced other than those illustrated or described herein, and that the objects identified as "first," "second," etc. are generally a class of objects and do not limit the number of objects, e.g., a first object may be one or more. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.

The following describes a control method and a control device for a pasture pushing robot according to an embodiment of the present invention with reference to fig. 1 to 9.

Fig. 1 is a schematic flow chart of a control method of a stock farm pushing robot provided by the present invention, as shown in fig. 1, including but not limited to the following steps:

step S1: and receiving the routing graph transmitted by the pasture main system.

The path planning diagram can be comprehensively formulated by a pasture main system according to the pushing requirements of each target livestock house in the pasture, the current material scattering information, the climate information and the like, and is used for guiding the pasture pushing robot to sequentially complete the pushing work of the related target livestock houses according to the set line on the path planning diagram.

After the pasture main system obtains the working time and the spreading sequence of the Total Mixed Ration (TMR) spreading vehicle for spreading materials to all the poultry and livestock houses, the material pushing sequence and the material pushing time of the pasture material pushing robot are reasonably arranged. Because the sequence of spreading the materials in the pasture is influenced by various factors, in order to better push the materials, the cowshed which is firstly spread needs to be pushed, and then the materials are sequentially pushed according to the spreading sequence.

As an optional embodiment, in order to reasonably plan the material pushing path, relevant information such as the distribution of the livestock and poultry houses of the whole pasture, the material scattering working time of the TMR material scattering vehicle, the current real-time positioning, the current remaining electric quantity, the laying condition of the magnetic stripe, the milking requirement of the cattle, the group-transferring requirement of the cattle, the weather condition and the like can be stored in the main system of the pasture in advance.

On the basis, the main system of the pasture can comprehensively make a decision according to Dijkstra algorithm, and an optimal path planning diagram is automatically generated for the pasture pushing robot.

In the invention, the Dijkstra algorithm needs a lot of nodes for traversing calculation, so that the calculation time is more consumed, but the optimal solution of the shortest path can be obtained, and therefore, the pasture pushing robot can work continuously for 24 hours, and the defect can be overcome.

When the pasture main system formulates the routing chart, the influence of weather information is fully considered, because the moisture in the feed in summer is easy to volatilize, and the pasture pushing robot can execute a corresponding pushing strategy according to the difference of weather and seasons, such as: the frequency of pushing materials is increased in hot weather or rainy weather, so that the feed is prevented from being accumulated and deteriorated.

In order to more clearly and concisely describe the stock farm pushing robot provided by the invention, in the following embodiments, the cattle house is taken as an example for explanation, and details are not repeated.

Step S2: and controlling the pasture pushing robot to navigate to a line branch of the first target livestock house according to the routing chart.

And the pasture main system is in communication connection with the pasture pushing robot, and after receiving the routing diagram, the pasture pushing robot is controlled to execute corresponding pushing work according to the routing diagram.

In order to realize navigation, the controller provided by the invention can adopt a mode of combining geomagnetic navigation and Radio Frequency Identification (RFID) navigation to navigate according to the routing graph.

In a large pasture, a mode of combining Global Positioning System (GPS) navigation and geomagnetic navigation can be used, namely, the GPS navigation is used in an environment outside a kennel and the geomagnetic navigation is used in the kennel; a combined mode of laser radar instant positioning And Mapping (SLAM) navigation And GPS navigation can also be used, that is, GPS navigation is used in an outside-shed environment And SLAM navigation is used in the outside-shed environment.

Step S31: and if the judgment condition for pushing the target livestock house is determined to be met, controlling the stock farm pushing robot to enter the target livestock house, driving away from the target livestock house after the pushing operation of the target livestock house is executed, and continuing to navigate to the line branch of the next target livestock house.

In the navigation advancing process, after the vehicle runs to the line branch of the first target livestock house, whether pushing work needs to be carried out on the first target livestock house or not needs to be judged.

The invention can preset the judgment condition for pushing the target livestock house according to whether the stock ground pushing robot enters the target livestock house or not in the preset time period and by combining the material scattering information in the preset time period.

For example, a preset time period is set to be two hours, if the stock farm pushing robot does not enter the target livestock house within two hours and the stock spreading work is performed on the target livestock house within the two hours, and it is determined that the judgment condition for pushing the target livestock house is met, the stock farm pushing robot is controlled to enter the target livestock house to perform the pushing operation on the target livestock house.

After the stock ground pushing robot finishes the task of pushing the target livestock house, the stock ground pushing robot is controlled to drive out of the target livestock house and continue to drive to the next target livestock house according to the routing chart until the next target livestock house reaches the line branch.

Step S32: and if the judgment condition for pushing the target livestock house is determined not to be met, controlling the stock farm pushing robot to continue navigating to the line branch of the next target livestock house.

Correspondingly, if the stock farm pushing robot enters the target livestock house within two hours or the target livestock house is not subjected to material scattering work within the two hours, and the judgment condition for pushing the target livestock house is determined not to be met, the stock farm pushing robot is controlled not to enter the target livestock house, and the stock farm pushing robot is directly guided to travel to the line branch of the next target livestock house.

Step S4: and (5) iteratively executing the steps S31 to S32 until the path planning diagram is traversed, and finishing the material pushing operation of each target livestock house involved in the path planning diagram.

Fig. 2 is a schematic structural diagram of the stock farm pushing robot provided by the present invention, and in order to more clearly show the control method of the stock farm pushing robot provided by the present invention, as shown in fig. 2, the stock farm pushing robot provided by the present invention includes but is not limited to: the device comprises a controller, a spiral pushing mechanism 1 arranged on one side of a vehicle frame 10 and a driving device used for drawing the vehicle frame 10 to operate.

The controller is mainly used for reading a routing chart formulated by the pasture main system and controlling the driving device to navigate according to the routing chart. After the driving device pulls the frame to move to a target livestock house, the controller controls the spiral pushing mechanism 1 to move, and pushing work of a trough in the target livestock house is achieved.

The pasture main system is in communication connection with the controller, so that the formulated routing diagram is issued to the pasture pushing robot, and the routing diagram can be updated.

As an optional embodiment, the control flow of the whole stock farm pushing robot is as follows:

and the controller performs navigation according to the routing graph after receiving the routing graph. In the navigation advancing process, after the feed is moved to a target livestock house and arrives at a station for starting work, the controller controls the spiral pushing mechanism 1 to descend to a preset position and start to supply power to the spiral pushing mechanism 1 so that the spiral pushing mechanism starts to operate, and simultaneously controls the stock farm pushing robot to continue to advance along a line, so that the feed can be pushed into a feeding area of a cow through the spiral pushing mechanism 1.

And when the stock farm pushing robot finishes the pushing work of the cowshed and reaches the end work station of the target livestock shed, controlling the stock farm pushing robot to stop advancing, controlling the spiral pushing mechanism 1 to stop working and start lifting, and after the spiral pushing mechanism is lifted to a preset height, continuously controlling the stock farm pushing robot to advance along a line, driving out of the target livestock shed, and switching to the next target livestock shed.

Fig. 3 is a schematic structural diagram of a spiral pushing mechanism provided in the present invention, and as shown in fig. 1 and fig. 2, the spiral pushing mechanism 1 specifically includes: the device comprises a sliding table fixing plate 5, a sliding table 4, a sliding block 3, a spiral conveyor 18, a material pushing outer cover 13, a pose adjuster and a material pushing driver; the sliding table fixing plate 5 is vertically arranged at one end of the frame 10; the inner side of the sliding table 4 is arranged on the outer side of the sliding table fixing plate 5 and can move along the outer side of the sliding table fixing plate 5 under the driving of the attitude and position adjuster; the inner side of the sliding block 3 is fixedly connected with the outer side of the sliding table 4, and the outer side of the sliding block 3 is fixedly connected with the material pushing outer cover 13 through the connecting plate 2; the screw conveyor 18 is arranged in the pushing casing 13 and can rotate under the driving of the pushing driver.

The screw conveyor 18 may be a double-helical-blade screw conveyor, and the angle difference between two helical blades of the double-helical-blade screw conveyor may be set to 180 °.

As an alternative embodiment, a brush may be added to the outer side of the helical blade of the screw conveyor 18 of the screw pushing mechanism 1 provided by the present invention, and the brush slightly protrudes from the outer side of the helical blade.

Wherein, the brush can be fixed in the outside by adopting a sticking mode. By adopting the arrangement, in the process of pushing the feed in the trough by using the spiral pushing mechanism 1, the hair brush at the outer side can drive the light or fine particle part in the feed to the surface part of the trough, thereby being beneficial to secondary mixing of the feed and further improving the pushing effect.

The pasture pushing robot provided by the invention is provided with a frame 10, a driving device of the frame 10 can be driving wheels 9 arranged on two sides of the frame, and the driving wheels 9 can rotate forwards or backwards under the condition of being electrified so as to pull the frame to drive forwards or backwards. Meanwhile, the driving wheel 9 can also realize the steering of the traction vehicle frame 10 under different driving conditions.

Geomagnetic sensor 11 is installed at the front end of frame 10, and RFID website sensor 8 is still installed to one side of frame 10, and organism dustcoat 6 is installed at pasture pushing robot rear portion, can install microbial inoculum sprinkler 7 at the rear end of dustcoat 6.

The sliding table fixing plate 5 is installed at the front end of the frame 10, the sliding table 4 is installed on the sliding table fixing plate 5, the sliding block 3 is arranged at the front end of the sliding table 4, the connecting plate 2 is installed on the sliding block 3, the spiral pushing mechanism 1 is connected with the sliding block 3 through the connecting plate 2, and the sliding block 3 can move up and down in the sliding table 4, so that the spiral pushing mechanism 1 can move up and down.

The slide table may be a rail, and the slider 3 may be mounted on the rail and may slide on the rail under the drive of the posture adjuster.

Optionally, the track may be a cross-shaped track, that is, the slider 3 may slide up and down on the surface of the sliding table fixing plate 5 through the cross-shaped track, and may also slide left and right on the surface of the sliding table fixing plate 5.

The control method of the stock ground pushing robot provided by the invention can realize transition among a plurality of cattle houses, and the feed eaten by the cows is secondarily mixed by using the spiral pushing mechanism, so that the uniformity of the feed can be effectively improved, the palatability of the feed is improved, the nutrition balance of the cows is ensured, the deterioration speed of the feed can be slowed down, the incidence rate of nutritional diseases of the cows is reduced, the yield and the quality of raw milk are improved, the feeding cost is saved, the labor intensity is reduced, and the production cost of the raw milk is reduced.

Based on the content of the above embodiment, as an optional embodiment, a magnetic stripe is laid on the traveling route corresponding to the routing diagram in the whole course; a radio frequency tag is arranged at the line branch of each target livestock house; the step S2 specifically includes:

performing tracking traveling by using a geomagnetic sensor in cooperation with the magnetic stripe, and reading each radio frequency tag by using a radio frequency identification sensor in the tracking traveling process;

and if the currently read radio frequency tag is determined to correspond to the first target livestock house, determining that the navigation is performed to the line branch of the first target livestock house.

In the process of navigation and traveling according to the path planning diagram, the magnetic stripes on the ground are detected in real time through the geomagnetic sensor so as to adjust a navigation traveling line and ensure that the stock pushing robot travels along the line planned in the path planning diagram.

Optionally, a radio frequency identification sensor 8 is arranged on the stock farm pushing robot; the radio frequency identification sensor 8 is used for identifying radio frequency tags installed at each branch of the routing diagram, and is matched with the geomagnetic sensor 11, so that the stock pushing robot can advance along the track of the routing diagram.

Fig. 4 is a path planning diagram of the stock farm pushing robot provided by the invention, fig. 5 is a schematic diagram of controlling the stock farm pushing robot to travel according to the navigation of the path planning diagram, and the three barns are pushed as an example, which is shown in fig. 4 and fig. 5.

Magnetic strips are laid on all the advancing routes between the cowshed and the cowshed in the whole process, different radio frequency tags are arranged on all branches of the advancing routes in advance, and meanwhile, corresponding radio frequency tags are arranged on the starting work station and the ending work station of the poultry and livestock shed respectively.

Control pasture and push away material robot and utilize 11 discernments of geomagnetic sensor to lay the magnetic stripe on the ground and navigate to it is supplementary with operations such as radio frequency identification sensor 8 to push away material, charge, navigation, specifically includes:

after receiving the instruction of starting work, the system is initialized, then the system is communicated with a main system of the pasture, a path planning diagram is downloaded, and then the pasture pushing robot is controlled to follow the path of the path planning diagram.

The radio frequency identification sensor 8 arranged on the stock pushing robot reads the radio frequency tag positioned at the entrance of the cowshed 1, and determines that the radio frequency tag reaches the entrance of the cowshed 1. At this time, according to the determination conditions provided in the above embodiments, it is determined whether it is necessary to control the stock ground pushing robot to enter the cowshed 1 for pushing.

If the situation that the cattle shed does not need to enter the cattle shed 1 is determined, the stock-yard pushing robot is controlled to continue to go to the cattle shed 2, whether the cattle shed 2 needs to enter or not is judged outside the cattle shed 2, and if the situation that the cattle shed 2 does not need to enter is controlled to directly go to the next cattle shed; the workflow is circulated in this way.

Otherwise, controlling the stock ground pushing robot to enter the cowshed 1 along the line. After entering the cowshed 1, the stock pushing robot is controlled to perform pushing work, and after the pushing work is finished, the stock pushing robot is controlled to exit the cowshed 1 and go to the cowshed 2.

According to the method, the path set by the path planning diagram is used for sequentially traversing the cowshed 2 and the cowshed 3.

According to the control method of the pasture pushing robot, tracking navigation is mainly performed by means of the geomagnetic sensor 11 and the magnetic stripe, and compared with the fact that GPS navigation is limited by indoor signals, the control method is not limited by terrain and communication network environments, and therefore navigation accuracy is higher.

Based on the content of the above embodiment, as an alternative embodiment, a magnetic strip is laid on the whole travel route in each target poultry house; radio frequency tags are arranged at a starting working station and an ending working station of each target livestock house;

control pasture pushing equipment people and get into target birds animal house, carry out to the material pushing operation of target birds animal house specifically includes:

in the target livestock house, a geomagnetic sensor is matched with the magnetic strip to carry out tracking advancing, and in the tracking advancing process, a radio frequency identification sensor is used for reading each radio frequency tag;

if the radio frequency tag read currently corresponds to the station for starting work, controlling the stock ground pushing robot to stop advancing and lowering the spiral pushing mechanism to a preset position;

starting the spiral pushing mechanism, controlling the stock farm pushing robot to continue to perform tracking advancing, and continuously reading each radio frequency tag by using the radio frequency identification sensor in the tracking advancing process;

and if the currently read radio frequency tag is determined to correspond to the station for finishing the work, controlling the stock ground pushing robot to stop advancing, closing the spiral pushing mechanism and lifting the spiral pushing mechanism to a preset height.

Fig. 6 is a schematic flow chart of the stock ground pushing robot performing pushing work in the target livestock house, as shown in fig. 6, after the stock ground pushing robot enters the cowshed 1, the radio frequency identification sensor 8 identifies the radio frequency tag preset at the work starting station, and after determining that the radio frequency tag reaches the work starting station, the driving device is firstly stopped to stop the stock ground pushing robot from moving forward.

The spiral pushing mechanism 1 can be adjusted through the pose adjuster, so that the pushing outer cover 13 drives the spiral conveyor 18 to descend to a preset position. The screw conveyor 18 is driven to run by a pusher drive. The stock pushing robot is controlled to continue to move along the line in the cowshed 1, and then the feed can be pushed into the feeding area of the cow by controlling the screw conveyor 18.

When the stock farm pushing robot finishes pushing the material of the cowshed 1, the radio frequency identification sensor 8 identifies a radio frequency tag preset at the station for finishing the work, and after the stock farm pushing robot reaches the station for finishing the work, the driving device can be controlled to stop the advance of the stock farm pushing robot, and the position and posture adjuster adjusts the position and the position of the stock farm pushing robot in the pushing outer cover 13 to drive the spiral conveyor 18 to ascend to the preset height, so that the stock farm pushing robot can continue to advance along the line and exit the cowshed 1.

And (4) iteratively executing the steps until the material pushing work of all the cowsheds is finished.

Taking fig. 2 and fig. 3 as an example, the spiral pushing mechanism provided by the present invention further includes: a photosensor 12; the emission end of the electric sensor 12 is fixedly arranged at the bottom of the material pushing outer cover 13; the receiving end of the photoelectric sensor 12 is fixedly arranged on the frame 10 in a matching manner with the transmitting end; the pose adjuster controls the height between the material pushing outer cover 13 and the ground according to the distance between the transmitting end and the receiving end.

Specifically, according to the control method of the pasture pushing robot provided by the invention, the photoelectric sensor 12 is arranged at the bottom of the pushing outer cover 13 to measure the distance from the spiral conveying mechanism 1 to the ground, and the distance from the spiral conveyor 18 to the ground can be adjusted according to the requirements of various pastures.

In order to improve the accuracy of adjusting this distance due to the unevenness of the floor, the photosensor 12 may be a correlation photosensor. The transmitting end and the receiving end of the correlation photoelectric sensor are respectively and oppositely arranged at the bottom of the pushing outer cover and the bottom of the vehicle frame, so that the distance between the bottom of the pushing outer cover and the bottom of the vehicle frame can be obtained in real time according to the photoelectric sensor 12, and the running height of the spiral conveyor 18 can be accurately adjusted when the pushing work flow shown in figure 5 is executed.

The control method of the stock ground pushing robot provided by the invention replaces manual work to realize secondary material supplement in the feeding process of the dairy cows, and carries out secondary mixing on the feed, so that the uniformity of the feed is improved, the bulkiness and the palatability of the feed are improved, the nutrition balance of the feeding of the dairy cows is ensured, the deterioration speed of the feed is slowed down, the morbidity of nutritional diseases of the dairy cows is reduced, the yield and the quality of raw milk are improved, the feeding cost is saved, the labor intensity is reduced, the production cost of the raw milk is reduced, and the competitiveness of milk products is improved.

Based on the content of the foregoing embodiment, as an optional embodiment, the method for controlling a stock farm pushing robot provided by the present invention, after controlling the stock farm pushing robot to continue navigating to a line branch of a next target poultry house, further includes:

acquiring residual electric quantity information;

in a case where it is determined that the remaining power satisfies the power demand for completing the pushing operation of the next target poultry house according to the remaining power information, performing the steps S31 to S4;

and under the condition that the residual electric quantity does not meet the electric quantity requirement for finishing the material pushing operation of the next target livestock house according to the residual electric quantity information, controlling the stock farm material pushing robot to return to a charging station for charging along the track.

Optionally, the pasture pushing robot provided by the present invention may further include: power supply unit and electric quantity monitoring device. The power supply device provides power for the stock ground pushing robot; the electric quantity monitoring device is used for monitoring the residual electric quantity information of the power supply device and sending the residual electric quantity information to the controller; and the controller adjusts a navigation advancing line running on the routing graph according to the residual electric quantity information.

Taking fig. 4 and 5 as an example, the radio frequency identification sensor 8 identifies the radio frequency tag of the power judgment RFID site pre-arranged on the path from the cowshed 1 to the cowshed 2, and determines that the stock pushing robot has completed pushing the cowshed 1 and is about to perform pushing on the cowshed 2.

At the moment, according to the residual electric quantity information acquired by the electric quantity monitoring device, the residual electric quantity information is compared with the total electric quantity required for pushing the cattle shed 2, and if the residual electric quantity of the power supply device is determined to be capable of completing the pushing work of the cattle shed 2, the stock ground pushing robot is controlled to continue to advance until the stock ground pushing robot reaches the cattle shed 2; if the residual electric quantity of the power supply device is determined not to be capable of completing the material pushing work of the cowshed 2, a navigation advancing line running on the path planning graph is adjusted, and the method mainly controls the tracking of the stock farm material pushing robot to return to a charging station for charging.

The control method of the pasture pushing robot provided by the invention can be used for communicating with a charging station through the wireless transmission module, and then the charging station controller is used for controlling the charging operation of the brush block. After the stock ground pushing robot finishes the work of one cowshed, whether the residual electric quantity meets the requirement of the work of the next cowshed or not can be automatically judged, and if the residual electric quantity meets the requirement, the work of the next cowshed is facilitated; and if the charging is not satisfied, the stock ground pushing robot is controlled to return to the charging station for charging.

When the robot returns to the charging station in the midway of pushing the material of the whole pasture (or the specified number of cowsheds), whether the cowsheds which do not complete pushing the material before charging are continuously charged or not is judged after the charging is finished, so that the work before charging is better connected.

Based on the content of the foregoing embodiment, as an optional embodiment, the method for controlling a stock ground pushing robot according to the present invention further includes, after the stock ground pushing robot completes charging:

positioning the next target livestock house before charging from the routing chart, and controlling the farm pushing robot to return to the line branch of the next target livestock house along the track;

the steps S31 to S4 are continuously executed.

According to the control method of the pasture pushing robot, in the process of executing the pushing task planned by the path planning diagram each time, after the pasture pushing robot finishes the work of one cowshed, whether the residual electric quantity meets the requirement of the next cowshed work or not can be automatically judged, if the residual electric quantity meets the requirement of the next cowshed work, the next cowshed work is carried out, and if the residual electric quantity does not meet the requirement, the rest of the electric quantity returns to a charging station for charging. After the charging is finished, the position points before the charging are directly tracked and returned, and the rest material pushing tasks are continuously executed without executing the complete material pushing task planned in the path planning diagram again.

For example: the pasture has two cowsheds, and when the pasture pushed away material robot went to the second cowshed, the work of finding that the electric quantity is not enough to support next cowshed in electric quantity judgement website department, need return to charge, then control the pasture and pushed away material robot and return immediately and charge, and the second cowshed has not pushed away material this moment. After the electric quantity is determined to meet the consumption of the second cowshed, the stock ground pushing robot is controlled to immediately go to the second cowshed for working, the first cowshed can be passed through on the route of the stock ground pushing robot going to the second cowshed, and the stock ground pushing robot does not need to be controlled to enter the cowshed 1 for working at the moment.

Optionally, in the charging process, the completion degree of the whole pushing work is judged, if the whole pushing work is not completed, the charging electric quantity is judged, and after the remaining electric quantity is determined to meet the pushing work requirements of all cowsheds, the pasture pushing robot is controlled to exit the charging mode and is controlled to trace to a working area to complete the remaining work; and if the whole material pushing work is finished, continuously charging the material pushing work until the charging is finished, and at the moment, finishing the whole material pushing work and waiting for the next work order.

According to the control method of the stock ground pushing robot provided by the invention, when the stock ground pushing robot returns to the charging station in the midway of pushing the material of the whole stock ground (or a specified cowshed) and finishes charging, whether the cowshed works or not within a certain time can be judged on the main line, so that the work before charging can be better connected

Based on the content of the foregoing embodiment, as an alternative embodiment, in the process of iteratively executing the foregoing step S31 to step S32, the method further includes:

determining the distance of an obstacle in front of the spiral pushing mechanism by utilizing an optoelectronic switch;

generating an obstacle passing-near signal under the condition that the distance is smaller than a preset distance threshold;

and stopping the operation of the spiral pushing mechanism according to the obstacle approaching signal.

Taking fig. 2 and fig. 3 as an example, the pasture pushing robot provided by the present invention may further include: an opto-electronic switch 15;

the photoelectric switch 15 is fixedly arranged on the outer side of the material pushing outer cover 13;

the photoelectric switch 15 generates an obstacle over-approaching signal under the condition that the distance between the photoelectric switch and the obstacle in front of the spiral pushing mechanism 1 is determined to be smaller than a preset distance threshold value;

and the controller stops the operation of the driving device and the spiral pushing mechanism 1 according to the obstacle over-close signal.

The front end of the outer cover 13 of the spiral pushing mechanism 1 is provided with a switch fixing plate 16, and the photoelectric switch 15 is arranged on the switch fixing plate 16 through a screw 14. In the process that the stock farm pushing robot runs in a cowshed, due to the complexity of the environment, obstacles often appear in front of the robot. If the distance between the obstacle and the photoelectric switch 15 is smaller than the preset distance threshold, the light signal emitted from the emitting end of the photoelectric switch 15 is blocked. At this time, the photoelectric switch 15 generates an obstacle-approaching signal in real time and sends the signal to the controller.

According to the control method of the pasture pushing robot, the controller controls the driving device to stop and controls the spiral pushing mechanism to stop running after receiving the obstacle approaching signal, so that the safety of equipment and personnel is ensured.

Based on the content of the foregoing embodiment, as an alternative embodiment, in the process of iteratively executing the foregoing step S31 to step S32, the method further includes:

detecting the contact action of an obstacle in front of the spiral pushing mechanism by using a mechanical touch switch;

generating an obstacle trigger signal after determining that the mechanical trigger switch is in contact with an obstacle and acts;

and stopping the operation of the spiral pushing mechanism according to the obstacle triggering signal.

Taking fig. 2 and fig. 3 as an example, the pasture pushing robot provided by the present invention may further include: a mechanical trigger switch 17;

the mechanical trigger switch 17 is fixedly arranged on the outer side of the material pushing outer cover 13;

generating an obstacle trigger signal after the mechanical trigger switch 17 contacts and acts with an obstacle;

and the controller stops the operation of the driving device and the spiral pushing mechanism 1 according to the obstacle triggering signal.

The detection end of the mechanical touch switch 17 is installed at one side of the outer cover 13, and after the detection end is triggered by a front obstacle to act, an obstacle trigger signal is correspondingly generated and sent to the controller, so that the controller can control the driving device and the spiral pushing mechanism to stop running.

It should be noted that the photoelectric switch 15 is a device for detecting a front obstacle by using a photoelectric signal, and the mechanical trigger switch 17 is a device for detecting a front obstacle by using a mechanical structure, which are combined to form a redundant structure, so that the operation safety of the stock farm pushing robot can be further ensured, and the occurrence of equipment damage or injury events can be prevented.

As shown in fig. 2, the stock ground pushing robot provided by the invention can detect obstacles in a certain distance from the front end of the stock ground pushing robot by uniformly arranging the photoelectric switches 15 on the photoelectric switch fixing frame fixedly arranged at the front end of the pushing outer cover, and can immediately control the stock ground pushing robot to stop advancing and pushing once the obstacles appear in front of the advance of the stock ground pushing robot.

Meanwhile, a mechanical touch switch is arranged on one side of the stock ground pushing robot, once the stock ground pushing robot is in contact with other objects, the touch switch can act, and the controller controls the stock ground pushing robot to stop working according to a received touch switch action signal, so that the safety of the other objects in the stock ground and the stock ground pushing robot during working is ensured.

Fig. 8 is a schematic structural diagram of a control device of a stock farm pusher robot provided by the present invention, and as shown in fig. 8, the control device mainly includes a data receiving unit 101, a mobile pusher control unit 102, and a data processing unit 103, wherein:

the data receiving unit 101 is mainly used for receiving a routing chart sent by a pasture main system; the mobile pushing control unit 102 is mainly used for controlling the pasture pushing robot to navigate to the line branch of the first target livestock house according to the routing chart; the data processing unit 103 is mainly used for determining whether the judgment condition for the pushing operation of the target livestock house is satisfied under the current situation.

When the output result of the data processing unit 103 is that the judgment condition for pushing the target livestock house is satisfied, the mobile pushing control unit 102 controls the stock farm pushing robot to enter the target livestock house, and after the pushing operation of the target livestock house is executed, the stock farm pushing robot is driven away from the target livestock house, and the stock farm pushing robot continues to navigate to the line branch of the next target livestock house.

When the output result of the data processing unit 103 is that the judgment condition for pushing the target livestock house is not satisfied, the mobile pushing control unit 102 continues to control the pasture pushing robot to navigate to the line branch of the next target livestock house.

It should be noted that, when the control device of the stock farm material pushing robot provided in the embodiment of the present invention is specifically operated, the control method of the stock farm material pushing robot in any one of the above embodiments may be executed, and details of this embodiment are not described herein.

The control device of the stock ground pushing robot provided by the invention can realize transition among multiple livestock houses, and the spiral pushing mechanism is provided to carry out secondary mixing on the feed eaten by the dairy cows, so that the uniformity of the feed is improved, the palatability of the feed is improved, the nutrition balance of the eating of the dairy cows is ensured, the deterioration speed of the feed can be slowed down, the incidence of nutritional diseases of the dairy cows is reduced, and the yield and the quality of raw milk are improved.

Fig. 9 is a schematic structural diagram of an electronic device provided in the present invention, and as shown in fig. 9, the electronic device may include: a processor (processor)910, a communication Interface (Communications Interface)920, a memory (memory)930, and a communication bus 940, wherein the processor 910, the communication Interface 920, and the memory 930 communicate with each other via the communication bus 940. The processor 910 may invoke logic instructions in the memory 930 to perform a method of controlling a pasture pushing robot, the method comprising:

step S1: receiving a routing graph sent by a pasture main system;

step S2: controlling a pasture pushing robot to navigate to a line branch of a first target livestock house according to the routing chart;

step S31: if the judgment condition for pushing the target livestock house is determined to be met, controlling a stock farm pushing robot to enter the target livestock house, driving away from the target livestock house after the pushing operation of the target livestock house is executed, and continuing to navigate to a line branch of the next target livestock house;

step S32: if the judgment condition for pushing the target livestock house is determined not to be met, controlling the stock farm pushing robot to continue navigating to the line branch of the next target livestock house;

step S4: the steps S31 to S32 are iteratively executed until the routing graph is traversed.

Furthermore, the logic instructions in the memory 930 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the method of controlling a stock pushing robot provided by the above methods, the method comprising:

step S1: receiving a routing graph sent by a pasture main system;

step S2: controlling a pasture pushing robot to navigate to a line branch of a first target livestock house according to the routing chart;

step S31: if the judgment condition for pushing the target livestock house is determined to be met, controlling a stock farm pushing robot to enter the target livestock house, driving away from the target livestock house after the pushing operation of the target livestock house is executed, and continuing to navigate to a line branch of the next target livestock house;

step S32: if the judgment condition for pushing the target livestock house is determined not to be met, controlling the stock farm pushing robot to continue navigating to the line branch of the next target livestock house;

step S4: the steps S31 to S32 are iteratively executed until the routing graph is traversed.

In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to perform the method for controlling a stock farm pushing robot provided in the above embodiments, the method including:

step S1: receiving a routing graph sent by a pasture main system;

step S2: controlling a pasture pushing robot to navigate to a line branch of a first target livestock house according to the routing chart;

step S31: if the judgment condition for pushing the target livestock house is determined to be met, controlling a stock farm pushing robot to enter the target livestock house, driving away from the target livestock house after the pushing operation of the target livestock house is executed, and continuing to navigate to a line branch of the next target livestock house;

step S32: if the judgment condition for pushing the target livestock house is determined not to be met, controlling the stock farm pushing robot to continue navigating to the line branch of the next target livestock house;

step S4: the steps S31 to S32 are iteratively executed until the routing graph is traversed.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.