CN108227584A - A kind of pig house air quality intelligent monitor system based on robot - Google Patents
A kind of pig house air quality intelligent monitor system based on robot Download PDFInfo
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- CN108227584A CN108227584A CN201810019363.8A CN201810019363A CN108227584A CN 108227584 A CN108227584 A CN 108227584A CN 201810019363 A CN201810019363 A CN 201810019363A CN 108227584 A CN108227584 A CN 108227584A
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
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Abstract
The invention discloses a kind of pig house air quality intelligent monitor system based on robot, including STM32 controllers, selecting switch, environmental sensor component, avoidance detection components, air quality executive module, walking robot, air sampling component, transmission of video component, memory, wireless transport module, GPRS module, host computer, intelligent terminal and live touch screen；Selecting switch is connect with the input terminal of STM32 controllers；The input terminal of environmental sensor component and avoidance detection components respectively with STM32 controllers is connect；Air quality executive module, walking robot and air sampling component are connect with STM32 controllers；Transmission of video component, by transmission of video to STM32 controllers, host computer and intelligent terminal；Memory is connect with STM32 controllers；STM32 controllers are communicated by wireless transport module and host computer；Host computer is communicated by GPRS module and intelligent terminal；Live touch screen is bi-directionally connected with STM32 controllers.The present invention improves the Intellectualized monitoring and management level of pig house air quality.
Description
Technical field
The invention belongs to monitoring technology field, particularly a kind of pig house air quality intelligent monitoring system based on robot
System.
Background technology
With the fast development of large scale of pig farm enterprise, the density of raising constantly increases, and pig house air pollution has become
Restrict the new outstanding problem that pig raising Enterprise Healthy Development faces.The inspection of pig house air quality and control technique have become live pig and are good for
One of key technology of health cultivation, its quality directly affects the survival condition of pig, growth course and production performance, and then
The economic benefit of the health of staff in pig farm, meat quality and entire pig raising industry is influenced, while pig farm is discharged
Waste also can to periphery ecological environment generate pollution.
It mostly is only capable of being detected pig house fixed position point using wired or wireless way for existing pig house air quality,
And three-dimensional cannot be carried out to the air environment of different height, different depth and different length in pig house same in farm
Sampling, also cannot accurately detect the air pollution degree of residing different location in same pig house, cause pig house environment quality
Not in time, harmful gas concentration, dusty concentration and pathogenic microorganism increase, if pig for regulation and control, parameter early warning and disease prevention
It lives in inferior health environment for a long time, it will dead pig, yield and measurement techniques for quality detection of meat is caused to decline, once virus diffusion is with passing
It broadcasts, serious economic loss can be brought to entire breeding enterprise.
Invention content
The technical problem to be solved by the present invention is to existing pig house detection terminals to be only capable of fixed point detection, causes pig house environment quality
Regulation and control, parameter early warning and disease prevention not in time the technical issues of, so as to provide a kind of pig house air quality based on robot
Intelligent monitor system realizes the three-dimensional sampling of pig house air quality, remote control and regulation, the work(such as data query and storage
Energy improves the Intellectualized monitoring and management level of pig house air quality, to further improve product yield, the product of pig raising enterprise
Matter and economic benefit provide scientific basis.
In order to solve the above technical problems, the technical solution adopted in the present invention is as follows：
A kind of pig house air quality intelligent monitor system based on robot, including STM32 controllers, selecting switch, ring
Border sensor module, avoidance detection components, air quality executive module, walking robot, air sampling component, transmission of video group
Part, memory, wireless transport module, GPRS module, host computer, intelligent terminal and live touch screen；Selecting switch is controlled with STM32
The input terminal connection of device processed；Environmental sensor component, for detecting ambient air quality in pig house and signal transmission will be detected extremely
In STM32 controllers；Avoidance detection components, for acquiring pig house road obstacle information and being transmitted to obstacle information
In STM32 controllers；Air quality executive module changes surrounding air in pig house after receiving the control instruction of STM32 controllers
Quality；Walking robot for carried and transported air sampling component, avoidance detection components and transmission of video component, and receives
The control command of STM32 controllers is moved；Air sampling component receives the control command of STM32 controllers in pig house
Air sampled；Transmission of video component, for acquire the video in pig house and by transmission of video to STM32 controllers,
Position machine and intelligent terminal；Memory is bi-directionally connected with STM32 controllers；STM32 controllers by wireless transport module with it is upper
Machine both-way communication；Host computer passes through GPRS module and intelligent terminal both-way communication；Live touch screen and the two-way company of STM32 controllers
It connects.
The environmental sensor component is sensed including Temperature Humidity Sensor, ammonia gas sensor, hydrogen sulfide sensor and dust
Device.
The model DHT-21 of the Temperature Humidity Sensor；The model MQ-137 of ammonia gas sensor；Hydrogen sulfide sensor
Model MQ-136；Dust sensor includes PM1.0 dust sensors and PM2.5 dust sensors.
The air quality executive module, including cooling system, temperature elevation system, ventilation system, thermal insulating shutter and screening
Positive roller shutter.
The avoidance detection components, including infrared sensor, contact sensor and ultrasonic sensor.
The model RPR220 of the infrared sensor；Contact sensor is OTH8084；The model of ultrasonic sensor
KS109。
The transmission of video component, including camera, WiFi video modules, WiFi transmission modules；Camera acquisition regards
Frequency information is transferred in WiFi video modules, WiFi video modules on the one hand by video information transmission to STM32 controllers,
The live touch screen of STM32 controllers control is shown, is on the other hand uploaded in host computer by WiFi transmission modules, host computer leads to
GPRS module is crossed to be transferred in intelligent terminal.
The model DS-2DC4220IW-D of the camera；The model Robot- of the WiFi video modules
LinkV5.0；The model DTP-S09 of GPRS module.
The model APC220 of the wireless transport module.
The air sampling component, including electric rotating machine I, fixed seat, specimen collection mechanism, sample storing mechanism and disinfection
Mechanism；Electric rotating machine I is mounted on walking robot and is connected on the output shaft and fixed seat of electric rotating machine I, pacifies in fixed seat
Equipped with specimen collection mechanism, sample storing mechanism and disinfecting mechanism；The specimen collection mechanism includes air pump, sample is adopted into adjusting
Unit and sample discharge adjust unit, and the sample is adopted includes vertical regulating mechanism and level(l)ing mechanism, institute into adjusting unit
It states vertical regulating mechanism and includes motor I, leading screw I and upright slide block I, motor I is mounted in fixed seat, and the output shaft of motor I
It is connect with leading screw I, upright slide block I is set on screw I and is threadedly coupled with leading screw I；The level(l)ing mechanism includes motor
IIth, leading screw II, horizontal slider and travel switch I, motor II are fixed on the output shaft and screw of I side of upright slide block and motor II
II connection, leading screw II are threadedly coupled horizontal through the hole on upright slide block I with horizontal slider, and horizontal slider is set on screw II
And the lower end of horizontal slider is connected by the air induction hose of connecting rod and air pump, and is equipped with avoidance detection components on connecting rod and is regarded
Frequency transmission assembly；Travel switch I is mounted on leading screw II close to one end of horizontal slider；The sample discharge adjusts unit and includes electricity
Machine III, leading screw III, stent I, upright slide block II and block, stent I are fixed in fixed seat and gear are equipped on stent I vertically
Block, motor III is mounted on stent I and the output shaft of motor III is connect with leading screw III, and upright slide block II is set on leading screw III simultaneously
It is threadedly coupled with leading screw III, the exhaust hose of air pump passes through the through-hole on upright slide block II to be received with the sample in sample storage assembly
It is corresponding to collect bottle；The sample storage assembly includes electric rotating machine, shaft, turntable, sample collection bottle and travel switch III, rotation
Motor is mounted in fixed seat and the output shaft of electric rotating machine is connect with shaft, and turntable is mounted on the upper end of shaft, and in turntable
On be provided with several receiving flask placing grooves, sample collection bottle is placed in receiving flask placing groove；It is set on the outer circumference surface of turntable
Several travel switches III are equipped with, travel switch III is corresponded with receiving flask placing groove；The disinfectant component includes antiseptic solution bottle
With thimerosal discarded bottle；Antiseptic solution bottle and thimerosal discarded bottle point row are arranged on the both sides of air pump；Travel switch I and travel switch
III output terminal respectively with STM32 controllers is connect, air pump, motor I, motor II, motor III, electric rotating machine and electric rotating machine I
The output terminal with STM32 controllers is connect respectively.
The present invention has manually and automatically two kinds of control modes with the artificial mobile terminal of machine of taking action.In manual controlling party
Under formula, administrative staff can by Robot-LinkV5.0Wi-Fi video transmission modules to the track route of walking robot and
Air sampling component carries out remote control.Under automatic control mode, by the ultrasonic wave that is mounted on walking robot chassis,
The pig house road obstacle information of acquisition is reached STM32 controllers, the control walking of STM32 controllers by infrared and contact sensor
Four driving motor differentials of robot realize that robot walks safely in pig house passageway, when detecting among each pig house passageway
Stop motion during white floor records corresponding sampling pig house number, and controls the air sampling component being mounted on walking robot
It realizes and the three-dimensional sampling of three dimensions is carried out to the air quality for presetting same pig house different location, pig house will be preset
The collecting sample of acquisition position takes back collection analysis station, so that the relevant technologies people is in time to disease in acquisition pig house air quality sample
Source content of microorganisms is analyzed, and scientific basis is provided to swinery disease prevention and cure and early warning in time for supervisory engineering staff, is solved
Artificial sample, inspection labor intensity are big, people and animals' illness cross-infection and detection and environment conditioning not in time the problems such as.Follow-up
In research, system can be extended to and automatically control feed and automatic detecting disinfection, realize that accurate feeding and pig house epidemic situation are reported automatically
Alert and powder-spreading and sterilizing function makes the monitoring and control to pig house air quality more accurate and efficient.It is and simultaneously that level is sliding
The data parameters and image information for environmental detection sensor and Wi-Fi the video transmission modules detection installed on block are wirelessly
Host computer is reached, host computer compares the pig house air parameter value of acquisition and the preset parameter value of administrative staff
Compared with if air parameter, in setting range, host computer does not send out new control instruction to live executing agency, if environment
Parameter outside setting range, then generate relative alarm instruction, while host computer by the APC220 wireless modules with USB serial ports with
The start-up and shut-down control instruction of related executing agency is sent to STM32 controllers by wireless mode, to adjust the environment ginseng that transfinites in time
Number, so as to fulfill the intelligent control of pig house air quality.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is control principle block diagram of the present invention.
Fig. 2 is the assembling schematic diagram of walking robot of the present invention and air sampling component.
Fig. 3 is the structure diagram of air sampling component turntable of the present invention.
Fig. 4 is present system flow chart.
Fig. 5 is sampled for pig house air quality of the present invention with regulating and controlling surface chart.
Fig. 6 is pig house robot ambulation of the present invention and acquisition control surface chart.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, the every other reality that those of ordinary skill in the art are obtained under the premise of not making the creative labor
Example is applied, shall fall within the protection scope of the present invention.
As shown in Figure 1, a kind of pig house air quality intelligent monitor system based on robot, including STM32 controllers, choosing
Select switch, environmental sensor component, avoidance detection components, air quality executive module, walking robot, air sampling component,
Transmission of video component, memory, wireless transport module, GPRS module, host computer, intelligent terminal and live touch screen, selection are opened
Pass is connect with the input terminal of STM32 controllers.
Environmental sensor component, for detecting ambient air quality in pig house and signal transmission will be detected to STM32 controls
In device, the model including Temperature Humidity Sensor, ammonia gas sensor, hydrogen sulfide sensor and dust sensor and Temperature Humidity Sensor
For DHT-21；The model MQ-137 of ammonia gas sensor；The model MQ-136 of hydrogen sulfide sensor；Dust sensor includes
PM1.0 dust sensors and PM2.5 dust sensors.
Avoidance detection components, for acquiring pig house road obstacle information and obstacle information being transmitted to STM32 controls
In device, including infrared sensor, contact sensor and ultrasonic sensor, and the model RPR220 of infrared sensor；Contact
Sensor is OTH8084；The model KS109 of ultrasonic sensor.
Air quality executive module receives the control instruction of STM32 controllers and acts surrounding air matter in change pig house
Amount, including cooling system, temperature elevation system, ventilation system, thermal insulating shutter and roller blind.
Walking robot for carried and transported air sampling component, avoidance detection components and transmission of video component, and receives
The control command of STM32 controllers is moved.
Air sampling component, as Figure 2-3, the control command for receiving STM32 controllers carry out the air in pig house
Sampling, including electric rotating machine I, fixed seat 2, specimen collection mechanism, sample storing mechanism and disinfecting mechanism；Electric rotating machine I is installed
On walking robot and the output shaft of electric rotating machine I with connected in fixed seat 2, be equipped in fixed seat 2 specimen collection mechanism,
Sample storing mechanism and disinfecting mechanism；The specimen collection mechanism includes air pump 3, sample is adopted and adjusted into adjusting unit and sample discharge
Unit is saved, the sample is adopted includes vertical regulating mechanism and level(l)ing mechanism, the vertical regulating mechanism packet into adjusting unit
Motor I 4, leading screw I 5 and upright slide block I 6 are included, motor I 4 is mounted in fixed seat 2, and the output shaft of motor I 4 connects with leading screw I 5
It connects, upright slide block I 6 is set on screw I 4 and is threadedly coupled with leading screw I 4；The level(l)ing mechanism includes motor II 7, silk
Thick stick II 8, horizontal slider 9 and travel switch I 10, motor II 7 are fixed on the output shaft and silk of I 6 side of upright slide block and motor II 7
Bar II 8 connects, and leading screw II 8 is threadedly coupled horizontal through the hole on upright slide block I 6 with horizontal slider 9, and horizontal slider 9 is set in
On the screw II 8 and lower end of horizontal slider 9 is connect, and installed on connecting rod 11 by connecting rod 11 with the air induction hose 12 of air pump 3
There are avoidance detection components and transmission of video component；Travel switch I 10 is mounted on leading screw II 8 close to one end of horizontal slider 9；It is described
Sample discharge adjusts unit and includes motor III 13, leading screw III 14, stent I 15, upright slide block II 16 and block 22, and stent I 15 is perpendicular
It is directly fixed in fixed seat 2 and block 22 is installed on stent I 15, motor III 13 is mounted on stent I 15 and motor III 13
Output shaft connect with leading screw III 14, upright slide block II 16 is set on leading screw III 14 and is threadedly coupled with leading screw III 14, air pump 3
Exhaust hose 17 pass through upright slide block II 16 on through-hole it is corresponding with the sample collection bottle in sample storage assembly；The sample
This storage assembly includes electric rotating machine, shaft 18, turntable 19, sample collection bottle 20 and travel switch III 21, electric rotating machine installation
In fixed seat 2 and the output shaft of electric rotating machine is connect with shaft 18, and turntable 19 is mounted on the upper end of shaft 18, and in turntable 19
On be provided with several receiving flask placing grooves 23, sample collection bottle 20 is placed in receiving flask placing groove 23；In the outer circle of turntable 19
Several travel switches III 21 are provided on circumferential surface, travel switch III 21 is corresponded with receiving flask placing groove 23；The disinfection group
Part includes antiseptic solution bottle 24 and thimerosal discarded bottle 25；Antiseptic solution bottle 24 and thimerosal discarded bottle 25 divide row to be arranged on air pump 3
Both sides；The output terminal of travel switch I 10 and travel switch III 21 respectively with STM32 controllers is connect, air pump 3, motor I 4, motor
II 7, the output terminal of motor III 13, electric rotating machine and electric rotating machine I respectively with STM32 controllers is connect.
Transmission of video component, for acquiring the video in pig house and by transmission of video to STM32 controllers, host computer and intelligence
It can terminal；Including camera, WiFi video modules, WiFi transmission modules, the model DS-2DC4220IW-D of the camera；
The model Robot-LinkV5.0 of the WiFi video modules.The video information transmission of camera acquisition is to WiFi video modules
Interior, for WiFi video modules on the one hand by video information transmission to STM32 controllers, STM32 controllers control live touch screen
It has been shown that, is on the other hand uploaded to by WiFi transmission modules in host computer, host computer is transferred to intelligent terminal by GPRS module
It is interior.
Memory is bi-directionally connected with STM32 controllers, for storing data；STM32 controllers pass through wireless transport module
With host computer both-way communication；The model APC220 of the wireless transport module.Host computer passes through GPRS module and intelligent terminal
Both-way communication, the model DTP-S09 of GPRS module；Live touch screen is bi-directionally connected with STM32 controllers.
The present invention has manually and automatically two kinds of control modes, concrete operations flow with the artificial mobile terminal of machine of taking action
As shown in figure 4, under manual control mode, administrative staff can be by Robot-LinkV5.0Wi-Fi video transmission modules pair
The track route and air sampling component of walking robot carry out remote control.Under automatic control mode, it is expert at by installation
The pig house road obstacle information of acquisition is reached STM32 controls by ultrasonic wave, infrared and contact sensor on robot walking chassis
Device processed, four driving motor differentials of STM32 controllers control walking robot realize that robot walks safely in pig house passageway,
The stop motion when detecting each pig house passageway middle white floor records corresponding sampling pig house number, and installation is controlled to be expert at
Air sampling component on robot walking is realized carries out three dimensions to the air quality for presetting same pig house different location
The collecting sample for presetting pig house acquisition position is taken back collection analysis station by three-dimensional sampling, and so as to the relevant technologies, people is timely
Sex pheromone content in acquisition pig house air quality sample is analyzed, swinery disease is prevented in time for supervisory engineering staff
It controls and provides scientific basis with early warning, solve artificial sample, inspection labor intensity big, people and animals' illness cross-infection and detection and ring
The problems such as border regulates and controls not in time.In follow-up study, system can be extended to and automatically control feed and automatic detecting disinfection, realized
Accurate feeding and pig house epidemic situation automatic alarm and powder-spreading and sterilizing function, make more accurate to the monitoring and control of pig house air quality
Really and efficiently.And the data for simultaneously detecting the environmental detection sensor installed on horizontal slider and Wi-Fi video transmission modules
Parameter and image information wirelessly reach host computer, and host computer is by the pig house air parameter value of acquisition and administrative staff
Preset parameter value is compared, if air parameter, in setting range, host computer is not to live executing agency
New control instruction is sent out, if environmental parameter outside setting range, generates relative alarm instruction, while host computer passes through band
The instruction of the start-up and shut-down control of related executing agency is wirelessly sent to STM32 controls by the APC220 wireless modules of USB serial ports
Device, to adjust the environmental parameter that transfinites in time, so as to fulfill the intelligent control of pig house air quality.
Specific sampling implementation process is as follows：It is different according to sampling pig house position, pass through motor I 4, leading screw I 5 and upright slide block
I 6 change air pumps sampling air induction hoses vertical height, by motor II 7, leading screw II 8, horizontal slider 9 change air pump sample into
The horizontal position of gas hose can sample the air of pig house sustained height different depth or the same depth of different height,
Also sampling air inlet 180 can be realized by angular adjustment component°Rotation, convenient for sampling pig house passageway both sides air sample, so as to
Realize the three-dimensional sampling of three dimensions of pig house air；Filter uses mesh diameter to be mounted in air inlet for the fiber cloth copper mesh of 10um
Hose port causes pig to suffer from respiratory inflammation, even into lung's dust mistake to prevent being less than 10um dust particles excessive concentrations
Cause tuberculosis or pneumonia when more, while filter also avoids the larger wastes of characters such as excrement, pig hair and enter air induction hose leading
The problems such as collection capacity is not easy to observe with turbidity, ambient parameter analysis is inaccurate is caused to occur, convenient for administrative staff's accurate reality in time
Existing pig house environment regulation and control, best living environment is provided for pig healthy growth；STM32 controllers are controlled according to sampling pig house number
Turntable rotation processed, with reference to travel switch III and the block being fixed on stent I, determines the stop position of electric rotating machine；And by
Electric rotating machine makes the sample collection bottle of corresponding pig house number go to air pump exhaust hose downward, and it is vertical that the drive of motor III 13 is fixed on
Air pump exhaust hose on sliding block II, which moves down, to be inserted into the sample collection bottle with analysis liquid, air pump work 10s post-samplings
Terminate, motor III 13 drives the air pump exhaust hose being fixed on upright slide block II to move upwardly off sample collection bottle；Right
It needs to drive horizontal slider and motor I that upright slide block I is driven to make collecting sample by motor II before next pig house sampling
Air pump air induction hose is inserted into antiseptic solution bottle, and passes through motor III and upright slide block II is driven to be inserted into collection disinfection waste liquid cake, starts
Air pump 5s carry out disinfection processing after next pig house is sampled.After the completion of entire sampling task, walking robot carries
Collecting sample returns to collection exit, and researcher in time analyzes and processes each pig house collecting sample, to be pig house environment
Accurate regulation and control provide scientific basis.
Administrative staff of the present invention can realize that real time inspection pig house environment parameter, scene are held by the monitoring interface of host computer
The functions such as row mechanism operating status, the inquiry of historical data, environmental parameter range set and pig state observation can also controlled manually
It sends out start-up and shut-down control instruction directly to slave computer executing agency under molding formula or combines transmission of video and realize robot ambulation, sample
The control functions such as this acquisition and air quality sampling, so as to fulfill the intelligent monitoring of pig house environment parameter.Pig house air quality is adopted
Sample and regulation and control interface are as shown in Figure 5.
Robot is accommodated to according to pig house number is preset among pig house passageway to be acquired, according to acquisition points and three-dimensional space
Between position perform the gentle pump operation relevant control instruction of sampling mechanism X-axis, Y-axis, Z axis motor, turntable, collected sample is received
Collect in specified sample collection bottle.Carry out disinfection to tracheae after the completion of acquisition processing, and collecting mechanism is controlled to return to acquisition and is stopped
Seat in the plane acquires target for next pig house and is ready, if after the entire sampling time, robot will in time be returned by original route
It is administrative staff so that researcher in time analyses the pig house air quality of this acquisition scientifically to collection analysis station
Scientific basis is provided to the propagation of the diseases such as pig house germ, epidemic situation, prevention, inhibition and air quality intelligent control.Pig house machine
People's walking is as shown in Figure 6 with acquisition control interface.
To verify the feasibility and practicability of the system, the present invention is using the conservation pigsty on pig farm as enforcement place, the child care
The area of pig house is about 120m2, totally 10 cradling beds, and with the child care pig growing environment humiture of wean 4 weeks, NH3、H2S and powder
Dust concentration parameter is subjects, is analyzed under automatic control mode, precisely monitors the intelligence of air quality relevant parameter in pig house
Effect and data analysis.Environment parameter is set as in conservation pigsty：25 DEG C of temperature, humidity 70%RH, NH3Concentration 10mg/m3, H2S
Concentration 6mg/m3, 0.41 μ g/m of PM1.0 concentration3, 0.43 μ g/m of PM2.5 concentration3.Table 1 is interior conservation pigsty air environment ginseng for 24 hours
Number situation of change, wherein sampling interval are 2h.
The interior pig house air quality parameters situation of change for 24 hours of table 1
It is compared from 1 testing inspection data of table and administrator's setup parameter value：Interior temperature averages are 24.91 DEG C for 24 hours,
Temperature deviation is controlled in the range of ± 0.8 DEG C；Interior humidity average value is 70.03%RH for 24 hours, and humidity deviation is controlled ± 1.5%
In the range of；Interior NH3 concentration maximas are 7.9mg/m for 24 hours3, H2S concentration maximas are 5.8mg/m3, it is less than national regulation guarantor
Educate pig house pernicious gas NH3A concentration of 20mg/m3, H2A concentration of 8mg/m of S3Professional standard.
Since the child care pig live pig is using wet feeding mode, dust concentration PM1.0 substantially constants are constant for 24 hours, are maintained at
0.38μg/m3, the value of PM2.5 also changes less, and value changes in the range of 0.38-0.43 μ g/m3, is less than setting
0.41 μ g/m3 and PM2.5 upper limit value of PM1.0 upper limit values, 0.43 μ g/m3Dust concentration.Since conservation pigsty is in every morning 6:
30 and afternoon 18:30 or so carry out cleaning up excrement work, lead to NH3、H2S and dust concentration fluctuate larger, this experiment in a short time
NH3、H2S and dust concentration are in the morning 7:00 and afternoon 19:There is interim peak value in 00 moment, therefore in order to avoid cleaning up excrement works
Lead to NH3、H2S and dust concentration rise, and the healthy growth of child care pig are brought a negative impact, supervisory engineering staff should be by cleaning up excrement
Time is taken into account, and appropriate stronger ventilation amount and dedusting dynamics ensure that pig is chronically at healthy growth environment.
To verify the positioning accuracy of three-dimensional sample device, robot arm is given respectively in two kinds of low speed and high speed
X-axis, Y-axis and the certain expection displacement of Z axis are tested, and are passed through rotation angle measurement instrument and vernier caliper measurement and recorded each
From actual displacement, initial position is returned it into after measurement, and be repeated 10 times with this.For the linear module of X-axis, test the speed
Positioning accuracy under low speed (3mm/s) and at a high speed (5mm/s) two kinds of circumstances, displacement is respectively 30mm, 60mm, 90mm, 120mm
And 150mm；For the linear module of Y-axis, the positioning accurate to test the speed under low speed (5mm/s) and at a high speed (10mm/s) two kinds of circumstances
Degree, displacement is respectively 100mm, 150mm, 200mm, 250mm and 300mm；For the linear module of Z axis, test the speed in low speed
Positioning accuracy under (10mm/s) and at a high speed (20mm/s) two kinds of circumstances, displacement is respectively 100mm, 200mm, 300mm, 400mm
And 500mm.The linear module shift assays of X-axis, Y-axis and Z axis are repeated 10 times analyzing and positioning accuracy data and are shown in Table 2, table 3 and table 4.
Table 2X axis positioning accuracies
Table 3Y axis positioning accuracies
Table 4Z axis positioning accuracies
By table 2, table 3,4 data of table and the unidirectional precision calculation formula of X-axis, Y-axis, Z axis
Can obtain X-axis, the unidirectional positioning accuracy of linear module of Y-axis and Z axis under two speed is respectively 8.76mm and 11.94mm,
10.78mm and 12.35mm, 10.44mm and 11.13mm show the sampling positioning accuracy of robot under low-speed situations in high speed feelings
Positioning accuracy under condition.Under low-speed situations, the linear module displacement mean error range of X-axis, Y-axis and Z axis respectively -0.57~-
0.11mm, -1.17~-0.83mm, -0.93~-0.75mm；Under high-speed case, the linear module displacement of X-axis, Y-axis and Z axis is put down
Equal error range is respectively in -0.18~0.55mm, 1.17~1.92mm, 0.88~1.58mm.By to robot spatial sampling
X-axis, Y-axis and the Z axis positioning experiment interpretation of result of device, it can be deduced that the positioning accuracy of the entire sampling system of robot is in 15mm
Within, the displacement mean error range of X-axis, Y-axis and Z axis disclosure satisfy that within -0.93~1.92mm to pig house air quality
The positioning accuracy of three-dimensional spatial sampling.
Above-mentioned result of the test shows that the system artificially moves test point with machine, wirelessly realizes that accurate acquisition is empty
Makings amount environmental parameter is simultaneously precisely controlled each actuating mechanism function respectively, analyzes collecting sample in time by technical staff and realizes disease
The functions such as sick prevention and control, while administrative staff can observe life and the health status of pig by the rotation of Wi-Fi cameras,
Best growing environment for child care pig can be provided, reached intelligentized control method requirement.
It is described be only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of pig house air quality intelligent monitor system based on robot, it is characterised in that：Including STM32 controllers, choosing
Select switch, environmental sensor component, avoidance detection components, air quality executive module, walking robot, air sampling component,
Transmission of video component, memory, wireless transport module, GPRS module, host computer, intelligent terminal and live touch screen；Selection is opened
Pass is connect with the input terminal of STM32 controllers；Environmental sensor component, for detecting ambient air quality in pig house and will detect
In signal transmission to STM32 controllers；Avoidance detection components, for acquiring pig house road obstacle information and by obstacle information
It is transmitted in STM32 controllers；Air quality executive module receives the control instruction of STM32 controllers and acts change pig house
Interior ambient air quality；Walking robot, for carried and transported air sampling component, avoidance detection components and transmission of video group
Part, and the control command for receiving STM32 controllers is moved；Air sampling component receives the control command of STM32 controllers
Air in pig house is sampled；Transmission of video component, for acquiring the video in pig house and controlling transmission of video to STM32
Device processed, host computer and intelligent terminal；Memory is bi-directionally connected with STM32 controllers；STM32 controllers pass through wireless transport module
With host computer both-way communication；Host computer passes through GPRS module and intelligent terminal both-way communication；Live touch screen and STM32 controllers
It is bi-directionally connected.
2. the pig house air quality intelligent monitor system according to claim 1 based on robot, it is characterised in that：It is described
Environmental sensor component, including Temperature Humidity Sensor, ammonia gas sensor, hydrogen sulfide sensor and dust sensor.
3. the pig house air quality intelligent monitor system according to claim 2 based on robot, it is characterised in that：It is described
The model DHT-21 of Temperature Humidity Sensor；The model MQ-137 of ammonia gas sensor；The model MQ- of hydrogen sulfide sensor
136；Dust sensor includes PM1.0 dust sensors and PM2.5 dust sensors.
4. the pig house air quality intelligent monitor system according to claim 1 based on robot, it is characterised in that：It is described
Air quality executive module, including cooling system, temperature elevation system, ventilation system, thermal insulating shutter and roller blind.
5. the pig house air quality intelligent monitor system according to claim 1 based on robot, it is characterised in that：It is described
Avoidance detection components, including infrared sensor, contact sensor and ultrasonic sensor.
6. the pig house air quality intelligent monitor system according to claim 5 based on robot, it is characterised in that：It is described
The model RPR220 of infrared sensor；Contact sensor is OTH8084；The model KS109 of ultrasonic sensor.
7. the pig house air quality intelligent monitor system according to claim 1 based on robot, it is characterised in that：It is described
Transmission of video component, including camera, WiFi video modules, WiFi transmission modules；The video information transmission of camera acquisition arrives
In WiFi video modules, WiFi video modules are on the one hand by video information transmission to STM32 controllers, STM32 controller controls
The live touch screen of system is shown, is on the other hand uploaded in host computer by WiFi transmission modules, host computer is passed by GPRS module
It is defeated in intelligent terminal.
8. the pig house air quality intelligent monitor system according to claim 7 based on robot, it is characterised in that：It is described
The model DS-2DC4220IW-D of camera；The model Robot-LinkV5.0 of the WiFi video modules；GPRS module
Model DTP-S09.
9. the pig house air quality intelligent monitor system according to claim 1 based on robot, it is characterised in that：It is described
The model APC220 of wireless transport module.
10. the pig house air quality intelligent monitor system according to claim 1 based on robot, it is characterised in that：Institute
Air sampling component is stated, including electric rotating machine I, fixed seat (2), specimen collection mechanism, sample storing mechanism and disinfecting mechanism；Rotation
Rotating motor I is mounted on walking robot and the output shaft of electric rotating machine I in fixed seat (2) with connecting, and fixed seat is installed on (2)
There are specimen collection mechanism, sample storing mechanism and disinfecting mechanism；The specimen collection mechanism includes air pump (3), sample is adopted into tune
It saving unit and sample discharge adjusts unit, the sample is adopted includes vertical regulating mechanism and level(l)ing mechanism into adjusting unit,
The vertical regulating mechanism includes motor I (4), leading screw I (5) and upright slide block I (6), and motor I (4) is mounted on fixed seat (2)
On, and the output shaft of motor I (4) is connect with leading screw I (5), upright slide block I (6) be set on screw I (4) and with leading screw I (4)
It is threadedly coupled；The level(l)ing mechanism includes motor II (7), leading screw II (8), horizontal slider (9) and travel switch I (10),
Motor II (7) is fixed on upright slide block I (6) side and the output shaft of motor II (7) is connect with screw II (8), leading screw II (8) water
It is flat to be threadedly coupled across the hole on upright slide block I (6) with horizontal slider (9), horizontal slider (9) be set on screw II (8) and
The lower end of horizontal slider (9) is connect, and be equipped on connecting rod (11) by connecting rod (11) with the air induction hose (12) of air pump (3)
Avoidance detection components and transmission of video component；Travel switch I (10) is mounted on leading screw II (8) close to one end of horizontal slider (9)；
The sample discharge adjusts unit and includes motor III (13), leading screw III (14), stent I (15), upright slide block II (16) and block
(22), stent I (15) is fixed in fixed seat (2) and block (22) is equipped on stent I (15) vertically, motor III (13) peace
On stent I (15) and the output shaft of motor III (13) is connect with leading screw III (14), and upright slide block II (16) is set in leading screw
It is threadedly coupled on III (14) and with leading screw III (14), the exhaust hose (17) of air pump (3) is across logical on upright slide block II (16)
Hole is corresponding with the sample collection bottle in sample storage assembly；The sample storage assembly includes electric rotating machine, shaft (18), turns
Disk (19), sample collection bottle (20) and travel switch III (21), electric rotating machine be mounted on fixed seat (2) in and electric rotating machine it is defeated
Shaft is connect with shaft (18), and turntable (19) is provided with several collections mounted on the upper end of shaft (18) on turntable (19)
Bottle placing groove (23), sample collection bottle (20) are placed in receiving flask placing groove (23)；It is set on the outer circumference surface of turntable (19)
Several travel switches III (21) are equipped with, travel switch III (21) is corresponded with receiving flask placing groove (23)；The disinfectant component
Including antiseptic solution bottle (24) and thimerosal discarded bottle (25)；Antiseptic solution bottle (24) and thimerosal discarded bottle (25) point row are arranged on gas
Pump the both sides of (3)；The output terminal of travel switch I (10) and travel switch III (21) respectively with STM32 controllers is connect, air pump
(3), motor I (4), motor II (7), motor III (13), electric rotating machine and electric rotating machine I output with STM32 controllers respectively
End connection.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810019363.8A CN108227584A (en) | 2018-01-09 | 2018-01-09 | A kind of pig house air quality intelligent monitor system based on robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810019363.8A CN108227584A (en) | 2018-01-09 | 2018-01-09 | A kind of pig house air quality intelligent monitor system based on robot |
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| Publication Number | Publication Date |
|---|---|
| CN108227584A true CN108227584A (en) | 2018-06-29 |
Family
ID=62640417
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| CN201810019363.8A Withdrawn CN108227584A (en) | 2018-01-09 | 2018-01-09 | A kind of pig house air quality intelligent monitor system based on robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109632003A (en) * | 2019-01-03 | 2019-04-16 | 西北农林科技大学 | Mobile pig-breeding environment monitoring device based on 6LoWPAN technology |
| CN109931977A (en) * | 2019-01-02 | 2019-06-25 | 孔维强 | A kind of equipment that automatic moving detects air parameter and generates 3-D image |
| CN112013897A (en) * | 2019-05-28 | 2020-12-01 | 宁波群辉光电有限公司 | Monitoring system and mobile device thereof |
| CN113100088A (en) * | 2021-04-13 | 2021-07-13 | 安徽凌坤智能科技有限公司 | Pig house air purification robot of plant |
| CN113252106A (en) * | 2021-05-14 | 2021-08-13 | 嵊州陌桑高科股份有限公司 | A environmental monitoring system for breed room |
| CN113487286A (en) * | 2021-07-14 | 2021-10-08 | 重庆大宽科技发展有限公司 | Safety quality inspection system, method, computer equipment and storage medium |
| CN113587993A (en) * | 2021-07-30 | 2021-11-02 | 华中农业大学 | Chicken coop environment acquisition robot |
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2018
- 2018-01-09 CN CN201810019363.8A patent/CN108227584A/en not_active Withdrawn
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109931977A (en) * | 2019-01-02 | 2019-06-25 | 孔维强 | A kind of equipment that automatic moving detects air parameter and generates 3-D image |
| CN109632003A (en) * | 2019-01-03 | 2019-04-16 | 西北农林科技大学 | Mobile pig-breeding environment monitoring device based on 6LoWPAN technology |
| CN112013897A (en) * | 2019-05-28 | 2020-12-01 | 宁波群辉光电有限公司 | Monitoring system and mobile device thereof |
| CN113100088A (en) * | 2021-04-13 | 2021-07-13 | 安徽凌坤智能科技有限公司 | Pig house air purification robot of plant |
| CN113252106A (en) * | 2021-05-14 | 2021-08-13 | 嵊州陌桑高科股份有限公司 | A environmental monitoring system for breed room |
| CN113487286A (en) * | 2021-07-14 | 2021-10-08 | 重庆大宽科技发展有限公司 | Safety quality inspection system, method, computer equipment and storage medium |
| CN113487286B (en) * | 2021-07-14 | 2023-04-07 | 重庆大宽科技发展有限公司 | Safety quality inspection system, method, computer equipment and storage medium |
| CN113587993A (en) * | 2021-07-30 | 2021-11-02 | 华中农业大学 | Chicken coop environment acquisition robot |
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