CN109997730B - Intelligent inspection system for caged chicken and cruise control method of inspection robot of intelligent inspection system - Google Patents
Intelligent inspection system for caged chicken and cruise control method of inspection robot of intelligent inspection system Download PDFInfo
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K45/00—Other aviculture appliances, e.g. devices for determining whether a bird is about to lay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
The invention relates to an intelligent inspection system for caged chickens and a cruise control method of an inspection robot of the intelligent inspection system. In order to fill the blank of the prior art, the intelligent inspection system for the caged chickens comprises a henhouse and an inspection robot, wherein the inspection robot comprises a box body and an upright post, wheels are arranged below the box body, the upright post is fixed on the box body, a thermal imaging camera is fixed on the upright post, each wheel comprises a left front wheel, a right front wheel and a universal caster, the left front wheel and the right front wheel are respectively provided with a left shaft, a right shaft, a left driving motor and a right driving motor, and are provided with linear guide magnetic stripes and arc-shaped guide magnetic stripes to form a magnetic guide inspection circuit, a 5-centimeter neutral area is arranged between each linear guide magnetic stripe and each arc-shaped guide magnetic stripe, and each neutral area is positioned at the tail end of the upstream linear guide magnetic stripe or at the tail end of each arc-shaped guide magnetic stripe. The invention has low cost and small disturbance to the chicken during operation, can completely replace the manual inspection of the caged chicken, and is widely suitable for chicken farms for caging meat chicken and laying hens.
Description
Technical Field
The invention relates to an intelligent inspection system for caged chickens and a cruise control method of an inspection robot of the intelligent inspection system.
Background
With the continuous development of the chicken raising industry in China, the chicken raising scale is continuously enlarged, and hundreds of thousands of scales are used. A large number of chickens raised in cages are densely arranged in a henhouse, and once infectious diseases occur, the loss is extremely large. Therefore, the existing chicken farm adopts manual work to make round trip inspection in a chicken house, finds out sick chicken and dead chicken in time, and takes measures such as isolation, disinfection and treatment in time. Experienced workman, the secret walks from the chicken coop, just can follow the cry of chicken, whether the mental state judges the chicken healthy, but need have abundant experience and patience, because the chicken is very sensitive biology, the action of breed personnel is big, the sound is big or not wear common work clothes, can arouse the harassment and the stress reaction of chicken, the effect is patrolled and examined in the light influence, be unfavorable for discovering sick chicken, dead chicken, the heavy feed that then influences the chicken still can cause the chicken to appear trampling the phenomenon even.
Meanwhile, as the large henhouse is high in breeding density, and the two sides of the passageway are densely and densely arranged with hemp in multiple layers, 3-5 chickens are bred in each henhouse, the breeding density is high, the smell is large, the air quality is poor, the health of patrolling workers is not facilitated, few people who are willing to do the work can win the work, and only people who are patience, experience, strong in responsibility, not afraid of suffering and not tired can win the work.
In order to solve the above problems, attempts to accomplish the above work using an intelligent robot have been made, and various patent applications have been proposed. They include:
1. an authorized publication number of CN 206227364U of Chinese utility model discloses a robot-based health behavior monitoring system for cage-rearing laying hens. This patent has set up and has beaten drive assembly, through beating the chicken coop, makes the chicken stand, with the help of statistics laying hen shank characteristic, judges whether the chicken has illness, dead phenomenon, and this kind of mode is very inadvisable. When the manual work was patrolled and examined, the staff also can strike the chicken coop with the stick occasionally, but that sees a certain cage chicken, be sick, the suspicion of dying, just can strike the chicken coop, and this patent is indiscriminate, all strikes every chicken coop, it has unnecessary to have disturbed all chickens, be unfavorable for the feed and the growth of chicken, and because it keeps away the barrier unit and adopts ultrasonic sensor and infrared reflection sensor, because the chicken coop hole is many, the ultrasonic wave of reflection and infrared signal are unstable, the problem of collision passageway both sides chicken coop also can inevitably appear during its robot operation, consequently, the patent technology is not practical.
2. An automatic monitoring system for the health status of caged chickens is disclosed in the patent of Chinese utility model with the publication number of CN 207201725U. According to the method, parallel rails are arranged in a henhouse, a movable cross beam and a support capable of ascending and descending are arranged on the parallel rails, a thermal imaging camera is arranged on the support capable of ascending and descending, noise in an image is segmented by adopting morphological filtering, a connected region of the filtered image is searched, and when the connected area is not larger than a set connected region face value, a chicken individual is judged to exist. According to the technology, mechanisms such as parallel rails and cross beams need to be constructed above the henhouse, a large part of the henhouse is simply cultivated in a greenhouse, the conditions for directly erecting the mechanisms such as the parallel rails and the cross beams are not provided, the erecting cost is high, the number of individual chickens is only judged, the health condition of the chickens cannot be directly obtained, and the judgment result can be influenced due to the fact that the chickens in the henhouse do not stop moving.
3. Chinese utility model patent with the grant publication CN 207948568U discloses a cruise monitoring device for health status of chickens. This patent installs the guide rail in the chicken coop passageway of chicken coop, compare and set up the guide rail to the chicken coop top, the cost is reduced to a certain extent, put on the shelf guide rail in the passageway, cause the ground uneven, the transport of unfavorable egg and chicken, and this patent adopts the video that dynamic face identification contrast system transmitted the camera to carry out the face detection algorithm, the attitude picture information of chicken is drawed out, compare in real time with the attitude information of sick chicken again, the information feedback that will satisfy the condition is to the computer, thereby the health status of analysis chicken crowd, carry out real-time processing. However, the chicken has little change in form and action in the early stages of chicken influenza and asthma, and the change of body temperature, cry and breath sound is the first to appear. This technique can only find chickens in the later stages of illness. The most important meaning of the caged chicken inspection is that early-stage sick chicken can be found in time, the risk of the chicken disease is reduced, and if only late-stage sick chicken can be found, the effect of the caged chicken inspection on chicken epidemic prevention is greatly reduced.
In conclusion, the conventional robot for cage-rearing chicken inspection cannot achieve the manual inspection effect.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an intelligent inspection system for caged chickens and a cruise control method of an inspection robot of the intelligent inspection system.
In order to solve the technical problem, the intelligent inspection system for the caged chickens comprises a henhouse and an inspection robot, wherein the inspection robot comprises a box body and an upright post, wheels are arranged below the box body, the upright post is fixed on the box body, a thermal imaging camera is fixed on the upright post, a storage battery, a programmable controller and a storage are arranged in the box body, a plurality of rows of henhouses are arranged in the henhouse, a passageway is arranged between adjacent rows of henhouses, the width of the passageway is more than or equal to 60 cm, the thermal imaging camera and the storage are respectively and electrically connected with the programmable controller and are provided with a power switch, and the intelligent inspection system is characterized in that: the wheels comprise a left front wheel, a right front wheel and a universal caster, the left front wheel and the right front wheel are respectively provided with a left shaft, a right shaft, a left driving motor and a right driving motor, the left shaft and the right shaft are respectively fixed on two side walls of the front part of the box body through bearings, the left shaft and the right shaft are respectively driven by the left driving motor and the right driving motor, the axis of the left shaft is coincided with the axis of the right shaft, the middle rear part of the box body is narrowed, the tail part of the box body is provided with a top plate, a vertical through hole is arranged on the top plate, the universal caster comprises a roller, an eccentric frame and a vertical shaft, the roller is hinged on the eccentric frame through a horizontal shaft, the eccentric frame is fixed at the lower end of the vertical shaft and is hinged in the vertical through hole through the vertical shaft, the left front wheel, the right front wheel and the vertical shaft are distributed in a T shape, the stand is fixed right above the middle point of the axis connecting line of the left front wheel and the right front wheel, and each row of coops are respectively provided with a linear guide magnetic stripe, the linear guide magnetic strips between adjacent coops are positioned in the middle of the aisle, the arc-shaped guide magnetic strips are arranged between the heads and the tails of the adjacent linear guide magnetic strips, the linear guide magnetic strips and the arc-shaped guide magnetic strips form a magnetic guide inspection circuit, a 5 cm neutral area is arranged between the linear guide magnetic strips and the arc-shaped guide magnetic strips, the neutral area is positioned at the tail end of the linear guide magnetic strip and the tail end of the arc-shaped guide magnetic strip positioned at the upstream,
the radius of each circular arc-shaped guide magnetic stripe is D, the distance between the outer edge of the left front wheel and the outer edge of the right front wheel is D, a magnetic field sensor is arranged right below the front edge of the box body and is connected with the signal input end of the programmable controller, the left driving motor and the right driving motor are respectively connected with the signal output end of the programmable controller,
the inspection robot is provided with a linear cruise rotating speed R1 and a curve inner side wheel rotating speed R2, R2 is R1 x (D-D)/D,
the R1 and the R2 are both standard rotating speeds, and in the running process, the inspection robot carries out corresponding adjustment on the basis of the standard rotating speeds according to the running section and the magnetic guide inspection line sensed by the magnetic field sensor on the programmable controller to serve as the driving speeds of the left front wheel and the right front wheel.
So design, after the chicken of raising in cages got sick, what change at first is the cry and the body temperature of chicken, what this patent thermal imaging camera gathered is also not the thermal imaging of single chicken in the chicken coop, but reflects on the thermal imaging image to all chickens in the chicken coop. If one or two chickens in a cage of chickens get flu, the overall brightness of the cage of chickens on a thermal imaging image is higher, so that the thermal imaging picture shot by the thermal imaging camera can be found out in time, the temperature of the cage of chickens is higher, workers are guided to review on site in time, and the cage of chickens is isolated and disinfected. Note that: if the average body temperature of a chicken in a cage is found to be low, the chicken in the cage is likely to be dead, at the moment, the inspection robot immediately sends an alarm to a remote monitoring platform or a worker, the remote monitoring platform or the worker can process the chicken as soon as possible, and measures such as isolation, killing of the chicken in the same cage and a certain range around the cage, deep burying, disinfection and the like are taken according to epidemic risks.
Because the stand is fixed directly over left front wheel axle center and right front wheel axle center line midpoint point, and this patrols and examines the operation of robot stand and all patrols and examines the circuit operation along the magnetic guide basically, and this patrols and examines the operation of robot, and the stand is stable like this, and difficult the rocking can effectively keep balance.
Preferably, the upright post is also provided with a plurality of pickups, each pickups corresponds to one row of coops, and the pickups are connected with the signal input end of the programmable controller. The pickup structure is similar to a common microphone, and only needs to collect the cry and breath of the chicken within 50 cm.
Each sound pick-up corresponds a chicken coop respectively, and when the robot runs, the robot passes through each chicken coop in a short distance, and simultaneously picks the singing of the chicken. When the chicken coop is used, the abnormal singing of the specific chicken is not needed to be distinguished, the abnormal singing of the specific chicken in the coop is not needed to be distinguished, and only the section and the row of the chicken in the coop can be distinguished, so that the possibility of illness exists. The staff knows the information and can carry out reexamination, isolation, disinfection and treatment on some chickens in the related hencoops in a targeted manner. By the design, the detection idea is simple and reliable, and the cost is low.
As optimization, it still includes the remote monitoring platform, and this remote monitoring platform includes host computer, display screen, storage database and wireless receiving decoder, it is equipped with corresponding wireless coding emitter to patrol and examine the robot, patrol and examine the robot and pass through wireless emitter with the image of thermal imaging camera shooting and the sound wave of adapter record and the sequence number coding back of corresponding chicken coop, send for the remote monitoring platform. By the design, remote real-time monitoring is facilitated.
As optimization, the remote monitoring platform calculates the average brightness of the received thermal imaging images of all the coops, forms a column diagram, and displays the column diagram on a display screen in a plurality of rows, wherein the abscissa is the serial number of each coop, and the ordinate is the average brightness of the thermal imaging images of all the coops. By the design, the temperature change of the chickens in each coop can be conveniently checked by observing the temperature change of the chickens through the display screen.
As an optimization, the chicken singing and the chicken breathing of each coop recorded by the pickup are divided into a plurality of rows in a sound wave mode and displayed on the display screen, the abscissa is the serial number of each coop, and the ordinate is the frequency or the average volume of the sound waves of the chicken singing and the chicken breathing of each coop. Due to the design, workers can check and monitor the cry change of the chickens in each coop through the display screen conveniently.
The cruise control method of the inspection robot in the intelligent inspection system for the caged chickens comprises the following steps:
the method comprises the following steps of firstly, sequentially numbering each linear guide magnetic stripe and each circular arc guide magnetic stripe from the head end to the tail end of a magnetic guide routing inspection line, and respectively recording the serial numbers as a No. 1 linear guide magnetic stripe navigation section, a No. 2 linear guide magnetic stripe navigation section and a No. 3 linear guide magnetic stripe navigation section … … No. M linear guide magnetic stripe navigation section;
a 1 st circular arc-shaped guiding magnetic stripe navigation section, a 2 nd circular arc-shaped guiding magnetic stripe navigation section, a 3 rd circular arc-shaped guiding magnetic stripe navigation section … … and an Nth circular arc-shaped guiding magnetic stripe navigation section, wherein M, N is positive integer and M-N is 1,
secondly, sequentially installing a nameplate on each coop along the magnetic guide routing inspection line, and marking the coop serial number on the nameplate by using a fluorescent pen or fluorescent paint;
thirdly, moving the inspection robot to the head end of the magnetic guide inspection line, starting a power switch,
starting the left driving motor, the right driving motor and the thermal imaging camera by the programmable controller, carrying out infrared continuous shooting or shooting on the chickens in each hencoop passing along the way by the thermal imaging camera, storing infrared images and serial numbers of each hencoop, collecting the cry and respiration of the chickens in each hencoop passing along the way by the pickup, recording the serial numbers of each hencoop,
when the inspection robot travels in a linear guide magnetic stripe navigation section, the inspection robot is controlled according to the following conditions:
(1) if the magnetic field sensor senses that the linear guide magnetic strip is just positioned under the magnetic field sensor, the left front wheel and the right front wheel both move forward at the linear cruising rotation speed R1;
(2) if the magnetic field sensor senses that the straight guide magnetic stripe is positioned at the left lower part of the magnetic field sensor for the first time in the same straight guide magnetic stripe navigation section, the rotating speed of the right front wheel relative to the left front wheel is increased by delta R1, the magnetic field sensor senses that the straight guide magnetic stripe is positioned at the right lower part of the magnetic field sensor for the first time, the rotating speed of the left front wheel relative to the right front wheel is increased by delta R1,
when the magnetic field sensor senses that the linear guide magnetic stripe is positioned right below the magnetic field sensor, the rotating speeds of the left front wheel and the right front wheel are changed into the rotating speeds R1 of linear cruising and advancing along with the advancing of the inspection robot;
(3) thereafter, in the same linearly guided magnetic stripe navigation section, every time the magnetic field sensor senses that the linearly guided magnetic stripe is located below and to the left or below the magnetic field sensor, the following speed adjustment is performed by halving Δ R1 once, i.e. by multiplying the Δ R1 by the n-th power of Δ Rn ═ 0.5:
if the magnetic field sensor senses that the linear guide magnetic stripe is positioned at the lower left of the magnetic field sensor, the rotating speed of the front right wheel relative to the front left wheel is increased by (delta Rn), and if the magnetic field sensor senses that the linear guide magnetic stripe is positioned at the lower right of the magnetic field sensor, the rotating speed of the front left wheel relative to the front right wheel is increased by (delta Rn),
when the inspection robot travels to a neutral zone at the tail end of the linear guide magnetic stripe, the magnetic field sensor senses interruption of a magnetic signal of the linear guide magnetic stripe, the programmable controller judges that the inspection robot is about to break away from the linear guide magnetic stripe and enter a circular arc guide magnetic stripe navigation section, and at the moment, the thermal imaging camera and the pickup pause;
in the arc-shaped guide magnetic stripe navigation section, the rotating speed of the outer side wheel of the inspection robot is still the linear cruising rotating speed R1, and the rotating speed of the inner side wheel of the inspection robot is R2;
if the magnetic field sensor senses that the circular arc-shaped guide magnetic stripe is just positioned under the magnetic field sensor in the circular arc-shaped guide magnetic stripe navigation section, the preset rotating speed of the outer side wheel is still the linear cruising rotating speed R1, and the rotating speed of the inner side wheel is R2;
if the magnetic field sensor senses that the arc-shaped guide magnetic stripe is positioned on the outer side below the magnetic field sensor for the first time in the same arc-shaped guide magnetic stripe navigation section, the inner side wheel is driven at the rotating speed of R2+ delta R1; if the magnetic field sensor senses that the circular arc-shaped guide magnetic strip is positioned on the inner side below the magnetic field sensor, the outer side wheel is driven at the rotating speed of R1+ delta R1,
when the magnetic field sensor senses that the circular arc-shaped guide magnetic strip is positioned right below the magnetic field sensor along with the advance of the inspection robot, the rotating speed of the outer side wheel is still the linear cruising rotating speed R1, and the rotating speed of the inner side wheel is R2;
(iii) thereafter, in the same circular arc-shaped guidance strip guidance zone, reducing Δ R1 by half once every time the magnetic field sensor senses that the linear guidance strip is located below the outside or below the inside of the magnetic field sensor, i.e. by multiplying Δ Rn by Δ R1 by the power n of 0.5, performing the following speed regulation:
if the magnetic field sensor senses that the arc-shaped guide magnetic strip is positioned on the outer side below the magnetic field sensor, the inner side wheel is driven at the rotating speed of R2+ delta Rn; if the magnetic field sensor senses that the circular arc-shaped guide magnetic strip is positioned below the inner side of the magnetic field sensor, the outer side wheel is driven at the rotating speed of R1+ delta Rn,
when the inspection robot moves to the neutral area at the tail end of the circular arc-shaped guide magnetic strip, the magnetic field sensor senses that the magnetic signal of the circular arc-shaped guide magnetic strip is interrupted, and the fourth step is returned until the tail end of the magnetic guide inspection line is reached according to the fact that the magnetic signal enters the next linear guide magnetic strip navigation section.
Some inspection robots adopt a GPS navigation technology, but the error of the civil GPS navigation technology is about 10 meters, and the inspection robots cannot be helped to walk between narrow coops. The straight line direction magnetic stripe and the convex direction magnetic stripe that adopt in this patent only constitute by the magnetic rubber strip, lay in the chicken coop, and it is little to the ground roughness influence, and with low costs, directly over its stand is located between left front wheel and the right front wheel, and when the convex direction magnetic stripe of process, the stand is little in convex direction magnetic stripe top swing range always, does not influence thermal imaging camera, adapter work. The robot that patrols and examines is steady during the operation, can pass through quietly at the condition that the chicken was not found, to gather audio-visual information. By the design, the chicken inspection device has low cost and small disturbance to chickens during operation, and can completely replace manual inspection of the caged chickens.
The intelligent inspection system for the caged chickens and the cruise control method of the inspection robot have the advantages of low cost and small disturbance to chickens during operation, can completely replace manual inspection of the caged chickens, and are widely applied to chicken farms for caged meat chickens and laying hens.
Drawings
The intelligent inspection system for the caged chicken and the cruise control method of the inspection robot thereof are further explained by combining the attached drawings as follows:
FIG. 1 is a schematic perspective view of an inspection robot of the intelligent inspection system for caged chickens;
fig. 2 is a schematic top view of the inspection robot shown in fig. 1;
FIG. 3 is a schematic plan view of the inspection robot in the intelligent inspection system for caged chicken;
fig. 4 is a schematic diagram showing that the thermal imaging image and the thermal imaging image of a certain row of coops displayed on the display screen of the intelligent inspection system for caged chickens are converted into a brightness column diagram and sound wave change.
In the figure: the device comprises a box body 1, a vertical column 2, a thermal imaging camera 3, a coop 4, a passage 5, a left front wheel 6, a right front wheel 7, a universal caster 8, a vertical through hole 9, a roller 81, an eccentric frame 82, a vertical shaft 83, a horizontal shaft 84, a linear guide magnetic strip 10, an arc guide magnetic strip 11, a neutral area 12 and a sound pick-up 13.
Detailed Description
The first implementation mode comprises the following steps: as shown in fig. 1-3, the intelligent inspection system for caged chickens of the invention comprises a henhouse and an inspection robot, wherein the inspection robot comprises a box body 1 and a stand column 2, wheels are arranged below the box body 1, the stand column 2 is fixed on the box body, a thermal imaging camera 3 is fixed on the stand column 2, a storage battery (not shown in the figure), a programmable controller (not shown in the figure) and a storage device (not shown in the figure) are arranged in the box body 1, a plurality of rows of henhouses 4 are arranged in the henhouse, a passageway is arranged between adjacent rows of henhouses 4, the width of the passageway 5 is more than or equal to 60 cm, the thermal imaging camera 3 and the storage device are respectively electrically connected with the programmable controller and are provided with a power switch (not shown in the figure), and the intelligent inspection system is characterized in that: the wheels comprise a left front wheel 6, a right front wheel 7 and a universal caster 8, the left front wheel 6 and the right front wheel 7 are respectively provided with a left shaft, a right shaft, a left driving motor (not shown in the figure) and a right driving motor (not shown in the figure), the left shaft and the right shaft are respectively fixed on two side walls of the front part of the box body 1 through bearings, the left shaft and the right shaft are respectively driven by the left driving motor and the right driving motor, the axial lead of the left shaft is coincided with the axial lead of the right shaft, the middle rear part of the box body 1 is narrowed, the tail part of the box body 1 is provided with a top plate, the top plate is provided with a vertical through hole 9, the universal caster 8 comprises a roller 81, an eccentric frame 82 and a vertical shaft 83, the roller 81 is hinged on the eccentric frame 82 through a horizontal shaft 84, the eccentric frame 82 is fixed at the lower end of the vertical shaft 83 and is hinged in the vertical through hole 9 through the vertical shaft 83, the left front wheel 6, the right front wheel 7 and the vertical shaft 83 are distributed in a T shape, the upright post 2 is fixed right above the connecting line of the axis of the left front wheel and the axis, the front and the back of each row of coops 4 are respectively provided with a linear guide magnetic strip 10, the linear guide magnetic strips 10 between the adjacent coops 4 are positioned in the middle of the aisle 5, arc-shaped guide magnetic strips 11 are arranged between the heads and the tails of the adjacent linear guide magnetic strips 10, the linear guide magnetic strips 10 and the arc-shaped guide magnetic strips 11 form a magnetic guide inspection line, a 5-centimeter neutral zone 12 is arranged between the linear guide magnetic strips 10 and the arc-shaped guide magnetic strips 11, and the neutral zone 12 is positioned at the tail end of the linear guide magnetic strips 10 and the tail end of the arc-shaped guide magnetic strips 11 positioned at the upstream.
The radius of each circular arc-shaped guide magnetic stripe 11 is D, the distance between the outer edge of the left front wheel 6 and the outer edge of the right front wheel 7 is D, a magnetic field sensor (not shown in the figure) is arranged right below the front edge of the box body 1, the magnetic field sensor is connected with the signal input end of the programmable controller, and the left driving motor and the right driving motor are respectively connected with the signal output end of the programmable controller.
The inspection robot is provided with a linear cruise rotating speed R1 and a curve inner side wheel rotating speed R2, and R2 is R1 x (D-D)/D.
The R1 and the R2 are both standard rotating speeds, and in the running process, the inspection robot carries out corresponding adjustment on the basis of the standard rotating speeds according to the running section and the magnetic guide inspection line sensed by the magnetic field sensor on the programmable controller to serve as the driving speeds of the left front wheel 6 and the right front wheel 7.
Still be equipped with a plurality of adapter 13 on the stand 2, every adapter 13 corresponds one row of chicken coop, and above-mentioned adapter 13 links to each other with programmable controller's signal input part.
It still includes remote monitoring platform (not shown in the figure), and this remote monitoring platform includes host computer, display screen, storage database and wireless receiving decoder, it is equipped with corresponding wireless coding emitter to patrol and examine the robot, patrol and examine the robot and pass through wireless emitter with the image of 3 shots of thermal imaging camera and sound wave and the sequence number coding back of corresponding chicken coop of adapter 13 records, send for remote monitoring platform.
The remote monitoring platform calculates the average brightness of the received thermal imaging images of the chicken coops 4, forms a column diagram, and displays the column diagram on a display screen in a plurality of rows, wherein the abscissa is the serial number of each chicken coop, and the ordinate is the average brightness of the thermal imaging images of the chickens in each chicken coop 4.
The chicken singing of each coop that the adapter 13 recorded, chicken respiratory sound are with the mode of sound wave, divide into the multiseriate and show on the display screen, and the abscissa is the sequence number of each coop 4, and the ordinate is the frequency or the average volume of the sound wave of each coop 4 chicken singing, chicken respiratory sound.
As shown in fig. 4, the average brightness of the thermal images of the chickens in the coop 2 is obviously higher than that of the chickens in the coop, the sound wave is low, the frequency is high, and the average brightness represents that the chickens in the coop 2 or part of the chickens have early asthma or influenza, and staff should be arranged as soon as possible to review the coop 2 and the peripheral coops, and isolation, treatment and disinfection are required as necessary.
The average thermal imaging brightness of the chickens in the coop with the reference number 4 is lower than that of the chickens in the coop, the sound wave volume is low, the situation that the chickens in the coop with the reference number 4 are possibly in a partial death state or a state of being close to death is represented, and workers should be arranged immediately to isolate, kill and deeply bury the coop with the reference number 4 and the peripheral coops and to prevent epidemic and disinfect the peripheral coops and the chickens.
The cruise control method of the inspection robot in the intelligent inspection system for the caged chickens, which is disclosed by the embodiment of the invention, comprises the following steps:
the method comprises the following steps of firstly, sequentially numbering each linear guide magnetic stripe 10 and each circular arc guide magnetic stripe 11 from the head end to the tail end of a magnetic guide routing inspection line, and respectively recording a 1 st linear guide magnetic stripe 10 navigation section, a 2 nd linear guide magnetic stripe 10 navigation section, a 3 rd linear guide magnetic stripe 10 navigation section … … and an Mth linear guide magnetic stripe 10 navigation section;
the inspection robot comprises a 1 st circular arc-shaped guide magnetic stripe 11 navigation section, a 2 nd circular arc-shaped guide magnetic stripe 11 navigation section and a 3 rd circular arc-shaped guide magnetic stripe navigation section … … and an Nth circular arc-shaped guide magnetic stripe navigation section, wherein the inner side wheel of the inspection robot is a left front wheel or a right front wheel when passing through each circular arc-shaped guide magnetic stripe, M, N is positive integers, and M-N is 1.
Secondly, sequentially installing a nameplate on each coop 4 along the magnetic guide routing inspection line, and marking the coop serial number on the nameplate by using a fluorescent pen or fluorescent paint, wherein the figure is omitted;
thirdly, moving the inspection robot to the head end of the magnetic guide inspection line, starting a power switch,
starting the left driving motor, the right driving motor and the thermal imaging camera 3 by the programmable controller, carrying out infrared continuous shooting or shooting on the chickens in each hencoop 4 passing along the way by the thermal imaging camera 3, storing infrared images and serial numbers of the chickens, collecting the cry and respiratory sounds of the chickens in each hencoop 4 passing along the way by the pickup, recording the serial numbers of the chickens,
when the inspection robot travels in a linear guide magnetic stripe navigation section, the inspection robot is controlled according to the following conditions:
(1) if the magnetic field sensor senses that the linear guide magnetic strip is just positioned under the magnetic field sensor, the left front wheel 6 and the right front wheel 7 both move forwards at the linear cruising rotation speed R1;
(2) if the magnetic field sensor senses that the straight guidance magnetic stripe 10 is positioned at the left lower side of the magnetic field sensor for the first time in the navigation section of the same straight guidance magnetic stripe 10, the rotation speed of the right front wheel is increased by Δ R1 relative to the left front wheel, and the magnetic field sensor senses that the straight guidance magnetic stripe 10 is positioned at the right lower side of the magnetic field sensor for the first time, the rotation speed of the left front wheel is increased by Δ R1 relative to the right front wheel,
when the magnetic field sensor senses that the linear guide magnetic stripe 10 is positioned right below the magnetic field sensor along with the advance of the inspection robot, the rotating speeds of the left front wheel 6 and the right front wheel 7 are changed to advance according to the linear cruising rotating speed R1;
(3) thereafter, in the navigation section of the collinear guidance strip 10, whenever the magnetic field sensor senses that the linear guidance strip 10 is located below and to the left or below the magnetic field sensor, the following speed regulation is performed by halving Δ R1 once, i.e. by multiplying the Δ R1 by the n-th power of 0.5, for the Δ Rn: n is a positive integer representing the number of deviations of the magnetic field sensor from the linear guide strip 10.
If the magnetic field sensor senses that the linear guide magnetic stripe 10 is positioned at the lower left of the magnetic field sensor, the rotating speed of the front right wheel relative to the front left wheel is increased by Δ Rn, and if the magnetic field sensor senses that the linear guide magnetic stripe is positioned at the lower right of the magnetic field sensor for the first time, the rotating speed of the front left wheel relative to the front right wheel is increased by Δ Rn,
when the inspection robot travels to the neutral zone at the tail end of the linear guide magnetic stripe 10, the magnetic field sensor senses the interruption of the magnetic signal of the linear guide magnetic stripe 10, the programmable controller judges that the inspection robot is about to break away from the linear guide magnetic stripe 10 and enters the navigation zone of the circular arc guide magnetic stripe 11, and at the moment, the thermal imaging camera 3 and the sound pickup 13 pause to work;
in the navigation section of the arc-shaped guide magnetic stripe 13, the rotating speed of the outer wheel of the inspection robot is still the linear cruising rotating speed R1, and the rotating speed of the inner wheel of the inspection robot is R2;
if the magnetic field sensor senses that the circular arc-shaped guide magnetic stripe 11 is just positioned under the magnetic field sensor in the navigation section of the circular arc-shaped guide magnetic stripe 11, the preset rotating speed of the outer side wheel is still the linear cruise rotating speed R1, and the rotating speed of the inner side wheel is R2;
if the magnetic field sensor senses that the circular arc-shaped guide magnetic stripe 11 is located on the outer side below the magnetic field sensor for the first time in the same circular arc-shaped guide magnetic stripe 11 navigation section, the inner side wheel is driven at the rotating speed of R2+ delta R1; if the magnetic field sensor senses that the circular arc-shaped guide magnetic strip 11 is positioned at the lower inner side of the magnetic field sensor, the outer side wheel is driven at the rotating speed of R1+ delta R1,
when the magnetic field sensor senses that the circular arc-shaped guide magnetic stripe 11 is positioned right below the magnetic field sensor along with the advance of the inspection robot, the rotating speed of the outer side wheel is still the linear cruising rotating speed R1, and the rotating speed of the inner side wheel is R2;
(iii) thereafter, in the same circular-arc-shaped guidance strip 11 navigation sector, whenever the magnetic field sensor senses that the linear guidance strip is located below the outer side or below the inner side of the magnetic field sensor, halving Δ R1 once, i.e. by multiplying Δ Rn by Δ R1 by the power n of 0.5, the following speed governing is performed: n is a positive integer representing the number of deviations of the magnetic field sensor from the circular arc-shaped guide magnetic stripe 11.
If the magnetic field sensor senses that the arc-shaped guide magnetic stripe 11 is located on the outer side below the magnetic field sensor, the inner side wheel is driven at the rotating speed of R2+ delta Rn; if the magnetic field sensor senses that the circular arc-shaped guide magnetic strip is positioned below the inner side of the magnetic field sensor, the outer side wheel is driven at the rotating speed of R1+ delta Rn,
when the inspection robot moves to the neutral area at the tail end of the circular arc-shaped guide magnetic strip 11, the magnetic field sensor senses that the magnetic signal of the circular arc-shaped guide magnetic strip 11 is interrupted, and the fourth step is returned according to the fact that the inspection robot enters the navigation section of the next linear guide magnetic strip 10 until the tail end of the magnetic guide inspection line is reached.
Claims (5)
1. The utility model provides a system is patrolled and examined to cage chicken intelligence, includes the chicken coop and patrols and examines the robot, patrols and examines the robot and includes box and stand, and the box below is equipped with the wheel, and the stand is fixed on the box, is fixed with the thermal imaging camera on the stand, is equipped with battery, programmable controller and storage in the box, is equipped with multirow chicken coop in the chicken coop, is equipped with the passageway between the chicken coop of adjacent row, and the passageway width is greater than or equal to 60 centimetres, thermal imaging camera and storage are connected with programmable controller electricity respectively to be furnished with switch, its characterized in that: the upright post is also provided with a plurality of pickups, each pickups corresponds to a row of coops, the pickups are connected with the signal input end of the programmable controller, the wheel comprises a left front wheel, a right front wheel and a universal caster, the left front wheel and the right front wheel are respectively provided with a left shaft, a right shaft, a left driving motor and a right driving motor, the left shaft and the right shaft are respectively and oppositely fixed on the two side walls of the front part of the box body through bearings, the left shaft and the right shaft are respectively driven by the left driving motor and the right driving motor, the axial lead of the left shaft is coincided with the axial lead of the right shaft, the middle rear part of the box body is narrowed, the tail part of the box body is provided with a top plate, a vertical through hole is arranged on the top plate, the universal caster comprises a roller, an eccentric frame and a vertical shaft, the roller is hinged on the eccentric frame through a horizontal shaft, the eccentric frame is fixed at the lower end of the vertical shaft and is hinged in the vertical through hole through the vertical shaft, and the left front wheel, the right front wheel and the vertical shaft are distributed in a T shape, the upright posts are fixed right above the middle point of the connecting line of the axle center of the left front wheel and the axle center of the right front wheel, a linear guide magnetic stripe is arranged at the front and the back of each row of coops, the linear guide magnetic stripe between the adjacent coops is positioned in the middle of the aisle, an arc-shaped guide magnetic stripe is arranged between the head and the tail of the adjacent linear guide magnetic stripes, the linear guide magnetic stripe and the arc-shaped guide magnetic stripe form a magnetic guide inspection line, a 5 cm neutral area is arranged between the linear guide magnetic stripe and the arc-shaped guide magnetic stripe, and the neutral area is positioned at the tail end of the upstream linear guide magnetic stripe and the tail end of the arc-shaped guide magnetic stripe,
the radius of each circular arc-shaped guide magnetic stripe is D, the distance between the outer edge of the left front wheel and the outer edge of the right front wheel is D, a magnetic field sensor is arranged right below the front edge of the box body and is connected with the signal input end of the programmable controller, the left driving motor and the right driving motor are respectively connected with the signal output end of the programmable controller,
the inspection robot is provided with a linear cruise rotating speed R1 and a curve inner side wheel rotating speed R2, R2 is R1 x (D-D)/D,
the R1 and R2 are both standard rotating speeds, in the running process, the inspection robot carries out corresponding adjustment according to the running section and the magnetic guide inspection line sensed by the magnetic field sensor and is used as the driving speed of the left front wheel and the right front wheel,
when the inspection robot travels to a neutral area at the tail end of the linear guide magnetic stripe, the magnetic field sensor senses interruption of a magnetic signal of the linear guide magnetic stripe, the programmable controller judges that the inspection robot is about to break away from the linear guide magnetic stripe and enter a circular arc guide magnetic stripe navigation section, and at the moment, the thermal imaging camera and the sound pickup pause;
in the arc-shaped guide magnetic stripe navigation section, the rotating speed of the outer side wheel of the inspection robot is still the linear cruising rotating speed R1, and the rotating speed of the inner side wheel of the inspection robot is R2;
when the inspection robot travels to the neutral area at the tail end of the circular arc-shaped guide magnetic stripe, the magnetic signal sensed by the magnetic field sensor to the circular arc-shaped guide magnetic stripe is interrupted, and the inspection robot enters the next linear guide magnetic stripe navigation section until the tail end of the magnetic guide inspection line is reached.
2. The intelligent inspection system for caged chicken according to claim 1, characterized in that: it still includes the remote monitoring platform, and this remote monitoring platform includes host computer, display screen, storage database and wireless receiving decoder, it is equipped with corresponding wireless coding emitter to patrol and examine the robot, patrol and examine the robot and pass through wireless emitter with the image of thermal imaging camera shooting and the sound wave of adapter record and the sequence number coding back of corresponding chicken coop, send for the remote monitoring platform.
3. The intelligent inspection system for caged chicken according to claim 2, characterized in that: the remote monitoring platform calculates the average brightness of the received thermal imaging images of all the coops, forms a column diagram, displays the column diagram on a display screen in a plurality of rows, and has the abscissa as the serial number of each coop and the ordinate as the average brightness of the thermal imaging images of all the coops.
4. The intelligent inspection system for caged chicken according to claim 3, wherein: the chicken singing of each coop that the adapter recorded, chicken respiratory sound divide into the multiseriate with the mode of sound wave and show on the display screen, and the abscissa is the sequence number of each coop, and the ordinate is the frequency or the average volume of the sound wave of each coop chicken singing, chicken respiratory sound.
5. The cruise control method for the inspection robot in the intelligent inspection system for the caged chicken, which is used by the claim 1, comprises the following steps:
the method comprises the following steps of firstly, sequentially numbering each linear guide magnetic stripe and each circular arc guide magnetic stripe from the head end to the tail end of a magnetic guide routing inspection line, and respectively recording the serial numbers as a No. 1 linear guide magnetic stripe navigation section, a No. 2 linear guide magnetic stripe navigation section and a No. 3 linear guide magnetic stripe navigation section … … No. M linear guide magnetic stripe navigation section;
a 1 st circular arc-shaped guiding magnetic stripe navigation section, a 2 nd circular arc-shaped guiding magnetic stripe navigation section, a 3 rd circular arc-shaped guiding magnetic stripe navigation section … … and an Nth circular arc-shaped guiding magnetic stripe navigation section, wherein M, N is positive integer and M-N is 1,
secondly, sequentially installing a nameplate on each coop along the magnetic guide routing inspection line, and marking the coop serial number on the nameplate by using a fluorescent pen or fluorescent paint;
thirdly, moving the inspection robot to the head end of the magnetic guide inspection line, starting a power switch,
starting the left driving motor, the right driving motor and the thermal imaging camera by the programmable controller, carrying out infrared continuous shooting or shooting on the chickens in each hencoop passing along the way by the thermal imaging camera, storing infrared images and serial numbers of each hencoop, collecting the cry and respiration of the chickens in each hencoop passing along the way by the pickup, recording the serial numbers of each hencoop,
when the inspection robot travels in a linear guide magnetic stripe navigation section, the inspection robot is controlled according to the following conditions:
(1) if the magnetic field sensor senses that the linear guide magnetic strip is just positioned under the magnetic field sensor, the left front wheel and the right front wheel both move forward at the linear cruising rotation speed R1;
(2) if the magnetic field sensor senses that the straight guide magnetic stripe is positioned at the left lower part of the magnetic field sensor for the first time in the same straight guide magnetic stripe navigation section, the rotating speed of the right front wheel relative to the left front wheel is increased by delta R1, the magnetic field sensor senses that the straight guide magnetic stripe is positioned at the right lower part of the magnetic field sensor for the first time, the rotating speed of the left front wheel relative to the right front wheel is increased by delta R1,
when the magnetic field sensor senses that the linear guide magnetic stripe is positioned right below the magnetic field sensor, the rotating speeds of the left front wheel and the right front wheel are changed into the rotating speeds R1 of linear cruising and advancing along with the advancing of the inspection robot;
(3) thereafter, in the same linearly guided magnetic stripe navigation section, every time the magnetic field sensor senses that the linearly guided magnetic stripe is located below and to the left or below the magnetic field sensor, the following speed adjustment is performed by halving Δ R1 once, i.e. by multiplying the Δ R1 by the n-th power of Δ Rn ═ 0.5:
if the magnetic field sensor senses that the linear guide magnetic stripe is positioned at the lower left of the magnetic field sensor, the rotating speed of the front right wheel relative to the front left wheel is increased by (delta Rn), and if the magnetic field sensor senses that the linear guide magnetic stripe is positioned at the lower right of the magnetic field sensor, the rotating speed of the front left wheel relative to the front right wheel is increased by (delta Rn),
when the inspection robot travels to a neutral zone at the tail end of the linear guide magnetic stripe, the magnetic field sensor senses interruption of a magnetic signal of the linear guide magnetic stripe, the programmable controller judges that the inspection robot is about to break away from the linear guide magnetic stripe and enter a circular arc guide magnetic stripe navigation section, and at the moment, the thermal imaging camera and the pickup pause;
in the arc-shaped guide magnetic stripe navigation section, the rotating speed of the outer side wheel of the inspection robot is still the linear cruising rotating speed R1, and the rotating speed of the inner side wheel of the inspection robot is R2;
if the magnetic field sensor senses that the circular arc-shaped guide magnetic stripe is just positioned under the magnetic field sensor in the circular arc-shaped guide magnetic stripe navigation section, the preset rotating speed of the outer side wheel is still the linear cruising rotating speed R1, and the rotating speed of the inner side wheel is R2;
if the magnetic field sensor senses that the arc-shaped guide magnetic stripe is positioned on the outer side below the magnetic field sensor for the first time in the same arc-shaped guide magnetic stripe navigation section, the inner side wheel is driven at the rotating speed of R2+ delta R1; if the magnetic field sensor senses that the circular arc-shaped guide magnetic strip is positioned on the inner side below the magnetic field sensor, the outer side wheel is driven at the rotating speed of R1+ delta R1,
when the magnetic field sensor senses that the circular arc-shaped guide magnetic strip is positioned right below the magnetic field sensor along with the advance of the inspection robot, the rotating speed of the outer side wheel is still the linear cruising rotating speed R1, and the rotating speed of the inner side wheel is R2;
(iii) thereafter, in the same circular arc-shaped guidance strip guidance zone, reducing Δ R1 by half once every time the magnetic field sensor senses that the linear guidance strip is located below the outside or below the inside of the magnetic field sensor, i.e. by multiplying Δ Rn by Δ R1 by the power n of 0.5, performing the following speed regulation:
if the magnetic field sensor senses that the arc-shaped guide magnetic strip is positioned on the outer side below the magnetic field sensor, the inner side wheel is driven at the rotating speed of R2+ delta Rn; if the magnetic field sensor senses that the circular arc-shaped guide magnetic strip is positioned below the inner side of the magnetic field sensor, the outer side wheel is driven at the rotating speed of R1+ delta Rn,
when the inspection robot moves to the neutral area at the tail end of the circular arc-shaped guide magnetic strip, the magnetic field sensor senses that the magnetic signal of the circular arc-shaped guide magnetic strip is interrupted, and the fourth step is returned until the tail end of the magnetic guide inspection line is reached according to the fact that the magnetic signal enters the next linear guide magnetic strip navigation section.
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