CN110053774B - Control method for large animal breeding epidemic disease acquisition early warning system - Google Patents
Control method for large animal breeding epidemic disease acquisition early warning system Download PDFInfo
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- CN110053774B CN110053774B CN201910411124.1A CN201910411124A CN110053774B CN 110053774 B CN110053774 B CN 110053774B CN 201910411124 A CN201910411124 A CN 201910411124A CN 110053774 B CN110053774 B CN 110053774B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61D—VETERINARY INSTRUMENTS, IMPLEMENTS, TOOLS, OR METHODS
- A61D7/00—Devices or methods for introducing solid, liquid, or gaseous remedies or other materials into or onto the bodies of animals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/48—Biological material, e.g. blood, urine; Haemocytometers
- G01N33/50—Chemical analysis of biological material, e.g. blood, urine; Testing involving biospecific ligand binding methods; Immunological testing
- G01N33/53—Immunoassay; Biospecific binding assay; Materials therefor
- G01N33/569—Immunoassay; Biospecific binding assay; Materials therefor for microorganisms, e.g. protozoa, bacteria, viruses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The invention provides a control method for a large animal breeding epidemic disease acquisition early warning system, which comprises the following steps of 1) constructing a coordinate system; step 2), planning a flight route; step 3) coating a circle of purple area on the hip of each large animal to serve as an identification mark; step 4), carrying a germ detection test paper by the small unmanned aerial vehicle; step 5), the small unmanned aerial vehicle cruises above the column; step 6), the small unmanned aerial vehicle returns to the germ detection area to obtain the existence and type of germs; step 7) if no germs exist, the small unmanned aerial vehicle flies into an unmanned aerial vehicle cabin for charging standby or flies to the next target column for germ collection; and 8) if germs exist, judging the type of the germs according to the detection position of the germ detection area, storing the data, sending the data to a control center, and updating the germ detection test paper. The system is adopted to realize automatic collection and prevention and control of epidemic diseases of large animals.
Description
Technical Field
The invention relates to an animal epidemic disease treatment method, in particular to a control method for a large-scale animal breeding epidemic disease acquisition early warning system.
Background
The germs in the air environment are detected in a manual mode in common small-sized farms, and then the vaccine is injected. For a large farm, if a manual mode is adopted, a lot of time and manpower are consumed. In order to reduce the consumption of manpower and material resources, a system device capable of automatically detecting germs and injecting vaccines is urgently needed.
With the continuous progress of society, the living standard of people is continuously improved, and green health is also more emphasized in the aspect of diet. The requirements for meat products are also becoming more stringent. The health of meat products depends entirely on the environment of the farm and on the prevention of diseases in the animals. Problems occur in any one of the two aspects, and safe and healthy production is difficult to realize.
The small-sized farms at present at home all use a mode of manually detecting germs and injecting vaccines, and for large-sized farms, although a large part of farms are equipped with semi-automatic or full-automatic breeding systems, the systems mostly realize automatic feeding, automatic mixing and automatic cleaning of animal wastes. In the aspect of epidemic disease collection, manual detection is adopted, and corresponding vaccine for prevention and treatment is injected manually according to the detected result. Because animals do not stop moving and the injection area is not judged well, in the aspects of automatic detection and epidemic disease prevention, few farms prepare related equipment, and few people study the technology, so that the study is basically in a blank period.
In order to solve the above problems, people are always seeking an ideal technical solution.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a control method for a large animal breeding epidemic disease acquisition early warning system, which is reasonable in design and high in automation degree.
In order to achieve the purpose, the invention adopts the technical scheme that: a control method for a large animal breeding epidemic disease acquisition early warning system comprises the following steps:
step 1), combining the positions of 6 cameras and acquired image information by a processor host to construct a coordinate system of the whole captive area;
step 2) calibrating the coordinate position of each column by combining the step 1) and the design drawing of the captive area, and planning the flight route of the small unmanned aerial vehicle;
step 3) coating a circle of purple area on the hip of each large animal to serve as an identification mark of the small unmanned aerial vehicle;
step 4), carrying a plurality of different types of germ detection test paper by the small unmanned aerial vehicle so as to obtain different types of germs;
step 5), the small unmanned aerial vehicle flies to the target column according to the established route defined by the processor host, and cruises above the column to enable the germ detection test paper to be in full contact with germs in the column;
step 6), the small unmanned aerial vehicle navigates back according to a set route and falls into a germ detection area, and the detection positions correspond to the positions of detection test paper one by one to obtain the existence of germs and the types of germs;
step 7) if no germs exist, the small unmanned aerial vehicle flies into the unmanned aerial vehicle bin to charge for standby or flies to the next target column for germ collection, and the steps 2) to 6) are repeated;
and 8) if germs exist, judging the type of the germs according to the detection position of the germ detection area, storing the data, sending the data to a control center, and updating the germ detection test paper.
Based on the above, step 9), if germs exist, the processor host moves the corresponding vaccine bin to the vaccine taking position through the reciprocating mechanism, and the small unmanned aerial vehicle takes the vaccines through the self-contained injection mechanism;
step 10), the small unmanned aerial vehicle flies to a target column according to a set route planned by the processor host, the hip of the animal is identified and approached through the purple area, and the vaccine is injected into the animal body through an injection mechanism;
and step 11), the small unmanned aerial vehicle returns to the cabin of the unmanned aerial vehicle for charging, or flies to the next column after returning to the cabin, and the steps 2) to 10) are repeated.
Basically, the germ detection test paper is fixed through a paper placing mechanism and a paper receiving mechanism, a space is reserved between the paper receiving mechanism and the paper placing mechanism so that the test paper can be exposed, the paper receiving mechanism and the paper placing mechanism cooperate to update the exposed part of the test paper, and in step 8, the processor host controls the paper receiving mechanism and the paper placing mechanism to act to uniformly receive the used test paper into the paper receiving mechanism and update the test paper in the exposed area.
Basically, it still includes the unmanned aerial vehicle dispatch table, set up two unmanned aerial vehicle positions in a warehouse on the unmanned aerial vehicle dispatch table, germ detection area, vaccine storehouse and processor host computer all set up on the unmanned aerial vehicle dispatch table.
Basically, each germ test paper is arranged in rows, the germ detection area on the unmanned aerial vehicle dispatching desk is provided with detection positions which are arranged in parallel and have the same specification, and the germ detection paper screens correspond to the detection positions one by one.
Basically, the injection mechanism is a needleless injection mechanism.
Basically, the injection mechanism is a flying needle injector, the bottom at unmanned aerial vehicle is installed to the transmitting terminal of flying needle injector, and the trigger switch of transmitting terminal is electric control switch, the bacterin extraction district is provided with the minute needle cartridge clip.
Compared with the prior art, the vaccine injection test system has outstanding substantive characteristics and remarkable progress, particularly, the vaccine injection test system realizes automation of epidemic situation detection by utilizing an unmanned aerial vehicle technology and combining a test paper mode of vaccine detection, realizes the automatic vaccine injection process of large animals by means of a flying needle injection or needle-free injection technology, and realizes automation of epidemic disease detection and prevention for large animal breeding.
Drawings
Fig. 1 is a schematic distribution diagram of each device at the bottom end of the unmanned aerial vehicle in embodiment 1 of the present invention.
Fig. 2 is a schematic structural diagram of an unmanned aerial vehicle dispatching desk in embodiment 1 of the present invention.
Fig. 3 and 4 are schematic structural views of a needle-less injection mechanism in two states according to embodiment 2 of the present invention.
FIG. 5 is a schematic structural view of a vaccine warehouse and a trolley in embodiment 2 of the present invention.
Fig. 6 is a schematic structural diagram of an acquisition device in embodiment 4 of the present invention.
Fig. 7 is a schematic distribution diagram of each device at the bottom end of the unmanned aerial vehicle in embodiment 2 of the present invention.
In the figure: 1. a small unmanned aerial vehicle; 2. a collection device; 3. a camera; 4. an injection mechanism; 5. an unmanned aerial vehicle dispatching desk; 6. unmanned plane bin level; 7. a germ detection area; 8. a vaccine draw-off zone; 9. a processor host; 10. a liquid storage area; 11. a vaccine inlet check valve; 12. a vaccine outlet one-way valve; 13. a needle-less injection mechanism; 14. a screw motor; 15. a draw-bar for liquid extraction and injection; 16. a liquid pumping pipe; 17. a screw rod; 18. a first push plate; 19. a trolley; 20. a vaccine warehouse; 21. a paper delivery mechanism; 22. a paper placing mechanism; 23. test paper; 24. a second push plate; 25. a ball structure; 26. a return spring.
Detailed Description
The technical solution of the present invention is further described in detail by the following embodiments.
Example 1
As shown in fig. 1 and 2, the control method of the robot system for collecting, early warning, preventing and controlling the large animal breeding epidemic diseases comprises the following steps:
step 1) a processor host combines the positions of 6 cameras and acquired image information to construct a coordinate system of a whole captive breeding area, and as the captive breeding of large animals such as cattle pens and the like adopts a mode of one cattle with one column, the layout is square, and the establishment of the coordinate system is not difficult;
step 2) calibrating the coordinate position of each column according to the design drawing of the step 1) and the design drawing of the captive area, and planning the flight route of the small unmanned aerial vehicle, wherein the flight route is designed along the walking route of people, and a target point is over the column;
step 3) coating a circle of purple area on the hip of each large animal, wherein the purple area is used as an identification mark of the small unmanned aerial vehicle and is mainly used for vaccine injection, and if the purple area is not needed, the step can be removed;
step 4) clamping different types of test paper on a plurality of pathogen detection test paper clamping positions of the small unmanned aerial vehicle so as to obtain different types of pathogens;
step 5), the small unmanned aerial vehicle flies to the target column according to the set route defined by the processor host, and cruises over the column to enable the test paper to be in full contact with germs in the column;
step 6), the small unmanned aerial vehicle navigates back according to a set route and falls into a germ detection area, the detection positions correspond to the positions of the detection test paper one by one, and the existence and type of germs are obtained;
step 7) if no germs exist, the small unmanned aerial vehicle flies into the unmanned aerial vehicle bin to charge for standby or flies to the next target column for germ collection, and the steps 2) to 6) are repeated;
step 8) if there is a germ, judging the type of the germ according to the detection position of the germ detection area, moving the corresponding vaccine bin to the interface position through the reciprocating mechanism by the processor host, adjusting the position by the small unmanned aerial vehicle, inserting the liquid pumping pipe of the injection mechanism into the vaccine bin, starting the screw motor and extracting the vaccine.
It should be noted that the positions of the interfaces of the unmanned aerial vehicle bin, the germ detection area and the vaccine extraction area are all used as identification marks, the camera of the small unmanned aerial vehicle can accurately land to the position of the interface by identifying the shape of the camera so as to extract the vaccine, and the marks are fixed positions, so that a program can be preset, the precision is improved, and the occurrence of misjudgment in temporary identification is avoided;
step 9), the small unmanned aerial vehicle flies to a target column according to a set route planned by the processor host, the hip of the animal is identified and approached through the purple area, and the vaccine is injected into the animal body through an injection mechanism;
and step 10), returning the small unmanned aerial vehicle to the cabin position of the unmanned aerial vehicle for charging, or flying to the next column position after returning to the air, and repeating the steps 2) to 9).
The small unmanned aerial vehicle is used for circulating in the culture area;
the collecting device is arranged on the small unmanned aerial vehicle and used for collecting bacteria in a target area, and in the embodiment, the collecting device is test paper;
the camera is arranged on the small unmanned aerial vehicle and used for shooting images for a system to recognize the images, and when the camera is used specifically, a colored pattern is smeared on the hip of a large animal such as a cow and is used as a mark for recognizing the small unmanned aerial vehicle;
unmanned aerial vehicle dispatch table, unmanned aerial vehicle dispatch table includes two unmanned aerial vehicle positions in a storehouse, germ detection zone and bacterin extraction district, and the treater host computer is installed unmanned aerial vehicle dispatch bench, the dispatch table is used for charging, depositing of unmanned aerial vehicle for gather the detection and the classification of germ, and the access of bacterin.
The control system comprises the processor host and at least 6 cameras arranged at four corners and middle positions of a target area, and the processor host is connected with the at least 6 cameras and used for constructing a coordinate system of the target area; the processor host is connected with the small unmanned aerial vehicle through a wireless network, coordinates of the small unmanned aerial vehicle are calibrated by combining images collected by the small unmanned aerial vehicle, a walking path of the small unmanned aerial vehicle is planned, as the large animal farm is special in occasions, animals are all in fixed columns, one animal is arranged in each column, the head and the tail of the large animal farm are fixed, the distribution is very regular, and a coordinate system of the whole area can be easily constructed by combining a camera and a planning drawing.
The flying path of the small unmanned aerial vehicle usually walks along a main road, and after the small unmanned aerial vehicle walks to a target column, the small unmanned aerial vehicle cruises back and forth at the target column once and then returns along an original route.
In the process, the test paper is required to be classified, and different types of test paper which is easy to adsorb are adopted according to different types of germs.
Collection system is including a plurality of germ detection test paper screens that arrange side by side, the germ detection zone on the unmanned aerial vehicle dispatch table is provided with the detection position that same specification arranged side by side, germ detection test paper screens with the detection position one-to-one will common germ simply be categorised, and the one-to-one through the different disease type of different test paper tests, finally realizes the detection and the classification of germ. Each pathogen has fixed equipment such as detection solution or probe, and the test paper is arranged at the corresponding disease detection position one to one, so that single equipment can detect single pathogens, the accuracy is higher, and the detection difficulty is reduced.
The detection result can be stored or sent to a remote control center, a worker checks the vaccine once every day or every half day, then the vaccine is taken from an unmanned aerial vehicle dispatching desk, and the animal with the corresponding column can be injected manually.
Example 2
As shown in fig. 7, the present embodiment is different from embodiment 1 in that: it still including installing injection mechanism on the unmanned aerial vehicle for carry out the bacterin injection to large-scale breed animal, realize the automatic injection of bacterin.
As shown in fig. 3 and 4, the injection mechanism includes a liquid storage area 10, a vaccine inlet check valve 11, a vaccine outlet check valve 12, a needle-free injection mechanism 13, a screw rod motor 14 and a liquid pumping injection pull rod 15, the liquid storage area 10 and the vaccine outlet check valve 12 cooperate to form an injector structure, the vaccine inlet check valve 11 is communicated with the liquid storage area 10 and a liquid pumping pipe 16, the needle-free injection mechanism 13 is installed outside the vaccine outlet check valve 12, an output shaft of the screw rod motor 14 drives a screw rod 17 to rotate, a distal end of the screw rod 17 is in threaded fit with a first push plate 18 and a second push plate 24, a certain stroke gap is formed between the first push plate 18 and the second push plate 24, an outer end of the first push plate 18 can abut against a tail end of the liquid pumping injection pull rod 15, an inner end of the second push plate 24 can abut against a tail end of the liquid pumping injection pull rod 15, and the liquid pumping injection pull rod 15 is provided with a ball structure 25 for locking position and a return spring 26 for returning to an animal needle-free injection mechanism.
The screw motor 14 drives the screw 17 and the first push plate 18 and the second push plate 19 to move, the first push plate 18 and the second push plate 19 are substantially in nut structures, the upper end of a nut is limited by a rail surface, so that reciprocating motion is realized, when the screw moves to the far end, the first push plate 18 pushes the liquid pumping injection pull rod 15 to move, when the liquid pumping injection pull rod 15 moves to the far end, as the liquid pumping injection pull rod 15 contacted with the ball structure 25 is suddenly thinned, the ball structure 25 is displaced under the action of elastic force, the diameter-changing position of the liquid pumping injection pull rod 15 is clamped, the reset function of the reset spring can be realized, the reset spring 26 is in a stretching state, then the screw motor 14 reversely rotates, the second push plate 19 returns to be abutted against the liquid pumping injection pull rod 15, under the action of pressure, the ball structure 25 moves outwards along the inclined surface, the diameter-changing position is gradually separated from the position of the ball structure 25, the liquid pumping injection pull rod 15 is subjected to instantaneous tension of the reset spring 26, vaccines are knocked out under the high-pressure effect, and no injection needle is realized, wherein in the process of moving to the far end, the vaccine-needle-free injection mechanism is sucked.
This section is prior art and is described in more detail in the paper "design and testing of needleless injection systems for large animal injection".
As shown in fig. 5, the vaccine extraction area is provided with an interface and a plurality of vaccine bins, the vaccine bins are mounted on a controllable reciprocating mechanism, the processor host is connected with the reciprocating mechanism so as to enable different vaccine bins to face the interface position of the vaccine extraction area, the reciprocating mechanism can be a linear actuator or a screw rod transmission mechanism or a linear trolley, and the like, so that the vaccine bins are in one-to-one correspondence with the pathogen detection positions, and the vaccine bins are correspondingly moved to the interface position when the detection result is detected at any position.
When small-size unmanned aerial vehicle need extract the bacterin, put into the intraoral vaccine storehouse of interface with the liquid suction pipe, the bacterin storehouse adopts uncovered to make things convenient for the extraction of bacterin.
Example 3
The present example differs from example 2 in that: the injection mechanism is a flying needle injector, the transmitting end of the flying needle injector is installed at the bottom end of the small unmanned aerial vehicle, a trigger switch of the transmitting end is an electric control switch, a flying needle cartridge clip is arranged in the vaccine extraction area, injection is carried out in a common animal flying needle injection mode, and the flying needle can be clamped in the vaccine extraction area.
Example 4
As shown in fig. 6, the present embodiment is different from embodiment 1 in that: the germ detection test paper is fixed by a paper placing mechanism 22 and a paper receiving mechanism 21, a space is reserved between the paper receiving mechanism 21 and the paper placing mechanism 22 so that the test paper 24 is exposed, the paper receiving mechanism 22 and the paper placing mechanism 21 cooperate to update the exposed part of the test paper 24, the updating of the test paper 24 is realized by the paper receiving mechanism and the paper placing mechanism, the paper receiving mechanism is usually set to be active paper receiving, and the paper placing mechanism is passive paper placing with damping, so that the coordination purpose is achieved.
The paper collecting mechanism can be controlled by a paper collecting motor, and after the collection is finished each time, the processor host controls the paper collecting motor to work to roll the used test paper into the paper collecting mechanism.
Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present invention and not to limit the same; although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that: modifications of the embodiments of the invention or equivalent substitutions for parts of the technical features are possible; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (3)
1. A control method for a large animal breeding epidemic disease acquisition early warning system is characterized by comprising the following steps: it comprises the following steps:
step 1) installing at least 6 cameras at four corners and the middle position of a target area, and constructing a coordinate system of the whole captive area by combining the positions of the 6 cameras and acquired image information by a processor host;
step 2) calibrating the coordinate position of each column by combining the step 1) and the design drawing of the captive area, and planning the flight route of the small unmanned aerial vehicle;
step 3) coating a circle of purple area on the hip of each large animal to serve as an identification mark of the small unmanned aerial vehicle;
step 4), carrying a plurality of different types of germ detection test paper by the small unmanned aerial vehicle so as to obtain different types of germs, wherein specifically, the collecting device comprises a plurality of germ detection test paper screens which are arranged in parallel;
step 5), the flight path of the small unmanned aerial vehicle walks along the main road, after the small unmanned aerial vehicle walks to the target column, the small unmanned aerial vehicle cruises back and forth once in the target column and then returns along the original route so as to enable the germ detection test paper to be in full contact with germs in the column;
step 6) the small unmanned aerial vehicle navigates back according to a set route and falls into an unmanned aerial vehicle dispatching desk, two unmanned aerial vehicle bins are arranged on the unmanned aerial vehicle dispatching desk, a germ detection area, a vaccine extraction area and a processor host are all arranged on the unmanned aerial vehicle dispatching desk, all the germ detection test paper is arranged in rows, the germ detection area on the unmanned aerial vehicle dispatching desk is provided with detection positions which are arranged in parallel and have the same specification, the germ existence and the germ type are obtained, specifically, the germ detection test paper clamping positions correspond to the detection positions one by one, common germs are simply classified and correspond one by one, different disease types are tested through different test paper, and finally, the detection and classification of the germs are realized; each pathogen has a fixed detection solution or probe equipment, and the test paper is arranged at the corresponding disease detection positions one by one, so that single equipment can detect single pathogens; step 7) if no germs exist, the small unmanned aerial vehicle flies into the unmanned aerial vehicle bin to charge for standby or flies to the next target column for germ collection, and the steps 2) to 6) are repeated;
step 8) if germs exist, judging the type of the germs according to the detection position of the germ detection area, storing data, sending the data to a control center, updating germ detection test paper, fixing the germ detection test paper through a paper placing mechanism and a paper receiving mechanism, reserving a space between the paper receiving mechanism and the paper placing mechanism so that the test paper is exposed, enabling the exposed part of the test paper to be updated through cooperation of the paper receiving mechanism and the paper placing mechanism, and enabling a processor host to control the paper receiving mechanism and the paper placing mechanism to act so that used test paper is uniformly received into the paper receiving mechanism and the test paper in the exposed area is updated;
step 9), if germs exist, the processor host moves the corresponding vaccine bin to a vaccine taking position through the reciprocating mechanism, and the small unmanned aerial vehicle takes the vaccines through the self-contained injection mechanism;
step 10) the small unmanned aerial vehicle flies to a target column position according to a set route planned by the processor host, the buttocks of the animal are identified and close to the target column position through the purple area, and the vaccine is injected into the animal body through an injection mechanism;
and step 11), the small unmanned aerial vehicle returns to the cabin of the unmanned aerial vehicle for charging, or flies to the next column after returning to the cabin, and the steps 2) to 10) are repeated.
2. The control method for the large animal breeding epidemic disease collection early warning system according to claim 1, characterized in that: the injection mechanism is a needle-free injection mechanism.
3. The control method for the large animal breeding epidemic disease collection early warning system according to claim 1, characterized in that: the injection mechanism is a flying needle injector, the transmitting end of the flying needle injector is installed at the bottom end of the small unmanned aerial vehicle, the trigger switch of the transmitting end is an electric control switch, and the vaccine extraction area is provided with a needle separating clip.
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| CN113390510B (en) * | 2020-03-11 | 2022-04-19 | 珠海六和节能投资有限公司 | Wild animal epidemic disease propagation early warning device based on unmanned aerial vehicle monitoring |
| CN112161973B (en) * | 2020-08-31 | 2022-04-08 | 中国水利水电科学研究院 | Unmanned aerial vehicle-based rapid detection method for water pollution |
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