CN110946081A - Automatic control animal manure's rearging cage - Google Patents
Automatic control animal manure's rearging cage Download PDFInfo
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- CN110946081A CN110946081A CN201911105002.6A CN201911105002A CN110946081A CN 110946081 A CN110946081 A CN 110946081A CN 201911105002 A CN201911105002 A CN 201911105002A CN 110946081 A CN110946081 A CN 110946081A
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- excrement
- cage
- control terminal
- tray
- camera
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- 241001465754 Metazoa Species 0.000 title claims abstract description 28
- 210000003608 fece Anatomy 0.000 title claims description 29
- 239000010871 livestock manure Substances 0.000 title claims description 12
- 238000004140 cleaning Methods 0.000 claims abstract description 63
- 238000012544 monitoring process Methods 0.000 claims abstract description 21
- 230000002159 abnormal effect Effects 0.000 claims abstract description 19
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 48
- 210000002700 urine Anatomy 0.000 claims description 25
- 238000005507 spraying Methods 0.000 claims description 24
- 238000004659 sterilization and disinfection Methods 0.000 claims description 19
- 230000000384 rearing effect Effects 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000013872 defecation Effects 0.000 claims description 2
- 238000007781 pre-processing Methods 0.000 claims description 2
- 239000010828 animal waste Substances 0.000 claims 2
- 238000005192 partition Methods 0.000 abstract description 7
- 238000007599 discharging Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 3
- 239000007921 spray Substances 0.000 description 11
- 230000036541 health Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 230000001788 irregular Effects 0.000 description 3
- 244000000010 microbial pathogen Species 0.000 description 3
- 235000011837 pasties Nutrition 0.000 description 3
- 241000234295 Musa Species 0.000 description 2
- 235000018290 Musa x paradisiaca Nutrition 0.000 description 2
- 230000001934 delay Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000008399 tap water Substances 0.000 description 2
- 235000020679 tap water Nutrition 0.000 description 2
- 206010017943 Gastrointestinal conditions Diseases 0.000 description 1
- 241001417527 Pempheridae Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 239000000645 desinfectant Substances 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000029142 excretion Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000005802 health problem Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 244000005700 microbiome Species 0.000 description 1
- 244000052769 pathogen Species 0.000 description 1
- 230000009340 pathogen transmission Effects 0.000 description 1
- 230000001717 pathogenic effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
- 238000003892 spreading Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Images
Classifications
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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
- A01K1/00—Housing animals; Equipment therefor
- A01K1/02—Pigsties; Dog-kennels; Rabbit-hutches or the like
- A01K1/03—Housing for domestic or laboratory animals
-
- 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
- A01K1/00—Housing animals; Equipment therefor
- A01K1/01—Removal of dung or urine, e.g. from stables
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Zoology (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Clinical Laboratory Science (AREA)
- General Health & Medical Sciences (AREA)
- Housing For Livestock And Birds (AREA)
Abstract
The invention relates to the technical field of feeding monitoring, and discloses a feeding cage for automatically monitoring animal excrement, which comprises a cage, wherein an excrement tray is placed at the bottom of the cage, a partition plate is installed in the cage and positioned above the excrement tray, excrement discharging holes are formed in the partition plate, a camera is installed on the cage and arranged towards the excrement tray, the camera is electrically connected with a control terminal, and is used for acquiring the excrement image on the excrement plate, the cleaning device is arranged on the cage and is positioned above the excrement plate, the control terminal is electrically connected with the cleaning device and is used for judging whether excrement exists on the excrement plate or not according to the excrement image, if yes, the cleaning device is driven to clean the excrement tray, the control terminal is electrically connected with the alarm and is used for identifying the shape of excrement in the excrement image, and judging whether the shape of the excrement is abnormal or not, and driving an alarm to give an alarm if the shape of the excrement is abnormal. The invention has the technical effects of automatically cleaning the animal excrement and automatically monitoring the shape of the animal excrement.
Description
Technical Field
The invention relates to the technical field of feeding monitoring, in particular to a feeding cage capable of automatically monitoring animal excrement.
Background
In recent years, the number of pet feeding is obviously increased, and a plurality of problems are faced after the excrement of the pet is discharged. Firstly, the excrement of the pets contains a large amount of microorganisms, even strong pathogenic microorganisms, and needs to be disinfected in time, so that the opportunity that the pets are contacted with the pathogenic microorganisms is reduced or avoided, and the health level of the pets is improved. Secondly, the excrement, urine, excrement and excrement of the pet which is kept in a cage needs to be manually cleaned and disinfected, and the mode is time-consuming and labor-consuming, and is easy to pollute clothes and arms of workers, so that discomfort or spreading of pathogenic microorganisms is caused. Thirdly, the excrement of the pet in cage is an important basis for judging whether the pet is healthy, the normal excrement of the pet is in a spherical shape or a banana shape, and when the identification result is in an irregular block shape or a pasty shape, the disease states of the pet in different degrees are reflected, so that the state of the excrement of the pet each time needs to be recorded, the health condition of the pet is mastered in time, and if the shape of the excrement is recorded manually, the labor is consumed too much, and the pet is not easy to realize. Finally, the activity space of the pet in cage is limited, if the pet is not found by people after excretion, the pet lives in the environment full of odor, which is not beneficial to the health of the pet and greatly reduces the welfare of the pet.
Disclosure of Invention
The invention aims to overcome the technical defects and provide a rearing cage for automatically monitoring animal excrement, which solves the technical problems of inconvenient excrement cleaning, untimely cleaning and inaccurate excrement state monitoring in the prior art.
In order to achieve the technical purpose, the technical scheme of the invention provides a rearing cage for automatically monitoring animal excrement, which comprises a cage, a camera, a control terminal, a cleaning device and an alarm, wherein an excrement tray is placed at the bottom of the cage, a partition plate is installed in the cage and positioned above the excrement tray, excrement discharging holes are formed in the partition plate, the camera is installed on the cage and arranged towards the excrement tray, the camera is electrically connected with the control terminal and used for acquiring an excrement image on the excrement tray, the cleaning device is installed on the cage and positioned above the excrement tray, the control terminal is electrically connected with the cleaning device, the control terminal is used for judging whether the excrement is on the excrement tray or not according to the excrement image, if yes, the cleaning device is driven to clean the excrement tray, the control terminal is electrically connected with the alarm, and is used for identifying the shape of the excrement in the excrement image and judging whether the shape of the excrement is an abnormal shape, and if the shape of the excrement is an abnormal shape, the alarm is driven to give an alarm.
Compared with the prior art, the invention has the beneficial effects that: the invention is provided with the camera for acquiring the excrement image, realizes the excrement identification by utilizing the image identification, and automatically cleans the excrement in time through the cleaning device after identifying the excrement, thereby ensuring the clean and sanitary living environment of animals and avoiding the defects of easy clothes pollution and pathogen transmission existing in manual cleaning. Meanwhile, the abnormal excrement is recognized by image recognition, and the excrement condition of the animal is monitored, so that the feeding personnel can master the health condition of the animal in time, and the healthy growth of the animal is ensured.
Drawings
FIG. 1 is a top view of one embodiment of a cage for automatically monitoring animal manure provided by the present invention;
fig. 2 is a side view of one embodiment of a cage for automatically monitoring animal litter provided by the present invention.
Reference numerals:
1. cage, 11, excrement dish, 12, baffle, 13, defecation hole, 14, excrement discharging port, 2, camera, 3, control terminal, 41, sweeper brush, 42, motor, 43, slide rail, 44, water spray hard tube, 45, nozzle, 46, leading water pipe, 47, water spray valve, 48, disinfection pipe, 49, disinfection valve.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
As shown in fig. 1, an embodiment 1 of the present invention provides a rearing cage for automatically monitoring animal feces, including a cage 1, a camera 2, a control terminal 3, a cleaning device and an alarm, wherein a feces tray 11 is placed at the bottom of the cage 1, a partition plate 12 is installed in the cage 1, the partition plate 12 is located above the feces tray 11, a feces discharge hole 13 is formed in the partition plate 12, the camera 2 is installed on the cage 1 and is arranged toward the feces tray 11, the camera 2 is electrically connected to the control terminal 3 and is used for acquiring an feces image on the feces tray 11, the cleaning device is installed on the cage 1 and is located above the feces tray 11, the control terminal 3 is electrically connected to the cleaning device, the control terminal 3 is used for judging whether feces exist on the feces tray 11 according to the feces image, if so, then drive belt cleaning device is right excrement and urine dish 11 washs, control terminal 3 with the alarm electricity is connected, control terminal 3 is used for discerning excrement and urine shape in the excrement and urine image, and judge whether the excrement and urine shape is unusual shape, if be unusual shape, then the drive the alarm is reported to the police.
According to the embodiment of the invention, continuous excrement images are obtained through the camera 2, excrement identification is realized by utilizing image identification, and excrement is automatically cleaned through the cleaning device in time after being identified, so that a clean and sanitary living environment of animals is ensured, and the defects of easy clothes pollution and pathogen spread in manual cleaning are avoided. Meanwhile, the abnormal excrement is recognized by image recognition, and the excrement condition of the animal is monitored, so that feeding personnel can master the gastrointestinal condition of the animal in time, and the healthy growth of the animal is ensured. The alarm is used for alarming when the animal excrement is abnormal so that a feeder can timely treat the animal, the alarm is not shown in the figure and can be realized by a buzzer, an alarm lamp and the like.
The invention can continuously monitor the excrement and urine excrement discharge condition and the properties of the pet raised in cage for 24 hours, and can send out an alarm for abnormal excrement. Meanwhile, the pet cage can be cleaned in time after excrement, urine, excrement and excrement of the cage-reared pet are discharged, the living environment of the pet is guaranteed to be good, the welfare level of the pet is improved, and the labor force of a feeding worker is reduced.
Preferably, the control terminal 3 is specifically configured to:
preprocessing the excrement image to obtain a preprocessed image;
extracting edge information in the preprocessed image;
judging whether a preset excrement edge exists in the edge information, if so, judging that excrement exists on the excrement tray 11, otherwise, judging that no excrement exists on the excrement tray 11;
and when the excrement is judged to be on the excrement tray 11, further judging whether a preset abnormal excrement edge exists in the edge information, if so, judging that the excrement is in an abnormal shape and driving the alarm to give an alarm.
Objects in the faeces tray 11 are identified, indicating the presence of faeces and urine when spherical, banana-shaped, irregular, pasty or watery forms are present in the image. When the recognition result is in a spherical shape or a banana shape, the feces are normal, and when the feces are in an irregular block shape, a pasty shape or a water shape, the feces are abnormal. The edge extraction of the image can be realized by using a Canny operator.
Preferably, different edge information between the front and rear frames of the excrement image can be obtained by comparing the front and rear frames of the excrement image, and whether the different edge information is an excrement edge or an abnormal excrement edge is judged, so that the excrement identification precision is improved.
Preferably, as shown in fig. 1 and 2, the cleaning device includes a cleaning brush 41 and a motor 42, two opposite side walls of the bottom of the cage 1 are both provided with a sliding rail 43, one end of the cleaning brush 41 extends to one of the sliding rails 43, the other end of the cleaning brush 41 extends to the other sliding rail 43, an output shaft of the motor 42 is in transmission connection with the cleaning brush 41 and drives the cleaning brush 41 to roll on the excrement tray 11 along the direction of the sliding rail 43, and the motor 42 is electrically connected with the control terminal 3.
The CCD camera 2 collects data of the excrement plate 11 continuously, when excrement, urine and excrement appear in a monitoring picture, the control terminal 3 delays the set time, for example, the motor 42 is controlled to be turned on after two minutes, the motor 42 starts to work to drive the cleaning brush 41 to rotate to clean the excrement plate 11, the excrement plate 11 is placed obliquely, meanwhile, the guide rail is obliquely arranged along the excrement plate 11, the cleaning brush 41 moves from the higher end to the lower end along the slide rail 43 under the rotating action, when the cleaning brush 41 moves to the lower end of the slide rail 43, the cleaning brush 41 continues to rotate for the set time, for example, three minutes, so that the excrement at the lower end of the excrement plate 11 is cleaned, then the motor 42 rotates reversely to drive the cleaning brush 41 to return to the higher end of the slide rail 43, and the motor 42 is turned off.
Preferably, as shown in fig. 1, the cleaning device further includes a water spraying hard pipe 44, one end of the water spraying hard pipe 44 is connected to one end of the cleaning brush 41, the other end of the water spraying hard pipe 44 is connected to the other end of the cleaning brush 41, a plurality of nozzles 45 are installed on the water spraying hard pipe 44, the nozzles 45 are arranged toward the excrement tray 11, one end of the water spraying hard pipe 44 is sealed, the other end of the water spraying hard pipe 44 is connected to a water guiding pipe 46, the water guiding pipe 46 is connected to a water source device, such as a tap water pipe, a water spraying valve 47 is installed on the water guiding pipe 46, and the water spraying valve 47 is electrically connected to the control terminal 3.
The cleaning effect is enhanced by means of water spraying while the cleaning brush 41 is cleaning. The specific cleaning process is as follows: when excrement and urine appear in the monitoring picture, the control terminal 3 delays the set time, the water spray valve 47 and the motor 42 are controlled to be opened simultaneously, after the water spray valve 47 is opened, tap water in the water conduit 46 reaches the water spray hard pipe 44 through the water spray valve 47 and is sprayed out through the nozzle 45, the motor 42 starts to work at the same time, the cleaning brush 41 is driven to rotate to clean the excrement disc 11, the cleaning brush 41 and the water spray hard pipe 44 move towards the lower end of the excrement disc 11 along the slide rail 43 at the same time, when the cleaning brush 41 and the water spray hard pipe 44 move to the lower end of the slide rail 43, the water spray valve 47 and the cleaning brush 41 continue to work for a certain time to wash away the excrement and urine at the tail end of the excrement disc 11, then the control terminal 3 controls the water spray valve 47 to be closed, the motor 42 rotates reversely to drive the cleaning brush 41 and the water spray hard pipe 44 to return to the higher end.
Preferably, as shown in fig. 1, a disinfection pipe 48 is further connected to one end of the water spraying hard pipe 44 connected to the water conduit 46, the disinfection pipe 48 is connected to a disinfection tank, a disinfection valve 49 is installed on the disinfection pipe 48, and the disinfection valve 49 is electrically connected to the control terminal 3.
After the excrement cleaning is finished by rolling the water spraying and cleaning brush 41, the control terminal 3 controls the disinfection valve 49 and the motor 42 to be opened, after the disinfection valve 49 is opened, the disinfectant of the disinfection pipe 48 reaches the water spraying hard pipe 44 through the disinfection valve 49 and is sprayed out through the nozzle 45, the motor 42 starts to work to drive the cleaning brush 41 to rotate, the cleaning brush 41 and the water spraying hard pipe 44 simultaneously move towards the lower end direction of the excrement tray 11 along the slide rail 43 to comprehensively disinfect the excrement tray 11, when the cleaning brush 41 and the water spraying hard pipe 44 move to the lowest end of the slide rail 43, the disinfection valve 49 is closed, the motor 42 drives the cleaning brush 41 and the water spraying hard pipe 44 to return to the starting point of the slide rail 43, and the motor 42 is closed.
Preferably, the control terminal 3 comprises a single chip microcomputer and a memory, the memory is electrically connected with the single chip microcomputer and used for storing the excrement image, and the single chip microcomputer is respectively electrically connected with the camera 2 and the cleaning device.
Preferably, the control terminal 3 further comprises a wireless network card, and the controller is electrically connected with the wireless network card and is wirelessly connected with the mobile terminal through the wireless network card.
Control terminal 3 stores the excrement and urine image of pet to the memory each time, and the excrement and urine image of storage in the memory can be called at any time for mobile terminal to realize the artifical correction to excrement and urine discernment and excrement and urine abnormal recognition at mobile terminal, when artifical discernment and image recognition appear the deviation, with artifical discernment as the standard, accessible mobile terminal sends control command to control terminal 3, with the modification recognition result. Meanwhile, the control terminal 3 can send an abnormal signal to the mobile terminal when the excrement is abnormal, so that the pet feeding personnel is informed of the possible health problem of the pet, and the pet feeding personnel is reminded of treating the pet in time.
Preferably, the camera 2 is a CCD camera 2, and a lens of the CCD camera 2 is a multispectral lens, a visible light lens, an infrared light lens, or a near-infrared light lens.
The CCD camera 2 is internally integrated with an image processing unit based on the FPGA, and has the advantages of small volume, light weight, impact resistance and good vibration resistance. Different lenses have different characteristics and can be selected according to specific requirements.
Preferably, as shown in fig. 2, the excrement tray 11 is disposed in an inclined manner, the cage 1 is provided with an excrement discharge port 14 communicated with a lower end of the excrement tray 11, and the camera 2 is mounted on the cage 1 at a side close to the lower end of the excrement tray 11.
The inclined placement of the excrement tray 11 is beneficial to the excrement discharged from the excrement discharging port 14 after the excrement tray 11 is cleaned by the cleaning device. Camera 2 installs and is close to excrement dish 11 lower extreme one side or install in cage 1 top on cage 1, is favorable to camera 2 to the shooting and the control of excrement dish 11.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (9)
1. The utility model provides an automatic control animal manure's rearging cage, its characterized in that, includes cage, camera, control terminal, belt cleaning device and alarm, excrement and urine dish has been placed to the cage bottom, install the baffle in the cage, the baffle is located excrement and urine dish top, the defecation hole has been seted up on the baffle, the camera install in on the cage, and towards the excrement and urine dish sets up, the camera with control terminal electricity is connected, and is used for acquireing the excrement and urine image on the excrement and urine dish, belt cleaning device install in on the cage, and be located excrement and urine dish top, control terminal with the belt cleaning device electricity is connected, control terminal is used for according to whether there is excrement and urine on the excrement and urine dish is judged to the excrement and urine image, if there is, then the drive belt cleaning device is right excrement and urine dish washs, control terminal with the alarm electricity is connected, the control terminal is used for identifying the shape of the excrement in the excrement image and judging whether the shape of the excrement is an abnormal shape, and if the shape of the excrement is the abnormal shape, the alarm is driven to give an alarm.
2. A rearcage for automatically monitoring animal faeces as claimed in claim 1, wherein the control terminal is specifically configured to:
preprocessing the excrement image to obtain a preprocessed image;
extracting edge information in the preprocessed image;
judging whether a preset excrement edge exists in the edge information, if so, judging that excrement exists on the excrement tray, otherwise, judging that no excrement exists on the excrement tray;
and when the excrement is judged to be on the excrement tray, whether a preset abnormal excrement edge exists in the edge information is further judged, if so, the excrement is judged to be in an abnormal shape, and the alarm is driven to give an alarm.
3. The rearing cage for automatically monitoring the animal excrement according to claim 1, wherein the cleaning device comprises a cleaning brush and a motor, slide rails are respectively arranged on two opposite side walls of the bottom of the cage, one end of the cleaning brush extends to one of the slide rails, the other end of the cleaning brush extends to the other slide rail, an output shaft of the motor is in transmission connection with the cleaning brush and drives the cleaning brush to roll on the excrement tray along the direction of the slide rails, and the motor is electrically connected with the control terminal.
4. The rearing cage for automatically monitoring the animal wastes according to claim 3, wherein the cleaning device further comprises a water spraying hard pipe, one end of the water spraying hard pipe is connected with one end of the cleaning brush, the other end of the water spraying hard pipe is connected with the other end of the cleaning brush, a plurality of nozzles are installed on the water spraying hard pipe, the nozzles face the excrement tray, one end of the water spraying hard pipe is sealed and arranged, the other end of the water spraying hard pipe is connected with a water guide pipe, the water guide pipe is connected with a water source device, a water spraying valve is installed on the water guide pipe, and the water spraying valve is electrically connected with the control terminal.
5. A feeding cage for automatically monitoring animal wastes according to claim 4, wherein one end of the water spraying hard pipe connected with the water diversion pipe is also connected with a disinfection pipe, a disinfection valve is installed on the disinfection pipe, the disinfection pipe is connected with a disinfection tank, and the disinfection valve is electrically connected with the control terminal.
6. A rearging cage for automatically monitoring animal manure as claimed in claim 1, wherein the control terminal comprises a single-chip microcomputer and a memory, the memory is electrically connected with the single-chip microcomputer and is used for storing the manure image, and the single-chip microcomputer is electrically connected with the camera and the cleaning device respectively.
7. A rearging cage for automatically monitoring animal manure as claimed in claim 6, wherein the control terminal further comprises a wireless network card, and the controller is electrically connected with the wireless network card and is wirelessly connected with the mobile terminal through the wireless network card.
8. The rearging cage for automatically monitoring animal excrements, according to claim 1, wherein the camera is a CCD camera, and a lens of the CCD camera is a multispectral lens, a visible light lens, an infrared light lens or a near-infrared light lens.
9. The animal manure automatic monitoring and raising cage as claimed in claim 1, wherein the manure tray is disposed in an inclined manner, the cage is provided with a manure discharge port communicating with a lower end of the manure tray, and the camera is installed at a side of the cage near the lower end of the manure tray.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911105002.6A CN110946081A (en) | 2019-11-13 | 2019-11-13 | Automatic control animal manure's rearging cage |
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| CN201911105002.6A CN110946081A (en) | 2019-11-13 | 2019-11-13 | Automatic control animal manure's rearging cage |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111587794A (en) * | 2020-06-19 | 2020-08-28 | 广西壮族自治区畜牧研究所 | Tracking type excrement cleaning system and method |
| CN111709333A (en) * | 2020-06-04 | 2020-09-25 | 南京农业大学 | Traceability early warning system and health monitoring method based on abnormal excrement of cage-raised chickens |
| CN112586369A (en) * | 2021-01-12 | 2021-04-02 | 河南瑞航农牧业机械设备有限公司 | Ventilation device for pig raising and fattening cage |
| CN113519399A (en) * | 2021-06-02 | 2021-10-22 | 五邑大学 | Automatic cleaning device, method and storage medium |
| CN113519401A (en) * | 2021-06-02 | 2021-10-22 | 五邑大学 | Automatic breeding colony house, automatic breeding method and storage medium |
| CN113785776A (en) * | 2021-08-26 | 2021-12-14 | 北京市农林科学院智能装备技术研究中心 | Pig house dung cleaning robot, dung cleaning method and live pig health diagnosis method |
| CN113841618A (en) * | 2021-09-23 | 2021-12-28 | 龚艳 | Thing networking communication device |
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