CN110999809A - Experimental animal unmanned experimental system - Google Patents
Experimental animal unmanned experimental system Download PDFInfo
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- CN110999809A CN110999809A CN201911137915.6A CN201911137915A CN110999809A CN 110999809 A CN110999809 A CN 110999809A CN 201911137915 A CN201911137915 A CN 201911137915A CN 110999809 A CN110999809 A CN 110999809A
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- 238000010171 animal model Methods 0.000 title claims abstract description 30
- 241001465754 Metazoa Species 0.000 claims abstract description 196
- 238000004140 cleaning Methods 0.000 claims abstract description 75
- 238000000034 method Methods 0.000 claims abstract description 39
- 230000008569 process Effects 0.000 claims abstract description 34
- 238000002474 experimental method Methods 0.000 claims abstract description 28
- 230000003993 interaction Effects 0.000 claims abstract description 5
- 238000012546 transfer Methods 0.000 claims abstract description 5
- 230000032258 transport Effects 0.000 claims description 76
- 230000000249 desinfective effect Effects 0.000 claims description 54
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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
- A01K29/00—Other apparatus for animal husbandry
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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
- A01K11/00—Marking of animals
- A01K11/001—Ear-tags
- A01K11/004—Ear-tags with electronic identification means, e.g. transponders
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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
- A01K11/00—Marking of animals
- A01K11/006—Automatic identification systems for animals, e.g. electronic devices, transponders for animals
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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
- A01K15/00—Devices for taming animals, e.g. nose-rings or hobbles; Devices for overturning animals in general; Training or exercising equipment; Covering boxes
- A01K15/003—Nose-rings; Fastening tools therefor; Catching or driving equipment
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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
- A01K15/00—Devices for taming animals, e.g. nose-rings or hobbles; Devices for overturning animals in general; Training or exercising equipment; Covering boxes
- A01K15/02—Training or exercising equipment, e.g. mazes or labyrinths for animals ; Electric shock devices ; Toys specially adapted for animals
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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
- A01K29/00—Other apparatus for animal husbandry
- A01K29/005—Monitoring or measuring activity, e.g. detecting heat or mating
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Abstract
The experimental animal unmanned experiment system adopts the intelligent transportation formed by combining the transportation robot, the scheduling management, the communication interaction and the automation device, and can realize the effects of automatic whole-course conveying, tracking, marking and the like of the experimental animal. The experimental animal unmanned experimental system can enable the experimental animals to realize full-automatic transfer and transportation from a feeding house to a laboratory. The intelligent transportation robot and other automatic equipment are linked to realize unmanned operation of the whole field. Through self-conveying transportation, cleaning and experiment, the contact between animals and experimenters can be reduced to the maximum extent, so that the related problems of infection and the like are avoided, and the additional risk brought in the transportation process is reduced.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to an experimental animal unmanned experimental system.
Background
In the fields of life science, human medicine and health research, the physiological and pathological processes of experimental animals in life activities have many similarities with human beings or heterogeneous animals and can be mutually referred, and the life activity process of one animal can be used as a reference object of another animal or human beings; for some rare animals which are difficult to work on human bodies, or some animal types which are huge in quantity and difficult to operate, another animal which is easy to obtain materials and simple and convenient to operate is adopted to replace human beings or original target animals for experimental research, namely animal experiments. In order to ensure that the animal experiments are more scientific, accurate and good in repeatability, physiological or pathological activities to be researched can be relatively stably shown on standardized experimental animals by various methods for experimental research. These standardized experimental animals are referred to as model animals. Aiming at the requirements of realizing highly automated, high-throughput and intelligent experiments in national-level major scientific infrastructure projects, the transportation requirement of the model animals without humanization and automation in the whole process of the experiment process is also required to be realized when experimental research aiming at the model animals is carried out, and the prior art has no proper solution. The problem to be solved at present is to automatically transport the animal samples required by the experiment from the feeding column to other destinations, and realize the full-automatic transportation of the animal samples.
Manual mode: the current process of animal experiment in laboratory all adopts artifical mode, snatchs the animal and washs, processes such as disinfection, anesthesia, experiment to the animal. Because the experimenters participate in the whole process operation, a series of personal safety risks and infection risks can be brought. Meanwhile, the intervention of experimenters on the experimental animals in the whole process can affect the endocrine hormone level of the experimental animals to a certain extent.
The automatic mode is as follows: at present, the Y-shaped channel is adopted to drive animals, then a turnover box mode is adopted, the requirement on the field is higher, and a wider area is needed to construct the Y-shaped channel. Meanwhile, the mode is not traceable from an end-to-end process, the transportation tracking of the whole process cannot be realized, and linkage management of other associated systems is lacked. Especially, the fire door passage, the elevator passage and other areas need to be passed through, and no way for unmanned and automatic whole process is formed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and the intelligent transportation formed by combining a transportation robot, scheduling management, communication interaction and an automation device is adopted in the experimental animal unmanned experimental system, so that the effects of automatic whole-process conveying, tracking, marking and the like of the experimental animals can be realized. The experimental animal unmanned experimental system can enable the experimental animals to realize full-automatic transfer and transportation from a feeding house to a laboratory. The intelligent transportation robot and other automatic equipment are linked to realize unmanned operation of the whole field. Through self-conveying transportation, cleaning and experiment, the contact between animals and experimenters can be reduced to the maximum extent, so that the related problems of infection and the like are avoided, and the additional risk brought in the transportation process is reduced.
The invention is realized by the following technical scheme:
the experimental animal unmanned experimental system comprises an application layer, a system server, an animal driving module, an animal conveying module, a cleaning and disinfecting module, a CT experimental module and a charging scheduling module, wherein the animal driving module, the animal conveying module, the cleaning and disinfecting module, the CT experimental module and the charging scheduling module are connected with the system server; the application layer issues an experiment task to the system server and monitors system data in a man-machine interaction mode; the animal driving module comprises an animal ear tag management unit, an animal driving device and an automatic door control device; the animal conveying module comprises a conveying robot, an animal loading fence, a robot charging management unit and a robot scheduling unit; the animal driving module issues animal ear tag data of the task order through the system server, and automatically drives the target animal to be close to the designated gate and to be driven to the animal loading fence; the animal conveying module controls the conveying robot to convey the animal loading columns of the task orders to the cleaning and disinfecting module and the CT experiment module through the robot scheduling unit to automatically clean and perform CT experiments on the animals; the robot charging management unit is used for controlling the transport robot to perform charging action.
The experimental animal unmanned experimental system comprises the following specific experimental steps: the transportation robot is started and checks the electric quantity information of the transportation robot, and if the electric quantity is lower than a set value, the transportation robot enters a charging process under the control of a robot charging management unit; if the electric quantity is sufficient, the transport robot initializes the position origin and moves to a standby point for standby; an experimenter issues an experimental delivery order through an application layer, and a transport robot runs to an animal house door; carrying out identity recognition on the target animal through an animal driving operation process and loading the target animal to an animal loading column of the transportation robot; the transportation robot executes distribution through autonomous navigation movement and autonomous obstacle avoidance; when the animal arrives at the cleaning and disinfecting module, the information is reported to a system server and the animal is unloaded; identifying and cleaning the animal through an animal cleaning process; the transportation robot in the experimental area receives the command and waits outside the cleaning and disinfecting module and reports the command to the system server; the system server sends a door opening signal to the cleaning and disinfecting module when a cleaning completion signal of the cleaning and disinfecting module and a standby signal of the transport robot are sent at the same time, and the transport robot enters the cleaning and disinfecting module, loads the cleaned animals and transports the animals to a preparation room; the CT experiment module receives the experiment task and informs the transport robot to receive the specified animal in the preparation room to transport to the buffer area of the CT experiment module; a CT scanner of the CT experiment module is connected through a high platform transfer robot, and the animal is sent into the CT scanner to be scanned; CT experiments were performed on the target animals.
As an improvement of the above scheme, the animal driving device comprises a slide rail driving unit arranged at two sides of the hurdle, a driving plate erected on the slide rail driving unit, a driving motor used for driving the driving plate to move on the slide rail driving unit in a reciprocating manner, and a start-stop controller used for controlling the motor to act and connecting the animal driving module to receive a control instruction, wherein the animal driving operation flow comprises the following specific steps that the animal driving module receives an order task and sends an animal driving instruction; the starting and stopping controller starts the driving motor to drive the driving plate to move towards the house door after receiving the command of driving animals, and the driving plate simultaneously carries out small-amplitude reciprocating motion in the moving process; after the driving plate moves to a designated position, the driving motor is stopped by the start-stop controller, and state information is reported to the animal driving module; opening a door to wait for the end of loading; closing the door and sending a reset command to the start-stop controller, and reversely starting the driving motor by the start-stop controller to reset the driving plate; and detecting that the driving plate reaches the initial position, and stopping the driving motor by the start-stop controller.
As an improvement of the scheme, the animal loading fence comprises a main frame platform, wherein two sides of the main frame platform are provided with guardrails, the other two sides of the main frame platform are provided with opening and closing doors, four universal wheels are arranged below the main frame platform, and the middle part of the lower part of the main frame platform is provided with a gravity sensor and a connecting part for connecting with a transport robot; the lower end of the opening and closing door is hinged with the main frame platform, the two sides of the opening and closing door are connected with the guardrails through pneumatic cylinders, and the opening and closing of the opening and closing door are driven by controlling the extension and retraction of the pneumatic rods; the procedure for loading animals into the animal loading column was as follows: the animal conveying module receives the order task and dispatches the conveying robot to convey the animal loading column to the appointed gate through the robot dispatching unit and sends a command to open the opening and closing door of the animal loading column towards the gate; after receiving the opening state information of the opening door and the closing door, sending a command to open the door and open the animal repelling module; when an animal enters the animal loading column and receives a gravity sensor signal, an animal ear tag management unit collects an ear tag signal and reports the ear tag signal to be compared with order task animal information; after the animal information comparison and matching are completed, sending a command to close the opening and closing door of the animal loading column; and reporting the loading completion state to the animal conveying module after detecting that the opening and closing door is closed.
As an improvement of the scheme, the work flow content of the cleaning and disinfecting module is as follows: the transport robot transports the animals to the door of the cleaning and disinfecting module through the animal loading fence to send a notification command to the cleaning and disinfecting module to open the door; the cleaning and disinfecting module feeds back a door opening signal after the door opening is finished; the transport robot enters the cleaning and disinfecting module and then is separated from the animal loading column and feeds back the separation completion state; the transportation robot leaves the cleaning and disinfecting module and informs the cleaning and disinfecting module to close the door; the cleaning and disinfecting module receives the door closing state and then reports to the transport animal loading fence to finish cleaning; the cleaning and disinfecting module starts an internal automatic cleaning device to clean and disinfect the animal.
As an improvement of the above scheme, the charging scheduling module checks the self-electricity information and the charging process contents of the transportation robot as follows: when the electric quantity of the transport robot is lower than 40%, the transport robot starts a charging requirement, if the order-free task requirement is charged to 95%, the transport robot is separated from a charging pile and enters a waiting state; when the transport robot is in a charging state, if a task order is issued, the transport robot with the electric quantity greater than 40% breaks away from the charging pile to execute an order task, the transport robot automatically returns to charge after the order task is completed, breaks away from the charging pile until the electric quantity reaches 95%, and enters a waiting state; when the electric quantity of the transport robot is lower than 20%, rejecting any task order and prompting that the electric quantity of the transport robot is too low to an application layer, the transport robot executes a charging task, the order can be accepted when the electric quantity is charged to 40%, automatically returning to a charging pile for charging after the order execution is finished until the electric quantity is charged to 95%, then separating from the charging pile and entering a waiting state; when the transport robot triggers the automatic charging task, the state of the charging pile is detected firstly, if the state of the charging pile is idle, the charging is carried out, if the state of the charging pile is occupied, the automatic charging task is stopped to be executed, and the robot is in a waiting charging state and detects the state of the charging pile every 30 minutes.
As an improvement of the scheme, the application layer comprises a computer client and a mobile communication equipment client
The invention has the following beneficial effects:
the linkage among a plurality of systems can be realized, and the automation of the whole processes of ordering from the experiment, screening animals, transporting in the process, cleaning and disinfecting, testing animals, returning after the experiment and the like is realized; the whole process of the experimental animal can realize information tracking and information tracing. Meanwhile, the whole-course real-time position tracking can be met in the transportation process, and the experimental animal is ensured to complete the experiment in a controllable state; the unmanned experimental system realizes the whole process data sharing and unmanned experimental operation through the linkage of an electric door, the linkage of an elevator, the linkage of a cleaning device, the linkage of an anesthesia device, the linkage of a CT scanning device and the linkage of a high platform carrying device
Unmanned experiment management system: the system has the functions of page display, data analysis, experiment ordering, task management, data management, authority management and the like. Meanwhile, the experiment management system can carry out unified management on each subsystem, and linkage management and data sharing among all the sub-systems are realized.
Automatic driving system: the automatic driving system comprises: animal ear tag management, slide rail drive device, automatic gate control device, wifi communication device. The automatic driving system receives the animal ear tag data issued by the unmanned experiment management system, can automatically drive the animal to the nearby fence gate, and then drives the animal to the automatic transport vehicle to perform other experiment processes.
The intelligent transportation system comprises: the intelligent transportation system includes: the system comprises a transportation robot, an intelligent transportation fence, robot charging management and robot scheduling management. And the transportation system receives the order task of the experiment management system, automatically walks to the corresponding animal fence, and transports the animal to other experiment devices for experiment.
Cleaning and disinfecting system: the cleaning and disinfecting system comprises: automatic cleaning machine, remote communication device, electronic controller. After the transport robot transports the animals to the cleaning machine, the cleaning and disinfecting device is linked to realize automatic cleaning.
Automatic CT experimental system: the automatic CT experimental system comprises: the robot comprises a high platform robot, a remote communication device and an electronic controller. The transport robot is connected with the high platform transport robot and is linked with the CT scanner to realize the automatic realization process.
The charging scheduling management system comprises: the charging scheduling management system mainly adopts network communication butt joint to acquire the electric quantity data of the robot and realize linkage between the transportation robot and the charging pile, so that the robot in the region can realize the maximization of the charging pile efficiency.
Drawings
Fig. 1 is a schematic diagram of a frame of an experimental animal humanization experimental system of the present invention.
Fig. 2 is a schematic view of the structure of the animal repelling apparatus of the invention.
Fig. 3 is a schematic structural view of the animal loading column of the present invention.
Fig. 4 is a schematic view showing an opened state of the open/close door of the animal loading fence according to the present invention.
Description of reference numerals: slide rail drive unit 1, drive board 2, body frame platform 3, guardrail 4, opening and closing door 5, universal wheel 6, connecting portion 7, pneumatic cylinder 8.
Detailed Description
Examples
As shown in fig. 1, the experimental animal unmanned experimental system comprises an application layer, a system server, an animal driving module connected with the system server, an animal conveying module, a cleaning and disinfecting module, a CT experimental module, and a charging scheduling module; the application layer issues an experiment task to the system server and monitors system data in a man-machine interaction mode; the animal driving module comprises an animal ear tag management unit, an animal driving device and an automatic door control device; the animal conveying module comprises a conveying robot, an animal loading fence, a robot charging management unit and a robot scheduling unit; the animal driving module issues animal ear tag data of the task order through the system server, and automatically drives the target animal to be close to the designated gate and to be driven to the animal loading fence; the animal conveying module controls the conveying robot to convey the animal loading columns of the task orders to the cleaning and disinfecting module and the CT experiment module through the robot scheduling unit to automatically clean and perform CT experiments on the animals; the robot charging management unit is used for controlling the transport robot to perform charging action.
The experimental animal unmanned experimental system comprises the following specific experimental steps: the transportation robot is started and checks the electric quantity information of the transportation robot, and if the electric quantity is lower than a set value, the transportation robot enters a charging process under the control of a robot charging management unit; if the electric quantity is sufficient, the transport robot initializes the position origin and moves to a standby point for standby; an experimenter issues an experimental delivery order through an application layer, and a transport robot runs to an animal house door; carrying out identity recognition on the target animal through an animal driving operation process and loading the target animal to an animal loading column of the transportation robot; the transportation robot executes distribution through autonomous navigation movement and autonomous obstacle avoidance; when the animal arrives at the cleaning and disinfecting module, the information is reported to a system server and the animal is unloaded; identifying and cleaning the animal through an animal cleaning process; the transportation robot in the experimental area receives the command and waits outside the cleaning and disinfecting module and reports the command to the system server; the system server sends a door opening signal to the cleaning and disinfecting module when a cleaning completion signal of the cleaning and disinfecting module and a standby signal of the transport robot are sent at the same time, and the transport robot enters the cleaning and disinfecting module, loads the cleaned animals and transports the animals to a preparation room; the CT experiment module receives the experiment task and informs the transport robot to receive the specified animal in the preparation room to transport to the buffer area of the CT experiment module; a CT scanner of the CT experiment module is connected through a high platform transfer robot, and the animal is sent into the CT scanner to be scanned; CT experiments were performed on the target animals.
As shown in fig. 2, the animal driving device comprises a slide rail driving unit 1 installed at two sides of a hurdle, a driving plate 2 erected on the slide rail driving unit 1, a driving motor (not shown) for driving the driving plate 2 to move on the slide rail driving unit 1 in a reciprocating manner, and a start-stop controller (not shown) for controlling the motor to act and connecting an animal driving module to receive a control instruction, wherein the animal driving operation flow comprises the following specific steps that the animal driving module receives an order task and sends an animal driving command; the start-stop controller starts the driving motor to drive the driving plate 2 to move towards the house door after receiving the command of driving animals, and the driving plate simultaneously carries out small-amplitude reciprocating motion in the moving process; after the driving plate 2 moves to a designated position, the driving motor is stopped by the start-stop controller, and state information is reported to the animal driving module; opening a door to wait for the end of loading; closing the door and sending a reset command to the start-stop controller, and reversely starting the driving motor by the start-stop controller to reset the driving plate 2; and detecting that the driving plate 2 reaches the initial position, and stopping the driving motor by the start-stop controller.
As shown in fig. 3 and 4, the animal loading fence comprises a main frame platform 3, wherein two sides of the main frame platform 3 are provided with guardrails 4, the other two sides are provided with opening and closing doors 5, four universal wheels 6 are arranged below the main frame platform 3, and a gravity sensor (not shown) and a connecting part 7 for connecting with a transport robot are arranged in the middle of the lower part of the main frame platform 3; the lower end of the opening and closing door 5 is hinged with the main frame platform 3, the two sides of the opening and closing door 5 are connected with the guardrails 4 through pneumatic cylinders 8, and the opening and closing of the opening and closing door 5 are driven by controlling the extension and retraction of the pneumatic rods; the procedure for loading animals into the animal loading column was as follows: the animal conveying module receives the order task and dispatches the conveying robot to convey the animal loading column to the appointed gate through the robot dispatching unit and sends a command to open the opening and closing door 5 of the animal loading column facing the gate; after receiving the opening state information of the opening and closing door 5, sending a command to open the door and open the animal repelling module; when an animal enters the animal loading column and receives a gravity sensor signal, an animal ear tag management unit collects an ear tag signal and reports the ear tag signal to be compared with order task animal information; after the animal information comparison and matching are completed, sending a command to close the opening and closing door 5 of the animal loading column; and detecting that the opening and closing door 5 is closed, and then reporting a loading completion state to the animal conveying module.
The working process content of the cleaning and disinfecting module is as follows: the transport robot transports the animals to the door of the cleaning and disinfecting module through the animal loading fence to send a notification command to the cleaning and disinfecting module to open the door; the cleaning and disinfecting module feeds back a door opening signal after the door opening is finished; the transport robot enters the cleaning and disinfecting module and then is separated from the animal loading column and feeds back the separation completion state; the transportation robot leaves the cleaning and disinfecting module and informs the cleaning and disinfecting module to close the door; the cleaning and disinfecting module receives the door closing state and then reports to the transport animal loading fence to finish cleaning; the cleaning and disinfecting module starts an internal automatic cleaning device to clean and disinfect the animal.
The charging scheduling module checks the self electric quantity information and the charging process content of the transportation robot as follows: when the electric quantity of the transport robot is lower than 40%, the transport robot starts a charging requirement, if the order-free task requirement is charged to 95%, the transport robot is separated from a charging pile and enters a waiting state; when the transport robot is in a charging state, if a task order is issued, the transport robot with the electric quantity greater than 40% breaks away from the charging pile to execute an order task, the transport robot automatically returns to charge after the order task is completed, breaks away from the charging pile until the electric quantity reaches 95%, and enters a waiting state; when the electric quantity of the transport robot is lower than 20%, rejecting any task order and prompting that the electric quantity of the transport robot is too low to an application layer, the transport robot executes a charging task, the order can be accepted when the electric quantity is charged to 40%, automatically returning to a charging pile for charging after the order execution is finished until the electric quantity is charged to 95%, then separating from the charging pile and entering a waiting state; when the transport robot triggers the automatic charging task, the state of the charging pile is detected firstly, if the state of the charging pile is idle, the charging is carried out, if the state of the charging pile is occupied, the automatic charging task is stopped to be executed, and the robot is in a waiting charging state and detects the state of the charging pile every 30 minutes.
The above detailed description is specific to possible embodiments of the present invention, and the embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. The experimental animal unmanned experimental system is characterized by comprising an application layer, a system server, an animal driving module, an animal conveying module, a cleaning and disinfecting module, a CT experimental module and a charging scheduling module, wherein the animal driving module, the animal conveying module, the cleaning and disinfecting module, the CT experimental module and the charging scheduling module are connected with the system server; the application layer issues an experiment task to the system server and monitors system data in a man-machine interaction mode; the animal driving module comprises an animal ear tag management unit, an animal driving device and an automatic door control device; the animal conveying module comprises a conveying robot, an animal loading fence, a robot charging management unit and a robot scheduling unit; the animal driving module issues animal ear tag data of the task order through the system server, and automatically drives the target animal to be close to the designated gate and to be driven to the animal loading fence; the animal conveying module controls the conveying robot to convey the animal loading columns of the task orders to the cleaning and disinfecting module and the CT experiment module through the robot scheduling unit to automatically clean and perform CT experiments on the animals; the robot charging management unit is used for controlling the transport robot to perform charging action.
2. The experimental animal humanization experimental system according to claim 1, wherein the specific experimental steps are as follows: the transportation robot is started and checks the electric quantity information of the transportation robot, and if the electric quantity is lower than a set value, the transportation robot enters a charging process under the control of a robot charging management unit; if the electric quantity is sufficient, the transport robot initializes the position origin and moves to a standby point for standby; an experimenter issues an experimental delivery order through an application layer, and a transport robot runs to an animal house door; carrying out identity recognition on the target animal through an animal driving operation process and loading the target animal to an animal loading column of the transportation robot; the transportation robot executes distribution through autonomous navigation movement and autonomous obstacle avoidance; when the animal arrives at the cleaning and disinfecting module, the information is reported to a system server and the animal is unloaded; identifying and cleaning the animal through an animal cleaning process; the transportation robot in the experimental area receives the command and waits outside the cleaning and disinfecting module and reports the command to the system server; the system server sends a door opening signal to the cleaning and disinfecting module when a cleaning completion signal of the cleaning and disinfecting module and a standby signal of the transport robot are sent at the same time, and the transport robot enters the cleaning and disinfecting module, loads the cleaned animals and transports the animals to a preparation room; the CT experiment module receives the experiment task and informs the transport robot to receive the specified animal in the preparation room to transport to the buffer area of the CT experiment module; a CT scanner of the CT experiment module is connected through a high platform transfer robot, and the animal is sent into the CT scanner to be scanned; CT experiments were performed on the target animals.
3. The experimental animal unmanned experimental system of claim 2, wherein the animal driving device comprises a slide rail driving unit installed at two sides of the hurdle, a driving plate erected on the slide rail driving unit, a driving motor for driving the driving plate to move back and forth on the slide rail driving unit, and a start-stop controller for controlling the motor to act and connecting the animal driving module to receive a control instruction, wherein the animal driving operation flow comprises the following specific steps that the animal driving module receives an order task and sends an animal driving instruction; the starting and stopping controller starts the driving motor to drive the driving plate to move towards the house door after receiving the command of driving animals, and the driving plate simultaneously carries out small-amplitude reciprocating motion in the moving process; after the driving plate moves to a designated position, the driving motor is stopped by the start-stop controller, and state information is reported to the animal driving module; opening a door to wait for the end of loading; closing the door and sending a reset command to the start-stop controller, and reversely starting the driving motor by the start-stop controller to reset the driving plate; and detecting that the driving plate reaches the initial position, and stopping the driving motor by the start-stop controller.
4. The experimental animal unmanned experimental system of claim 2, wherein the animal loading railing comprises a main frame platform, two sides of the main frame platform are provided with guardrails, the other two sides are provided with opening and closing doors, four universal wheels are arranged below the main frame platform, and a gravity sensor and a connecting part for connecting with a transport robot are arranged in the middle of the lower part of the main frame platform; the lower end of the opening and closing door is hinged with the main frame platform, the two sides of the opening and closing door are connected with the guardrails through pneumatic cylinders, and the opening and closing of the opening and closing door are driven by controlling the extension and retraction of the pneumatic rods; the procedure for loading animals into the animal loading column was as follows: the animal conveying module receives the order task and dispatches the conveying robot to convey the animal loading column to the appointed gate through the robot dispatching unit and sends a command to open the opening and closing door of the animal loading column towards the gate; after receiving the opening state information of the opening door and the closing door, sending a command to open the door and open the animal repelling module; when an animal enters the animal loading column and receives a gravity sensor signal, an animal ear tag management unit collects an ear tag signal and reports the ear tag signal to be compared with order task animal information; after the animal information comparison and matching are completed, sending a command to close the opening and closing door of the animal loading column; and reporting the loading completion state to the animal conveying module after detecting that the opening and closing door is closed.
5. The experimental animal humanization experimental system of claim 2, wherein the work flow of the cleaning and disinfecting module comprises the following contents: the transport robot transports the animals to the door of the cleaning and disinfecting module through the animal loading fence to send a notification command to the cleaning and disinfecting module to open the door; the cleaning and disinfecting module feeds back a door opening signal after the door opening is finished; the transport robot enters the cleaning and disinfecting module and then is separated from the animal loading column and feeds back the separation completion state; the transportation robot leaves the cleaning and disinfecting module and informs the cleaning and disinfecting module to close the door; the cleaning and disinfecting module receives the door closing state and then reports to the transport animal loading fence to finish cleaning; the cleaning and disinfecting module starts an internal automatic cleaning device to clean and disinfect the animal.
6. The experimental animal unmanned experimental system of claim 2, wherein the charging scheduling module checks the self-electricity information and the charging process contents of the transportation robot as follows: when the electric quantity of the transport robot is lower than 40%, the transport robot starts a charging requirement, if the order-free task requirement is charged to 95%, the transport robot is separated from a charging pile and enters a waiting state; when the transport robot is in a charging state, if a task order is issued, the transport robot with the electric quantity greater than 40% breaks away from the charging pile to execute an order task, the transport robot automatically returns to charge after the order task is completed, breaks away from the charging pile until the electric quantity reaches 95%, and enters a waiting state; when the electric quantity of the transport robot is lower than 20%, rejecting any task order and prompting that the electric quantity of the transport robot is too low to an application layer, the transport robot executes a charging task, the order can be accepted when the electric quantity is charged to 40%, automatically returning to a charging pile for charging after the order execution is finished until the electric quantity is charged to 95%, then separating from the charging pile and entering a waiting state; when the transport robot triggers the automatic charging task, the state of the charging pile is detected firstly, if the state of the charging pile is idle, the charging is carried out, if the state of the charging pile is occupied, the automatic charging task is stopped to be executed, and the robot is in a waiting charging state and detects the state of the charging pile every 30 minutes.
7. The experimental animal humanization experiment system according to any one of claims 1 to 6, wherein the application layer comprises a computer client and a mobile communication device client.
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