CN111469145A - Intelligent monitoring robot suitable for dairy farm - Google Patents
Intelligent monitoring robot suitable for dairy farm Download PDFInfo
- Publication number
- CN111469145A CN111469145A CN202010451920.0A CN202010451920A CN111469145A CN 111469145 A CN111469145 A CN 111469145A CN 202010451920 A CN202010451920 A CN 202010451920A CN 111469145 A CN111469145 A CN 111469145A
- Authority
- CN
- China
- Prior art keywords
- camera
- robot
- swing arm
- walking
- milk cow
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012544 monitoring process Methods 0.000 title claims abstract description 22
- 235000013365 dairy product Nutrition 0.000 title claims description 20
- 240000007651 Rubus glaucus Species 0.000 claims abstract description 15
- 235000011034 Rubus glaucus Nutrition 0.000 claims abstract description 15
- 235000009122 Rubus idaeus Nutrition 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 7
- 210000000225 synapse Anatomy 0.000 claims description 15
- 210000004027 cell Anatomy 0.000 claims description 3
- 241000283690 Bos taurus Species 0.000 abstract description 37
- 239000008267 milk Substances 0.000 abstract description 16
- 235000013336 milk Nutrition 0.000 abstract description 16
- 210000004080 milk Anatomy 0.000 abstract description 16
- 241000196324 Embryophyta Species 0.000 abstract description 6
- 201000010099 disease Diseases 0.000 abstract description 4
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 abstract description 4
- 238000004171 remote diagnosis Methods 0.000 abstract description 3
- 238000003306 harvesting Methods 0.000 abstract 1
- 238000007689 inspection Methods 0.000 abstract 1
- 238000009434 installation Methods 0.000 abstract 1
- 230000009286 beneficial effect Effects 0.000 description 4
- 238000009395 breeding Methods 0.000 description 2
- 230000001488 breeding effect Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 241000282832 Camelidae Species 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/61—Control of cameras or camera modules based on recognised objects
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
Abstract
The utility model provides an intelligence supervisory-controlled robot suitable for milk cow plant, accomplish the fixed of robot through the walking rail, according to the rotation of the milk cow target detection algorithm's in the raspberry group detection result control camera cloud platform and the rotation of walking motor in order to accomplish the travel of camera gesture adjustment and robot, in order to ensure to be in the monitoring range of camera all the time by the monitoring milk cow target, thereby realize the automation to the milk cow target, intelligent control, effectively lower manual monitoring cost, can provide earlier-stage technical reference and hardware platform for the automated inspection of milk cow health parameter and the remote diagnosis of disease simultaneously. The invention has the characteristics of multiple application scenes, convenient installation and arrangement, harvest cost saving and stability.
Description
Technical Field
The invention relates to an intelligent monitoring robot suitable for a dairy farm, and relates to the technical field of agricultural intelligent monitoring.
Background
Along with the increasing of the living level of people and the demand of dairy products, the scale level of the dairy cow breeding industry is also rapidly increased. However, the automation level of the dairy farm in China is still low at present, and the monitoring management of individual dairy cows mainly depends on manual observation. Along with the continuous development of accurate breed, the realization is not only helped promoting the automatic level of plant to the intelligent monitoring of milk cow in the milk cow plant, also can improve the automatic diagnostic level of milk cow disease and the economic benefits of plant.
Disclosure of Invention
The invention aims to provide an intelligent monitoring robot suitable for a dairy cow farm, which can help solve the problems of time and labor waste, high cost and low working efficiency of manual monitoring of dairy cows, enables the monitoring and management of the dairy cows to be more intelligent, is beneficial to providing a basis for remote diagnosis of dairy cow diseases and is beneficial to improving the automation degree of dairy cow breeding.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the utility model provides an intelligent supervisory-controlled robot suitable for milk cow plant, includes frame 1 and camera cloud platform 9, the place ahead of frame 1 and rear are provided with solar cell panel 7 and 11 that are used for charging for robot battery 18. The below of frame 1 is provided with walking wheel 2 and steps up wheel 4, 2 inboards of walking wheel are provided with walking wheel motor 19, step up wheel 4 is installed on swing arm 5, is provided with straining spring 3 between swing arm 5 and frame synapse 12, wherein is provided with synapse 13 on swing arm 5, and the swing arm is fixed on swing arm fixed synapse 14, walking wheel and step up take turns to between the rectangular walking rail 6, frame 1 top is provided with raspberry group controller 8 and camera cloud platform 9, be provided with cloud platform step motor 21 in the camera cloud platform 9, and the top is provided with camera 10, set up motor driver 15, battery 18, walking wheel motor 16, 17, 19 and 23 on the bottom plate 20 of frame 1.
Wherein, the camera head holder 9 is fixed on the frame 1 by bolts through the bolt holes 22. The data lines of the walking wheel motors 16, 17, 19 and 23 are connected with the motor driver 15, the data lines of the camera 10, the motor driver 15 and the cradle head stepping motor 21 are connected with the raspberry controller 8, and the storage battery 18 is used for storing electric energy generated by the solar panels 7 and 11 and supplying power to the walking wheel motors 16, 17, 19 and 23, the motor driver 15, the camera 10, the motor driver 15, the cradle head stepping motor 21 and the raspberry controller 8.
The invention has the beneficial effects that:
the product can be used for realizing more automation of the process of monitoring the dairy cow target in the dairy cow farm, and saving a large amount of manpower and financial resources;
the product has wider application area, and the walking rail can be welded in the area needing to be monitored according to actual needs, thereby being convenient to arrange;
the product can complete the tracking and monitoring of the dairy cow target, is beneficial to the long-time automatic monitoring of the health parameters of the dairy cow and the remote diagnosis of diseases;
the design of the tightening wheel of the product also effectively ensures the walking stability of the robot, so that the product is more reliable;
the product has simple and reliable structure, is suitable for large-area use in dairy farms, and has huge application groups and wide market prospect.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of a part of the structure of the pinch roller of the invention.
Fig. 3 is a schematic structural view of a part of the road wheel of the invention.
Fig. 4 is a schematic structural diagram of a camera pan-tilt according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1: the product mainly comprises a frame 1, a walking wheel 2, a tightening wheel 4, a walking rail 6, a camera holder 9, a camera 10 and solar panels 7 and 11. The frame 1 is used for fixedly mounting a travelling wheel 2, a clamping wheel 4, a camera holder 9, travelling wheel motors 16, 17, 19 and 23 and a motor driver 15, and the travelling motor is fixed on a frame bottom plate 20 and drives the travelling wheel to rotate so as to realize the forward and backward movement of the robot on a travelling rail 6. The camera 10 is used for shooting a milk cow target video, the raspberry sending controller 8 realizes detection along with a milk cow target by running a milk cow target detection algorithm, when the position of the milk cow target moves in a small range, the raspberry sending controller 8 controls the camera holder 9 to rotate, and if the milk cow target position moves in a large range, the raspberry sending controller 8 controls the travelling wheel to move back and forth so as to ensure that the monitored milk cow target is always in the monitoring range of the camera. The solar cell panels 7 and 11 installed at the front and the rear of the frame are used for converting solar energy into electric energy to be stored in the storage battery 18, and supplying electric energy to all parts of the robot in order to improve the walking stability and guidance of the robot, the clamping wheel 4 is installed on the swing arm 5 fixed on the swing arm fixing synapse 14, and the swing arm 5 is connected with the frame synapse 12 through the tension spring 3, so as to increase the clamping force between the walking wheel and the rail and ensure the walking stability of the robot.
As shown in fig. 2: the pressing wheel 4 is fixed on the swing arm 5, the other end of the swing arm 5 is fixed on the swing arm fixing synapse 14, the swing arm can freely rotate around the swing arm fixing synapse 14, and the machine frame synapse 12 and the swing arm synapse 13 are connected through the tension spring 3 to improve the adaptability of the product to walking tracks with different thicknesses and the walking stability of the robot.
As shown in fig. 3: the motor driver 15 arranged on the bottom plate 20 of the frame 1 is used for driving the traveling wheel motors 16, 17, 19 and 23 according to the control information of the raspberry pi controller 8, so that the robot can walk forwards and backwards.
As shown in fig. 4: the camera cloud platform 9 is fixed on the frame 1 through the bolt hole 22 of bottom, and the cloud platform step motor 21 that sets up inside cloud platform 9 is used for receiving raspberry and sends the control information realization of controller 8 to the rotation of cloud platform to ensure to be located the camera surveillance area by the monitoring cow.
When using this product, at first according to the walking rail that practical application scene intercepting length is fit for, open walking wheel and the pinch roller of walking robot hard again and block respectively the upper and lower face at walking rail 6, then will walk rail 6 welding in the position that needs the control in milk cow plant. During operation, the cow video that the camera 10 will shoot sends for raspberry group controller 8, raspberry group controller 8 moves the detection algorithm of cow target and realizes the detection to the cow target, when the position of cow target is not in and shoots video central authorities, when the position of cow target takes place the small range and moves, raspberry group controller 8 will control the step motor 21 rotation of camera cloud platform 9 and then drive camera 10 and rotate, if the cow target position takes place to move on a large scale, raspberry group controller 8 controls the walking wheel back-and-forth movement, in order to ensure that the cow target of being monitored is in the monitoring range of camera all the time, thereby realize the control to the cow target. This product degree of automation is high, can shorten time, the cost that artifical monitoring was spent greatly. The product is not only suitable for monitoring dairy cows, but also slightly improved, and is suitable for other large-sized ungulates needing to be monitored, such as horses, camels and the like, and the application range is wide.
Claims (2)
1. An intelligent monitoring robot suitable for a dairy farm is characterized by comprising a rectangular walking rail (6) for fixing the robot, a rectangular swing arm (5), a rack synapse (12), a swing arm synapse (13) and a tension spring (3) for fixing a pinch roller (4), a walking motor driver (15) fixed on a bottom plate (20) of a rack (1), solar cell panels (7) and (11) fixed in front and at the back of the rack (1), a raspberry group controller (8) and a camera pan-tilt (9) fixed above the rack (1);
the pinch roller (4) is arranged on a swing arm (5) fixed on a swing arm fixing synapse (14), and the swing arm (5) is connected with a rack synapse (12) through a tension spring (3);
the camera tripod head (9) internally comprises a tripod head stepping motor (21) for controlling the camera to rotate;
the raspberry pi controller (8) can send control signals to the walking motor driver (15) and the holder stepping motor (21) according to the operation result of the cow target detection algorithm, and controls the rotation of the camera and the forward or backward movement of the robot.
2. The intelligent monitoring robot suitable for the dairy farm according to claim 1, wherein a tension spring (3) is arranged between synapses (13) of the swing arm (5) and synapses (4) of the frame, so that the walking wheels and pinch rollers of the robot can be always attached to the rail no matter how the thickness of the walking rail changes, and the product has good applicability and stability.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010451920.0A CN111469145A (en) | 2020-05-26 | 2020-05-26 | Intelligent monitoring robot suitable for dairy farm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010451920.0A CN111469145A (en) | 2020-05-26 | 2020-05-26 | Intelligent monitoring robot suitable for dairy farm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111469145A true CN111469145A (en) | 2020-07-31 |
Family
ID=71762728
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010451920.0A Pending CN111469145A (en) | 2020-05-26 | 2020-05-26 | Intelligent monitoring robot suitable for dairy farm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111469145A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112856170A (en) * | 2020-12-25 | 2021-05-28 | 河南科技大学 | Automatic device of grading of milk cow body condition |
| CN113021343A (en) * | 2021-03-19 | 2021-06-25 | 哈尔滨学院 | Chassis and visual robot comprising same |
-
2020
- 2020-05-26 CN CN202010451920.0A patent/CN111469145A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112856170A (en) * | 2020-12-25 | 2021-05-28 | 河南科技大学 | Automatic device of grading of milk cow body condition |
| CN112856170B (en) * | 2020-12-25 | 2022-07-01 | 河南科技大学 | Automatic device of grading of milk cow body condition |
| CN113021343A (en) * | 2021-03-19 | 2021-06-25 | 哈尔滨学院 | Chassis and visual robot comprising same |
| CN113021343B (en) * | 2021-03-19 | 2021-11-12 | 哈尔滨学院 | Chassis and visual robot comprising same |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111469145A (en) | Intelligent monitoring robot suitable for dairy farm | |
| CN202077380U (en) | Global positioning system (GPS) navigation mowing robot | |
| CN109362582B (en) | Cleaning robot and cleaning method suitable for multi-scene pigsty | |
| CN215851216U (en) | Walking mechanism of feeding inspection robot | |
| CN109676624A (en) | A kind of field target detection robot platform based on deep learning | |
| CN103955150A (en) | Semi-automatic intelligent tennis pick-up robot and control method thereof | |
| CN205584772U (en) | Adopt cam mechanism to carry out cave fertilizer injection unit | |
| CN209879335U (en) | Multifunctional crawler-type grazing cart | |
| CN203618683U (en) | Full-automatic remotely controlled grain tedder | |
| CN111242903B (en) | Piglet out-of-line automatic counting platform and method | |
| CN111105518A (en) | Breeding inspection system | |
| CN218830339U (en) | Guide tracked monitoring device for agricultural | |
| CN105122987B (en) | Miniature full-automatic intertillage weeding machine suitable for densely-planted high-stem crops | |
| CN210428196U (en) | Agricultural environment information acquisition dolly | |
| CN114617077A (en) | Automatic device of patrolling and examining of cowshed meteorological environment | |
| CN210352229U (en) | Agricultural production picking robot | |
| CN114931112A (en) | Sow body ruler detection system based on intelligent inspection robot | |
| CN212426202U (en) | Infrared intelligent inspection system for electrolytic cell | |
| CN111418482A (en) | Novel agricultural irrigation system | |
| CN214332083U (en) | Information acquisition device is used in forestry engineering plant diseases and insect pests monitoring | |
| CN216132977U (en) | Tobacco growth data acquisition and monitoring device | |
| CN108724211A (en) | Solar-energy machine people is used in a kind of inspection of field | |
| CN216647537U (en) | Sugarcane disease and insect pest monitoring and alarming device | |
| CN210591998U (en) | Agricultural transportation device | |
| CN214902116U (en) | Self-propelled field automatic rice transplanting vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200731 |
|
| WD01 | Invention patent application deemed withdrawn after publication |