CN112847384A

CN112847384A - Dead chicken pickup device, control system and control method

Info

Publication number: CN112847384A
Application number: CN202011501336.8A
Authority: CN
Inventors: 霍哓静; 姜来; 王文娣; 唐娟; 李丽华; 张亭亭
Original assignee: Hebei Agricultural University
Current assignee: Hebei Agricultural University
Priority date: 2020-12-17
Filing date: 2020-12-17
Publication date: 2021-05-28

Abstract

The invention provides a dead chicken picking device, a control system and a control method. The problem that dead chickens are picked up manually in a large-scale chicken farm is solved, and meanwhile cross infection caused by mistakenly picking live chickens and picking up the dead chickens can be prevented.

Description

Dead chicken pickup device, control system and control method

Technical Field

The invention relates to the field of poultry industry equipment, in particular to a dead chicken picking device and a control system.

Background

Poultry breeding is a breeding industry which develops the fastest speed since the reform and the opening of China. With the gradual expansion of the breeding scale of chicken farms, the demand for manpower is increased, but the environment of the chicken house is severe, the working intensity is high, and the situation of labor shortage can occur. In addition, if workers work in the chicken farm for a long time, the health of the workers can be influenced to a certain extent. Finally, if dead chickens cannot be picked out in time, poultry diseases and epidemic diseases can be spread, and a large amount of economic loss can be caused. Dead chicken skins are soft and have different postures, and the dead chicken skins are difficult to be picked out intact by mechanical equipment such as mechanical claws. The control system is used as the core of the whole device and has a decisive influence on the operation efficiency and the operation requirement.

The prior art can pick up dead chickens according to coordinates of the dead chickens, but the technical problem that how to ensure that the skins of the dead chickens are not damaged and determine that the dead chickens are dead chickens is difficult to solve at present.

Therefore, how to provide a dead chicken picking device and a control system with reasonable design to replace manual picking of dead chickens is a technical problem to be solved urgently by technical personnel in the field.

Disclosure of Invention

In view of this, the invention provides a dead chicken picking device and a control system, which solve the problems in the prior art, and the specific scheme is as follows:

the utility model provides a device is picked up to dead chicken, is in including walking wheel, device body and setting lifting support on the device body, with lifting support connects gradually be steering mechanism, telescopic link, arm and manipulator, the below of manipulator still is equipped with the sensor.

Specifically, this device is still including setting up control system and the balancing weight of device body top, the balancing weight top still is equipped with dead chicken and retrieves the cage.

Specifically, the device body is internally provided with a navigation device and a power supply.

In particular, the navigation device is an electromagnetic navigation device.

Specifically, the manipulator is an under-actuated dead poultry picking manipulator and comprises a wrist part, a palm part and finger parts which are sequentially arranged from bottom to top.

Specifically, the control system comprises a grabbing system, a traveling system, a lifting telescopic device, a rotating device and an input/output device which are in communication connection with a microcomputer, and the microcomputer is in wireless communication connection with a control center.

Specifically, the gripping system comprises a sensor, a mechanical arm and a mechanical arm, wherein the sensor comprises a pressure sensor and a temperature sensor;

the walking system comprises a motor, a navigation device and a driving circuit.

Specifically, the walking system adopts a four-wheel drive mode, the walking system is driven by a direct current motor driver and four direct current motors, the navigation mode of the navigation device adopts electromagnetic navigation, and an electromagnetic walking route is laid in the henhouse in advance.

A control method of a dead chicken picking device comprises the following steps:

s1: the control system receives target position information sent by an upper computer;

s2: the control system determines the advancing path of the dead chicken picking device through the position information, and simultaneously adjusts the direction and the height of the mechanical arm to prepare for executing target grabbing operation;

s3: the manipulator is contacted with a target, the temperature of the target is confirmed through a sensor, and whether the chicken is dead or not is judged;

s4: in step S3, if the determination result is "no", directly jumping to step S6, if the determination result is "yes", continuing to close the finger of the manipulator 70, monitoring the pressure applied to the dead chicken by the pressure of the sensor, and stopping closing the manipulator when the pressure is greater than the currently set maximum pressure;

s5: after the mechanical arm 7 stops closing, the control system sends out an instruction, and the mechanical arm places the clamped dead chicken into a dead chicken recovery cage;

s6: and returning the device to wait for the next picking task.

The dead chicken picking device, the control system and the control method provided by the invention have the following beneficial effects: the problem that dead chickens are picked up manually in a large-scale chicken farm can be solved. 2. The mechanical arm can sense the pressure on the clamped object, so that the epidermis of the dead chicken can be prevented from being damaged, and the outbreak of infectious diseases can be inhibited. 3. The manipulator can sense the temperature of the clamped object, so that the live chicken can be prevented from being grabbed by mistake.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural view of a dead chicken picking device.

FIG. 2 is a block schematic diagram of a control system.

Fig. 3 is a flow chart of a dead chicken picking method.

In the figure: 10. the device comprises a device body 11, a navigation device 12, a power supply 13, a control system 14, a dead chicken recovery cage 15, a balancing weight 20, a traveling wheel 30, a lifting support 40, a steering mechanism 50, a telescopic connecting rod 60, a mechanical arm 70, a mechanical arm 71 and a sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-3, the invention provides a dead chicken picking device and a control system, which comprises a travelling wheel 20, a device body 10, a lifting support 30 arranged on the device body 10, a steering mechanism 40, a telescopic connecting rod 50, a mechanical arm 60 and a mechanical arm 70 which are sequentially connected with the lifting support 30, wherein a sensor 71 is further arranged below the mechanical arm 70. The steering mechanism 40 is specifically a rotating device, and the steering mechanism 40 can rotate at any angle of 360 degrees in the horizontal direction and is used for adjusting the direction of the mechanical arm 60, so that dead chickens in cages at two sides of the picking device can be grabbed. The sensor 71 comprises a pressure sensor and a temperature sensor, the temperature sensor is used for judging whether the grabbed target is a dead chicken, the pressure sensor is used for ensuring that the mechanical arm adopts proper pressure when grabbing, and the skin of the dead chicken is guaranteed not to be broken, so that the aim of preventing the spread of the epidemic situation of poultry diseases is fulfilled. The lifting support 30 can be used for grabbing dead chickens in different cage layers.

Specifically, this device is still including setting up the control system 13 of device body 10 top and the balancing weight 15 that prevents to turn on one's side, balancing weight 15 top still is equipped with dead chicken and retrieves cage 14.

Specifically, the navigation device 11 and the power supply 12 are provided in the device body 10.

Specifically, the navigation device 11 is an electromagnetic navigation device.

Specifically, the manipulator 70 is an under-actuated dead poultry picking manipulator, and comprises a wrist part, a palm part and a finger part which are sequentially arranged from bottom to top.

The invention also requests to protect a control system of the dead chicken picking device, which comprises a grabbing system, a traveling system, a lifting telescopic device, a rotating device and an input/output device, wherein the grabbing system, the traveling system, the lifting telescopic device, the rotating device and the input/output device are in communication connection with the microcomputer, the microcomputer is in wireless communication connection with a control center, and the input/output device comprises a mouse, a keyboard and a display screen.

Specifically, the gripping system comprises a sensor 71, a mechanical arm 60 and a manipulator 70, wherein the sensor comprises a pressure sensor and a temperature sensor; the traveling system includes a motor, a navigation device 11, and a drive circuit. The navigation mode of the navigation device adopts electromagnetic navigation, and an electromagnetic walking route is paved in the henhouse in advance.

After the microcomputer wireless communication module receives the position coordinates of the dead chicken sent by a control center (not shown), an advancing route is determined according to the electromagnetic track laid by the chicken coop, the walking system of the device is started, and after the walking system reaches the specified coordinates, the control system controls the accurate position of the mechanical arm 70 to reach a target point through controlling the lifting support 30, the steering mechanism 40, the telescopic connecting rod 50 and the mechanical arm 60 to carry out grabbing work.

Furthermore, the traveling system adopts a four-wheel drive mode, and is driven by a direct current motor driver and four direct current motors.

The invention also requests to protect a control method of the dead chicken pickup device, which comprises the following steps:

s1: the control system 13 receives target position information sent by an upper computer;

s2: the control system 13 determines the advancing path of the dead chicken pickup device through the position information, and adjusts the direction and the height of the mechanical arm 60 to prepare for executing the target grabbing operation;

s3: the manipulator 70 is contacted with the target, the target temperature is confirmed through the sensor 71, and whether the chicken is dead or not is judged;

s4: in step S3, if the determination result is "no", directly jumping to step S6, if the determination result is "yes", continuing to close the finger of the manipulator 70, monitoring the pressure applied to the dead chicken by the pressure of the sensor 71, and stopping closing the manipulator 70 when the pressure is greater than the currently set maximum pressure threshold;

s5: after the manipulator 70 stops closing, the control system sends out an instruction, and the manipulator 70 places the clamped dead chicken into the dead chicken recovery cage 14;

s6: and returning the device to wait for the next picking task.

While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. The utility model provides a dead chicken pickup attachment which characterized in that: including walking wheel (20), device body (10) and setting up lifting support (30) on device body (10), with lifting support (30) connect gradually be steering mechanism (40), telescopic link (50), arm (60) and manipulator (70), the below of manipulator (70) still is equipped with sensor (71).

2. The dead chicken pickup apparatus according to claim 1, wherein: still including setting up control system (13) and balancing weight (15) above device body (10), balancing weight (15) top still is equipped with dead chicken and retrieves cage (14).

3. A dead chicken pickup apparatus as set forth in claim 2, wherein: the device body (10) is internally provided with a navigation device (11) and a power supply (12).

4. A dead chicken pickup apparatus as set forth in claim 3, wherein: the navigation device (11) is an electromagnetic navigation device.

5. A dead chicken picking apparatus as claimed in any one of claims 2 to 4, wherein: the mechanical arm (70) is an under-actuated dead poultry picking mechanical arm and comprises a wrist part, a palm part and finger parts which are sequentially arranged from bottom to top.

6. The utility model provides a control system of dead chicken pickup attachment which characterized in that: the intelligent gripping device comprises a gripping system, a walking system, a lifting and stretching device, a rotating device and an input and output device which are in communication connection with a microcomputer, wherein the microcomputer is in wireless communication connection with a control center.

7. A control system for a dead chicken pick-up device as claimed in claim 6, characterised in that:

the gripping system comprises a sensor (71), a mechanical arm (60) and a mechanical arm (70), wherein the sensor comprises a pressure sensor and a temperature sensor;

the walking system comprises a motor, a navigation device (11) and a driving circuit.

8. The dead chicken pickup apparatus according to claim 7, wherein: the walking system adopts a four-wheel drive mode, the walking system is driven by a direct current motor driver and four direct current motors, the navigation mode of the navigation device adopts electromagnetic navigation, and an electromagnetic walking route is paved in the henhouse in advance.

9. A control method of a dead chicken picking device is characterized by comprising the following steps:

s1: the control system (13) receives the target position information sent by the upper computer;

s2: the control system (13) determines the advancing path of the dead chicken picking device through the position information, and simultaneously adjusts the direction and the height of the mechanical arm (60) to prepare for executing target grabbing operation;

s3: a manipulator (70) contacts with a target, confirms the target temperature through a sensor (71), and judges whether the chicken is dead or not;

s4: in the step S3, if the judgment result is 'NO', directly jumping to the step S6, if the judgment result is 'yes', continuing closing the finger part of the manipulator (70), monitoring the pressure of the dead chicken by the pressure of the sensor (71), and stopping closing the manipulator (70) when the pressure is larger than the currently set maximum pressure;

s5: after the manipulator (70) stops closing, the control system sends out an instruction, and the manipulator (70) places the clamped dead chicken into the dead chicken recovery cage (14);

s6: and returning the device to wait for the next picking task.