CN112975890A - Intelligent inspection robot - Google Patents
Intelligent inspection robot Download PDFInfo
- Publication number
- CN112975890A CN112975890A CN201911283686.9A CN201911283686A CN112975890A CN 112975890 A CN112975890 A CN 112975890A CN 201911283686 A CN201911283686 A CN 201911283686A CN 112975890 A CN112975890 A CN 112975890A
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- inspection
- inspection robot
- trolley
- module
- robot according
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- 238000007689 inspection Methods 0.000 title claims abstract description 80
- 238000001514 detection method Methods 0.000 claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 238000011161 development Methods 0.000 claims abstract description 8
- 238000004891 communication Methods 0.000 claims abstract description 7
- 244000144977 poultry Species 0.000 abstract description 8
- 241000287828 Gallus gallus Species 0.000 description 15
- 235000013330 chicken meat Nutrition 0.000 description 15
- 238000000034 method Methods 0.000 description 9
- 235000013594 poultry meat Nutrition 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 230000000249 desinfective effect Effects 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 206010035148 Plague Diseases 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 2
- 238000009395 breeding Methods 0.000 description 2
- 230000001488 breeding effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009360 aquaculture Methods 0.000 description 1
- 244000144974 aquaculture Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001360 synchronised effect Effects 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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
- A01K45/00—Other aviculture appliances, e.g. devices for determining whether a bird is about to lay
-
- 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
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Birds (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of inspection robots, in particular to a large-scale centralized inspection robot for cage-rearing poultry. The inspection trolley comprises traveling wheels, a frame, a trolley body, a motor, an anti-collision strip, a sensor, a laser radar, a controller and a battery; the elevator module comprises an elevator mechanism, a motor, a detection bracket, a sensor and a photoelectric switch; the flexible manipulator comprises an actuating mechanism, a driving system, a control system and a position detection device; the collecting box comprises a chassis, a box body and a cover plate; the multi-mode detection system comprises a 2D camera, a 3D camera, an infrared thermal imager, a development board, a CAN bus communication module and a WIFI module; the background transmission module comprises a server and an APP. The intelligent inspection robot can replace manual inspection, and can take a series of measures on an inspection object to completely replace manual inspection, so that the inspection efficiency is improved.
Description
Technical Field
The invention relates to the field of intelligent inspection robots, in particular to a large-scale centralized cage-rearing poultry inspection robot.
Background
Along with the development of cage aquaculture, more and more raisers participate in breeding, but the mode of breeding still is comparatively traditional, for example the chicken coop, present chicken coop patrols and examines most still all adopt the manual work to patrol and examine to chicken, and in order to practice thrift the cost, the chicken coop environment all is the range upon range of formula again, and has a lot of chickens in each chicken coop, has caused crowded living environment, and it is long when this has just increased the degree of difficulty and patrols and examines for manual work patrolling and examining. The mode that adopts artifical to patrol and examine detects the correct rate and efficiency lower, and operational environment is poor, and most workman are unwilling to engage in this work, causes the plant to consume a large amount of costs of labor. The invention provides an intelligent inspection robot, which aims at the inspection of large-scale centralized cage-rearing poultry, replaces a manual inspection mode, can improve the inspection accuracy and efficiency, and saves labor cost. At present, inspection robots are available in the market, but the inspection robots can only realize simple inspection and have low accuracy, the intelligent inspection robot can not only realize accurate inspection, but also take measures of grabbing, disinfecting and the like after dead poultry are found, so that the intelligent inspection robot can completely replace manpower to timely treat the dead poultry and avoid plague.
Disclosure of Invention
The invention mainly aims to provide an intelligent inspection robot which can effectively replace a manual inspection mode of a farm and save labor cost.
In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides an intelligence inspection robot, includes, patrols and examines dolly, lift module, flexible manipulator, collecting box, multimode detecting system and backstage transmission module.
The inspection trolley comprises walking wheels, a trolley frame, a trolley body, a driving motor, a safety edge-touching collision-prevention strip, an ultrasonic sensor, a laser radar, a motion controller and a storage battery, wherein the walking wheels are used for facilitating the trolley to advance, the trolley frame is used for bearing, the trolley body plays a role in sealing, the driving motor is used for driving the walking wheels to advance, the safety edge-touching collision-prevention strip is used for protecting the trolley, the trolley is prevented from colliding with an obstacle again after being impacted, the safety edge-touching collision-prevention strip is used as a final protection device to stop the trolley from moving, the ultrasonic sensor is used for accurately avoiding the obstacle, the laser radar is used for guiding, the motion controller is used for controlling the trolley to travel according to a preset route, and autonomous guiding and autonomous positioning are achieved. The storage battery is used for providing power supply support for the whole intelligent inspection robot.
The elevator module comprises an elevating mechanism, a motor, a detection bracket, a limit sensor and a photoelectric switch. The lifting mechanism comprises a sliding block, a lead screw and a shell, the motor drives the lead screw to rotate, so that the sliding block sleeved outside the lead screw can move up and down, and finally the detection support fixed on the sliding block can move up and down.
The flexible manipulator comprises an actuating mechanism, a driving system, a control system and a position detection device. The executing mechanism comprises a mechanical arm and is used for realizing the functions of grabbing the inspection object, cleaning and disinfecting a device for storing the inspection object and the like; the driving system is used for driving the mechanical arm to perform a series of actions; the control system is used for controlling the motion direction, the grabbing force, the action mode and the like of the manipulator; the position detection system is used for detecting the position of the inspection object and realizing the accurate positioning of the inspection object by the manipulator.
The collecting box comprises a chassis, a box body and a cover plate, the bottom plate is connected with the inspection trolley, and traveling wheels are arranged on the bottom plate, so that the walking function can be realized, and the collecting box can bear the weight of an inspection object; the box body and the cover plate are used for realizing the sealing function of the collecting box.
The multi-mode detection system comprises a 2D camera, a 3D camera, an infrared thermal imager, a development board, a CAN bus communication module, a WIFI module and the like. The 2D camera, the 3D camera and the thermal imager are used for collecting images for the detection system and collecting information; the development board processes and analyzes the collected images and information; the CAN bus communication is to transmit the information processed by the development board to a controller so that the flexible manipulator and the elevator module CAN perform subsequent actions; the WIFI module is used for realizing communication between the multi-mode detection system and a data center.
The background transmission module comprises a server and an APP, and the server is used for receiving the inspection result and transmitting the inspection result to the APP; the APP is used for achieving remote control of the intelligent inspection robot and synchronous monitoring and query of inspection results and other parameters.
The invention has the following beneficial effects: (1) the intelligent inspection robot of the invention realizes the replacement of manual inspection, saves the labor cost and improves the inspection efficiency. (2) The invention adopts a multi-mode detection system and a plurality of cameras for detection, thereby improving the inspection accuracy. (3) The invention is provided with the flexible manipulator and the collecting box, can carry out a series of actions such as grabbing, disinfecting, storing and the like on the inspection object, and solves the defects of the existing inspection robot.
Drawings
In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below.
Fig. 1 is a schematic diagram of the overall structure of an intelligent inspection robot according to the present invention.
Fig. 2 is a schematic structural diagram of an inspection trolley of the intelligent inspection robot.
Fig. 3 is a view of an application scene of the intelligent inspection robot in the henhouse.
Reference numerals in the schematic drawings illustrate.
1-1, a routing inspection trolley; 1-2, an elevator module; 1-3, a flexible manipulator; 1-4, a collection box; 1-5, a multimode detection system.
2-1, walking wheels; 2-2, a frame; 2-3, a vehicle body; 2-4, driving a motor; 2-5, safe edge-touching anti-collision strip; 2-6, ultrasonic sensor; 2-7, laser radar; 2-8, a motion controller; 2-9 and a storage battery.
3-1, coops; 3-2, laying hens; 3-3, and the intelligent inspection robot.
Detailed Description
For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples.
Examples are given.
Referring to fig. 1 and 2, the intelligent inspection robot of the embodiment includes an inspection trolley shown in 1-1 in fig. 1, an elevator module shown in 1-2, a flexible manipulator shown in 1-3, a collection box shown in 1-4, a multimode detection system shown in 1-5, and a background transmission module. The inspection trolley comprises a travelling wheel shown as 2-1 in figure 2, a frame shown as 2-2, a body shown as 2-3, a driving motor shown as 2-4, a safety edge collision prevention strip shown as 2-5, an ultrasonic sensor shown as 2-6, a laser radar shown as 2-7, a motion controller shown as 2-8 and a storage battery shown as 2-9. The elevator module comprises an elevating mechanism, a motor, a detection bracket, a limit sensor and a photoelectric switch. The flexible manipulator comprises an actuating mechanism, a driving system, a control system and a position detection device. The collecting box comprises a chassis, a box body and a cover plate. The multi-mode detection system comprises a 2D camera, a 3D camera, an infrared thermal imager, a development board, a CAN bus communication module, a WIFI module and the like. The background transmission module comprises a server and an APP.
Referring to fig. 1, fig. 2 and fig. 3, the following describes the application of the present invention to detecting dead chicken in a specific environment of a chicken house.
As shown in figure 3, 3-1 shows a coop, 3-2 shows a laying hen, and 3-3 shows an intelligent inspection robot. As shown in figure 3, the stacked coop is formed, the inspection robot can walk back and forth between the coops by using the walking wheels shown in 2-1, the frame shown in 2-2 can bear the weight of the whole trolley, the elevator module and the flexible mechanical arm, the body shown in 2-3 plays a role in sealing, and the driving motor shown in 2-4 and used for driving the walking wheels to travel is sealed. The ultrasonic sensors shown in 2-6 are used for avoiding barriers and preventing the robot from colliding with the barriers in the inspection process, the safety edge-touching collision-prevention strips shown in 2-5 can play a role in protecting the inspection robot in the inspection process, and if the robot accidentally touches the barriers, the inspection robot can stop walking through the safety edge-touching collision-prevention strips to protect the inspection robot. 2-7 show that the laser radar plays the guide effect in patrolling and examining the robot and patrolling and examining the in-process, navigates to patrolling and examining the dolly through laser, prevents to patrol and examine the robot and walk partially in the process of patrolling and examining, lets it walk according to the route of direction, and this kind of direction method can not cause the influence to the environment of chicken coop, also need not lay guide rail etc. simple and convenient and the direction is accurate. 2-8 is used for controlling the inspection robot to walk according to a preset route of a user, namely, the inspection robot can inspect around the coops among the coops to realize autonomous turning. The elevator module can realize layer-by-layer inspection of the chicken coops with very high laminated layers, and comprises an elevating mechanism, a motor, a detection bracket, a limit sensor and a photoelectric switch. Elevating system includes slider, lead screw and casing, and it is rotatory to drive the lead screw through the motor at the in-process of patrolling and examining to make the slider of cover outside the lead screw realize the up-and-down motion, and detect the support and fix on the slider, thereby just can realize detecting the up-and-down motion of support, be fixed with multimode detection device on detecting the support, can detect the laying hen through this detection device. The lifting height of the lifting mechanism can be accurately controlled through the motor, so that the detection of the laying hens in the coops of each layer is carried out. And the multimode detecting system on the detecting bracket comprises a 2D camera, a 3D camera, an infrared thermal imager, a development board, a CAN bus communication module, a WIFI module and the like, and after the multimode detecting system is used for carrying out image acquisition and processing in all directions and at multiple angles, two results CAN be obtained: the first is that no dead chicken exists in the coop, and the inspection robot can continuously inspect the laying hens in the next coop; and secondly, dead chickens exist in the coop, the multi-mode detection system can position the dead chickens and inform the flexible manipulator shown in 1-3, the flexible manipulator can take grabbing measures for the dead chickens, and the dead chickens are temporarily stored in a collection box shown in 1-4 after being grabbed. The whole process of patrolling and examining as above can pass through the server and APP transmission of background transmission module and give the user, and user's accessible APP looks over and controls this process of patrolling and examining robot.
The intelligent inspection robot provided by the invention is used for inspecting the poultry which is intensively cultivated in cages in a large scale, a manual inspection mode is replaced, the inspection accuracy and efficiency are improved, the labor cost is saved, the intelligent inspection robot not only can realize accurate inspection, but also can take measures of grabbing, disinfecting and the like after the dead poultry is found, the intelligent inspection robot completely replaces the manual work, the dead poultry is timely treated, and the plague is avoided.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.
Claims (7)
1. The utility model provides an intelligence inspection robot, includes, patrols and examines dolly, lift module, flexible manipulator, collecting box, multimode detecting system and backstage transmission module.
2. The intelligent inspection robot according to claim 1, wherein the inspection trolley includes road wheels, a frame, a body, a drive motor, a safety edge bumper, an ultrasonic sensor, a lidar, a motion controller, and a battery.
3. The intelligent inspection robot according to claim 1, wherein the elevator module includes an elevator mechanism including a slide, a lead screw, and a housing, a motor, a detection bracket, a limit sensor, and a photoelectric switch.
4. The intelligent inspection robot according to claim 1, wherein the flexible manipulator includes an actuator including a manipulator and a robotic arm, a drive system, a control system, and a position detection device.
5. The intelligent inspection robot according to claim 1, wherein the collection box includes a chassis, a box body and a cover plate, the base plate is connected to the inspection trolley, and the inspection trolley has traveling wheels thereon to perform a traveling function with the inspection trolley.
6. The intelligent inspection robot according to claim 1, wherein the multi-mode detection system includes a 2D camera, a 3D camera, an infrared thermal imager, a development board, a CAN bus communication and WIFI module.
7. The intelligent inspection robot according to claim 1, wherein the background transfer module includes a server and an APP.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911283686.9A CN112975890A (en) | 2019-12-13 | 2019-12-13 | Intelligent inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911283686.9A CN112975890A (en) | 2019-12-13 | 2019-12-13 | Intelligent inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112975890A true CN112975890A (en) | 2021-06-18 |
Family
ID=76341784
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911283686.9A Withdrawn CN112975890A (en) | 2019-12-13 | 2019-12-13 | Intelligent inspection robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN112975890A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113460196A (en) * | 2021-07-14 | 2021-10-01 | 中国水利水电第十四工程局有限公司 | Inspection robot |
| CN113650038A (en) * | 2021-09-30 | 2021-11-16 | 中国华能集团清洁能源技术研究院有限公司 | Inspection robot |
| CN113903097A (en) * | 2021-09-22 | 2022-01-07 | 中国农业大学 | Laminated cage-rearing livestock house inspection device |
| CN114800548A (en) * | 2022-03-30 | 2022-07-29 | 中国农业大学 | Grabbing device for livestock and poultry house |
| CN115281115A (en) * | 2022-01-27 | 2022-11-04 | 宿迁学院 | Chicken manure integrated intelligent chicken discharging system |
| CN116766226A (en) * | 2023-06-26 | 2023-09-19 | 江苏省农业科学院 | Robot for automatically inspecting three-dimensional cage-reared poultry |
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| CN110355736A (en) * | 2019-08-05 | 2019-10-22 | 福建（泉州）哈工大工程技术研究院 | A kind of file administration robot |
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| US20140031977A1 (en) * | 2012-07-27 | 2014-01-30 | Engineering Services Inc. | Modular mobile robot |
| CN109496123A (en) * | 2016-07-20 | 2019-03-19 | 农场机器人和自动化有限公司 | The robot of domestic animal assists monitoring |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113460196A (en) * | 2021-07-14 | 2021-10-01 | 中国水利水电第十四工程局有限公司 | Inspection robot |
| CN113460196B (en) * | 2021-07-14 | 2022-09-02 | 中国水利水电第十四工程局有限公司 | Inspection robot |
| CN113903097A (en) * | 2021-09-22 | 2022-01-07 | 中国农业大学 | Laminated cage-rearing livestock house inspection device |
| CN113650038A (en) * | 2021-09-30 | 2021-11-16 | 中国华能集团清洁能源技术研究院有限公司 | Inspection robot |
| CN115281115A (en) * | 2022-01-27 | 2022-11-04 | 宿迁学院 | Chicken manure integrated intelligent chicken discharging system |
| CN114800548A (en) * | 2022-03-30 | 2022-07-29 | 中国农业大学 | Grabbing device for livestock and poultry house |
| CN114800548B (en) * | 2022-03-30 | 2023-11-14 | 中国农业大学 | Grabbing device is used to beasts and birds house |
| CN116766226A (en) * | 2023-06-26 | 2023-09-19 | 江苏省农业科学院 | Robot for automatically inspecting three-dimensional cage-reared poultry |
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Application publication date: 20210618 |