CN112975962A - Auxiliary feeding robot for dairy cows and auxiliary feeding method - Google Patents
Auxiliary feeding robot for dairy cows and auxiliary feeding method Download PDFInfo
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- CN112975962A CN112975962A CN202110197704.2A CN202110197704A CN112975962A CN 112975962 A CN112975962 A CN 112975962A CN 202110197704 A CN202110197704 A CN 202110197704A CN 112975962 A CN112975962 A CN 112975962A
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- 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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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Abstract
The invention provides a milk cow auxiliary feeding robot and an auxiliary feeding method, wherein the milk cow auxiliary feeding robot comprises a movable chassis, a control system, a material pushing and homogenizing device and an image acquisition system, wherein the material pushing and homogenizing device and the image acquisition system are arranged on one side of the chassis; the image acquisition system transmits acquired data to the control system; the control system plans a traveling path of the mobile chassis according to the acquired data and controls the material pushing and homogenizing device to push materials; the material pushing and homogenizing device comprises a screw rod connecting rod mechanism and a material pushing mechanism arranged on the screw rod connecting rod mechanism; the lead screw connecting rod mechanism comprises a slide block stepping motor, a lead screw, a slide block, a linear guide rail and a six-rod mechanism arranged on the slide block; the slider is installed on the lead screw, the slider step motor is connected with the lead screw and directly drives the lead screw, and the slider moves back and forth on the linear guide rail by controlling the rotating number and direction of the slider step motor, so that the six-rod mechanism is driven to move, and the pose of the material pushing mechanism is changed.
Description
Technical Field
The invention relates to the field of dairy cow feeding, in particular to an auxiliary feeding robot and an auxiliary feeding method for dairy cows, which are used for pushing and transferring dairy cow feed.
Background
The feeding of the dairy cows is an important link in the dairy cow breeding industry, the feeding condition of the dairy cows directly influences the yield and the quality of the milk, and the feeding modes of the dairy cows in China at present can be divided into three modes, namely traditional manual feeding, TMR feeding and robot feeding. The common point of the three feeding modes is that the feed is uniformly scattered on a trough and independently fed by the dairy cows.
When the cows eat, a part of the feed is pushed out of the silo, so that the part of the feed cannot be taken due to too long distance, and the part of the feed needs to be pushed back to the silo manually or by a machine periodically. In the later period of one feeding, the feed of some places is already eaten, and the cows of the places have no feed to eat; and some local feeds have surplus but are not eaten by the cows, and the surplus feeds also need to be transported to the required places manually.
The common treatment method of the prior dairy farm is to manually push feed and transfer feed; or the vehicle after the human driving transformation pushes and transports the feed, and the two methods consume a large amount of manpower and material resources and have large noise. Most of existing cow pushing robots can only complete the pushing process through rotation and other modes, if the Pushing is achieved through rotation of a cylindrical shell of the robot in the development of patent cow intelligent pushing robots by the Joan-Pand and other people, the pushing speed is low, and feed cannot be transported.
Disclosure of Invention
Aiming at the problems, the invention provides a cow auxiliary feeding robot and an auxiliary feeding method, which are suitable for a large-scale breeding cow farm, the robot can quickly push the feed on the outer edge of a trough back to the inner side of the trough to stir the feed, or transport the feed to a place where the feed needs, so that the feeding efficiency of cows is improved, and the feeding condition of cows is improved.
The invention is realized by at least one of the following technical schemes.
An auxiliary feeding robot for dairy cows comprises a movable chassis, a control system, a material pushing and homogenizing device and an image acquisition system, wherein the material pushing and homogenizing device and the image acquisition system are arranged on one side of the movable chassis;
the image acquisition system transmits acquired data to the control system;
the control system plans a traveling path of the moving chassis according to the acquired data and controls the material pushing and homogenizing device to push materials;
the material pushing and homogenizing device comprises a screw rod connecting rod mechanism and a material pushing mechanism arranged on the screw rod connecting rod mechanism.
Preferably, the screw rod connecting rod mechanism is installed on one side of the moving chassis and comprises a slider stepping motor, a screw rod, a slider, a linear guide rail and a six-rod mechanism installed on the slider; the sliding block is arranged on the lead screw, and the sliding block stepping motor is connected with the lead screw; and controlling the rotating number and direction of the slider stepping motor to enable the slider to move back and forth on the linear guide rail so as to drive the six-rod mechanism to move.
Preferably, the six-bar mechanism comprises a first connecting bar, a second connecting bar, a third connecting bar, a fourth connecting bar and a fixed bracket; the six-rod mechanism only has one degree of freedom, the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are sequentially connected, one ends of the first connecting rod and the fourth connecting rod are fixed on the sliding block, and the position of the sliding block determines the pose of the whole six-rod mechanism.
Preferably, the pushing mechanism comprises a lower pushing plate, an upper pushing plate and a pushing stepping motor, and the lower pushing plate is connected with the upper pushing plate in a sliding manner; the upper material pushing plate is fixed on the third connecting rod; the lower material pushing plate slides up and down relative to the upper material pushing plate under the pushing of the material pushing stepping motor; the included angle between the pushing mechanism and the moving chassis can be changed.
Preferably, the height difference between the lower edge of the lower material pushing plate and the upper edge of the upper material pushing plate ranges from 25cm to 30 cm.
Preferably, the image acquisition system comprises a road condition identification camera, a panoramic camera and a milk cow detection identification camera; the road condition identification camera is arranged at the front part of the moving chassis and faces the advancing direction of the moving chassis; the cow detection and identification camera is arranged at the front part of the movable chassis and faces one side of the cow; the panoramic camera is installed right above the movable chassis through a support and faces the ground.
Preferably, the control system comprises a computer provided with an independent display card, a lower computer and a communication module.
An auxiliary feeding method of an auxiliary feeding robot comprises two feeding stages, wherein the first stage comprises planning of a forward route of the robot and realization of pushing work; the second stage is used for controlling the included angle between the material pushing mechanism and the movable chassis.
Preferably, the first stage comprises the steps of:
6) the control system plans a forward route for the robot, controls the robot to move to a material groove starting area, the road condition identification camera acquires image information in front of the robot, and the material pushing and homogenizing device is ready to start material pushing work;
7) the sliding block stepping motor drives the sliding block to slide, so that the pose of the six-rod mechanism is changed, the sliding block stepping motor rotates to enable the third connecting rod to form an included angle with the moving chassis, and further the material pushing mechanism and the moving chassis form an included angle;
8) the pushing stepping motor drives the lower pushing plate to slide downwards relative to the upper pushing plate until the rubber strip is in close contact with the ground, and the robot moves along the robot travel route; in the advancing process of the robot, the pushing mechanism pushes the feed on the outer edge of the trough to the inner side of the trough; meanwhile, in the pushing process, the feed is continuously accumulated on the pushing mechanism, then the feed flows out along the upper edge of the upper pushing plate and rolls to the other side of the pushing mechanism, and the feed stirring effect is achieved; after the robot finishes pushing once, the robot returns to a standby area, the pushing stepping motor lifts the lower pushing plate to enable the rubber strips on the lower side edge of the lower pushing plate to leave the ground, and the pushing and homogenizing device retracts to enable the pushing mechanism to be in a retracted state;
9) in the advancing process of the robot, the cow detection and identification camera identifies two-dimensional codes above each neck clamp, each two-dimensional code corresponds to the position information of the corresponding neck clamp, and the position of the robot is obtained by identifying the two-dimensional codes; the image acquisition system shoots the whole feeding process and transmits shot contents to the control room in real time through wireless network communication;
10) repeating the processes until part of the cows can not eat the feed;
in the second stage, the initial included angle between the pushing mechanism and the vehicle body is N degrees, and the feed is continuously accumulated on the pushing mechanism in the advancing process of the robot, so that the feed is collected;
the milk cow detecting and identifying camera acquires video information at a neck clamp, and the computer processes the video by a deep learning method, detects whether a milk cow is at the neck clamp and uses the video as a basis for judging whether the milk cow waits for eating; if no dairy cow waits for eating, the pushing mechanism keeps the included angle of N degrees unchanged, and continues to collect the feed; if the cow is detected at the position, the cow is indicated to wait for eating, the computer sends an instruction to the lower computer, the lower computer further controls the slider stepping motor to move, and the included angle between the pushing mechanism and the vehicle body is reduced, so that a part of the collected feed slides down to the position to supplement the feed for the cow at the position; then the robot continues to move forward, if no dairy cow is waiting for eating in front, the included angle between the pushing mechanism and the vehicle body is increased to N degrees so as to continue to collect the residual and dispersed feed; and repeating the process until the robot reaches the end point, and then returning to the standby area.
Preferably, the control system plans the advancing route for the robot in a magnetic navigation mode.
Compared with the prior art, the invention has the following characteristics:
1. the feeding process can be automatically finished without manual intervention. The robot can be taken over manually in an emergency;
2. compared with the existing robot which finishes pushing materials in modes of rotation and the like, the robot pushes materials by the inclined pushing mechanism, so that the pushing efficiency is greatly improved;
3. the function of feed transportation can collect and transport the residual feed in some places to the place where the feed is needed.
Drawings
Fig. 1 is an overall schematic view of the cow auxiliary feeding robot in the embodiment;
fig. 2 is a top view of the cow auxiliary feeding robot of the embodiment;
fig. 3 is a schematic structural view of a moving chassis of the cow auxiliary feeding robot in the embodiment;
FIG. 4 is a schematic view of the screw-link mechanism and the pusher mechanism of the present embodiment;
FIG. 5 is a schematic view of a pushing mechanism according to the present embodiment;
FIG. 6 is a schematic view of an image capturing system according to the present embodiment;
FIG. 7 is a line diagram of the dairy farm and the robot according to the present embodiment;
FIG. 8 is a schematic view of a neck clip according to the present embodiment;
in the figure: 1-moving chassis, 2-control system, 3-material pushing and homogenizing device, 301-slider stepping motor, 302-lead screw, 303-slider, 304-linear guide rail, 305-first connecting rod, 306-second connecting rod, 307-third connecting rod, 308-fourth connecting rod, 309-lower pushing plate, 310-rubber belt, 311-upper pushing plate, 312-material pushing stepping motor, 4-image acquisition system, 401-road condition identification camera, 402-panoramic camera, 403-milk cow detection identification camera, 5-milk cow, 6-neck clamp, 7-robot traveling route, and 8-two-dimensional code.
Detailed Description
The following describes the object of the present invention in further detail with reference to the drawings and specific examples, which are not repeated herein, but the embodiments of the present invention are not limited to the following examples.
The cow auxiliary feeding robot shown in fig. 1, 2 and 3 comprises a moving chassis 1, a control system 2, a material pushing and blending device 3 and an image acquisition system 4.
The movable chassis 1 is a four-wheel drive power chassis. The mobile chassis 1 is used as a walking mechanism to provide power for the walking of the robot. The material pushing and homogenizing device 3 is arranged on the right side of the movable chassis 1, and the material pushing and homogenizing device 3 comprises a screw rod connecting rod mechanism and a material pushing mechanism arranged on the screw rod connecting rod mechanism. The screw rod connecting rod mechanism is a power and transmission part of the material pushing and homogenizing device, and the material pushing mechanism realizes the material pushing and homogenizing functions.
The pushing function is to push the feed on the outer edge of the trough to the inner side of the trough; the refining function comprises two parts:
a. during the pushing process, the feed is continuously accumulated on the material pushing mechanism, and then flows out along the upper edge of the upper material pushing plate and rolls to the other side of the material pushing mechanism, so that the function of stirring the feed is achieved;
b. the robot transfers the scattered and redundant feed in some places to another place to play a role in redistributing the feed.
As shown in fig. 4, the lead screw link mechanism includes a slider stepping motor 301, a lead screw 302, a slider 303, a linear guide 304, and a six-bar mechanism.
The six-bar mechanism comprises a first connecting rod 305, a second connecting rod 306, a third connecting rod 307, a fourth connecting rod 308 and a fixed bracket; the six-rod mechanism has only one degree of freedom, the first connecting rod 305, the second connecting rod 306, the third connecting rod 307 and the fourth connecting rod 308 are sequentially connected, one end of each of the first connecting rod 305 and the fourth connecting rod 308 is fixed on the sliding block 303, and the position of the sliding block 303 determines the pose of the whole six-rod mechanism. The slider 303 is mounted on the lead screw 302, the slider stepping motor 301 directly drives the lead screw 302 to enable the slider 303 to move back and forth on the linear guide rail 304, the position of the slider 303 can be changed by controlling the rotation number and direction of the slider stepping motor 301, and the position of the slider 303 determines the pose of the whole six-rod mechanism.
As shown in fig. 5, the pusher mechanism includes a lower pusher plate 309, an upper pusher plate 311, and a pusher stepping motor 312. The upper ejector plate 311 is mounted on the third link 307 and is fixed relative to the third link 307. The lower edge of the lower material pushing plate 309 is mounted with a rubber strip 310. The lower material pushing plate 309 can slide up and down relative to the upper material pushing plate 311 under the pushing of the material pushing stepping motor 312. The height difference between the lower edge of the lower material pushing plate 309 and the upper edge of the upper material pushing plate 311 ranges from 25cm to 30 cm.
The pushing mechanism has three states, which are respectively:
(1) and a retraction state: at the moment, the pushing mechanism is parallel to the vehicle body and is close to the vehicle body;
(2) and an inclined state: at the moment, the pushing mechanism and the vehicle body form a certain included angle (acute angle), and the inclined pushing mechanism can push the feed on the outer edge of the trough back to the inner edge of the trough in the advancing process of the robot, so that the milk cows can conveniently eat the feed;
(3) and a vertical state: at the moment, the pushing mechanism is perpendicular to the vehicle body, and in the advancing process of the robot, the feed is stacked on the pushing plate, so that the function of collecting the feed is realized, and the feed is transported to a place where the feed is needed.
When the pushing mechanism is retracted away from the ground, the height of the whole pushing mechanism is 25 cm; when pushing materials, the height of the whole pushing mechanism is 30 cm.
The control system 2 comprises a computer provided with a high-performance independent display card, an STM32 lower computer and a 4g communication module. The computer is used for processing the video information; the STM32 lower computer receives an instruction sent by a computer and controls the movement of the movable chassis 1 and the material pushing and blending device; the 4g communication module sends the state information of the robot to the control room, and a manager can also send an instruction to the 4g communication module to control the operation of the robot; and receiving and transmitting the information of the 4g communication module through the STM32 lower computer.
As shown in fig. 6, the image acquisition system 4 is mounted on the mobile chassis 1 through a bracket, the image acquisition system 4 includes a road condition camera 401, a panoramic camera 402 and a cow detection and identification camera 403, and data acquired by the image acquisition system 4 is transmitted to the control system 2 through a 4g communication module. The road condition camera 401 is installed right in front of the robot and faces the advancing direction of the robot, video information of the advancing direction of the robot can be collected, and the computer of the control system 2 plans an advancing path for the robot according to the collected video information. The panoramic camera 402 is installed in the middle of the movable chassis 1 and faces the movable chassis, so that the information of the surrounding environment where the robot is located can be collected, and the position and the environment where the robot is located can be observed conveniently in real time. The cow detection and identification camera 403 is arranged at the front half part of the movable chassis 1 and faces one side of the neck clamp and is used for collecting video information of a cow feeding area, the computer detects whether a cow waits for feeding according to the collected video information through a Yolov5 deep learning method, and controls the slider stepping motor 301 of the material pushing and homogenizing device 3 to move according to a detection result, so that the functions of material pushing and homogenizing are realized.
Fig. 7 is a schematic diagram of the traveling route of the dairy farm and the robot in this embodiment. The dairy farm is divided into a left area, a middle area and a right area, the left area and the right area are all dairy cow living areas, the middle area is a TMR feed mixing truck feeding and robot walking area (walkway), the traveling route of the robot is in the middle area, and the middle area and the left dairy cow living area and the right dairy cow living area are separated by a neck clamp 6.
An auxiliary feeding method for dairy cows comprises two feeding stages, wherein the first stage comprises planning the advancing route of a robot and realizing pushing work; the second stage is used for controlling the included angle between the material pushing mechanism and the movable chassis.
The first stage comprises the following steps:
1) the TMR vehicle firstly feeds materials, so that the left side and the right side of the middle area and the position close to the neck clamp, namely the position of the trough, are fully filled with sufficient feed, and the milk cow starts to feed. After eating for a period of time, due to the actions of picky eating of the dairy cow and the like, a part of feed is pushed to the edge of one side of the trough far away from the dairy cow by the dairy cow, so that the dairy cow cannot eat the part of feed. At this time, the cow auxiliary feeding robot starts to operate.
2) The milk cow auxiliary feeding robot firstly moves to an initial area, the road condition camera 401 acquires image information in front of the robot, the computer plans a forward route for the robot, or the robot is prepared to start pushing materials in a magnetic navigation mode (magnetic strips are pasted on the ground).
3) The slider stepping motor 301 drives the slider 303 to slide, so that the pose of the six-bar mechanism is changed, and the third connecting rod 307 and the vehicle body form an included angle (acute angle, fine adjustment according to actual conditions) of 30 degrees through the rotation of the slider stepping motor 301 by a specific angle. And the pushing mechanism and the vehicle body form an included angle of 30 degrees.
4) The pushing stepping motor 312 of the pushing mechanism drives the lower pushing plate 309, so that the lower pushing plate 309 slides downwards relative to the upper pushing plate 311 until the rubber strip 310 is in close contact with the ground. The robot then moves along the planned robot path of travel 7, the state of the robot then being as shown in figure 2.
The robot is at the in-process of marcing, alright push away the inboard of silo with the fodder of silo outside edge, make things convenient for the milk cow to eat. During the pushing process, the feed is continuously accumulated on the pushing mechanism, and then the feed flows out along the upper edge of the pushing mechanism and rolls to the other side of the pushing mechanism, so that the feed is homogenized (the feed is uniformly stirred). After the robot finishes pushing once, the robot returns to the standby area, the pushing stepping motor 312 raises the lower pushing plate 309, so that the rubber strip 310 leaves the ground, and the pushing and homogenizing device retracts to enable the pushing mechanism to be in a retracted state.
5) In the process of the robot traveling, as shown in fig. 8, the cow detecting and recognizing camera 403 may recognize the two-dimensional code 8 above each neck clip 6, each two-dimensional code 8 corresponds to the position information, and the position where the robot is located may be obtained by recognizing the two-dimensional code.
Whole process of feeding through 4g communication module, with the shooting content real-time transfer to the control room of camera group, the raiser can learn the running condition of robot to can take over the robot by the manual work when proruption situation, accomplish the process of feeding through the long-range remote-controlled robot of 4 g.
6) Repeating the process until the residual feed is less and a part of the cows can not eat the feed.
The second stage is generally similar to the first stage except that the angle between the pusher mechanism and the moving chassis 1 is varied.
As shown in the steps 3) to 5), the robot repeats the actions, except that the initial included angle between the pushing mechanism and the vehicle body is 90 degrees, the robot moves forward along the robot moving route 7, the pushing mechanism collects the residual and scattered feed, the cow detection and identification camera 403 acquires video information at the neck clamp 6, the videos are processed through a deep learning method, whether a cow is present at the neck clamp 6 or not is detected, and the video is used as the basis for judging whether a cow is waiting for eating or not.
If no dairy cow waits for eating, the included angle of the pushing mechanism is kept unchanged at 90 degrees, and the action of collecting the feed is continuously finished; if a cow is detected at the position, the cow is indicated to wait for feeding, the computer sends an instruction to the STM32 lower computer, the STM32 lower computer further controls the slider stepping motor 301 to move, the state of the pushing mechanism is changed, the included angle between the pushing mechanism and the vehicle body is reduced to 30 degrees, so that a part of the collected feed can slide down to the position to supplement the feed for the cow at the position.
Then the robot continues to advance; if no cow is waiting for eating in front, the included angle between the pushing mechanism and the cow body is increased to 90 degrees so as to continuously collect the residual feed. And repeating the process until the robot reaches the end point, and then returning to the standby area.
The above examples of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides a supplementary robot of feeding of milk cow which characterized in that: comprises a movable chassis (1), a control system (2), a material pushing and homogenizing device (3) and an image acquisition system (4), wherein the material pushing and homogenizing device is arranged on one side of the movable chassis (1);
the image acquisition system (4) transmits acquired data to the control system (2);
the control system (2) plans a traveling path of the movable chassis (1) according to the acquired data and controls the material pushing and homogenizing device (3) to push materials;
the material pushing and homogenizing device (3) comprises a screw rod connecting rod mechanism and a material pushing mechanism arranged on the screw rod connecting rod mechanism.
2. The cow auxiliary feeding robot as claimed in claim 1, wherein: the lead screw connecting rod mechanism is arranged on one side of the movable chassis (1) and comprises a slider stepping motor (301), a lead screw (302), a slider (303), a linear guide rail (304) and a six-rod mechanism arranged on the slider (303); the sliding block (303) is arranged on the lead screw (302), and the sliding block stepping motor (301) is connected with the lead screw (302); and controlling the rotation number and direction of the slider stepping motor (301) to enable the slider (303) to move back and forth on the linear guide rail (304), so as to drive the six-rod mechanism to move.
3. The cow auxiliary feeding robot as claimed in claim 2, wherein: the six-rod mechanism comprises a first connecting rod (305), a second connecting rod (306), a third connecting rod (307), a fourth connecting rod (308) and a fixed bracket; the six-rod mechanism has only one degree of freedom, the first connecting rod (305), the second connecting rod (306), the third connecting rod (307) and the fourth connecting rod (308) are sequentially connected, one ends of the first connecting rod (305) and the fourth connecting rod (308) are fixed on the sliding block (303), and the position of the sliding block (303) determines the pose of the whole six-rod mechanism.
4. The cow auxiliary feeding robot as claimed in claim 1 or 3, wherein: the pushing mechanism comprises a lower pushing plate (309), an upper pushing plate (311) and a pushing stepping motor (312), and the lower pushing plate (309) is connected with the upper pushing plate (311) in a sliding manner; the upper material pushing plate (311) is fixed on the third connecting rod (307); the lower material pushing plate (309) slides up and down relative to the upper material pushing plate (311) under the pushing of the material pushing stepping motor (312); the included angle between the pushing mechanism and the movable chassis (1) can be changed.
5. The cow auxiliary feeding robot as claimed in claim 4, wherein: the height difference range between the lower edge of the lower material pushing plate (309) and the upper edge of the upper material pushing plate (311) is 25-30 cm.
6. The cow auxiliary feeding robot as claimed in claim 5, wherein: the image acquisition system (4) comprises a road condition identification camera (401), a panoramic camera (402) and a cow detection identification camera (403); the road condition identification camera (401) is arranged at the front part of the moving chassis (1) and faces the advancing direction of the moving chassis (1); the cow detection and identification camera (403) is arranged at the front part of the moving chassis (1) and faces towards one side of a cow; the panoramic camera (402) is installed right above the movable chassis (1) through a support and faces the ground.
7. The cow auxiliary feeding robot as claimed in claim 6, wherein: the control system (2) comprises a computer provided with an independent display card, a lower computer and a communication module.
8. An auxiliary feeding method for an auxiliary feeding robot as claimed in claim 7, comprising two feeding stages, the first stage comprising planning the advancing path of the robot and performing a pushing operation; the second stage is used for controlling the included angle between the pushing mechanism and the movable chassis (1).
9. The supplemental feeding method according to claim 8, wherein the first stage comprises the steps of:
1) the control system (2) plans a forward route for the robot, controls the robot to move to a trough starting area, the road condition identification camera (401) acquires image information in front of the robot, and the material pushing and homogenizing device (3) prepares to start material pushing work;
2) the sliding block stepping motor (301) drives the sliding block (303) to slide, so that the pose of the six-rod mechanism is changed, the sliding block stepping motor (301) rotates to enable the third connecting rod (307) to form an included angle with the moving chassis (1), and further the material pushing mechanism and the moving chassis (1) form an included angle;
3) the pushing stepping motor (312) drives the lower pushing plate (309) to slide downwards relative to the upper pushing plate (311) until the rubber strip (310) is tightly contacted with the ground, and the robot moves along the robot traveling route (7); in the advancing process of the robot, the pushing mechanism pushes the feed on the outer edge of the trough to the inner side of the trough; meanwhile, in the pushing process, the feed is continuously stacked on the pushing mechanism, and then flows out along the upper edge of the upper pushing plate (311) and rolls to the other side of the pushing mechanism, so that the feed stirring effect is achieved; after the robot finishes pushing materials for one time, the robot returns to a standby area, the pushing stepping motor (312) lifts the lower pushing plate (309) to enable the rubber strip (310) on the edge of the lower side of the lower pushing plate (309) to leave the ground, and the pushing and material homogenizing device retracts to enable the pushing mechanism to be in a retracted state;
4) in the moving process of the robot, the cow detection and identification camera (403) identifies the two-dimensional codes (8) above each neck clamp (6), each two-dimensional code (8) corresponds to the position information of the corresponding position, and the position of the robot is obtained by identifying the two-dimensional codes (8); the image acquisition system (4) shoots the whole feeding process and transmits shot contents to the control room in real time through wireless network communication;
5) repeating the processes until part of the cows (5) can not eat the feed;
in the second stage, the initial included angle between the pushing mechanism and the vehicle body is N0During the moving process of the robot, the feed is continuously accumulated on the pushing mechanism, so that the feed is collected;
the cow detection and identification camera (403) acquires video information at the position of the neck clamp (6), the computer processes the video through a deep learning method, detects whether a cow is at the position of the neck clamp (6) and uses the video as a basis for judging whether the cow waits for eating; if no cows are waiting to eat there, the pushing mechanism remains N0Keeping the included angle constant and continuing to collectA feed; if the cow is detected at the position, the cow is indicated to wait for eating, the computer sends an instruction to the lower computer, the lower computer further controls the slider stepping motor (301) to move, and the included angle between the pushing mechanism and the vehicle body is reduced, so that a part of the collected feed slides down to the position to supplement the feed for the cow at the position; then the robot continues to move forwards, if no dairy cow waits for eating in front of the robot, the included angle between the pushing mechanism and the vehicle body is increased to N0To continue collecting residual, dispersed feed; and repeating the process until the robot reaches the end point, and then returning to the standby area.
10. The assisted feeding method of any one of claims 8 to 9, wherein the control system (2) plans a route for the robot to proceed by means of magnetic navigation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110197704.2A CN112975962B (en) | 2021-02-22 | 2021-02-22 | Auxiliary feeding robot for dairy cows and auxiliary feeding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110197704.2A CN112975962B (en) | 2021-02-22 | 2021-02-22 | Auxiliary feeding robot for dairy cows and auxiliary feeding method |
Publications (2)
| Publication Number | Publication Date |
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| CN112975962A true CN112975962A (en) | 2021-06-18 |
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| CN113973734A (en) * | 2021-10-29 | 2022-01-28 | 山东农业大学 | Multifunctional spiral pushing type cow pushing and feeding supplementing machine |
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