CN113068680A - Animal trapping system and trapping robot - Google Patents
Animal trapping system and trapping robot Download PDFInfo
- Publication number
- CN113068680A CN113068680A CN202110367624.7A CN202110367624A CN113068680A CN 113068680 A CN113068680 A CN 113068680A CN 202110367624 A CN202110367624 A CN 202110367624A CN 113068680 A CN113068680 A CN 113068680A
- Authority
- CN
- China
- Prior art keywords
- trapping
- ambc
- robot
- module
- animal
- 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
- 241001465754 Metazoa Species 0.000 title claims abstract description 167
- 230000003444 anaesthetic effect Effects 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 11
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 206010002091 Anaesthesia Diseases 0.000 claims description 4
- 230000037005 anaesthesia Effects 0.000 claims description 4
- 238000005303 weighing Methods 0.000 claims description 3
- 230000001954 sterilising effect Effects 0.000 description 8
- 238000004659 sterilization and disinfection Methods 0.000 description 8
- 238000013459 approach Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 241000282472 Canis lupus familiaris Species 0.000 description 3
- 241000282326 Felis catus Species 0.000 description 3
- 239000003193 general anesthetic agent Substances 0.000 description 2
- 241000894007 species Species 0.000 description 2
- 238000001228 spectrum Methods 0.000 description 2
- 241001529936 Murinae Species 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 239000003994 anesthetic gas Substances 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 230000001846 repelling effect Effects 0.000 description 1
- 238000012414 sterilization procedure Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M23/00—Traps for animals
- A01M23/02—Collecting-traps
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses an animal trapping system and a trapping robot, which comprise: the radio signal transmitting equipment is used for transmitting radio frequency signals to the AmBC navigation tag and the AmBC identification tag, and comprises a smart lamp pole; the AmBC navigation tag sends the stored address identification to the trapping robot based on the radio frequency signal; the AmBC identification tag sends the stored identity identification to the trapping robot based on the radio frequency signal; the trapping robot is used for navigating to a trapping place according to the address identification to trap the target animal, and identifying and driving the caught animal according to the identity identification. The AmBC navigation tag and the AmBC identification tag receive radio frequency signals from the surrounding environment to acquire energy, the AmBC navigation tag sends an address identifier to the trapping robot to guide the trapping robot to a trapping site to trap animals, and the AmBC identification tag sends an identity identifier to the trapping robot to enable the trapping robot to identify the caught animals and drive the caught animals, so that repeated catching is avoided, and catching efficiency is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of passive Internet of things, in particular to an animal trapping system and a trapping robot.
Background
At present, wave animals, wave cats or wave dogs exist in various communities, the number of the wave animals and the offspring bred by the wave animals is increased, people are often scratched and bitten, traffic accidents are caused, a large amount of noise is produced late at night, and the normal life of residents is seriously influenced.
In order to solve the situation that the wandering animals disturb residents, manual catching is usually adopted, and sterilization operation is performed on the caught wandering animals, but the manual catching of the wandering animals is time-consuming and labor-consuming, low in efficiency and high in cost, and repeated catching of the sterilized wandering animals is difficult to avoid, so that the execution efficiency is further reduced.
Disclosure of Invention
The embodiment of the invention provides an animal trapping system and a trapping robot, which are used for realizing rapid and accurate trapping of target animals.
In a first aspect, embodiments of the present invention provide an animal trapping system, comprising: the system comprises a trapping robot provided with an environment backscattering communication AmBC reader, an AmBC navigation tag, an AmBC identification tag worn on a caught animal and radio signal transmitting equipment;
the radio signal transmitting equipment is used for transmitting radio frequency signals to the AmBC navigation tag and the AmBC identification tag, wherein the AmBC navigation tag is arranged on a specified path from a specified starting point to a trapping site;
the AmBC navigation tag is used for collecting energy according to the received radio frequency signal, supplying power based on the collected energy, and sending the stored address identifier to the trapping robot by adopting a backscattering signal based on the radio frequency signal;
the AmBC identification tag is used for collecting energy according to the received radio frequency signal, supplying power based on the collected energy, and sending the stored identity identifier to the trapping robot by adopting a backscattering signal based on the radio frequency signal;
and the trapping robot is used for navigating to a trapping place according to the address identifier, trapping the target animal at the trapping place, and identifying and repelling the caught animal according to the identity identifier.
In a second aspect, an embodiment of the present invention provides a trapping robot, including: the trapping cage comprises a trapping cage body, a cage door, a central control module, a trapping smell emission module, a food putting channel, a cage door control motor, a label reader, an acousto-optic driving device, an infrared camera and a visible light camera, wherein the cage door is connected with the trapping cage body in a sliding manner;
the central control module is used for controlling the food putting channel to put food into the trapping cage body when the trapping site is reached and controlling the trapping smell emission module to emit trapping smell outwards;
the label reader is used for reading and identifying AmBC identification labels on the caught animals within a specified range from the trapping cage body and sending the read and identified identification labels to the central control module;
the central control module is used for controlling the acousto-optic driving device to generate acousto-optic driving signals according to the identity identification so as to drive the caught animals;
the visible light camera is used for shooting the trapping place when the light intensity reaches the preset intensity and sending the obtained trapping place video to the central control module;
the infrared camera is used for shooting the trapping place when the light intensity does not reach the preset intensity, and sending the obtained trapping place video to the central control module;
and the central control module is used for determining the existence of the target animal according to the trapping place video, and controlling the cage door control motor to drive the cage door to slide downwards and close when the target animal enters the trapping cage body.
In the embodiment of the invention, the AmBC navigation tag and the AmBC identification tag acquire energy by using radio frequency signals received from the surrounding environment, the AmBC navigation tag sends an address identifier to the trapping robot in a radio wave reflection mode to guide the trapping robot to a trapping place to trap the animal, and the AmBC identification tag sends an identity identifier to the trapping robot in a radio wave reflection mode to enable the trapping robot to identify the caught animal and drive the caught animal, so that repeated catching is avoided, and the catching efficiency is improved.
Drawings
Fig. 1 is a schematic diagram of an animal trapping system according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a trapping robot provided in the second embodiment of the present invention;
fig. 3 is a schematic structural view of a trapping robot according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic diagram of an animal trapping system according to an embodiment of the present invention, which is suitable for use in a situation where a target animal is rapidly and accurately caught. As shown in fig. 1, the system specifically includes: a trapping robot 11 equipped with an Ambient Backscattering Communication (AmBC) reader, an AmBC navigation tag 12, a radio signal transmitting device 13, and an AmBC identification tag 14 worn on a caught animal.
Optionally, the radio signal transmitting apparatus 13 includes: in the intelligent lamp post provided with the base station or the radio transmitting device, the AmBC navigation tag 12 and the AmBC identification tag 14 are used for energy collection by using the existing radio signals in the environment, and the tags are activated to send the stored information to the trapping robot 11 in a reflection mode. The existing radio signal transmitting device in the environment may be a smart light pole on which a base station or a radio transmitting device for generating radio frequency signals is installed, or may be other devices existing in the environment, and the specific type of the radio signal transmitting device is not limited in this embodiment. By using the existing radio signal transmitting equipment in the environment, on one hand, special radio frequency signal source equipment does not need to be additionally deployed and maintained, and the cost and the power consumption of the whole system are reduced; on the other hand, a new wireless frequency spectrum does not need to be allocated to the system, so that the utilization rate of frequency spectrum resources is improved.
The radio signal transmitting device 13 is configured to transmit a radio frequency signal to the AmBC navigation tag and the AmBC identification tag, where the AmBC navigation tag is set in advance on a specified path from a specified location to a trapping location. The AmBC navigation tag 12 is used for collecting energy according to the received radio frequency signals, supplying power based on the collected energy, and sending the stored address identification to the trapping robot by using a backscattering signal based on the radio frequency signals. The AmBC identification tag 14 is used for collecting energy by using the received radio frequency signals, supplying power based on the collected energy, and sending the stored identity identification to the trapping robot by using a backscattering signal based on the radio frequency signals. And the trapping robot 11 is used for navigating to a trapping place according to the address identification, trapping the target animal at the trapping place, identifying the caught animal according to the identity identification, and driving or closing the cage door to prevent the animal from entering the trapping cage body.
Optionally, the AmBC identification tag includes: the AmBC foot ring or the AmBC collar is used for sterilization operation of a captured animal, the AmBC foot ring is worn on the leg or the AmBC collar is worn on the neck, and the identity of the animal is stored in the AmBC identification label. The identity information may specifically include: the type of animal, age, address of capture, time of sterilization procedure, etc. Since the AmBC identification tag modulates the identification in the reflected radio signal to be reflected out, only extremely low power consumption is needed, and the battery does not need to be replaced, so that the AmBC identification tag can also be implanted into the captured animal body in a chip mode, and the AmBC identification tag is not limited in the protection range of the application as long as the AmBC identification tag can identify the captured animal.
Optionally, the system further comprises an animal temporary storage box 16 within a preset range from the intelligent lamp pole; and the trapping robot is used for returning according to a specified path and placing the caught target animal in the animal temporary storage box.
Optionally, the trapping robot reads and identifies the backscattering signal sent by the AmBC navigation tag through the tag reader, and obtains the address identifier according to the reading and identifying result; the device is used for reading and identifying the backscattering signal sent by the AmBC identification label through the label reader and obtaining the identity according to the reading and identifying result.
Specifically, the radio signal transmitting device in this embodiment may collect energy from the AmBC navigation tag and the AmBC identification tag within the signal coverage by transmitting radio frequency signals, and supply power by using the collected energy. Because a plurality of AmBC navigation tags are arranged in advance on the specified path from the intelligent lamp pole to the trapping place, the trapping robot reads and recognizes the backscattering signal sent by the AmBC navigation tag through the tag reader to obtain the address identifier stored by the AmBC navigation tag, wherein the address identifier can be the longitude and latitude of the position where the AmBC navigation is located.
Optionally, the target animal comprises: animals that were not arrested and had a volume within the preset volume range.
It should be noted that the trapped animals in this embodiment may be particularly wave animals, such as wave cats and wave dogs at the trapping site, and therefore the target wave animals to be caught are particularly wave animals that have not been caught and are identified by the AmBC identification tag, and also require wave animals having a volume within a preset volume range, because if the volume is too small, they may be murines or young cats and dogs unsuitable for performing an insulation operation. The situation of false capture can be further reduced by limiting the volume of the target wandering animal. Of course, the trapped animal may be a wild animal or other specified species of animal, and the specific species of the trapped animal is not limited in this embodiment.
Specifically, the trapping robot in the present embodiment can specify the current position according to the signal transmitted by the AmBC navigation tag, navigate according to the specified route indicated by the AmBC navigation tag, and reach the trapping site to trap the wandering animal. The AmBC identification tag is worn on the caught wave-making animal, so that the trapping robot can distinguish the wave-making animal which has been caught and has undergone sterilization operation from the wave-making animal which has not been caught and has not undergone sterilization operation according to the identification sent by the AmBC identification tag. Because the appointed route from the intelligent lamp pole to the trapping place is in the wireless signal coverage range, the intelligent lamp pole can collect energy for the AmBC navigation tag and the AmBC identification tag in the signal coverage range in a radio frequency signal sending mode, and power is supplied according to the collected energy, so that the situation that the AmBC navigation tag cannot navigate the trapping robot due to insufficient electric quantity and the AmBC identification tag cannot identify the wandering animal which is caught and has undergone sterilization operation due to insufficient electric quantity is avoided. The trapping robot is provided with a trapping cage body and a cage door, and can attract the wandering animals by emitting trapping smell and throwing food after arriving at a trapping place. And when the tag reader identifies that the caught wandering animal approaches, the sound and light driving signal is emitted to the periphery to drive the caught wandering animal, and after the determined wandering animal which is not caught and has the volume within the preset range enters the trapping cage body, the cage door is closed to avoid the escape of the target wandering animal.
Optionally, the system further comprises a management platform server 17 in communication connection with the intelligent lamp post; and the management platform server is used for receiving the number of the target animals contained in the animal temporary storage box through the intelligent lamp pole, generating a transfer instruction when the determined number reaches a preset threshold value, and sending the transfer instruction to the management user terminal.
It should be noted that, in the embodiment, each time the trapping robot catches one animal, the trapping robot automatically or remotely returns to the original starting point where the smart lamp pole is located according to the guidance of the AmBC navigation tag, and since the animal temporary storage box 16 is provided within a predetermined range from the smart lamp pole, the trapping robot places the caught target animal in the animal temporary storage box. The preset distance between the animal temporary storage box and the intelligent lamp pole can be set to be 0.5 m, the specific numerical value of the preset distance is not limited in the implementation mode, and the intelligent lamp pole can acquire the quantity information of the target animals in the animal temporary storage box. Because the animal trapping system further comprises the management platform server 17, the management platform server 17 can communicate with the intelligent lamp pole provided with the base station or the transmitting device through a communication system such as a 4G or 5G network, the intelligent lamp pole can send the number of the captured target animals placed in the temporary storage box to the management platform server, and the management platform server can generate the transfer instruction when the determined number reaches a preset threshold value and display the transfer instruction; or, the transfer instruction is sent to the management user terminal, and specifically, the transfer instruction may be sent in a manner of sending a short message or pushing an application message, and the specific sending manner of the transfer instruction is not limited in this embodiment. The management user can dispatch the animal transfer trolley to reach the position of the animal temporary storage box in time according to the transfer instruction, and transfer the target animals in the animal temporary storage box to a special animal hospital, the target animals can all perform the sterilization operation in the animal hospital, and the animals after the sterilization operation are worn with the AmBC identification tag and then are transported back to the trapping place and released. And a positioning terminal module is also arranged on the animal transfer trolley, so that the management platform server can perform positioning tracking on the animal transfer trolley in real time.
In the embodiment of the invention, the AmBC navigation tag and the AmBC identification tag acquire energy by using radio frequency signals received from the surrounding environment, the AmBC navigation tag sends an address identifier to the trapping robot in a radio wave reflection mode to guide the trapping robot to a trapping place to trap the animal, and the AmBC identification tag sends an identity identifier to the trapping robot in a radio wave reflection mode to enable the trapping robot to identify the caught animal and drive the caught animal, so that repeated catching is avoided, and the catching efficiency is improved.
Example two
Fig. 2 is a schematic structural diagram of a trapping robot according to an embodiment of the present invention, and as shown in fig. 2, the trapping robot specifically includes: the trapping cage comprises a trapping cage body 101, a cage door 102 connected with the trapping cage body in a sliding mode, a central control module 103, a trapping smell emission module 104, a food putting channel 105, a cage door control motor 106, a tag reader 107, an acousto-optic driving device 108, an infrared camera 110 and a visible light camera 118, wherein the central control module, the trapping smell emission module, the food putting channel 105, the cage door control motor 106, the tag reader 107 and the acousto-optic driving device 108 are arranged in the trapping cage body.
The central control module 103 is used for controlling the food feeding channel to feed food into the trapping cage body when the trapping site is reached, and controlling the trapping smell emission module to emit trapping smell outwards;
the tag reader 107 is used for reading and identifying AmBC identification tags caught on animals within a specified range from the trapping cage body and sending the read and identified identification tags to the central control module;
the central control module 103 is used for controlling the acousto-optic driving device to generate acousto-optic driving signals according to the identity identification so as to drive the caught animals;
the visible light camera 118 is used for shooting the trapping places when the light intensity reaches the preset intensity, and sending the obtained trapping place videos to the central control module;
the infrared camera 110 is used for shooting the trapping places when the light intensity does not reach the preset intensity, and sending the obtained trapping place videos to the central control module;
and the central control module 103 is used for determining that the target animal exists according to the trapping place video, and controlling the cage door control motor to drive the cage door to slide downwards and close when the target animal enters the trapping cage body.
Optionally, the central control module is further configured to control the door to control the motor to drive the door to slide downwards and close for a preset time according to the identity, so as to prevent the caught animal from entering the trapping cage body.
Optionally, the trapping robot is provided with an AmBC navigation tag on a specified path from a specified starting point to a trapping location, and a tag reader installed on the trapping robot is further configured to read and identify the AmBC navigation tag in a process that the trapping robot travels along the specified path, and send the read and identified address identifier to the central control module, so that the central control module performs navigation according to the address identifier.
Specifically, in the embodiment, when the trapping robot reaches the trapping site according to the AmBC navigation tag, the central control module controls the food channel to throw food into the trapping cage, and a user can replenish the food to be thrown in the food channel in advance, and controls the trapping odor emission module to emit the trapping odor outwards so as to attract the wandering animals to be close to the trapping robot and enter the trapping cage to find food.
Wherein, when the wandering animal wearing the AmBC identification label moves in a designated range away from the trapping cage body, the label reader can detect the approach of the wandering animal by reading the AmBC identification label, and the obtained identity is sent to a central control module, the central control module determines that the approaching wandering animal has caught and has performed sterilization operation according to the identity, the acousto-optic driving device is controlled to generate acousto-optic driving signals to drive the caught animals, in addition, when the central controller in the embodiment determines that the once caught stormy animals approach to the central controller according to the identity marks, the control cage door controls the motor to drive the cage door to slide downwards and close for a preset time so as to avoid the hungry animals caught once, even if the cage body is mistakenly intruded under the driving of the acousto-optic driving signal; when the light intensity reaches the preset intensity, such as daytime, the trapping site is shot by the visible light camera to obtain the trapping site video, and when the light intensity does not reach the preset intensity, such as night, the trapping site is shot by the infrared camera to obtain the trapping site video. The infrared camera or the visible light camera can send the shot trapping place video to the central control module, and the central control module can control the cage door driving motor to drive the cage door to slide downwards and close when determining that the target wandering animal exists, namely the wandering animal which is not wearing the AmBC identification label and has the volume within the preset volume range enters the trapping cage body, so that the target wandering animal can be prevented from escaping after eating.
Optionally, the trapping cage body further comprises a movement module 111 inside, and the bottom end outside the trapping cage body further comprises wheels connected with the movement module; and the central control module is also used for controlling the motion module to drive the wheels to move towards the direction in which the target animal is positioned when the target animal is determined to exist according to the shooting result and does not enter the trapping cage body.
It should be noted that, in this embodiment, the tag reader may be further linked with the infrared camera or the visible light camera, for example, when the light intensity does not reach the preset intensity, that is, the time for capturing the animal is performed at night, the trapping robot firstly uses the tag reader to detect the designated range, when the animal approaches from tens of meters to hundreds of meters, some animals like to accompany, so when the animal approaches the designated range from the trapping cage body, for example, the animal approaches the range of 20 meters, the infrared camera is used to shoot, and the shot trapping place video is sent to the central control module. When the central control module determines that all the approaching animals are caught animals wearing the AmBC identification tags, the central control module directly controls the acousto-optic driving device to generate acousto-optic driving signals so as to drive the caught animals; when it is determined that the approaching animals include the caught animals wearing the AmBC identification tags and the animals not wearing the AmBC identification tags and having the volume within the preset volume range, and the target animals do not enter the trapping cage, the driving module is controlled to drive the wheels to move close to the direction in which the target animals are located, so that the target animals can rapidly enter the trapping cage body, and the catching efficiency is further improved.
Optionally, the trapping cage body further comprises an anesthetic release lever 112 and an in-cage camera 113, and the bottom end of the trapping box interior is further provided with a weight scale 114; the weight meter 114 is used for acquiring the weight value of the target animal entering the trapping cage body and sending the weight value to the central control module; the in-cage camera 113 is used for shooting a target animal in the trapping cage body and sending the acquired video in the trapping cage body to the central control module; and the central control module 103 is used for determining the number of target animals based on the video in the trapping cage body, determining the quantity of the anesthetic according to the weight value and the number of the target animals, and controlling the anesthetic release lever to perform anesthesia on the target animals according to the determined quantity of the anesthetic.
Specifically, in order to prevent the target animal from making a call to the like alarm when it is determined that the target animal has entered the trap cage and the cage door is closed, the target animal entering the trap cage may be anesthetized with an anesthetic, which may specifically be a short-time anesthetic gas, and the specific type of anesthetic is not limited in this embodiment. In order to avoid that the effective anesthesia cannot be carried out due to too small dosage of the anesthetic or that the animal is damaged due to too much dosage of the anesthetic, the dosage of the anesthetic needs to be accurately determined. A weight scale 114 is arranged at the bottom end inside the trapping cage body, and the weight scale 114 is used for acquiring the weight value of the target animal inside the trapping cage body and sending the weight value to the central controller; and the trapping cage body is internally provided with an in-cage camera 113, the in-cage camera can shoot a scene in the trapping cage body to acquire a video in the trapping cage body, and sends the video in the trapping cage body to the central control module 103, the central control module specifically determines the number of the target animals based on the video in the trapping cage body, accurately determines the quantity of the anesthetic agent according to the weight value and the quantity of the target animals, and controls the anesthetic release lever to perform anesthesia on the target animals according to the determined quantity of the anesthetic agent.
Optionally, the trapping robot further comprises a wireless charging and battery module 115 inside; and the wireless charging and battery module 115 is used for charging the trapping robot through a charging interface corresponding to a charging device installed at the charging position when the trapping robot returns to the charging position appointed by the management platform server from the trapping site, wherein the charging device comprises a smart lamp pole provided with a base station or a radio transmitting device.
The charging interface corresponding to the charging device in this embodiment may specifically be a wireless charging interface or a magnetic-type interface, and the specific type of the charging interface is not limited in this embodiment.
Optionally, the visible light camera is further configured to shoot the road condition of the trapping robot during the traveling process when the light intensity reaches a preset intensity, and send the obtained road condition video to the central control module; the infrared camera is further used for shooting the road condition of the trapping robot in the advancing process when the light intensity does not reach the preset intensity, and sending the obtained road condition video to the central control module.
After the central control module acquires the road condition video, vehicles or pedestrians encountered by the trapping robot in the traveling process can be automatically identified, so that automatic avoidance is performed, and the safety of the trapping robot in the traveling process is further enhanced.
Optionally, a communication module 109 is further arranged on the outer side of the trapping cage body, and the communication module is used for sending the trapping place video and the road condition video acquired by the infrared camera to the management platform server when the light intensity does not reach the preset intensity; the system comprises a management platform server, a video acquisition module and a video display module, wherein the management platform server is used for acquiring a trapping place video and a road condition video which are acquired by a visible light camera when the light intensity reaches a preset intensity; the system comprises a management platform server, a cage video acquisition module and a cage video acquisition module, wherein the cage video acquisition module is used for transmitting cage videos acquired by a cage camera to the management platform server; the management platform server is used for transmitting the weight value of the target animal acquired by the weight scale to the management platform server; and the frequency setting module is used for setting the frequency of the radio frequency signal to the management platform server.
Specifically, in this embodiment, the communication module is configured to send information, such as a video of a trapping location and a video of a road condition, which are captured by the infrared camera and the visible light camera, a video of a cage body, which is captured by the cage body camera, a weight value obtained by the weight scale, and a frequency of the radio frequency signal set by the frequency setting module, to the management platform server, and the management platform server displays the obtained information, so that a management user can monitor a trapping process of the trapping robot in real time according to the displayed information.
In the embodiment of the invention, the trapping robot can identify and drive the caught animals according to the tag reader, and after the target animals enter the trapping cage body through the weighing scale or the cameras in the cage, the cage door is closed to prevent the target animals from escaping after eating in the trapping cage, so that repeated catching is avoided, and the catching efficiency is improved.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a trapping robot provided by an embodiment of the present invention, and in this embodiment, a wireless transmitting module 117 and a frequency setting module 116 are further added inside the trapping cage body on the basis of the second embodiment.
In the process that the trapping robot reads information from the AmBC navigation tag through the tag reader and advances according to the designated path, or in the process that the AmBC identification tag reads information from the tag reader and identifies the identity of the caught animal, the AmBC navigation tag or the AmBC identification tag may not receive the radio frequency signal sent by the 3G, 4G, 5G base station or the intelligent lamp pole due to the blockage of obstacles such as a high building. Under the condition, the trapping robot cannot read information of the AmBC navigation tag or the AmBC identification tag through the tag reader, cannot accurately reach a trapping place according to a specified path, cannot identify animals, and causes repeated trapping.
Specifically, in order to avoid the above situation caused by the existence of obstacles, interference sources, etc., the wireless transmitting module 117 and the frequency setting module 116 are arranged inside the trapping robot. The wireless transmitting module can transmit radio frequency signals to the AmBC identification tag or the AmBC navigation tag, so that the AmBC identification tag or the AmBC navigation tag can acquire energy by using the received radio frequency signals, supply power based on the acquired energy, and transmit the stored information to the tag reader in a reflected signal form based on the radio frequency signals, and therefore the AmBC wireless transmitting module 117 plays the same role as a wireless transmitting device installed on a smart lamp pole in the application.
In order to reduce interference of wireless signals to other wireless users in the environment, the frequency of the radio frequency signals transmitted by the AmBC wireless transmission module is set through the frequency setting module, so that the frequency of the radio frequency signals transmitted by the wireless transmission module is within the working frequency bands of the AmBC identification tag and the AmBC navigation tag, and the frequency setting module can select the wireless frequency band which does not generate radio interference to peripheral users as much as possible during frequency setting.
It should be noted that, the communication module may further transmit the frequency of the radio frequency signal set by the frequency setting module to the management platform server, so that the management user may view the frequency of the radio frequency signal transmitted by the AmBC wireless transmission module.
Optionally, the communication module is further configured to obtain an assigned frequency sent by the management platform server, and send the assigned frequency to the frequency setting module, so that the frequency setting module updates and sets the frequency of the radio frequency signal sent by the wireless sending module according to the assigned frequency.
In the embodiment of the invention, the trapping robot can identify and drive the caught animals according to the tag reader, and after the target animals enter the trapping cage body through the weighing scale or the cameras in the cage, the cage door is closed to prevent the target animals from escaping after eating in the trapping cage, so that repeated catching is avoided, and the catching efficiency is improved. By adding the wireless transmitting module and the frequency setting module, the situation that the AmBC navigation tag or the AmBC identification tag cannot receive the radio frequency signal sent by the wireless transmitting equipment due to the blocking of the barrier, and the navigation is invalid and the situation of repeated capture occurs can be avoided.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (17)
1. An animal trapping system, comprising: the system comprises a trapping robot provided with an environment backscattering communication AmBC reader, an AmBC navigation tag, an AmBC identification tag worn on a caught animal and radio signal transmitting equipment;
the radio signal transmitting equipment is used for transmitting radio frequency signals to the AmBC navigation tag and the AmBC identification tag, wherein the AmBC navigation tag is arranged on a designated path from a designated starting point to a trapping place;
the AmBC navigation tag is used for collecting energy according to the received radio frequency signal, supplying power based on the collected energy, and sending the stored address identifier to the trapping robot by adopting a backscattering signal based on the radio frequency signal;
the AmBC identification tag is used for collecting energy according to the received radio frequency signal, supplying power based on the collected energy, and sending the stored identity identifier to the trapping robot by adopting a backscattering signal based on the radio frequency signal;
the trapping robot is used for navigating to the trapping place according to the address identification, trapping the target animal in the trapping place, and identifying and driving the caught animal according to the identity identification.
2. The system of claim 1, wherein the radio signal transmitting device comprises: install the wisdom lamp pole of basic station or radio transmitter.
3. The system of claim 1, wherein the AmBC identification tag comprises: an AmBC foot ring or an AmBC collar.
4. The system of claim 2, further comprising an animal holding tank within a predetermined range from the smart light pole;
and the trapping robot is used for returning according to the specified path and placing the caught target animal in the animal temporary storage box.
5. The system of claim 2, further comprising a management platform server communicatively coupled to the smart light pole;
the management platform server is used for receiving the number of the target animals contained in the animal temporary storage box through the intelligent lamp pole, generating a transfer instruction when the number reaches a preset threshold value, and sending the transfer instruction to the management user terminal.
6. The system according to claim 1, wherein the trapping robot is configured to read and identify the backscatter signal sent by the AmBC navigation tag through the tag reader, and obtain the address identifier according to a reading and identifying result;
and the device is used for reading and identifying the backscattering signal sent by the AmBC identification tag through the tag reader and acquiring the identity according to the reading and identifying result.
7. The system of any one of claims 1 to 6, wherein the target animal comprises: animals that were not arrested and had a volume within the preset volume range.
8. A trapping robot, characterized by comprising: the trapping cage comprises a trapping cage body, a cage door, a central control module, a trapping smell emission module, a food putting channel, a cage door control motor, a label reader, an acousto-optic driver, an infrared camera and a visible light camera, wherein the cage door is connected with the trapping cage body in a sliding manner;
the central control module is used for controlling the food putting channel to put food into the trapping cage body when the central control module arrives at a trapping site and controlling the trapping smell emission module to emit trapping smell outwards;
the tag reader is used for reading and identifying AmBC identification tags on the caught animals within a specified range from the trapping cage body and sending the read and identified identification tags to the central control module;
the central control module is used for controlling the acousto-optic driving device to generate acousto-optic driving signals according to the identity identification so as to drive the caught animals;
the visible light camera is used for shooting a trapping place when the light intensity reaches a preset intensity, and sending the obtained trapping place video to the central control module;
the infrared camera is used for shooting the trapping place when the light intensity does not reach the preset intensity, and sending the obtained trapping place video to the central control module;
the central control module is used for determining that a target animal exists according to the trapping place video, and controlling the cage door control motor to drive the cage door to slide downwards and close when the target animal enters the trapping cage body.
9. The trapping robot according to claim 8, wherein AmBC navigation tag setting is provided on a specified path of the trapping robot from a specified start point to a trapping site,
the label reader is also used for reading and identifying AmBC navigation labels in the process of the trapping robot travelling along the appointed path, and sending the read and identified address identification to the central control module so that the central control module can navigate according to the address identification.
10. The trap robot of claim 9, wherein the trap body further comprises a motion module inside, the trap body outer bottom end further comprises wheels connected with the motion module;
the central control module is further used for controlling the motion module to drive the wheels to move towards the direction in which the target animal is located when the target animal is determined to exist according to the shooting result and does not enter the trapping cage body.
11. The trap robot according to claim 9, wherein the trap cage body further comprises an anesthetic release lever and an in-cage camera inside, and a weighing scale is further provided at the bottom end inside the trap box;
the weight scale is used for acquiring the weight value of the target animal entering the trapping cage body and sending the weight value to the central control module;
the in-cage camera is used for shooting a target animal in the trapping cage body and sending the acquired video in the trapping cage body to the central control module;
the central control module is used for determining the number of target animals based on the videos in the trap cage body, determining the quantity of anesthetic according to the weight value and the number of the target animals, and controlling the anesthetic release lever to perform anesthesia on the target animals according to the determined quantity of anesthetic.
12. The trap robot of claim 11, wherein the trap body further comprises a wireless transmission module and a frequency setting module inside;
the frequency setting module is used for setting the frequency of the radio frequency signal transmitted by the wireless transmitting module, wherein the frequency is in the working frequency range of the AmBC identification tag and the AmBC navigation tag;
the wireless transmitting module is used for transmitting a radio frequency signal to the AmBC identification tag so that the AmBC identification tag can acquire energy according to the received radio frequency signal, supply power based on the acquired energy, and transmit the stored identity identifier to the tag reader in a reflection mode based on the radio frequency signal;
the wireless transmitting module is used for transmitting a radio frequency signal to the AmBC navigation tag so that the AmBC navigation tag can collect energy according to the received radio frequency signal, supply power based on the collected energy, and transmit the stored address identifier to the tag reader in a reflection mode based on the radio frequency signal.
13. The trap robot of claim 9, wherein the trap body further comprises a wireless charging and battery module inside;
the wireless charging and battery module is used for charging the trapping robot through a charging interface corresponding to a charging device installed at a charging position when the trapping robot returns to the charging position appointed by the management platform server from a trapping place, wherein the charging device comprises a smart lamp pole provided with a base station or a radio transmitting device.
14. The trap robot of claim 12,
the visible light camera is also used for shooting the road condition of the trapping robot in the traveling process when the light intensity reaches the preset intensity, and sending the acquired road condition video to the central control module;
the infrared camera is further used for shooting the road condition of the trapping robot in the advancing process when the light intensity does not reach the preset intensity, and sending the obtained road condition video to the central control module.
15. The trap robot of claim 14, wherein a communication module is further provided outside the trap cage,
the communication module is used for sending the trapping place video and the road condition video acquired by the infrared camera to the management platform server when the light intensity does not reach the preset intensity;
the system comprises a management platform server, a video acquisition module and a video display module, wherein the management platform server is used for acquiring a trapping place video and a road condition video which are acquired by a visible light camera when the light intensity reaches a preset intensity;
the cage video acquisition module is used for acquiring cage videos in the cage from the cameras in the cage and sending the cage videos to the management platform server;
the management platform server is used for sending the weight value of the target animal acquired by the weight scale to the management platform server;
and the management platform server is used for sending the frequency of the radio frequency signal set by the frequency setting module to the management platform server.
16. The trap robot of claim 15, wherein the communication module is further configured to obtain a designated frequency sent by the management platform server and send the designated frequency to the frequency setting module, so that the frequency setting module updates and sets the frequency of the radio frequency signal transmitted by the wireless transmission module according to the designated frequency.
17. The trap robot of claim 8, wherein the central control module is further configured to control the door control motor to drive the door to slide downward and close for a preset time period according to the identity, so as to prevent the caught animal from entering the trap cage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110367624.7A CN113068680A (en) | 2021-04-06 | 2021-04-06 | Animal trapping system and trapping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110367624.7A CN113068680A (en) | 2021-04-06 | 2021-04-06 | Animal trapping system and trapping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113068680A true CN113068680A (en) | 2021-07-06 |
Family
ID=76615869
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110367624.7A Pending CN113068680A (en) | 2021-04-06 | 2021-04-06 | Animal trapping system and trapping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113068680A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114916533A (en) * | 2022-05-26 | 2022-08-19 | 杭州利元百科技有限公司 | Artificial intelligence remote beast catching cage and remote beast catching method |
| WO2023063891A3 (en) * | 2021-10-15 | 2023-06-01 | Mastermark Pte Ltd | Smart cage module and cage management system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012139182A (en) * | 2010-12-29 | 2012-07-26 | Murata Mfg Co Ltd | Pet search system and pet search method |
| CN204909712U (en) * | 2015-08-04 | 2015-12-30 | 内蒙古物通天下网络科技有限责任公司 | Portable livestock immunity inoculation injection device that traces back |
| US20180084765A1 (en) * | 2015-09-28 | 2018-03-29 | Georgetown University | Systems and methods for automated control of animal training and discrimination learning |
| JP2018088030A (en) * | 2016-11-28 | 2018-06-07 | 共同紙工株式会社 | System for gibier, traceability information management device for gibier, program, user terminal and application program |
| CN110115232A (en) * | 2018-08-09 | 2019-08-13 | 昆明创培知识产权服务有限公司 | A kind of pet trapping and searching system based on block chain technology |
| CN210137758U (en) * | 2018-12-24 | 2020-03-13 | 林英强 | Trapping device and application system thereof |
| CN111191478A (en) * | 2019-12-31 | 2020-05-22 | 深圳移航通信技术有限公司 | Code reading method and device for ear tag |
| CN111225082A (en) * | 2020-01-14 | 2020-06-02 | 上海顺舟智能科技股份有限公司 | Identity management method and device of Internet of things intelligent equipment and Internet of things platform |
-
2021
- 2021-04-06 CN CN202110367624.7A patent/CN113068680A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012139182A (en) * | 2010-12-29 | 2012-07-26 | Murata Mfg Co Ltd | Pet search system and pet search method |
| CN204909712U (en) * | 2015-08-04 | 2015-12-30 | 内蒙古物通天下网络科技有限责任公司 | Portable livestock immunity inoculation injection device that traces back |
| US20180084765A1 (en) * | 2015-09-28 | 2018-03-29 | Georgetown University | Systems and methods for automated control of animal training and discrimination learning |
| JP2018088030A (en) * | 2016-11-28 | 2018-06-07 | 共同紙工株式会社 | System for gibier, traceability information management device for gibier, program, user terminal and application program |
| CN110115232A (en) * | 2018-08-09 | 2019-08-13 | 昆明创培知识产权服务有限公司 | A kind of pet trapping and searching system based on block chain technology |
| CN210137758U (en) * | 2018-12-24 | 2020-03-13 | 林英强 | Trapping device and application system thereof |
| CN111191478A (en) * | 2019-12-31 | 2020-05-22 | 深圳移航通信技术有限公司 | Code reading method and device for ear tag |
| CN111225082A (en) * | 2020-01-14 | 2020-06-02 | 上海顺舟智能科技股份有限公司 | Identity management method and device of Internet of things intelligent equipment and Internet of things platform |
Non-Patent Citations (2)
| Title |
|---|
| 王公仆等: "反向散射通信技术与物联网", 《物联网学报》, pages 68 - 74 * |
| 田景熙主编: "《国外环境保护领域的创新进展》", vol. 2, 知识产权出版社有限责任公司, pages: 213 - 217 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023063891A3 (en) * | 2021-10-15 | 2023-06-01 | Mastermark Pte Ltd | Smart cage module and cage management system |
| CN114916533A (en) * | 2022-05-26 | 2022-08-19 | 杭州利元百科技有限公司 | Artificial intelligence remote beast catching cage and remote beast catching method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113068680A (en) | Animal trapping system and trapping robot | |
| KR101536095B1 (en) | Grassland management system using drone | |
| US20180160649A1 (en) | Livestock management | |
| CN109933083B (en) | Grazing method, device and system based on unmanned aerial vehicle | |
| US20170181401A1 (en) | Long-Range Electronic Identification System | |
| CN109963465A (en) | For the system and method via unmanned vehicle identity comprising the harmful organism in the region of crops | |
| KR101941527B1 (en) | Smart Livestock Vehicle Prevention System for Livestock Disease Prevention | |
| KR20160092538A (en) | Livestocks management method and system using sensor and drone | |
| CN108732175A (en) | Long-range insect identification based on machine vision and counting device | |
| JP2018050594A (en) | Harmful animal destruction device, method therefor and program | |
| US20180136712A1 (en) | Electronic apparatus, information processing system, and information processing method | |
| US20150201587A1 (en) | Cow retrieval system | |
| US20230215017A1 (en) | Remote camera-assisted robot guidance | |
| CN114115359B (en) | Unmanned aerial vehicle mountain area sheep searching system and working method thereof | |
| CN117280096A (en) | Siebold physical system for cleaning traffic routes and/or outdoor facilities and method therefor | |
| CN110100807B (en) | Laser mosquito killing method and device | |
| JP2022104060A (en) | Flight type robot, control program of flight type robot, and control method of flight type robot | |
| CN207589828U (en) | A kind of reptile channel monitoring system | |
| Francis et al. | Design and implementation of a cattle grazing tracking and anti-theft alert GPS/GSM collar, leveraging on improvement in telecom and ICT infrastructure | |
| JP2020052660A (en) | Flying robot and monitoring system | |
| CN115984719A (en) | Forest region hidden danger identification method and equipment based on unmanned aerial vehicle | |
| CN212735989U (en) | Multifunctional field service robot system for navigation airport | |
| US11856938B1 (en) | Robotic rover | |
| CN111741113A (en) | Railway intelligent information management system | |
| CN113936499A (en) | Intelligent chassis equipment and intelligent parking management system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210706 |
|
| RJ01 | Rejection of invention patent application after publication |