CN113262072B - Application method of intelligent atomization device for spraying phage biological agent - Google Patents
Application method of intelligent atomization device for spraying phage biological agent Download PDFInfo
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- CN113262072B CN113262072B CN202110449755.XA CN202110449755A CN113262072B CN 113262072 B CN113262072 B CN 113262072B CN 202110449755 A CN202110449755 A CN 202110449755A CN 113262072 B CN113262072 B CN 113262072B
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000000889 atomisation Methods 0.000 title claims abstract description 10
- 241001465754 Metazoa Species 0.000 claims abstract description 57
- 239000007921 spray Substances 0.000 claims abstract description 25
- 230000036760 body temperature Effects 0.000 claims abstract description 20
- 239000007788 liquid Substances 0.000 claims description 16
- 230000007246 mechanism Effects 0.000 claims description 16
- 238000001514 detection method Methods 0.000 claims description 14
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- 244000144972 livestock Species 0.000 claims 1
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- 238000004659 sterilization and disinfection Methods 0.000 abstract description 18
- 239000000645 desinfectant Substances 0.000 abstract description 9
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Abstract
The embodiment of the invention discloses an intelligent atomization device for spraying phage biological agents and an application method, which relate to the technical field of agriculture and can improve the efficiency and the accuracy of spray disinfection of phage biological disinfectants. The invention comprises the following steps: when the device runs according to a preset route, identifying the target animal through the sensor module and obtaining an identification result, wherein the identification result at least comprises the outline and the body temperature of the target animal; determining the dosage and the spraying mode of the phage biological agent according to the identification result; spraying a specified amount of the phage biological agent according to the spray pattern. The invention is suitable for automatic spraying of phage biological agents.
Description
Technical Field
The invention relates to the technical field of agriculture, in particular to an intelligent atomization device for spraying phage biological agents and an application method.
Background
Phages are considered as high-efficiency biological antibiotics, and under the condition that the current microbial drug resistance is increasingly serious, the application prospect of the phages in the field of animal epidemic disease prevention and control is highly focused by global scientists, and the phages are hopeful to be developed into a new generation of antibacterial drugs. The phage has low production cost and no toxic or side effect and residue on animals in the farm, and can be developed into a novel biological disinfectant.
When large-scale intelligent cultivation is started to be practically applied to all provinces in China, the large-scale cultivation farm has high requirements on management staff, and needs to be disinfected and isolated, so that external bacteria are reduced. However, in practical application, the existing spraying robot cannot use phage biological disinfectants to perform effective spraying disinfection in a farm, and the problem of reduced effect of phage biological agents can occur when the traditional disinfection spraying robot, such as a disinfection alcohol spraying robot in the medical field, is adopted.
Disclosure of Invention
The embodiment of the invention provides an intelligent atomization device for spraying phage biological agents and an application method, which can improve the efficiency and the accuracy of spraying and sterilizing phage biological disinfectants.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical scheme:
in a first aspect, an embodiment of the present invention provides a method, including:
when the device runs according to a preset route, identifying the target animal through the sensor module and obtaining an identification result, wherein the identification result at least comprises the outline and the body temperature of the target animal; determining the dosage and the spraying mode of the phage biological agent according to the identification result; spraying a specified amount of the phage biological agent according to the spray pattern.
The method for identifying the target animal and obtaining the identification result through the sensor module comprises the following steps: acquiring an image of the target animal through a camera in the sensor module identification, comparing animal photos pre-stored in an image database, and determining species and growth conditions of the target animal; and determining the body temperature of the target animal through a temperature detection module in the sensor module identification. The determining of the amount and spray pattern of the phage biological agent based on the identification result comprises: acquiring the current concentration of the environmental microorganisms through a bacteria detection module; determining the usage amount and the spraying mode of the phage biological agent according to the current environmental microorganism concentration and the identification result, wherein when the environmental microorganism concentration exceeds a threshold value, the spraying mode is judged to start to run, and the spraying mode comprises: spraying power in a spraying direction and spraying temperature of the phage biological agent, wherein if the current temperature of the phage biological agent does not conform to the spraying temperature, the phage biological agent is heated or iced.
The phage biological agent is phage biological agent with phage titer of 10-6.
In a second aspect, an embodiment of the present invention provides an apparatus, including: a spraying system is arranged on the device; the spraying system comprises an outer sleeve and an inner sleeve, wherein a spraying nozzle array formed by uniformly distributed spraying nozzles is arranged on the inner sleeve, and a multi-directional nozzle is arranged at the top of the inner sleeve; the inner sleeve is sleeved in the outer sleeve, the inner sleeve rises or descends in the outer sleeve through the lifting mechanism, and when the inner sleeve descends to the bottommost part, spraying ports formed in the inner sleeve are all shielded by the outer sleeve; the spraying port arranged on the inner sleeve is connected with a pump arranged on the liquid storage bottle through a first conduit, and the multidirectional nozzle is connected with the pump arranged on the liquid storage bottle through a second conduit; the liquid storage bottle is arranged in the fixed sleeve, the fixed sleeve is made of heat conducting materials, and the heating device and the condensing device are arranged on the outer side of the fixed sleeve.
Wherein the multi-directional nozzle is composed of at least 2 branched nozzles; the branching nozzle is composed of a liquid storage inner chamber and an ejection port portion, and an S-shaped upper wall and an S-shaped lower wall are formed in a cross-sectional view. The intelligent atomization device for spraying the phage biological agent and the application method thereof provided by the embodiment of the invention have high automation degree, and can firstly start the camera and adjust the height and the angle of the camera to perform visual identification and perform the body temperature monitoring of the cultured animals in the process of spraying the disinfection device of the detection device; in addition, in the process of the spray disinfection device, the device starts a bacteria content detection module to detect the bacteria concentration in the environment; the display displays the animal body temperature, the current device running speed and the number of the animals with abnormal body temperature in real time, and sends the information to an administrator of the farm in a wireless transmission mode. Compared with the existing device, the spray disinfection device provided by the invention has the advantages that the walking accuracy is obviously improved, the device walking accuracy can be improved through biological recognition, the safety coefficient of the spray disinfection process of the device is improved, and the safe, rapid and intelligent spray disinfection is realized. Can improve the efficiency and the accuracy of spray disinfection of phage biological disinfectants.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the working mode provided by the embodiment of the invention;
FIGS. 2 a-2 c and 3-6 are schematic structural diagrams of specific implementations provided in embodiments of the present invention;
Fig. 7 is a schematic diagram of a method flow provided in an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail below with reference to the drawings and detailed description for the purpose of better understanding of the technical solution of the present invention to those skilled in the art. Embodiments of the present invention will hereinafter be described in detail, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present invention and are not to be construed as limiting the present invention. As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or coupled. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items. It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
An embodiment of the present invention provides an application method of an intelligent atomization device for spraying phage biological agents, as shown in fig. 1, including:
s1, when the device runs according to a preset route, the object animal is identified through the sensor module, and an identification result is obtained, wherein the identification result at least comprises the outline and the body temperature of the object animal.
S1, determining the dosage and the spraying mode of the phage biological agent according to the identification result.
S2, spraying the phage biological agent with the specified dosage according to the spraying mode.
Specifically, the identifying the target animal and obtaining the identification result through the sensor module includes: and acquiring an image of the target animal through a camera in the sensor module identification, comparing animal photos pre-stored in an image database, and determining the species and growth condition of the target animal. Wherein, can obtain the photo of a plurality of animals from various types of farms in advance, set up the image database. And building a deep learning framework, training a convolutional neural network by using images in an image database, and storing a trained network model. The body temperature of the subject animal is determined by a temperature detection module in the sensor module, such as an infrared sensor for detecting temperature.
The determining of the amount and spray pattern of the phage biological agent based on the identification result comprises:
The current concentration of the environmental microorganisms is obtained by a bacteria detection module. Determining the usage amount and the spraying mode of the phage biological agent according to the current environmental microorganism concentration and the identification result, wherein when the environmental microorganism concentration exceeds a threshold value, the spraying mode is judged to start to run, and the spraying mode comprises: spraying power in a spraying direction and spraying temperature of the phage biological agent, wherein if the current temperature of the phage biological agent does not conform to the spraying temperature, the phage biological agent is heated or iced. The device can autonomously determine the dosage and the spraying direction of the spraying disinfectant according to the acquired data such as animal types, body temperature, environmental microorganism concentration and the like when spraying and sterilizing according to a set route.
In this embodiment, the phage biological agent that can be used is a phage biological agent with a phage titer of 10≡6-10≡10.
In this example, 2 preferred spray modes are designed which can be directly applied to most farms, as shown in Table 1, if the subject animal is a domestic pig, the body temperature in the healthy state is 38-39.5 ℃, the amount of phage biologics is 30ml/m 3, the temperature of phage biologics is kept at 8-31 ℃, the ultrasonic power for fogging in the spray mode is 30-35 kHz, and the average droplet size of the sprayed phage biologics is kept at 5 μm.
If the target animal is chicken, the body temperature is 40.9-41.9 ℃ under the healthy state, the using amount of the phage biological agent is 45ml/m & lt 3 & gt, the temperature of the phage biological agent is kept at 25-35 ℃, the ultrasonic power for atomizing in the spraying mode is 40-45 kHz, and the average size of the liquid drops of the sprayed phage biological agent is kept to be 1-3 mu m.
TABLE 1
Further, the method further comprises the following steps: judging whether the target animal is healthy or not according to the growth condition and the body temperature of the target animal. If the subject animal is judged to be unhealthy, increasing the amount of the phage biological agent and determining the active area of the unhealthy animal. And cruising and spraying in the activity area of the unhealthy animal. The active area may be a fenced area, or a walkway through which animals pass, etc. When the device sprays and disinfects in the moving area according to the set route, the path can be optimized independently according to the tracked unhealthy animals, and the consumption of the spray disinfectant can be increased for unhealthy animals.
In practical application, a biological recognition algorithm can be arranged in a main controller of the device, and the biological recognition algorithm is as follows: when the device walks, people or obstacles are identified by the sensor module, if a farm manager is identified in front of the device, spray disinfection is suspended, and the device stands by in situ. When the front obstacle is identified, the control device pauses walking, moves in the opposite direction of the position where the obstacle exists so as to avoid the obstacle, and then enables the damping driving wheel to rotate back to the original direction to continue moving. The main controller is internally provided with a positioning algorithm, and the positioning algorithm is as follows: the multi-line scanning radar positioning on the device is combined with the Beidou navigation positioning signal to determine the position of the device, and the position of the device on the inspection route is corrected through the plane coordinate of the device.
During spray sterilization of the device: the device can be transported to the appointed starting point position, and the device can continuously acquire the position of the current device through a positioning algorithm and optimize the position in the walking process. When passing through tiny obstacle areas such as piggery railings, the walking direction is optimized by using an obstacle avoidance mechanism and an ultrasonic obstacle avoidance system through an obstacle avoidance algorithm, so as to avoid tiny obstacles. In the spray disinfection process of the detection device, the camera is started, the height and the angle of the camera are adjusted to carry out vision and temperature identification, and the health condition of animals in a farm is judged. In addition, in the spray disinfection process, the device starts a bacteria concentration detection module to detect the concentration of bacteria in the environment. When the electric quantity of the device or the disinfectant is insufficient, the device automatically returns to the starting point.
The embodiment also provides an intelligent atomization device for spraying phage biological agents, which is characterized in that a spraying system is arranged on the device.
As shown in fig. 2a, the spraying system comprises an outer sleeve and an inner sleeve, wherein a spraying nozzle array formed by uniformly distributed spraying nozzles is arranged on the inner sleeve, and a multi-directional nozzle is arranged on the top of the inner sleeve.
The outer sleeve is connected with the inner sleeve through a lifting mechanism, the inner sleeve is nested inside the outer sleeve, and the inner sleeve rises or falls in the outer sleeve through the lifting mechanism. As shown in fig. 3, when the inner sleeve descends to the bottommost part, the spraying ports formed on the inner sleeve are all shielded by the outer sleeve. Wherein, the lifting mechanism can adopt a hydraulic rod; threaded lifting structures may also be employed, such as: the inner wall of the outer sleeve is provided with threads, and the outer wall of the inner sleeve is provided with matched threads.
As shown in fig. 2b, the spraying port arranged on the inner sleeve is connected with the pump arranged on the liquid storage bottle through the first conduit, and the multi-directional nozzle is connected with the pump arranged on the liquid storage bottle through the second conduit.
As shown in fig. 2c, the liquid storage bottle is arranged in a fixed sleeve, the fixed sleeve is made of heat conducting materials, and a heating device and a condensing device are arranged on the outer side of the fixed sleeve.
As shown in fig. 4, the multi-directional nozzle is composed of at least 2 branched nozzles, and the number of the branched nozzles may be 3, or 4 branched nozzles or more as shown in fig. 4 and 5.
As shown in fig. 6 in particular, the branching nozzle is composed of a liquid storage inner chamber and an ejection port portion, and an S-shaped upper wall and an S-shaped lower wall are formed in a sectional view.
The intelligent atomization device for spraying phage biological agents in this embodiment may adopt a currently common indoor mobile platform product, and devices such as a liquid storage bottle and a spraying system may be installed on the indoor mobile platform product, for example, may include: the device body, install in the device body and with the device removal module, obstacle avoidance module, sensor module and the spraying system of main control system connection.
The device mobile module includes: the device comprises a damping running mechanism and a positioning system, wherein the damping running mechanism is used for displacement of the device, and the positioning system is used for acquiring position information in real time.
The obstacle avoidance module comprises: the device comprises a biological recognition obstacle avoidance system and an obstacle avoidance mechanism, wherein the obstacle avoidance mechanism is used for the device to avoid objects, and the biological recognition obstacle avoidance system is used for detecting organisms.
The device body comprises a chassis, a supporting plate is arranged above the chassis through a bracket, and a vertical frame is arranged above the supporting plate.
The sensor module includes: the environment monitoring system comprises a bacteria detection module and a temperature monitoring module. The main control system comprises a main controller and an industrial personal computer, wherein the main controller is used for overall regulation and control of the device, and the first driving motor, the second driving motor, the ultrasonic module, the positioning tag, the bacteria detection module, the spraying module, the industrial personal computer, the camera and the display are all connected with the main controller. The industrial personal computer is used for identifying animals in the farm and detecting the temperature acquired by the camera. The image information of the plant collected by the camera is processed to obtain the growth condition information of animals in the plant, and the method comprises the following steps: when the device is used for spraying and sterilizing according to a set route, images of the same animal in different directions are acquired through the camera and transmitted to the industrial personal computer, the trained network model is utilized in the industrial personal computer to identify the images and the temperature, the outlines of the animal in different directions are obtained, and then a three-dimensional model of the animal in a farm is built, so that the health condition of the animal is judged. Thereby autonomously judging the dosage of the spray disinfectant.
The damping running mechanism comprises damping driving wheels arranged at four corners of the bottom of the chassis, the damping driving wheels comprise a bottom frame, one side of the bottom frame is provided with a side frame, and the other side of the bottom frame is provided with a damping spring. The side of the underframe is provided with rollers, the underframe is provided with a motor base, a first driving motor and a steering mechanism are arranged on the motor base, and the first driving motor and the steering mechanism are connected with the rollers. The side frame is provided with a hinge, and the hinge and the damping spring are connected to the bottom of the chassis.
The obstacle avoidance mechanism is arranged at four corners above the chassis and comprises fixing columns fixed on the chassis, through holes are formed in the fixing columns along the radial direction, sliding rods are assembled through the through holes, two end-connected and mutually perpendicular obstacle avoidance baffles are fixed at the front ends of the sliding rods, and each obstacle avoidance baffle is parallel to the side face of the chassis closest to the baffle. The rear end of the sliding rod is provided with a stop block, and a return spring is sleeved on the sliding rod between the stop block and the fixed column.
The biological recognition obstacle avoidance system comprises a plurality of ultrasonic modules distributed on the side surface of the chassis, wherein the ultrasonic modules are numbered A to J, and the positions of the ultrasonic modules are respectively as follows: a is in the middle of the front side of the chassis, B is in the middle of the rear side of the chassis, C is in the front left side of the chassis, D is in the rear left side of the chassis, E is in the front right side of the chassis, F is in the rear right side of the chassis, G is in the left front side of the chassis, H is in the right front side of the chassis, I is in the left rear side of the chassis, and J is in the right rear side of the chassis.
The positioning system comprises a positioning tag arranged above the chassis and four base stations arranged around the pig farm. And positioning the tag and the four base stations by utilizing a positioning technology in real time, and solving the spatial position of the device according to the ranging result so as to achieve the positioning purpose.
The monitoring camera system comprises a lifting frame, and the lifting frame is driven by a lifting driving mechanism arranged in the vertical frame. The lifting driving mechanism comprises a screw rod and a plurality of optical axes, wherein the screw rod and the optical axes are arranged between the top and the bottom of the vertical frame, a driving plate is arranged on the screw rod, a second driving motor is arranged at the bottom of the supporting plate, and the second driving motor is connected with the screw rod through a coupling. The driving plate is provided with a threaded hole, and is assembled on the screw rod through the threaded hole. The bottom plate of the lifting frame is provided with a sliding sleeve connected with the driving plate, and the sliding sleeve is sleeved on the optical axis. A camera is arranged on the top plate of the lifting frame through a radial bearing. The front side of the stand is provided with a display, and the supporting plate is provided with a microorganism detection module.
In the embodiment, in the process of spraying and sterilizing the inspection device, the camera can be started first, the height and the angle of the camera are adjusted to perform visual identification, and the body temperature of the cultured animals is monitored; in addition, in the process of the spray disinfection device, the device starts a bacteria content detection module to detect the bacteria concentration in the environment; the display displays the animal body temperature, the current device running speed and the number of the animals with abnormal body temperature in real time, and sends the information to an administrator of the farm in a wireless transmission mode. Compared with the existing device, the spray disinfection device provided by the invention has the advantages that the walking accuracy is obviously improved, the device walking accuracy can be improved through biological recognition, the safety coefficient of the spray disinfection process of the device is improved, and the safe, rapid and intelligent spray disinfection is realized.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the apparatus embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points. The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (1)
1. An application method of an intelligent atomization device for spraying phage biological agents on a farm, which is characterized by comprising the following steps:
When the device runs according to a preset route, identifying the target animal through the sensor module and obtaining an identification result, wherein the identification result at least comprises the outline and the body temperature of the target animal;
determining the dosage and the spraying mode of the phage biological agent according to the identification result;
Spraying a specified amount of the phage biological agent according to the spray pattern;
a spraying system is arranged on the device;
The spraying system comprises an outer sleeve and an inner sleeve, wherein a spraying nozzle array formed by uniformly distributed spraying nozzles is arranged on the inner sleeve, and a multi-directional nozzle is arranged at the top of the inner sleeve;
The inner sleeve is sleeved in the outer sleeve, the inner sleeve rises or descends in the outer sleeve through the lifting mechanism, and when the inner sleeve descends to the bottommost part, spraying ports formed in the inner sleeve are all shielded by the outer sleeve;
The spraying port arranged on the inner sleeve is connected with a pump arranged on the liquid storage bottle through a first conduit, and the multidirectional nozzle is connected with the pump arranged on the liquid storage bottle through a second conduit;
The liquid storage bottle is arranged in a fixed sleeve, the fixed sleeve is made of heat conducting materials, and a heating device and a condensing device are arranged on the outer side of the fixed sleeve; the multi-directional nozzle consists of at least 2 branch nozzles;
the branch nozzle is composed of a liquid storage cavity and an ejection port portion, and an S-shaped upper wall and an S-shaped lower wall are formed in a cross-sectional view;
The phage biological preparation is phage biological preparation with phage titer of 10-10, if the target animal is artiodactyla livestock, the body temperature in the healthy state is 38-39.5 ℃, the dosage of phage biological preparation is 30ml/m & lt 3 & gt, the temperature of phage biological preparation is kept at 8-31 ℃, the ultrasonic power for fogging in the spraying mode is 30-35 kHz, and the average size of liquid drops of the sprayed phage biological preparation is kept to be 5 mu m;
Or if the target animal is poultry of the order Jinguanoidea, the body temperature in the healthy state is 40.9-41.9 ℃, the consumption of the phage biological agent is 45ml/m & lt 3 & gt, the temperature of the phage biological agent is kept at 25-35 ℃, the ultrasonic power for atomizing in a spraying mode is 40-45 kHz, and the average size of liquid drops of the sprayed phage biological agent is kept to be 1-3 mu m;
The method for identifying the target animal and obtaining the identification result through the sensor module comprises the following steps:
Acquiring an image of the target animal through a camera in the sensor module identification, comparing animal photos pre-stored in an image database, and determining species and growth conditions of the target animal;
determining the body temperature of the subject animal by a temperature detection module in the sensor module identity;
the determining of the amount and spray pattern of the phage biological agent based on the identification result comprises:
acquiring the current concentration of the environmental microorganisms through a bacteria detection module;
determining the usage amount and the spraying mode of the phage biological agent according to the current environmental microorganism concentration and the identification result, wherein when the environmental microorganism concentration exceeds a threshold value, the spraying mode is judged to start to run, and the spraying mode comprises: spraying power in a spraying direction and spraying temperature of the phage biological agent, wherein if the current temperature of the phage biological agent does not conform to the spraying temperature, the phage biological agent is heated or iced;
Further comprises:
Judging whether the target animal is healthy or not according to the growth condition and the body temperature of the target animal;
If the animal is unhealthy, increasing the amount of the phage biological agent and determining an active area of the unhealthy animal;
and cruising and spraying in the activity area of the unhealthy animal.
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| CN202110449755.XA CN113262072B (en) | 2021-04-25 | Application method of intelligent atomization device for spraying phage biological agent |
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| CN202110449755.XA CN113262072B (en) | 2021-04-25 | Application method of intelligent atomization device for spraying phage biological agent |
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