CN113599013B - Live pig vaccine injection robot and vaccine injection method - Google Patents
Live pig vaccine injection robot and vaccine injection method Download PDFInfo
- Publication number
- CN113599013B CN113599013B CN202110907776.1A CN202110907776A CN113599013B CN 113599013 B CN113599013 B CN 113599013B CN 202110907776 A CN202110907776 A CN 202110907776A CN 113599013 B CN113599013 B CN 113599013B
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- upper computer
- degree
- pig
- injection
- 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.)
- Active
Links
- 238000002347 injection Methods 0.000 title claims abstract description 92
- 239000007924 injection Substances 0.000 title claims abstract description 92
- 229960005486 vaccine Drugs 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 title claims abstract description 19
- 241000282887 Suidae Species 0.000 claims abstract description 46
- 210000001217 buttock Anatomy 0.000 claims description 33
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 10
- 239000003651 drinking water Substances 0.000 claims description 7
- 235000020188 drinking water Nutrition 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 7
- 210000005069 ears Anatomy 0.000 claims description 3
- 241001465754 Metazoa Species 0.000 abstract description 8
- 230000006806 disease prevention Effects 0.000 abstract description 2
- 230000035622 drinking Effects 0.000 description 6
- 238000013527 convolutional neural network Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 208000012260 Accidental injury Diseases 0.000 description 1
- 206010011409 Cross infection Diseases 0.000 description 1
- 206010029803 Nosocomial infection Diseases 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 244000144972 livestock Species 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61D—VETERINARY INSTRUMENTS, IMPLEMENTS, TOOLS, OR METHODS
- A61D7/00—Devices or methods for introducing solid, liquid, or gaseous remedies or other materials into or onto the bodies of animals
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K11/00—Marking of animals
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K29/00—Other apparatus for animal husbandry
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/178—Syringes
- A61M5/20—Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/178—Syringes
- A61M5/20—Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically
- A61M2005/2006—Having specific accessories
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/178—Syringes
- A61M5/20—Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically
- A61M2005/206—With automatic needle insertion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2250/00—Specially adapted for animals
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Environmental Sciences (AREA)
- Veterinary Medicine (AREA)
- Animal Husbandry (AREA)
- Engineering & Computer Science (AREA)
- Zoology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Biodiversity & Conservation Biology (AREA)
- Wood Science & Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Hematology (AREA)
- Birds (AREA)
- Biomedical Technology (AREA)
- Anesthesiology (AREA)
- Vascular Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a live pig vaccine injection robot and a vaccine injection method, which solve the technical problems that the labor intensity is high, the labor cost is high, the injection efficiency is low, missed injection and false injection easily occur in the existing manual injection method for live pigs, and the live pig vaccine injection robot comprises a wheel type moving platform, a six-degree-of-freedom cooperative mechanical arm, a needle-free injector, an RGB-D camera, a camera bracket and a control system, wherein the six-degree-of-freedom cooperative mechanical arm is connected with the wheel type moving platform, the needle-free injector is provided with a handle and an injection head, and the handle is fixedly connected with a tail end flange of the six-degree-of-freedom cooperative mechanical arm; the camera support is connected with the tail end of the six-degree-of-freedom cooperative mechanical arm, and the RGB-D camera is fixedly connected with the camera support; the wheel type mobile platform is provided with a mobile platform main controller and a motor driver, and the motor driver is connected with the mobile platform main controller. The method can be widely applied to the technical field of animal epidemic disease prevention and control in animal husbandry.
Description
Technical Field
The invention relates to the technical field of intelligent animal husbandry, in particular to a live pig vaccine injection robot and a vaccine injection method.
Background
Animal husbandry is an important industry related to national life, prevention and control of animal epidemic diseases are key works, and along with the wider and wider application of artificial intelligence in animal husbandry, higher requirements are put on prevention and control of animal epidemic diseases. Taking live pig breeding as an example, the live pigs are mainly injected with vaccines in a manual injection mode at present, because the number of live pigs is very large, the labor intensity is very large, the labor cost is high, the injection efficiency is low, the condition of missed injection and false injection is easy to occur, and epidemic disease prevention and control management is seriously influenced, so that how to reduce the labor cost, reduce human and animal contact, improve the injection efficiency and ensure the injection quality is a technical problem to be solved urgently by technicians in the field.
Disclosure of Invention
The invention aims to solve the technical problems that the labor intensity is high, the labor cost is high, the injection efficiency is low, missed injection and false injection are easy to occur in the conventional injection method for injecting the live pig vaccine by adopting the injection mode, and provides the live pig vaccine injection robot and the vaccine injection method which greatly reduce the labor cost, improve the injection efficiency, ensure the injection quality and reduce the contact of people and livestock.
The invention provides a live pig vaccine injection robot which comprises a wheel type moving platform, a six-degree-of-freedom cooperative mechanical arm, a needle-free injector, an RGB-D camera, a camera support and a control system, wherein the six-degree-of-freedom cooperative mechanical arm is connected with the wheel type moving platform, the needle-free injector is provided with a handle and an injection head, and the handle is fixedly connected with a tail end flange of the six-degree-of-freedom cooperative mechanical arm; the camera support is connected with the tail end of the six-degree-of-freedom cooperative mechanical arm, and the RGB-D camera is fixedly connected with the camera support; the wheel type mobile platform is provided with a mobile platform main controller and a motor driver, and the motor driver is connected with the mobile platform main controller;
the control system comprises an upper computer, an RFID electronic ear tag, an RFID ear tag identifier, a mechanical arm controller, a gateway and a cloud platform, wherein the mechanical arm controller is arranged in the wheeled mobile platform, the RFID ear tag identifier is communicated with the cloud platform through the gateway, the upper computer is communicated with the cloud platform through the gateway, the mechanical arm controller is connected with the upper computer, the six-dimensional force sensor is connected with the upper computer, the RGB-D camera is connected with the upper computer, and the mobile platform main controller is connected with the upper computer.
Preferably, the live pig vaccine injection robot further comprises a six-dimensional force sensor, the six-dimensional force sensor is connected with the tail end flange of the six-degree-of-freedom cooperative mechanical arm, and the handle of the needleless injector is fixedly connected with the connecting flange of the six-dimensional force sensor.
The invention also provides a vaccine injection method using the live pig vaccine injection robot, which comprises the following steps:
step S101, connecting an RFID ear tag identifier to a water trough in a colony house, and fixing an RFID electronic ear tag on ears of pigs; the RFID electronic ear tag is provided with ID information and position information; the RFID tag identifier uploads the ID information and the position information acquired from the RFID electronic tag to the cloud platform through a WIFI network in real time;
step S102, enabling the live pig vaccine injection robot to move to a waiting position near the colony house, wherein the six-degree-of-freedom cooperative mechanical arm is in an initial pose;
step S103, the upper computer accesses the cloud platform through the WIFI network and inquires ID information and position information in the cloud platform;
step S104, judging whether the ID information and the position information are inquired, if so, entering step S105, otherwise, returning to step S103;
step S105, the upper computer acquires ID information and position information of pigs to be injected from the cloud platform;
step S106, the upper computer sends a motion control instruction to a mobile platform main controller of the wheel type mobile platform;
step S107, the platform main controller generates a motor driving signal according to the motion control instruction and sends the motor driving signal to a motor driver of the wheel type mobile platform, and the motor driver drives a motor for driving wheels in the wheel type mobile platform to work, so that the wheel type mobile platform moves into a target housing, and the wheel type mobile platform moves to the side of a pig drinking water;
step S108, judging whether the upper computer inquires the ID information and the position information, if so, entering step S109, otherwise, returning to step S104;
step S109, the upper computer sends a control instruction to the mechanical arm controller, and the mechanical arm controller controls the six-degree-of-freedom cooperative mechanical arm to move from an initial pose to a pig sideways photographing pose;
step S110, the upper computer controls the RGB-D camera to photograph the sides of the pigs so as to obtain the image information of the pigs, and the image information is sent to the upper computer;
step S111, the upper computer identifies the roll of the pig through a visual identification technology according to the image information, calculates the hip photographing pose according to the spatial position information of the hip in the identified roll, further calculates the target rotation angles of 6 joints of the six-degree-of-freedom cooperative mechanical arm, and then sends the target rotation angle data to the mechanical arm controller;
step S112, the upper computer sends a control instruction to the mechanical arm controller, and the mechanical arm controller controls the six-degree-of-freedom cooperative mechanical arm to move to a pig buttock photographing pose;
step S113, the upper computer controls the RGB-D camera to photograph the buttocks of the pigs so as to obtain image information of the buttocks of the pigs, and the image information of the buttocks of the pigs is sent to the upper computer;
step S114, the upper computer identifies the injectable area of the pig buttocks through a visual identification technology according to the image information of the pig buttocks, selects the central position coordinate of the injectable area as an injection part, calculates the injection pose according to the central position coordinate and a normal vector, further calculates the target rotation angles of 6 joints of the six-degree-of-freedom cooperative mechanical arm, and then sends the target rotation angle data to the mechanical arm controller;
step S115, the mechanical arm controller controls the six-degree-of-freedom cooperative mechanical arm to move to an injection pose;
and step S116, the mechanical arm controller controls the six-degree-of-freedom cooperative mechanical arm to move back to the pig buttock photographing position, then to the pig lateral photographing position, and finally to move back to the initial position, so that the injection action is completed.
The invention also provides a vaccine injection method using the live pig vaccine injection robot, which comprises the following steps:
step S101, connecting an RFID ear tag identifier to a water trough in a colony house, and fixing an RFID electronic ear tag on ears of pigs; the RFID electronic ear tag is provided with ID information and position information; the RFID tag identifier uploads the ID information and the position information acquired from the RFID electronic tag to the cloud platform through a WIFI network in real time;
step S102, enabling the live pig vaccine injection robot to move to a waiting position near the colony house, wherein the six-degree-of-freedom cooperative mechanical arm is in an initial pose;
step S103, the upper computer accesses the cloud platform through the WIFI network and inquires ID information and position information in the cloud platform;
step S104, judging whether the ID information and the position information are inquired, if so, entering step S105, otherwise, returning to step S103;
step S105, the upper computer acquires ID information and position information of pigs to be injected from the cloud platform;
step S106, the upper computer sends a motion control instruction to a mobile platform main controller of the wheel type mobile platform;
step S107, the platform main controller generates a motor driving signal according to the motion control instruction and sends the motor driving signal to a motor driver of the wheel type mobile platform, and the motor driver drives a motor for driving wheels in the wheel type mobile platform to work, so that the wheel type mobile platform moves into a target housing, and the wheel type mobile platform moves to the side of a pig drinking water;
step S108, judging whether the upper computer inquires the ID information and the position information, if so, entering step S109, otherwise, returning to step S104;
step S109, the upper computer sends a control instruction to the mechanical arm controller, and the mechanical arm controller controls the six-degree-of-freedom cooperative mechanical arm to move from an initial pose to a pig sideways photographing pose;
step S110, the upper computer controls the RGB-D camera to photograph the sides of the pigs so as to obtain the image information of the pigs, and the image information is sent to the upper computer;
step S111, the upper computer identifies the roll of the pig through a visual identification technology according to the image information, calculates the hip photographing pose according to the spatial position information of the hip in the identified roll, further calculates the target rotation angles of 6 joints of the six-degree-of-freedom cooperative mechanical arm, and then sends the target rotation angle data to the mechanical arm controller;
step S112, the upper computer sends a control instruction to the mechanical arm controller, and the mechanical arm controller controls the six-degree-of-freedom cooperative mechanical arm to move to a pig buttock photographing pose;
step S113, the upper computer controls the RGB-D camera to photograph the buttocks of the pigs so as to obtain image information of the buttocks of the pigs, and the image information of the buttocks of the pigs is sent to the upper computer;
step S114, the upper computer identifies the injectable area of the pig buttocks through a visual identification technology according to the image information of the pig buttocks, selects the central position coordinate of the injectable area as an injection part, calculates the injection pose according to the central position coordinate and a normal vector, further calculates the target rotation angles of 6 joints of the six-degree-of-freedom cooperative mechanical arm, and then sends the target rotation angle data to the mechanical arm controller;
step S115, the mechanical arm controller controls the six-degree-of-freedom cooperative mechanical arm to move to an injection pose;
step S116, the six-dimensional force sensor detects the contact force between the handle of the needleless injector and the buttocks of pigs, judges whether the contact force detected by the six-dimensional force sensor is greater than a set threshold value, if so, the step S117 is entered, otherwise, the step S115 is returned;
step S117, the mechanical arm controller controls the six-degree-of-freedom cooperative mechanical arm to continue to move forward for a certain time;
in step S118, the mechanical arm controller controls the six-degree-of-freedom cooperative mechanical arm to move back to the pig buttock photographing pose, then to the pig sideways photographing pose, and finally to move back to the initial pose, so as to complete the injection action.
Preferably, in step S111, the upper computer identifies the pig' S body by a convolutional neural network algorithm according to the image information.
Preferably, in step S114, the upper computer identifies the injectable area of the pig buttocks through a convolutional neural network algorithm according to the image information of the pig buttocks.
Preferably, in step S105, the upper computer acquires ID information and position information of the pig to be injected and vaccine information to be injected from the cloud platform.
Preferably, after step S118, after the mechanical arm reaches the initial pose, the upper computer feeds back the ID information and vaccine information of the injected pig to the cloud platform through the gateway.
The beneficial effects of the invention are as follows:
(1) Pigs are always in the colony house, and under the condition that the pigs do not leave the colony house, the robot automatically moves to the sides of the pigs to be automatically injected rapidly through the mechanical arm, so that raising personnel are liberated, the labor intensity is reduced, the labor cost is greatly reduced, the injection efficiency is improved, and the human-animal contact is reduced.
(2) Each pig is numbered, the pigs with vaccines are recorded, the situations of missed and false-knocked pigs are avoided, and the injection quality is improved.
(3) Automatically identifying pig position, automatically searching feeding area, and automatically identifying pig position to be injected.
(4) The needle-free injection mode can avoid cross infection.
(5) Communicate with the cloud platform in real time and return the injection information to the cloud platform in real time.
(6) One robot covers a plurality of houses.
(7) The injection position of the pig is accurately identified by a visual identification technology, and the mechanical arm is automatically controlled to move to the injection pose based on the identified signal.
(8) After the injection is completed, the information of the injected pigs and vaccine is transmitted back to the cloud platform for management.
(9) The pig on the left side and the pig on the right side of the robot can accurately complete vaccine injection.
(10) The single injection time was 4-5 seconds, from pig sideways identification until injection was completed and withdrawn.
(11) Pigs are only in the fence, and the robot is outside the fence, so that the cross-fence injection is completed within 10 seconds.
(12) The passage of ear tag information to the cloud platform takes 4 seconds.
Further features and aspects of the present invention will become apparent from the following description of specific embodiments with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a live pig vaccine injection robot;
FIG. 2 is a left side view of the live pig vaccine injection robot of FIG. 1;
FIG. 3 is a right side view of the live pig vaccine injection robot of FIG. 1;
FIG. 4 is a top view of the live pig vaccine injection robot of FIG. 1;
FIG. 5 is an enlarged view of a portion of FIG. 2 at P;
FIG. 6 is a schematic diagram of the structure in FIG. 1 in which a six-dimensional force sensor is connected to the end of a six-degree-of-freedom cooperative mechanical arm, a needle-free injector is connected to the six-dimensional force sensor, and an RGB-D camera is mounted at the end of the six-degree-of-freedom cooperative mechanical arm;
FIG. 7 is a schematic diagram of a control system;
FIG. 8 is a plan view of a pig farm;
FIG. 9 is a plan view of one of the enclosures of FIG. 8;
FIG. 10 is a schematic view showing a state that pigs drink water only in the water trough in FIG. 9;
FIG. 11 is a flow chart of a vaccine injection method;
fig. 12 is a schematic view of a six degree of freedom cooperative robot arm moving to an injection position.
The symbols in the drawings illustrate:
1. the device comprises a wheel type mobile platform, a mobile platform main controller, a six-degree-of-freedom cooperative mechanical arm, a terminal flange, a needleless injector, a handle, an injection head, a RGB-D camera, a six-dimensional force sensor, a camera support and a live pig vaccine injection robot, wherein the wheel type mobile platform is 1-1, the mobile platform main controller is 2-1, the terminal flange is 3, the needleless injector is 3-1, the handle is 3-2, the injection head is 4-RGB-D camera, the six-dimensional force sensor is 5, the camera support is 6, and the live pig vaccine injection robot is 7; 8. pig farm, house, 9-1, feeding area, 9-2, pedestrian passageway, 10, feeding trough, 11, trough, 12, limit baffle, 13, RFID ear tag identifier, 14, RFID electronic ear tag, 15, upper computer, 16, mechanical arm controller, 17, gateway, 19, cloud platform, 20, pig.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1-6, the live pig vaccine injection robot disclosed by the invention comprises a wheel type moving platform 1, a six-degree-of-freedom cooperative mechanical arm 2, a needleless injector 3, an RGB-D camera 4, a six-dimensional force sensor 5, a camera support 6 and a control system, wherein the wheel type moving platform 1 is made of a known product, the six-degree-of-freedom cooperative mechanical arm 2 is made of a known product (such as an EC66 type cooperative mechanical arm manufactured by alic robot limited company), the six-degree-of-freedom cooperative mechanical arm 2 is mounted on the body of the wheel type moving platform 1, and the six-dimensional force sensor 5 is mounted on the end flange of the six-degree-of-freedom cooperative mechanical arm 2. The needleless injector 3 is a needleless injector of P250 model produced by the company Pulse Needlefree System in the United states, the needleless injector 3 is provided with a handle 3-1 and an injector head 3-2, the injector head 3-2 is connected with the handle 3-1, and the handle 3-1 is fixedly arranged on a connecting flange of a six-dimensional force sensor. The camera support 6 is connected with the tail end of the six-degree-of-freedom cooperative mechanical arm 2, and the RGB-D camera 4 is fixedly installed on the camera support 6. The six-degree-of-freedom cooperative mechanical arm 2 of the live pig vaccine injection robot shown in fig. 1 is in a folded state.
For the needleless injector 3, the vaccine liquid medicine is ejected as long as the injector head 3-2 contacts the pig's buttocks (a certain pressure is applied while contacting), which is a function of the needleless injector itself.
The wheel type mobile platform 1 is driven by four wheels independently, each wheel can also turn to independently, the wheels are driven by corresponding motors, the wheel type mobile platform can ensure that the vaccine robot can move rapidly in the corridor between the houses in the pig farm, and the functions of driving the direction of the wheels and the like can be adjusted randomly according to the relative positions between the current houses and the target houses. The body of the wheel type mobile platform 1 is internally provided with a mobile platform main controller 1-1 and a motor driver 1-2, and the motor driver 1-2 is connected with the mobile platform main controller 1-1.
The six-degree-of-freedom cooperative mechanical arm 2 has an anti-collision detection function, and can prevent accidental injury to pigs caused by too high movement speed of the mechanical arm in the vaccine injection process.
As shown in fig. 7, the control system includes a host computer 15, an RFID electronic tag 14, an RFID tag identifier 13, a robot arm controller 16, a gateway 17, and a cloud platform 19. The robot arm controller 16 is installed in the body of the wheeled mobile platform 1. The RFID tag identifier 13 communicates with the cloud platform 19 through the gateway 17, and the upper computer 15 communicates with the cloud platform 19 through the gateway 17. The mechanical arm controller 16 is connected with the upper computer 15. The six-dimensional force sensor 5 is connected with the upper computer 15, the RGB-D camera 4 is connected with the upper computer 15, and the mobile platform main controller 1-1 on the wheel type mobile platform 1 is connected with the upper computer 15. The upper computer 15 is placed on the wheeled mobile platform 1.
As shown in fig. 8, the pig farm 8 is constructed by constructing a plurality of housing 9, as shown in fig. 9, each housing 9 is provided with 2 columns surrounded by pig pens, 4 in each column, 8 raising areas 9-1 with equal areas, and pedestrian aisles 9-2 between the two columns. In each feeding area 9-1 there is a feeding trough 10 and a drinking trough 11. The feeding trough 10 is isolated from the drinking trough by a limit stop 12. As shown in fig. 10, an RFID tag 13 is mounted at the drinking trough 11, and an RFID electronic tag 14 is fixed to the ear of each pig 20. The RFID electronic tag 14 has ID information of a unique number, and location information, where the location information indicates which colony house belongs to, that is, the number of the colony house (when the tag is marked, the number of the colony house where the tag is located is recorded in the cloud platform).
Referring to fig. 11, a method of injecting vaccine into pigs using the live pig vaccine injection robot described above will be described.
In step S101, the RFID tag identifier 13 at the water trough 11 of each feeding area 9-1 in the housing 9 uploads the ID information and the position information collected from the RFID electronic tag 14 to the cloud platform 19 through the WIFI network in real time. As shown in fig. 9 and 10, the ID information and the position information in the RFID tag 14 on the ear of the pig 20 can be read by the RFID tag 13 only when the pig 20 drinks water to the drinking tank 11.
In step S102, the live pig vaccine injection robot is moved to a waiting position near any one of the housing 9 by the remote controller, and as shown in fig. 8, the live pig vaccine injection robot 7 is moved near the housing No. 3. The six-degree-of-freedom cooperative robot arm 2 at this time is in the initial position as shown in fig. 1.
In step S103, the upper computer 15 accesses the cloud platform 19 through the WIFI network, and queries the ID information and the location information in the cloud platform 19.
Step S104, inquiring whether the pigs drink water or not, wherein the inquired ID information and the position information indicate that the pigs drink water. If no pig is drinking water (ID information and location information are not found), the process returns to step S103 to keep access to the cloud platform 19 at a certain frequency. If it is found that the pig drinks only in a certain feeding area 9-1 (i.e., if it is found that the ID information and the position information are found), the process proceeds to step S105.
In step S105, the upper computer 15 obtains the ID information and the position information of the pig to be injected and the vaccine information to be injected from the cloud platform 19, and the position information at this time represents the number of the target housing. The information of the vaccine to be injected is stored in the cloud platform in advance.
In step S106, the upper computer 15 sends motion control instructions (movement speed, movement time, steering angle, etc.) to the mobile platform main controller 1-1 of the wheeled mobile platform 1.
In step S107, the platform main controller 1-1 generates a PWM signal for controlling the motor according to the motion control command, and sends the PWM signal to the motor driver 1-2 of the wheeled mobile platform 1, where the motor driver 1-2 drives the motor for driving the wheels in the wheeled mobile platform to work, so that the wheeled mobile platform moves into the target housing, as shown in fig. 12, and the wheeled mobile platform moves near the pig 20, that is, the wheeled mobile platform moves beside the pig that is drinking water. Because the six-degree-of-freedom cooperative mechanical arm 2 is in a furled state, the six-degree-of-freedom cooperative mechanical arm 2 cannot collide with the pig fence in the moving process of the robot.
Step S108, the upper computer accesses the cloud platform 19 to check whether pigs still drink water, and if not, the upper computer continues to access the cloud platform to inquire about the situation of drinking water pigs; if pigs are still drinking water (the cloud platform 19 has ID information and location information), then S109 is entered.
Step S109, the upper computer sends a control instruction to the mechanical arm controller 16, and the mechanical arm controller controls the six-degree-of-freedom cooperative mechanical arm 2 to move from an initial pose (a furled state) to a pig sideways photographing pose (under the pose, the whole pig sideways can be presented in the view of the RGB-D camera 4);
step S110, the upper computer controls the RGB-D camera to photograph the sides of the pigs so as to obtain color images and depth images of the pigs, and sends the image information to the upper computer.
In step S111, the upper computer identifies the roll of the pig through a convolutional neural network algorithm according to the image information, calculates a hip photographing pose (under which the camera can see the complete pig hip) according to the spatial position information of the hip in the identified roll, and further solves the target rotation angles of the 6 joints of the six-degree-of-freedom cooperative mechanical arm 2 through the inverse kinematics of the mechanical arm, and then sends the target rotation angle data to the mechanical arm controller 16.
In step S112, the upper computer sends a control command to the mechanical arm controller 16, and the mechanical arm controller 16 controls the 6 joints of the six-degree-of-freedom cooperative mechanical arm 2 to rotate to a target rotation angle, that is, the six-degree-of-freedom cooperative mechanical arm 2 moves to the pig buttocks photographing pose.
In step S113, the upper computer controls the RGB-D camera to photograph the buttocks of the pig, so as to obtain color images and depth images of the buttocks of the pig, and sends the image information to the upper computer.
In step S114, the upper computer identifies the injectable area of the pig buttocks through a convolutional neural network algorithm according to the image information of the pig buttocks, selects the central position coordinate of the injectable area as the injection part, the normal vector of the central position as the gesture of the handle of the needleless injector, calculates the injection gesture of the mechanical arm according to the central position coordinate and the normal vector, and then solves the target rotation angles of 6 joints of the six-degree-of-freedom cooperative mechanical arm 2 through the inverse kinematics of the mechanical arm, and then sends the target rotation angle data to the mechanical arm controller 16.
In step S115, the robot controller controls the 6 joints of the six-degree-of-freedom cooperative robot 2 to rotate to the target rotation angle, that is, the six-degree-of-freedom cooperative robot 2 moves to the injection pose, as shown in fig. 12.
Step S116, the six-dimensional force sensor 5 detects the contact force between the handle of the needleless injector 3 and the buttocks of pigs, judges whether the contact force detected by the six-dimensional force sensor 5 is larger than a set threshold value, if so, the step S117 is entered, and if not, the step S115 is returned.
In step S117, the mechanical arm controller controls the six-degree-of-freedom cooperative mechanical arm 2 to continue to move forward for a certain time, so as to compensate the pose error caused by the stress reaction of the pig only after the pig is contacted by the injection handle.
In step S118, the mechanical arm controller controls the six-degree-of-freedom cooperative mechanical arm 2 to rapidly move back to the pig buttock photographing pose, then rapidly return to the pig lateral photographing pose, and finally move back to the initial pose, so as to complete the injection action.
And step S119, after the mechanical arm reaches the initial pose, the upper computer feeds back the ID information and vaccine information of the injected pigs to the cloud platform through the gateway.
If the vaccine injection is continued, the upper computer continues to access the cloud platform to acquire the ID of the pig to be injected (the drinking pig), the position of the pig to be injected and the vaccine information to be injected, if the drinking pig is already injected with the vaccine, the information of the pig is automatically excluded, and if the pig is not injected with the vaccine, the process is repeated, and the vaccine injection of the pig is completed until the vaccine injection work of all pigs is completed.
It should be noted that, the arrangement of the six-dimensional force sensor is a preferable scheme, and the robot may also be provided with no six-dimensional force sensor, and the handle 3-1 of the needleless injector 3 may be directly fixedly mounted on the end flange of the six-degree-of-freedom cooperative mechanical arm 2. Under the structure, the injection process does not need step S116 and step S117, the mechanical arm controller controls the six-degree-of-freedom cooperative mechanical arm 2 to move to the injection position, and the injection head 3-2 of the needle-free injector 3 is contacted with the buttocks of pigs so as to spray vaccine liquid medicine.
The above description is only for the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art.
Claims (1)
1. The live pig vaccine injection robot is characterized by comprising a wheel type moving platform, a six-degree-of-freedom cooperative mechanical arm, a needle-free injector, an RGB-D camera, a camera support, a six-dimensional force sensor and a control system, wherein the six-degree-of-freedom cooperative mechanical arm is connected with the wheel type moving platform, the needle-free injector is provided with a handle and an injection head, and the handle is fixedly connected with a tail end flange of the six-degree-of-freedom cooperative mechanical arm; the camera support is connected with the tail end of the six-degree-of-freedom cooperative mechanical arm, and the RGB-D camera is fixedly connected with the camera support; the wheel type mobile platform is provided with a mobile platform main controller and a motor driver, and the motor driver is connected with the mobile platform main controller; the six-dimensional force sensor is connected with the tail end flange of the six-degree-of-freedom cooperative mechanical arm, and the handle of the needleless injector is fixedly connected with the connecting flange of the six-dimensional force sensor;
the control system comprises an upper computer, an RFID electronic ear tag, an RFID ear tag identifier, a mechanical arm controller, a gateway and a cloud platform, wherein the mechanical arm controller is arranged in a wheeled mobile platform, the RFID ear tag identifier is communicated with the cloud platform through the gateway, the upper computer is communicated with the cloud platform through the gateway, the mechanical arm controller is connected with the upper computer, the six-dimensional force sensor is connected with the upper computer, the RGB-D camera is connected with the upper computer, and the mobile platform main controller is connected with the upper computer;
the working process of the live pig vaccine injection robot is as follows:
step S101, connecting the RFID ear tag identifier to a water trough in a colony house, and fixing the RFID electronic ear tag on ears of pigs; the RFID electronic ear tag is provided with ID information and position information; the RFID tag identifier uploads the ID information and the position information acquired from the RFID electronic tag to the cloud platform through a WIFI network in real time;
step S102, enabling the live pig vaccine injection robot to move to a waiting position near the colony house, wherein the six-degree-of-freedom cooperative mechanical arm is in an initial pose;
step S103, the upper computer accesses the cloud platform through the WIFI network and inquires ID information and position information in the cloud platform;
step S104, judging whether the ID information and the position information are inquired, if so, entering step S105, otherwise, returning to step S103;
step S105, the upper computer acquires ID information and position information of pigs to be injected from a cloud platform;
step S106, the upper computer sends a motion control instruction to a mobile platform main controller of the wheeled mobile platform;
step S107, the platform main controller generates a motor driving signal according to the motion control instruction and sends the motor driving signal to a motor driver of the wheel type mobile platform, and the motor driver drives a motor for driving wheels in the wheel type mobile platform to work, so that the wheel type mobile platform moves into a target housing, and the wheel type mobile platform moves to the side of a pig drinking water;
step S108, judging whether the upper computer inquires the ID information and the position information, if so, entering step S109, otherwise, returning to step S104;
step S109, the upper computer sends a control instruction to the mechanical arm controller, and the mechanical arm controller controls the six-degree-of-freedom cooperative mechanical arm to move from an initial pose to a pig sideways photographing pose;
step S110, the upper computer controls the RGB-D camera to photograph the sides of the pigs so as to obtain the image information of the pigs, and the image information is sent to the upper computer;
step S111, the upper computer identifies the roll of the pig through a visual identification technology according to the image information, calculates the hip photographing pose according to the spatial position information of the hip in the identified roll, further calculates the target rotation angles of 6 joints of the six-degree-of-freedom cooperative mechanical arm, and then sends the target rotation angle data to the mechanical arm controller;
step S112, the upper computer sends a control instruction to the mechanical arm controller, and the mechanical arm controller controls the six-degree-of-freedom cooperative mechanical arm to move to a pig buttock photographing pose;
step S113, the upper computer controls the RGB-D camera to photograph the buttocks of the pigs so as to obtain image information of the buttocks of the pigs, and the image information of the buttocks of the pigs is sent to the upper computer;
step S114, the upper computer identifies the injectable area of the pig buttocks through a visual identification technology according to the image information of the pig buttocks, selects the central position coordinate of the injectable area as an injection part, calculates the injection pose according to the central position coordinate and a normal vector, further calculates the target rotation angles of 6 joints of the six-degree-of-freedom cooperative mechanical arm, and then sends the target rotation angle data to the mechanical arm controller;
step S115, the mechanical arm controller controls the six-degree-of-freedom cooperative mechanical arm to move to an injection pose;
and step S116, the mechanical arm controller controls the six-degree-of-freedom cooperative mechanical arm to move back to the pig buttock photographing position, then to the pig lateral photographing position, and finally to move back to the initial position, so that the injection action is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110907776.1A CN113599013B (en) | 2021-08-09 | 2021-08-09 | Live pig vaccine injection robot and vaccine injection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110907776.1A CN113599013B (en) | 2021-08-09 | 2021-08-09 | Live pig vaccine injection robot and vaccine injection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113599013A CN113599013A (en) | 2021-11-05 |
| CN113599013B true CN113599013B (en) | 2024-03-29 |
Family
ID=78339967
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110907776.1A Active CN113599013B (en) | 2021-08-09 | 2021-08-09 | Live pig vaccine injection robot and vaccine injection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113599013B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114533333A (en) * | 2021-12-28 | 2022-05-27 | 杭州乔戈里科技有限公司 | Automatic injection robot and injection method thereof |
| CN114946688B (en) * | 2022-05-25 | 2023-04-07 | 浙江华牧科技有限公司 | Live pig vaccine robot service management system based on intelligent ear tag pre-recognition |
| CN116725730B (en) * | 2023-08-11 | 2023-12-05 | 北京市农林科学院智能装备技术研究中心 | Pig vaccine injection method, system and storage medium based on visual guidance |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101201430B1 (en) * | 2012-01-18 | 2012-11-23 | 대한민국 | Automatic injection method and apparatus of vaccine for a fish |
| KR101277802B1 (en) * | 2012-11-22 | 2013-06-27 | 대한민국 | Automatic injection apparatus of vaccine for a fish |
| CN110368131A (en) * | 2019-06-10 | 2019-10-25 | 义乌市禾安农业科技有限公司 | A kind of automatic injection vaccine system |
| CN110882083A (en) * | 2019-12-10 | 2020-03-17 | 四川七环猪种改良有限公司 | Automatic injection equipment for pig vaccines |
-
2021
- 2021-08-09 CN CN202110907776.1A patent/CN113599013B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101201430B1 (en) * | 2012-01-18 | 2012-11-23 | 대한민국 | Automatic injection method and apparatus of vaccine for a fish |
| KR101277802B1 (en) * | 2012-11-22 | 2013-06-27 | 대한민국 | Automatic injection apparatus of vaccine for a fish |
| CN110368131A (en) * | 2019-06-10 | 2019-10-25 | 义乌市禾安农业科技有限公司 | A kind of automatic injection vaccine system |
| CN110882083A (en) * | 2019-12-10 | 2020-03-17 | 四川七环猪种改良有限公司 | Automatic injection equipment for pig vaccines |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113599013A (en) | 2021-11-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113599013B (en) | Live pig vaccine injection robot and vaccine injection method | |
| CN108628319B (en) | Intelligent obstacle avoidance system of sweeping robot | |
| CN108848889B (en) | Leaf vegetable harvesting mechanical device based on image recognition and control method thereof | |
| WO2015145422A1 (en) | Livestock location system | |
| CN112975890A (en) | Intelligent inspection robot | |
| CN109479746B (en) | Robot pet teasing control method and chip | |
| CN110755664A (en) | Autonomous mobile intelligent atomization disinfection robot | |
| CN110480644A (en) | A kind of pig farm crusing robot based on UWB positioning | |
| CN107624656A (en) | Pig house intelligence cleaning up excrement robot and control system | |
| CN109676624A (en) | A kind of field target detection robot platform based on deep learning | |
| CN106003028A (en) | Control system of pesticide spraying robot and control method | |
| CN111700544A (en) | Anti-collision control system and control method of intelligent cleaning robot | |
| CN113069574A (en) | Self-propelled intelligent cleaning robot | |
| CN109601349A (en) | Comprehensive avoidance Intelligent watering robot and control method based on single ultrasonic sensor | |
| CN211433749U (en) | Intelligent wheelchair control system with target tracking and tumble detection functions | |
| CN113031609A (en) | Automatic moving disinfection trolley based on machine vision | |
| CN108814442A (en) | A kind of sweeping robot hole limit for height detection device and method | |
| CN213290282U (en) | Intelligent robot system | |
| CN113262072B (en) | Application method of intelligent atomization device for spraying phage biological agent | |
| CN113031608A (en) | Travelling mechanism of movable disinfection trolley | |
| CN110738172B (en) | Underwater organism trapping and killing method and system | |
| CN212889891U (en) | Unmanned solar self-walking full-automatic disinfection vehicle | |
| CN209861898U (en) | Milk cow cooling system | |
| CN208993511U (en) | The positioning device that charges and system | |
| CN209717724U (en) | Security protection crusing robot |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |