CN114043493A - Inspection robot and inspection method for cage chicken house - Google Patents
Inspection robot and inspection method for cage chicken house Download PDFInfo
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- CN114043493A CN114043493A CN202111324568.5A CN202111324568A CN114043493A CN 114043493 A CN114043493 A CN 114043493A CN 202111324568 A CN202111324568 A CN 202111324568A CN 114043493 A CN114043493 A CN 114043493A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
Abstract
The invention discloses a robot and a method for inspecting a cage chicken house, wherein the robot comprises a crawler-type mobile platform and an electric lifting platform, the electric lifting platform is arranged on the crawler-type mobile platform, an environment monitoring sensor group is arranged along the height direction of the electric lifting platform, a row of monitoring cameras and pickup microphone sensors are respectively arranged on the left side and the right side along the height direction of the electric lifting platform, the monitoring cameras and the pickup microphone sensors are aligned to chickens in the cage to be inspected by the electric lifting platform, and an inertial navigation sensor, an ultrasonic sensor array and a touch sensor with vibration isolation devices are carried on the crawler-type mobile platform. The invention is based on a crawler-type mobile platform, an electric lifting platform, a monitoring camera, an environment monitoring sensor group and an environment monitoring sensor group, and realizes the functions of automatic inspection, accurate monitoring of the growth condition of individual livestock and poultry and dynamic monitoring of the spatial distribution of environmental parameters of multi-layer cage-cultured poultry by combining the advantages of structural design and environment, sound collection and video multi-source information monitoring technology.
Description
Technical Field
The invention relates to a robot and a method for inspecting a cage-rearing chicken house, belonging to the technical field of intelligent rearing in livestock and poultry farms.
Background
In recent years, the livestock breeding industry is rapidly developed, and the traditional individual household breeding mode is changed to large-scale, intensive and three-dimensional livestock breeding enterprises. The production management method of livestock and poultry breeding enterprises is also developed from the traditional artificial breeding management mode to the modern intelligent production modes such as mechanization and automation technology, so that the livestock and poultry production and breeding are more scientific, intelligent and efficient. In the intelligent and automatic process of livestock and poultry breeding, the important link is that not only the environmental condition of a farm needs to be monitored in real time, but also the growth condition of individual livestock and poultry needs to be observed. The importance of the environmental information of the livestock and poultry farm lies in that reasonable environmental control is carried out on the environment of the livestock and poultry farm mainly aiming at the indoor environment (temperature, humidity, illumination, hydrogen sulfide, ammonia gas, carbon dioxide, wind speed and the like) of the farm, so that the environment in the farm meets the optimal standard requirement, the occurrence of diseases in the livestock and poultry farm is reduced, the harm and death caused by livestock and poultry diseases are reduced, a good growth environment can be provided for the livestock and poultry, the healthy growth and production of the livestock and poultry are improved, the quality and the yield of the livestock and poultry are improved, and the purposes of improving the breeding rate, increasing the production and saving the cost are achieved. The monitoring of the growth conditions of the livestock and poultry is to observe relevant growth states of the livestock and poultry, such as diet, drinking water, egg laying, activity conditions, mental states and the like, so that the management of individual growth information of the livestock and poultry is facilitated, the analysis of the physiological, health and welfare states of the livestock and poultry is facilitated, a basis is provided for intellectualization and informatization of production and breeding, and scientific guidance is provided for subsequent refined breeding.
At present, in the field of livestock and poultry breeding, an environment monitoring system is widely used, but not only information on fixed-point environment equipment needs to be manually recorded at regular time, but also the growth state of each individual livestock and poultry needs to be recorded in a manual observation mode. The livestock and poultry farm is generally used for three-dimensional cultivation, the environment information at different heights and different positions is different, the cultivation density is high, the working environment is poor, and the labor intensity is high. Therefore, the industry needs to develop an inspection robot which can replace manpower to inspect the growth state of the cultured individuals and monitor the environmental information with different heights.
Disclosure of Invention
The invention aims to overcome the defects of the existing measuring method and provides a cage-rearing chicken house inspection robot which is based on a crawler-type mobile platform, an electric lifting platform, a monitoring camera and an environment monitoring sensor group and combines the advantages of structural design and environment, sound collection and video multi-source information monitoring technology to realize the functions of automatic inspection of high-rise cage-rearing poultry, accurate monitoring of the growth condition of individual livestock and poultry and dynamic monitoring of the spatial distribution of environmental parameters.
The second purpose of the invention is to provide a cage chicken house patrol inspection method, which is realized based on the cage chicken house patrol inspection robot.
The first purpose of the invention can be achieved by adopting the following technical scheme:
a robot for inspecting a cage chicken house comprises a crawler-type mobile platform and an electric lifting platform, wherein the electric lifting platform is arranged on the crawler-type mobile platform, an environment monitoring sensor group is arranged along the height direction of the electric lifting platform, the number of the environment sensor groups is determined according to the total height of the chicken coop to be inspected, a row of monitoring cameras and pickup microphone sensors are respectively arranged on the left side and the right side along the height direction of the electric lifting platform, the number of the monitoring cameras and the pickup microphone sensors in each row is determined according to the number of the layers of the chicken coops, the installation height is determined according to the height of each layer of the chicken coops to be inspected, the electric lifting platform automatically controls the lifting according to the inspection requirement and the height of the coop, so that the monitoring camera and the pickup microphone sensor are aligned with the chickens in the inspected coop, the crawler-type mobile platform is provided with an inertial navigation sensor, an ultrasonic sensor array and a touch sensor.
Furthermore, the number of the environment sensor groups is three, the three environment sensor groups are respectively a first environment sensor group, a second environment sensor group and a third environment sensor group, and the first environment sensor group, the second environment sensor group and the third environment sensor group are respectively arranged at the top, the middle and the bottom of the electric lifting platform; and the top of the electric lifting platform is also provided with an antenna device and a wind speed sensor.
Further, environmental parameter sensor group all includes temperature and humidity sensor, light intensity sensor, hydrogen sulfide sensor, ammonia sensor, carbon dioxide sensor, liquid crystal display, environmental monitoring host computer and loRa data transmission radio station, the environmental monitoring host computer is connected with temperature and humidity sensor, light intensity sensor, hydrogen sulfide sensor, ammonia sensor, carbon dioxide sensor, air velocity transducer, liquid crystal display, loRa data transmission radio station respectively.
Further, the crawler-type mobile platform comprises a vehicle body, a motor, a speed reducer, a motor driver, an embedded controller and an industrial personal computer, wherein the motor, the speed reducer, the motor driver, an RFID card reader, the embedded controller and the industrial personal computer are arranged on the vehicle body, the embedded controller is respectively connected with the motor driver, the RFID card reader, the industrial personal computer, an inertial navigation sensor, an ultrasonic sensor array and a touch sensor, the motor driver is connected with the motor, an output shaft of the motor is connected with an input shaft of the speed reducer, encoders are mounted on the output shaft of the motor and an output shaft of the speed reducer, and the encoders are connected with the motor driver.
Furthermore, the inertial navigation sensor is arranged in the middle of the vehicle body, and the inertial navigation sensor is fixedly connected with the vehicle body through a vibration isolation device.
Furthermore, the number of the ultrasonic sensor arrays is two, and the two ultrasonic sensor arrays are respectively arranged at the head and the tail of the vehicle body.
Furthermore, the number of the touch sensors is two, and the two touch sensors are respectively arranged at the head and the tail of the vehicle body.
Furthermore, the monitoring camera and the pickup microphone sensor are transmitted to the industrial personal computer through a bus, and audio and video information is transmitted to a computer terminal through a radio station which is connected with the industrial personal computer and integrates the number of pictures, or the audio and video information is transmitted to the computer terminal through WiFi (wireless fidelity) carried by the industrial personal computer.
Furthermore, the monitoring cameras and the pickup microphone sensors with the same height in the left column and the right column are fixedly connected with the lifting electric push rod of the electric lifting table through bolts by using two same fixed supports, and the fixed supports are respectively arranged at different parts of the electric push rod according to different heights of the layers of the coops.
The second purpose of the invention can be achieved by adopting the following technical scheme:
a cage chicken house patrol inspection method is realized based on the cage chicken house patrol inspection robot, and comprises the following steps:
controlling the cage chicken house inspection robot to inspect according to a pre-programmed path, and realizing a parking function when the distance between obstacles in the left front direction, the right front direction and the right front direction is less than a safety distance; when the obstacle on the front side is smaller than the safety distance, if the safety distance on the left side is larger than that on the right side, the left-side detour is selected, and if the safety distance on the right side is larger than that on the left side, the right-side detour is selected; according to the distance fed back by the right left ultrasonic sensor, the right front ultrasonic sensor, the left front ultrasonic sensor, the right front ultrasonic sensor and the right ultrasonic sensor, the purpose of keeping the distance between the vehicle and the obstacle in the left and right directions to be equal is achieved; the inspection robot is kept to be close to the left or close to the right to inspect at a certain distance from the barrier;
in the moving process of the cage chicken house inspection robot, an embedded controller of a crawler-type moving platform acquires information of an encoder and an inertial navigation sensor of a motor, calculates position and attitude information according to the current moving distance and the course angle, and continuously updates the current position and attitude information of an inspection trolley; the course angle acquired by the inertial navigation sensor is used for controlling the inspection trolley to continuously inspect according to a given track, so that inertial navigation is realized;
when the inspection robot for the cage chicken house runs to a specified position through inertial navigation, the RFID card reader senses position information, the embedded controller of the crawler-type mobile platform controls the lifting electric push rod to lift to an inspection height, then inspection is started, and after inspection is finished, the lifting electric push rod descends to the original height; when a monitoring camera on the lifting electric push rod detects a caged chicken target, the monitoring camera sends a lifting instruction to the embedded controller, the lifting electric push rod starts to patrol after rising to the patrol height, when the monitoring camera does not detect the caged chicken target any more, a descending instruction is sent to the embedded controller, and the lifting electric push rod descends to the initial height.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, a plurality of monitoring cameras with different heights and different angles are arranged on the electric lifting platform, the monitoring cameras are connected with a wireless local area network in a livestock and poultry farm, shot pictures are uploaded to a monitoring room host in the automatic inspection process of the inspection trolley, and meanwhile, identification and behavior information of a plurality of livestock and poultry individuals are identified, so that recording and management of information parameters such as health diet of the livestock and poultry breeding individuals are realized, heavy traditional manual inspection observation and manual recording are replaced, and a foundation is provided for realizing intelligent and automatic breeding in the livestock and poultry breeding industry.
2. The invention installs environment monitoring equipment on the upper surface of a crawler-type mobile platform and the middle part and the top part of an electric lifting platform, the electric lifting platform rises to a certain height when an inspection robot starts to work, an environment monitoring host positioned at different heights acquires data of sensors, including data of a temperature and humidity sensor, a light illumination sensor, a hydrogen sulfide sensor, an ammonia sensor, a carbon dioxide sensor, a wind speed sensor and the like, converts the acquired data into a Modbus protocol and sends the Modbus protocol to a LoRa digital transmission station through an RS485 interface, the LoRa digital transmission station positioned at a vehicle-mounted mobile end sends environment information acquired by an inspection trolley into a monitoring room, thereby realizing automatic measurement, automatic transmission, automatic recording and management of three-dimensional mobile environment monitoring data of a livestock and poultry farm, replacing the traditional manual timing fixed-point recording, and accurately reflecting the environment of the livestock and poultry farm on a three-dimensional space, the system provides a basis for digital recording, precision and regional environment regulation of the environmental parameters of the livestock and poultry farm, is favorable for realizing intelligent and automatic regulation of the environmental regulation and control equipment of the farm, creates a better breeding environment and improves the production quality.
3. According to the invention, the embedded controller is used for acquiring the information of the motor controller, the actual running speed is obtained after calculation, meanwhile, the information of the inertial navigation sensor is acquired in real time, and the current speeds of the left motor and the right motor are adjusted by combining the running speed, the angle and the acceleration information to form closed-loop control, so that the correction of the running direction and the angle is realized; the ultrasonic sensor on the vehicle body detects the distance between the front and rear obstacles in real time and returns data to the embedded controller, so that the obstacle avoidance function is realized; the touch sensor positioned in front of and behind the vehicle body returns a switch signal to the embedded controller when the ultrasonic sensor has a blind area or an object which cannot be detected is contacted, so that an anti-collision function can be realized; the inspection robot can automatically control the lifting platform according to the position information of the RFID or the inspection image; the autonomous navigation of the inspection robot provides a reliable crawler-type mobile platform for the automatic operation in the farm, greatly reduces the labor intensity of workers, and provides guarantee for the realization of intelligent and automatic culture operation in the follow-up farm.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic perspective view of a caged chicken house inspection robot according to an embodiment of the invention.
Fig. 2 is a schematic front view structure diagram of the inspection robot for the cage chicken house in the embodiment of the invention.
Fig. 3 is a schematic side view of the inspection robot for the caged chicken house according to the embodiment of the invention.
Fig. 4 is a schematic top view of the inspection robot for the caged chicken house according to the embodiment of the invention.
Fig. 5 is a schematic view of the installation position of the vibration isolation device of the inspection robot for the caged chicken house in the embodiment of the invention.
Fig. 6 is a schematic view of a fixing plate of the inspection robot for the caged chicken house in the embodiment of the invention.
Fig. 7 is a schematic view of a fixing part of the caged chicken house inspection robot in the embodiment of the invention.
Fig. 8 is a schematic view of the assembly of the lifting electric push rod part of the inspection robot for the caged chicken house in the embodiment of the invention.
Fig. 9 is a schematic view of a fixing bracket of the caged chicken house inspection robot according to the embodiment of the invention.
The system comprises a crawler-type moving platform, a 2-electric lifting platform, a 201-lifting electric push rod, a 202-fixed support, a 3-monitoring camera and pickup microphone sensor, a 4-ultrasonic sensor array, a 5-touch sensor, a 6-first environment monitoring box, a 7-second environment monitoring box, a 8-third environment monitoring box, an 9-antenna device, a 10-wind speed sensor, a 11-first fixed structure, a 1101-fixed plate, a 1102-fixed part, a 12-second fixed structure and a 13-vibration isolation device.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
Example (b):
as shown in fig. 1 to 5, the embodiment provides a robot for inspecting a chicken coop in a cage, the robot includes a crawler-type moving platform 1 and an electric lifting platform 2, the electric lifting platform 2 is arranged on the crawler-type moving platform 1, an environment monitoring sensor group is arranged in the height direction of the electric lifting platform 2, the number of the environment monitoring sensor groups is determined according to the overall height of the chicken coop to be inspected, and the number of the environment monitoring sensor groups is three in the embodiment; the left side and the right side of the electric lifting table 2 in the height direction are respectively provided with a row of monitoring cameras and pickup microphone sensors 3, the number of the monitoring cameras and the microphone sensors in each row is determined according to the number of layers of the coop, the installation height is determined according to the height of each layer of the coop to be inspected, the number of the monitoring cameras and the pickup microphone sensors 3 is six, and the six monitoring cameras and the pickup microphone sensors 3 are distributed on the electric lifting table 2 in an up-down mode and a left-right mode to form a topological structure; the electric lifting platform 2 is automatically controlled to lift according to the inspection requirement of the monitoring camera 3 and the height of the coop, so that the monitoring camera and the pickup microphone sensor 3 are aligned to the chicken of the inspected coop, and the crawler-type moving platform 1 is provided with an inertial navigation sensor with a vibration isolation device, an ultrasonic sensor array 4 and a touch sensor 5.
Further, the three environment monitoring sensor groups are respectively a first environment monitoring sensor group, a second environment monitoring sensor group and a third environment monitoring sensor group, the first environment monitoring sensor group is installed in the first environment monitoring box 6, the second environment monitoring sensor group is installed in the second environment monitoring box 7, the third environment monitoring sensor group is installed in the second environment monitoring box 8, and the first environment monitoring box 6, the second environment monitoring box 7 and the third environment monitoring box 8 are respectively installed at the top, the middle and the bottom of the electric lifting platform 2; besides the first environment monitoring sensor group, the top of the electric lifting platform 2 is also provided with an antenna device 9 and an air speed sensor 10, and the air speed sensor 10 is used for measuring air speed information in the henhouse.
Further, the first environment monitoring box 6 is installed at the top of the electric lifting platform 2 through a first fixing structure 11, and the second environment monitoring box 7 is installed at the middle of the electric lifting platform 2 through a second fixing structure 11; first environment monitoring case 6, second environment monitoring case 7 and third environment monitoring case 8 are supplied power by crawler-type moving platform 1, the not co-altitude environmental information collection of plant is realized along with electric lift 2's lift to first environment monitoring sensor group and second environment monitoring sensor group, specifically reach the upper strata and the middle level in plant space along with electric lift 2's rising, be responsible for gathering upper strata and middle level environmental information, and the collection of bottom environmental information is then realized to third environment monitoring sensor group.
Further, the first fixing structure 11 and the second fixing structure 12 have the same structure, taking the first fixing structure 11 as an example, as shown in fig. 6 and 7, the first fixing structure 11 includes a fixing plate 1101 and a fixing member 1102, the first environment monitoring box 6 is mounted on the fixing plate 1101 of the first fixing structure 11, the fixing member 1102 of the first fixing structure 11 is mounted on the top end of the electric lift table 2, and the fixing plate 1101 is fixedly connected with the fixing member 1102; similarly, the second environmental monitoring box 7 is installed on the fixing plate of the second fixing structure 12, and the fixing member of the second fixing structure 12 is installed in the middle of the electric lift table 2.
Further, first environment monitoring case 6, second environment monitoring case 7 and third environment monitoring case 8 all include temperature and humidity sensor, light intensity sensor, hydrogen sulfide sensor, ammonia sensor, carbon dioxide sensor, liquid crystal display, environment monitoring host computer and loRa data transfer radio station, the environment monitoring host computer respectively with temperature and humidity sensor, light intensity sensor, hydrogen sulfide sensor, ammonia sensor, carbon dioxide sensor, liquid crystal display, loRa data transfer radio station is connected for measure and show information such as the temperature in beasts and birds plant, humidity, light intensity, hydrogen sulfide concentration, ammonia concentration and carbon dioxide concentration.
In this embodiment, after the environmental monitoring host computer received the data inquiry instruction through loRa data radio station, read temperature and humidity sensor in proper order apart from the fixed time, light intensity sensor, hydrogen sulfide sensor, ammonia sensor, carbon dioxide sensor, sensor information such as air velocity transducer, after data processing, convert the information of these sensors into the Modbus agreement in unison, then give loRa data radio station through RS485 serial communication standard interface with data transmission, the information of every loRa data radio station is gathered to loRa data radio station gateway, send for the monitor after the integration, accomplish beasts and birds plant's environmental data three-dimensional automatic measure, automatic transmission, automatic recording and management.
Further, the crawler-type mobile platform 1 comprises a vehicle body, a motor, a speed reducer, a motor driver, an embedded controller and an industrial personal computer, wherein the motor, the speed reducer, the motor driver, an RFID card reader and the embedded controller are arranged on the vehicle body, the embedded controller is respectively connected with the motor driver, the RFID card reader, the industrial personal computer, an inertial navigation sensor, an ultrasonic sensor array and a touch sensor, the motor driver is connected with the motor, an output shaft of the motor is connected with an input shaft of the speed reducer, encoders are installed on an output shaft of the motor and an output shaft of the speed reducer and are connected with the motor driver, and the encoders are incremental encoders for rotating speed feedback and rotating angle recording so as to realize rotating speed control. The RFID card reader is used for reading the information of the key position of the coop.
Specifically, the inertial navigation sensor is arranged in the middle of the vehicle body, and the inertial navigation sensor is fixedly connected with the vehicle body through the vibration isolation device 13, so that disturbance of vehicle body vibration on the inertial navigation sensor is reduced.
In the embodiment, the motor is two independent brushless direct current motors, power is output to the driving wheels after passing through the speed reducer, high-speed motion of the motor is changed into low-speed high-torque rotation, left-right independent control is achieved, the motor driver adopts an integrated two-path brushless motor driver, and the embedded controller collects encoder data and then achieves closed-loop control and position recording of the rotating speed of the motor; the inertial navigation sensor is arranged in the middle of the vehicle body, a nine-axis gyroscope is adopted to measure the heading, the roll, the pitch angle, the speed angle, the acceleration and the magnetic compass of the trolley, data are transmitted to the embedded controller through a serial port, and the embedded controller obtains the rotation angle and the encoder information to realize the correction of the driving angle.
Furthermore, the embedded controller is connected with an industrial personal computer through a USB and is responsible for collecting the information of the sensor of the inspection robot; specifically, the embedded controller patrols and examines according to a pre-programmed path, sends a speed instruction to a motor driver through a CAN communication interface, the motor driver analyzes the speed instruction, converts the speed into the rotating speed of a motor, drives the motor to rotate according to the corresponding speed, reduces the speed by the motor through a speed reducer, increases the torque, and then drives the cage chicken house patrolling and examining robot to walk; the embedded controller sends a speed control instruction and a rotating speed reading instruction to the motor controller at the same time, reads the real-time rotating speeds of the left motor and the right motor, collects the angle information of the mobile robot in real time, and sends the data to the embedded controller through a serial port; the embedded controller collects the rotating speeds of the left motor and the right motor and the course information of the mobile robot in real time, and corrects the running track according to the rotating speeds of the left motor and the right motor, the running distance and the course angle to ensure that the cage chicken house inspection robot runs on the preset track.
Further, ultrasonic sensor array 4 is two, two ultrasonic sensor arrays 4 set up respectively at the head and the afterbody of automobile body, be used for the barrier to detect, realize keeping away the barrier function, ultrasonic sensor array 4 adopts many detection area ultrasonic waves, all has the perception ability of five directions, including right left, left front, right front and right direction, be responsible for the place ahead, rear barrier detects, the ultrasonic wave passes through the RS485 interface with the barrier information of front and back with data transmission for embedded controller, embedded controller acquires front and back barrier distance in real time, realize meetting the function of barrier automatic stop.
Further, two touch sensors 5 are arranged, the two touch sensors 5 are arranged at the head and the tail of the vehicle body, the touch sensors 5 are normally open type safe touch edges and are connected with an I/O port of the embedded controller, a switch signal is fed back to the embedded controller, collision detection is achieved, and the crawler-type moving platform can be stopped when in collision.
The crawler-type moving platform 1 of this embodiment is crawler-type removal chassis, and whole car is square pipe frame, and the battery is put at the locomotive, and motor and reduction gear are put at the rear of a vehicle, leave the space in the middle of the automobile body, realize evenly distributed around weight.
As shown in fig. 1 to 5 and 8 to 9, the electric lift platform 2 includes a lifting electric push rod 201 and six fixed supports 202, the lifting electric push rod 201 is disposed in the center of the crawler-type mobile platform 1, the six fixed supports 202 are installed at the bottom, middle and top of the lifting electric push rod 201 in a pairwise fit manner, two monitoring cameras and pickup microphone sensors 3 are installed at the left and right sides of the fixed support at the bottom of the lifting electric push rod by the two fixed supports 202 through bolt fastening fit, the two monitoring cameras and pickup microphone sensors 3 are installed at the left and right sides of the fixed support at the middle of the lifting electric push rod by the two fixed supports 202 through bolt fastening fit, the two monitoring cameras and pickup microphone sensors 3 are installed at the left and right sides of the fixed support at the top of the lifting electric push rod by the two fixed supports 202 through bolt fastening fit, the topological structure formed by the six monitoring cameras and the pickup microphone sensors 3 and distributed vertically can be used for monitoring environmental information of the chicken house at different heights, three-dimensional monitoring of the livestock and poultry farm environment is achieved, a related fixed structure is designed according to the structural characteristics of the monitoring cameras and the pickup microphone sensors 3, meanwhile, the number and the installation height of the monitoring cameras and the pickup microphone sensors 3 can be adjusted according to the actual situation of the chicken house, and multi-angle, multi-height and multi-target synchronous monitoring is achieved; the first environment monitoring box 6 is installed on the top of the lifting electric push rod 201 through the first fixing structure 11, and the second environment monitoring box 7 is installed in the middle of the lifting electric push rod 201 through the second fixing structure 12.
Furthermore, the monitoring cameras 3 are network cameras and fixed on two side surfaces of the lifting type electric push rod 201, a power supply adopts 12V power supply provided by a mobile robot chassis, and the monitoring cameras identify individual growth conditions and transmit monitoring pictures to a monitoring room host through a wireless local area network connected with a livestock and poultry farm; the lifting electric push rod 201 is a square column electric push rod, the side surfaces of the four sides are planes, the lifting electric push rod 201 is fixed on a platform at the top of the inspection trolley through screws, the lifting electric push rod 201 is connected with the embedded controller, and the embedded controller realizes lifting control of the lifting electric push rod 201 according to inspection conditions.
The embodiment also provides a cage chicken house patrol inspection method, which is realized based on the cage chicken house patrol inspection robot and comprises the following steps:
s1, controlling the inspection robot of the cage chicken house to move, and realizing a parking function when the distance between obstacles in the left front direction, the right front direction and the right front direction is smaller than a safe distance; when the obstacle on the front side is smaller than the safety distance, if the safety distance on the left side is larger than that on the right side, the left-side detour is selected, and if the safety distance on the right side is larger than that on the left side, the right-side detour is selected; according to the distance fed back by the right left ultrasonic sensor, the right front ultrasonic sensor, the left front ultrasonic sensor, the right front ultrasonic sensor and the right ultrasonic sensor, the purpose of keeping the distance between the vehicle and the obstacle in the left and right directions to be equal is achieved; the robot is kept to patrol and examine by the left side or the right side at a certain distance from the barrier.
S2, in the moving process of the inspection robot for the coop, an embedded controller of the crawler-type moving platform collects information of an encoder and an inertial navigation sensor of a motor, calculates position and attitude information according to the current moving distance and the course angle, and continuously updates the current position and attitude information of the inspection trolley; and the course angle acquired by the inertial navigation sensor is used for controlling the inspection trolley to continuously inspect according to a given track, so that inertial navigation is realized.
S3, when the inspection robot for the cage chicken coop travels to a specified position through inertial navigation, the RFID card reader senses position information, the embedded controller of the crawler-type mobile platform controls the lifting electric push rod to lift to reach an inspection height, then inspection is started, and after the inspection is finished, the lifting electric push rod descends to the original height; when a monitoring camera on the lifting electric push rod detects a caged chicken target, the monitoring camera sends a lifting instruction to the embedded controller, the lifting electric push rod starts to patrol after rising to the patrol height, when the monitoring camera does not detect the caged chicken target any more, a descending instruction is sent to the embedded controller, and the lifting electric push rod descends to the initial height.
Those of ordinary skill in the art will appreciate that the various illustrative modules and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided by the present invention, it should be understood that the disclosed apparatus, device and method can be implemented in other ways. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only a logical division, and there may be other divisions when the actual implementation is performed, or units having the same function may be grouped into one unit, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.
In conclusion, the monitoring cameras with different heights and different angles are installed on the electric lifting platform, the monitoring cameras are connected with the wireless local area network in the livestock and poultry farm, shot pictures are uploaded to the host computer of the monitoring room in the automatic inspection process of the inspection trolley, and meanwhile, the identity information of a plurality of livestock and poultry individuals is identified and behavior information is recorded, so that recording and management of information parameters such as healthy diet of the livestock and poultry breeding individuals are realized, heavy traditional manual inspection observation and manual recording are replaced, and a foundation is provided for realizing intelligent and automatic breeding in the livestock and poultry breeding industry.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a robot is patrolled and examined in chicken coop of raising in cages, its characterized in that, includes crawler-type moving platform and electric lift platform, electric lift platform sets up on crawler-type moving platform, is provided with environment monitoring sensor group along electric lift platform's direction of height, the quantity of environment sensor group is according to patrolling and examining chicken coop overall height and confirming, respectively sets up a surveillance camera head and pickup microphone sensor along electric lift platform's direction of height in the left and right sides, and the quantity of surveillance camera head and pickup microphone sensor is confirmed according to the chicken coop number of piles in every row, and the mounting height is according to every layer of chicken coop height of patrolling and examining, electric lift platform goes up and down according to patrolling and examining demand and chicken coop height automatic control, makes surveillance camera head and pickup microphone sensor aim at the chicken of patrolling and examining the chicken coop, the last dress of crawler-type moving platform carries on inertia navigation sensor, An ultrasonic sensor array and a touch sensor.
2. The inspection robot for the cage-rearing chicken coop according to claim 1, wherein the number of the environment sensor groups is three, the three environment sensor groups are respectively a first environment sensor group, a second environment sensor group and a third environment sensor group, and the first environment sensor group, the second environment sensor group and the third environment sensor group are respectively installed at the top, the middle and the bottom of the electric lifting platform; and the top of the electric lifting platform is also provided with an antenna device and a wind speed sensor.
3. The robot is patrolled and examined in cage-rearing chicken coop of claim 2, characterized in that, environmental parameter sensor group all includes temperature and humidity sensor, light intensity sensor, hydrogen sulfide sensor, ammonia sensor, carbon dioxide sensor, liquid crystal display, environment monitoring host computer and loRa digital transmission radio station, the environment monitoring host computer is connected with temperature and humidity sensor, light intensity sensor, hydrogen sulfide sensor, ammonia sensor, carbon dioxide sensor, air velocity transducer, liquid crystal display, loRa digital transmission radio station respectively.
4. The robot is patrolled and examined in cage chicken coop of claim 1, characterized in that, crawler-type moving platform includes automobile body, motor, reduction gear, motor drive, embedded controller and industrial computer, motor, reduction gear, motor drive, RFID card reader, embedded controller and industrial computer setting are on the automobile body, embedded controller is connected with motor drive, RFID card reader, industrial computer, inertial navigation sensor, ultrasonic sensor array, touch sensor respectively, motor drive is connected with the motor, the output shaft of motor is connected with the input shaft of reduction gear, the encoder is installed to the output shaft of motor and the output shaft of reduction gear, the encoder is connected with motor drive.
5. The inspection robot for the cage-rearing chicken coop according to claim 4, wherein the inertial navigation sensor is arranged in the middle of the vehicle body, and the inertial navigation sensor is fixedly connected with the vehicle body through a vibration isolation device.
6. The inspection robot for the cage-rearing chicken house according to claim 4, wherein the number of the ultrasonic sensor arrays is two, and the two ultrasonic sensor arrays are respectively arranged at the head and the tail of the vehicle body.
7. The inspection robot for the cage-rearing chicken house according to claim 4, wherein the number of the touch sensors is two, and the two touch sensors are respectively arranged at the head and the tail of the vehicle body.
8. The inspection robot for the cage-rearing chicken houses according to claim 4, wherein the monitoring camera and the pickup microphone sensor are transmitted to an industrial personal computer through a bus, and audio and video information is transmitted to a computer terminal through a radio station which is connected with the industrial personal computer and integrates figures, or the audio and video information is transmitted to the computer terminal through WiFi of the industrial personal computer.
9. The inspection robot for the cage-rearing chicken coops according to any one of claims 1 to 8, wherein two identical fixing supports for monitoring cameras and pickup microphone sensors at the same height in the left column and the right column are fixedly connected with a lifting electric push rod of an electric lifting table through bolts, and the fixing supports are respectively installed at different positions of the electric push rod according to different heights of the layers of the chicken coops.
10. A cage chicken house patrol inspection method which is realized based on the cage chicken house patrol inspection robot of any one of claims 1-9, and is characterized by comprising the following steps:
controlling the cage chicken house inspection robot to inspect according to a pre-programmed path, and realizing a parking function when the distance between obstacles in the left front direction, the right front direction and the right front direction is less than a safety distance; when the obstacle on the front side is smaller than the safety distance, if the safety distance on the left side is larger than that on the right side, the left-side detour is selected, and if the safety distance on the right side is larger than that on the left side, the right-side detour is selected; according to the distance fed back by the right left ultrasonic sensor, the right front ultrasonic sensor, the left front ultrasonic sensor, the right front ultrasonic sensor and the right ultrasonic sensor, the purpose of keeping the distance between the vehicle and the obstacle in the left and right directions to be equal is achieved; the inspection robot is kept to be close to the left or close to the right to inspect at a certain distance from the barrier;
in the moving process of the cage chicken house inspection robot, an embedded controller of a crawler-type moving platform acquires information of an encoder and an inertial navigation sensor of a motor, calculates position and attitude information according to the current moving distance and the course angle, and continuously updates the current position and attitude information of an inspection trolley; the course angle acquired by the inertial navigation sensor is used for controlling the inspection trolley to continuously inspect according to a given track, so that inertial navigation is realized;
when the inspection robot for the cage chicken house runs to a specified position through inertial navigation, the RFID card reader senses position information, the embedded controller of the crawler-type mobile platform controls the lifting electric push rod to lift to an inspection height, then inspection is started, and after inspection is finished, the lifting electric push rod descends to the original height; when a monitoring camera on the lifting electric push rod detects a caged chicken target, the monitoring camera sends a lifting instruction to the embedded controller, the lifting electric push rod starts to patrol after rising to the patrol height, when the monitoring camera does not detect the caged chicken target any more, a descending instruction is sent to the embedded controller, and the lifting electric push rod descends to the initial height.
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