CN116295663B - Sensing platform for livestock and poultry health inspection and inspection robot - Google Patents
Sensing platform for livestock and poultry health inspection and inspection robot Download PDFInfo
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- CN116295663B CN116295663B CN202310589164.1A CN202310589164A CN116295663B CN 116295663 B CN116295663 B CN 116295663B CN 202310589164 A CN202310589164 A CN 202310589164A CN 116295663 B CN116295663 B CN 116295663B
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- 238000007689 inspection Methods 0.000 title claims abstract description 50
- 244000144972 livestock Species 0.000 title claims abstract description 49
- 244000144977 poultry Species 0.000 title claims abstract description 48
- 230000036541 health Effects 0.000 title claims abstract description 38
- 238000001514 detection method Methods 0.000 claims abstract description 51
- 238000009395 breeding Methods 0.000 claims abstract description 19
- 230000001488 breeding effect Effects 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 6
- QGZKDVFQNNGYKY-UHFFFAOYSA-N Ammonia Chemical compound N QGZKDVFQNNGYKY-UHFFFAOYSA-N 0.000 description 8
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 229910000838 Al alloy Inorganic materials 0.000 description 5
- 229910021529 ammonia Inorganic materials 0.000 description 4
- 229910002092 carbon dioxide Inorganic materials 0.000 description 4
- 239000001569 carbon dioxide Substances 0.000 description 4
- 230000003993 interaction Effects 0.000 description 3
- 238000001816 cooling Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
- G01D11/16—Elements for restraining, or preventing the movement of, parts, e.g. for zeroising
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
- G01D11/24—Housings ; Casings for instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
- G01D11/30—Supports specially adapted for an instrument; Supports specially adapted for a set of instruments
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/70—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in livestock or poultry
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Housing For Livestock And Birds (AREA)
Abstract
The invention relates to the technical field of livestock and poultry breeding, and provides a sensing platform and a patrol robot for livestock and poultry health patrol, wherein the sensing platform for livestock and poultry health patrol comprises: the sensor device and the lifting device; the sensing device comprises a support frame, a mounting shell, a first detection assembly and a second detection assembly; the support frame is rotatably arranged at the lifting end of the lifting device around the first axis, the mounting shell is rotatably arranged on the support frame around the second axis, the first detection component is arranged on the mounting shell, and the second detection component is arranged on the support frame; the first axis is perpendicular to the second axis; the first detection component is used for collecting image information in the breeding house, and the second detection component is used for collecting video information, temperature information, humidity information, harmful gas concentration information and voiceprint information of livestock and poultry in the breeding house; according to the invention, the multi-angle omnidirectional information acquisition is carried out on the cultivation house in a lifting and rotating mode, so that the inspection accuracy is ensured.
Description
Technical Field
The invention relates to the technical field of livestock and poultry breeding, in particular to a sensing platform for livestock and poultry health inspection and an inspection robot.
Background
In the modern livestock and poultry breeding process, the breeding house needs to be periodically inspected so as to realize early detection and early elimination of livestock and poultry epidemic situation.
The existing inspection mode comprises inspection by a breeder and inspection equipment, the inspection mode of the inspection by the breeder has higher professional requirements on the breeder, and the comprehensiveness and accuracy of the inspection cannot be ensured; likewise, it is also difficult to implement flexible omnidirectional inspection during inspection of the inspection device.
Disclosure of Invention
The invention provides a sensing platform and a patrol robot for livestock and poultry health patrol, which are used for solving or improving the problems of poor patrol comprehensiveness and accuracy in the conventional process of patrol of a breeding house.
The invention provides a sensing platform for livestock and poultry health inspection, which comprises the following components: the sensor device and the lifting device; the sensing device comprises a supporting frame, a mounting shell, a first detection assembly and a second detection assembly; the support frame is rotatably arranged at the lifting end of the lifting device around a first axis, the mounting shell is rotatably arranged on the support frame around a second axis, the first detection component is connected with the mounting shell, and the second detection component is connected with the support frame; the first axis is perpendicular to the second axis; the first detection component is used for collecting image information in the breeding house, and the second detection component is used for collecting video information, temperature information, humidity information, harmful gas concentration information and voiceprint information of livestock and poultry in the breeding house.
According to the sensing platform for the livestock and poultry health inspection, the sensing device further comprises a driving piece, wherein the driving piece is connected with the mounting shell and is used for driving the mounting shell to rotate around the second axis; the mounting shell is provided with a first limit switch and a second limit switch, the first limit switch and the second limit switch are respectively arranged on two sides of the second axis, and the first limit switch and the second limit switch are respectively in communication connection with the driving piece.
According to the sensing platform for the livestock and poultry health inspection, the arc-shaped groove is formed in the mounting shell, the second axis is located at the center of the arc-shaped groove, the first limit switch is arranged at one end of the arc-shaped groove, and the second limit switch is arranged at the other end of the arc-shaped groove; the support frame is provided with a limit column, the limit column is positioned in the arc-shaped groove, and the limit column is used for triggering the first limit switch or the second limit switch.
According to the sensing platform for livestock and poultry health inspection provided by the invention, the first detection component is positioned in the installation shell, the shell wall of the installation shell is provided with the transparent window, and the detection end of the first detection component faces the transparent window.
The invention provides a sensing platform for health inspection of livestock and poultry, which comprises a supporting plate, a top plate and a bottom plate, wherein the supporting plate is arranged on the supporting plate; the top plate is parallel to the bottom plate, the top plate is connected with the bottom plate through the supporting plate, and the mounting shell is positioned between the top plate and the bottom plate; the second detection component is arranged on the top plate.
According to the sensing platform for the livestock and poultry health inspection, the lifting device comprises a first lifting component and a second lifting component; the second lifting assembly is arranged on the first lifting seat of the first lifting assembly, and the sensing device is arranged on the second lifting seat of the second lifting assembly.
According to the sensing platform for livestock and poultry health inspection provided by the invention, the first lifting assembly comprises a first rotary driving piece, a first screw rod nut and a first guide rail; the first screw rod is parallel to the first guide rail, and the first lifting seat is movably arranged on the first guide rail; the output shaft of the first rotary driving piece is connected with the first screw rod, the first screw rod nut is sleeved on the first screw rod, and the first lifting seat is connected with the first screw rod nut.
According to the sensing platform for the livestock and poultry health inspection, the second lifting assembly comprises a second rotary driving piece, a second screw rod nut and a second guide rail; the second screw rod is parallel to the second guide rail, and the second lifting seat is movably arranged on the second guide rail; the output shaft of the second rotary driving piece is connected with the second screw rod, the second screw rod nut is sleeved on the second screw rod, and the second lifting seat is connected with the second screw rod nut.
According to the sensing platform for the livestock and poultry health inspection, the output shaft of the second rotary driving piece is connected with the second screw rod through the transmission assembly, and the second rotary driving piece and the second screw rod are positioned on the same side of the transmission assembly.
The invention also provides a patrol robot, comprising: the walking device, the control device and the sensing platform for the livestock and poultry health inspection are arranged; the control device and the sensing platform for the livestock and poultry health inspection are arranged on the running device, and the sensing platform for the livestock and poultry health inspection and the running device are respectively in communication connection with the control device.
According to the sensing platform and the inspection robot for the livestock and poultry health inspection, the lifting device drives the sensing device to lift, so that the sensing device collects information of different height positions in the breeding house, meanwhile, the supporting frame rotates around the first axis, so that the first detection component and the second detection component are driven to integrally rotate around the first axis, the mounting shell rotates around the second axis, so that the first detection component is driven to rotate around the second axis, namely, the first detection component and the second detection component are driven to rotate to realize multi-angle all-around information collection, the flexibility is good, the comprehensiveness of information collection is guaranteed, the inspection accuracy is guaranteed, and a reliable reference basis is provided for monitoring the health condition of the livestock and poultry in the breeding process.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a sensing device according to the present invention;
FIG. 2 is a schematic diagram of a second embodiment of a sensor device according to the present invention;
FIG. 3 is a schematic diagram of an exploded construction of a sensing device provided by the present invention;
fig. 4 is a schematic structural view of a lifting device provided by the invention;
FIG. 5 is a schematic view of a first lifting assembly according to the present invention;
FIG. 6 is a schematic view of a second lift assembly according to the present invention;
fig. 7 is a schematic structural diagram of the inspection robot provided by the invention;
FIG. 8 is a schematic diagram of a walking device according to the present invention;
FIG. 9 is a second schematic diagram of the walking device according to the present invention;
fig. 10 is a schematic structural diagram of a control device provided by the present invention.
Reference numerals:
1: a sensing device;
11: a support frame; 111: a limit column; 112: an air inlet; 113: a support plate; 114: a top plate; 115: a bottom plate;
12: a mounting shell; 121: a first limit switch; 122: a second limit switch; 123: an arc-shaped groove; 124: a transparent window; 125: a heat radiation fan;
13: a first detection assembly; 131: an RGB camera; 132: an infrared camera;
14: a second detection assembly; 141: 360-degree camera; 142: a temperature sensor; 143: a humidity sensor; 144: a sound pickup;
15: a driving member;
2: a lifting device;
21: a first lifting assembly; 211: a first lifting seat; 212: a first rotary drive member; 213: a first screw rod; 214: a first lead screw nut; 215: a first guide rail; 216: a motor cover;
22: a second lifting assembly; 221: a second lifting seat; 222: a second rotary driving member; 223: a second screw rod; 224: a second lead screw nut; 225: a second guide rail; 226: a transmission assembly;
3: a walking device;
301: a housing; 302: a top plate; 303: an access cover; 304: a control panel; 305: a driving wheel; 306: a universal wheel; 307: a lidar sensor; 308: a man-machine interaction screen; 309: an audible and visual alarm; 310: a speaker; 311: an emergency stop button; 312: status indicator lights; 313: a power switch; 314: an electricity quantity display meter; 315: a bumper strip;
4: a control device;
41: a housing; 42: a front cover plate; 43: a 4G antenna; 44: a 2.4G antenna; 45: a fan.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the directions or positional relationships indicated by the terms "front", "rear", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In describing embodiments of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled," "coupled," and "connected" should be construed broadly, and may be either a fixed connection, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in embodiments of the present invention will be understood in detail by those of ordinary skill in the art.
The following describes a sensing platform and a patrol robot for health patrol of livestock and poultry provided by the invention with reference to fig. 1 to 10.
As shown in fig. 1 to 7, the sensing platform for health inspection of livestock and poultry in this embodiment includes: a sensor device 1 and a lifting device 2.
The sensing device 1 comprises a support frame 11, a mounting shell 12, a first detection component 13 and a second detection component 14; the support frame 11 is rotatably arranged at the lifting end of the lifting device 2 around a first axis, the mounting shell 12 is rotatably arranged on the support frame 11 around a second axis, the first detection component 13 is connected with the mounting shell 12, and the second detection component 14 is connected with the support frame 11; the first axis is perpendicular to the second axis; the first detection component 13 is used for collecting image information in the breeding house, and the second detection component 14 is used for collecting video information, temperature information, humidity information, harmful gas concentration information and voiceprint information of livestock and poultry in the breeding house.
Specifically, the sensing platform for healthy inspection of livestock and poultry, which is shown in this embodiment, drives the lifting of the sensing device 1 through the lifting device 2, thereby the sensing device 1 collects the information of different height positions in the cultivation house, simultaneously, the support frame 11 rotates around the first axis, thereby the first detection component 13 and the second detection component 14 are driven to integrally rotate around the first axis, the installation shell 12 rotates around the second axis, thereby the first detection component 13 is driven to rotate around the second axis, namely, the first detection component 13 and the second detection component 14 are driven to rotate to realize the omnibearing information collection of multiple angles, the flexibility is better, the comprehensiveness of the information collection is guaranteed, the inspection accuracy is guaranteed, and then reliable reference basis is provided for the monitoring of the health condition in the livestock and poultry cultivation process.
In some embodiments, as shown in fig. 2 and 3, the sensing device 1 of the present embodiment further includes a driving member 15, where the driving member 15 is connected to the mounting shell 12, and the driving member 15 is used to drive the mounting shell 12 to rotate about the second axis; the mounting shell 12 is provided with a first limit switch 121 and a second limit switch 122, the first limit switch 121 and the second limit switch 122 are respectively arranged on two sides of the second axis, and the first limit switch 121 and the second limit switch 122 are respectively in communication connection with the driving piece 15.
Specifically, the installation shell 12, the first limit switch 121 and the second limit switch 122 are integrally rotated relative to the support frame 11 under the driving of the driving member 15, when the installation shell 12 rotates clockwise to a first limit position on one side of the support frame 11, the first limit switch 121 correspondingly rotates to the first limit position, and the first limit switch 121 is triggered, so that the driving member 15 is controlled to stop working, and excessive rotation of the installation shell 12 is avoided; when the mounting shell 12 rotates counterclockwise to the second limit position on the other side of the supporting frame 11, the second limit switch 122 correspondingly moves to the second limit position, and the second limit switch 122 is triggered, so that the driving piece 15 is controlled to stop working, and excessive rotation of the mounting shell 12 is avoided.
The driving member 15 may be a worm gear motor.
In some embodiments, as shown in fig. 2, the installation shell 12 in this embodiment is provided with an arc-shaped slot 123, the second axis is located at the center of the arc-shaped slot 123, the first limit switch 121 is disposed at one end of the arc-shaped slot 123, and the second limit switch 122 is disposed at the other end of the arc-shaped slot 123; the support frame 11 is provided with a limit post 111, the limit post 111 is located in the arc-shaped groove 123, and the limit post 111 is used for triggering the first limit switch 121 or the second limit switch 122.
Specifically, during the rotation of the mounting shell 12, the arc-shaped groove 123 moves relative to the limit post 111, and when one end of the arc-shaped groove 123 moves to the limit post 111, the limit post 111 triggers the first limit switch 121, so that the corresponding control driving piece 15 stops working; when the other end of the arc-shaped groove 123 moves to the limit column 111, the limit column 111 triggers the second limit switch 122, so that the corresponding control driving piece 15 stops working; through setting up first limit switch 121 and second limit switch 122 in arc wall 123, guaranteed the reliability of first limit switch 121 and second limit switch 122, simultaneously, under the cooperation of spacing post 111 and arc wall 123, also can play certain guide effect to the rotation of installation shell 12, promoted rotatory stability.
The triggering mode of the limit post 111 to trigger the first limit switch 121 or the second limit switch 122 may be either contact triggering or non-contact triggering.
Further, as shown in fig. 2, the central angle corresponding to the arc where the arc-shaped groove 123 is located is 180 degrees, that is, the rotatable angle of the installation shell 12 ranges from 0 degrees to 180 degrees, and accordingly, the installation shell 12 can be rotated 90 degrees relative to both sides of the supporting frame 11.
In some embodiments, as shown in fig. 3, the first detecting component 13 is located in the mounting shell 12, and a transparent window 124 is provided on a shell wall of the mounting shell 12, where a detecting end of the first detecting component 13 faces the transparent window 124.
Specifically, through setting up first detection component 13 in installation shell 12 to play the guard action to first detection component 13, in order to adapt to comparatively abominable environment in the breed house, simultaneously, transparent window 124 on the installation shell 12 supplies the light to pass through, thereby satisfies first detection component 13 to image information's collection demand.
The first detecting component 13 includes an RGB camera 131 and an infrared camera 132, so that RGB images and infrared images can be collected, and the RGB images and the infrared images can be used as reference bases for health conditions of livestock and poultry.
Further, the mounting shell 12 is provided with a cooling fan 125, and when the cooling fan 125 is turned on, air flow between the inside of the mounting shell 12 and the outside can be accelerated, so as to ensure the reliability of the operation of the RGB camera 131 and the infrared camera 132.
In some embodiments, as shown in fig. 3, the supporting frame 11 in this embodiment includes a supporting plate 113, a top plate 114, and a bottom plate 115; the top plate 114 is parallel to the bottom plate 115, the top plate 114 is connected to the bottom plate 115 through the support plate 113, the mounting shell 12 is positioned between the top plate 114 and the bottom plate 115, and the second detecting assembly 14 is disposed on the top plate 114.
Specifically, the top plate 114, the support plate 113 and the bottom plate 115 enclose a support frame 11 having a U-shape overall, and the mounting shell 12 is sandwiched between the top plate 114 and the bottom plate 115.
The second detection assembly 14 includes a 360-degree camera 141, a temperature sensor 142, a humidity sensor 143, a carbon dioxide concentration sensor, an ammonia concentration sensor, and a pickup 144; the 360-degree camera 141 is used for collecting video information in the breeding house, the temperature sensor 142 and the humidity sensor 143 are used for collecting temperature and humidity in the breeding house, gas in the breeding house enters through the air inlet 112, harmful gas concentration is collected by the carbon dioxide concentration sensor and the ammonia concentration sensor, and the pickup 144 is used for collecting voiceprint information of livestock and poultry; namely, the second detection component 14 monitors the environment of the breeding house on one hand and collects the sounds of the livestock on the other hand, and combines the image information collected by the first detection component 13 to judge the health state of the livestock from multiple dimensions, so that the reliability of inspection is ensured.
In some embodiments, as shown in fig. 4 to 6, the lifting device 2 shown in this embodiment includes a first lifting assembly 21 and a second lifting assembly 22; the second lifting assembly 22 is disposed on the first lifting seat 211 of the first lifting assembly 21, and the sensor device 1 is disposed on the second lifting seat 221 of the second lifting assembly 22, that is, the lifting end of the lifting device 2 is formed on the second lifting seat 221.
Specifically, when the first lifting assembly 21 works, the first lifting seat 211 drives the second lifting assembly 22 to integrally lift with the sensing device 1, and when the second lifting assembly 22 works, the second lifting seat 221 drives the sensing device 1 to lift, so that the second-stage lifting of the sensing device 1 can be realized, the lifting range of the sensing device 1 is enlarged, and the comprehensive inspection is ensured.
In some embodiments, as shown in fig. 4 and 5, the first lifting assembly 21 shown in this embodiment includes a first rotary driving member 212, a first screw 213, a first screw nut 214, and a first guide rail 215; the first screw rod 213 is parallel to the first guide rail 215, the first lifting seat 211 is movably arranged on the first guide rail 215, an output shaft of the first rotary driving piece 212 is connected with the first screw rod 213, the first screw rod nut 214 is sleeved on the first screw rod 213, and the first lifting seat 211 is connected with the first screw rod nut 214.
Specifically, the first screw rod 213 and the first guide rail 215 may be installed on the aluminum alloy section, the first screw rod 213 is rotationally connected with the aluminum alloy section, the first rotary driving member 212 drives the first screw rod 213 to rotate, the first guide rail 215 is used for limiting the first screw rod nut 214 and the first lifting seat 211 to rotate along with the first screw rod, so that the first screw rod 213 drives the first screw rod nut 214 to move along the axial direction of the first screw rod 213 in the rotating process, and the lifting of the first lifting seat 211, the second lifting assembly 22 and the sensing device 1 is realized, i.e. the rotary motion is converted into the linear motion.
The first rotary driving member 212 may be a motor, the motor is disposed in the motor cover 216, and an axis of an output shaft of the motor is collinear with an axis of the first screw 213, so that the motor directly drives the first screw 213 to rotate.
In some embodiments, as shown in fig. 6, the second lifting assembly 22 in this embodiment includes a second rotary driving member 222, a second screw 223, a second screw nut 224, and a second guide rail 225; the second lead screw 223 is parallel to the second guide rail 225, the second lead screw 223 is parallel to the first lead screw 213, the second lifting seat 221 is movably arranged on the second guide rail 225, an output shaft of the second rotary driving piece 222 is connected with the second lead screw 223, the second lead screw nut 224 is sleeved on the second lead screw 223, and the second lifting seat 221 is connected with the second lead screw nut 224.
Specifically, the second screw rod 223 and the second guide rail 225 may be installed on the aluminum alloy section, the second screw rod 223 is rotationally connected with the aluminum alloy section, the second rotation driving member 222 drives the second screw rod 223 to rotate, the second guide rail 225 is used for limiting the rotation of the second screw rod nut 224 and the second lifting seat 221 along with the rotation of the second screw rod 223, so that the second screw rod 223 drives the second screw rod nut 224 to move along the axial direction of the second screw rod 223 in the rotating process, and the lifting of the second lifting seat 221 and the sensing device 1 is realized, i.e. the rotation motion is converted into the linear motion.
Wherein the second rotary drive 222 may be a motor.
In some embodiments, as shown in fig. 6, the output shaft of the second rotary driving member 222 is connected to the second screw 223 through a transmission assembly 226, and the second rotary driving member 222 and the second screw 223 are located on the same side of the transmission assembly 226.
Specifically, the second rotation driving member 222 indirectly drives the second screw rod 223 to rotate through the transmission assembly 226, and the second rotation driving member 222 and the second screw rod 223 are located at the same side of the transmission assembly 226, and compared with the structure in which the first rotation driving member 212 directly drives the first screw rod 213, the second lifting assembly 22 has a compact size along the length direction of the second screw rod 223, and the second rotation driving member 222 and the second screw rod 223 are folded.
The transmission assembly 226 includes two synchronizing wheels and a synchronous belt, wherein one synchronizing wheel is connected with the output shaft of the second rotary driving piece 222, the other synchronizing wheel is connected with the second screw rod 223, and the two synchronizing wheels are connected through the synchronous belt.
Further, the aluminum alloy profiles of the first lifting assembly 21 and the second lifting assembly 22 are respectively provided with a drag chain bracket and a drag chain groove, the drag chain brackets are used for installing drag chains, the drag chains play roles in protecting and dragging built-in cables and air pipes, and the drag chain grooves are used for ensuring that the drag chains move according to a preset track.
An ultrasonic positioning module is mounted on top of the second lifting assembly 22 to provide position coordinate data for the sensing platform for health inspection of livestock and poultry.
In some embodiments, as shown in fig. 7, the present embodiment further provides a patrol robot, including a walking device 3, a control device 4, and a sensing platform for health patrol of livestock and poultry as described above; the control device 4 and the sensing platform for the livestock and poultry health inspection are arranged on the running gear 3, and the sensing platform for the livestock and poultry health inspection and the running gear 3 are respectively in communication connection with the control device 4.
As shown in fig. 8 and 9, the running device 3 includes a housing 301, a top plate 302, an access cover 303, a control panel 304, a motor, a driving wheel 305, a universal wheel 306, a laser radar sensor 307, a magnetic navigation sensor, an RFID tag identification module, a power supply module, a running device controller, a man-machine interaction screen 308, an audible and visual alarm 309, a speaker 310, an emergency stop button 311, a status indicator 312, a power switch 313, an electric quantity display meter 314, an anti-collision bar 315 and a wireless charging electrode, the running device 3 adopts two-wheel differential control, front and back four universal wheels assist, in-situ rotation and bidirectional operation are realized, wherein the wireless charging electrode can be matched with a charging pile to realize wireless charging of the robot, the laser radar sensor 307 realizes perception of the robot to surrounding obstacles, the magnetic navigation sensor and the RFID tag identification module carried by the laser radar sensor are mounted at the bottom of the running device, a route and an RFID tag on a road surface are identified, the robot is realized in a preset route in a poultry house, the power supply module provides energy for the whole robot system, and the man-machine interaction screen 308 can set a route for the running device 3.
As shown in fig. 10, the control device 4 is configured to control each module, collect each module data, and transmit the data to the outside. The control device 4 comprises a housing 41, a front cover plate 42, an industrial control host, a wireless transparent transmission module, an environment information acquisition terminal, a lifting device driver, a programmable logic controller, a transformer, a 4G antenna 43, a 2.4G antenna 44 and a fan 45; the lifting device driver is used for driving a motor in the lifting device 2, and the programmable logic controller is used for programming a lifting device driving program; the environment information acquisition terminal is used for acquiring data obtained by temperature, humidity, ammonia and carbon dioxide sensors, wherein the ammonia and carbon dioxide sensors adopt a pumping type gas suction design, so that the acquired data are faster and more accurate; the industrial control host is used as a main controller, is internally provided with a patrol program, connects a running gear controller, a programmable logic controller, an environment information acquisition terminal, an ultrasonic positioning module, an infrared camera, an RGB camera, a pickup and a wireless transmission module together through a data line, and the patrol program controls running of the running gear, lifting of a lifting device, acquisition of environment acquisition terminal data, start and stop of an air pump, acquisition of position coordinate data, rotation of a sensing platform, acquisition of infrared images, RGB images and sound spectrums of livestock and poultry, and gathers and calculates the acquired data and then sends the acquired data to the wireless transmission module; and the wireless transparent transmission module transmits the data summarized and calculated by the industrial control host outwards.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A sensing platform for beasts and birds health inspection, its characterized in that includes: the sensor device and the lifting device;
the sensing device comprises a supporting frame, a mounting shell, a first detection assembly and a second detection assembly; the support frame is rotatably arranged at the lifting end of the lifting device around a first axis, the mounting shell is rotatably arranged on the support frame around a second axis, the first detection component is connected with the mounting shell, and the second detection component is connected with the support frame; the first axis is perpendicular to the second axis;
the first detection component is used for collecting image information in the breeding house, and the second detection component is used for collecting video information, temperature information, humidity information, harmful gas concentration information and voiceprint information of livestock and poultry in the breeding house;
the sensing device further comprises a driving piece, wherein the driving piece is connected with the mounting shell and is used for driving the mounting shell to rotate around the second axis;
the mounting shell is provided with a first limit switch and a second limit switch, the first limit switch and the second limit switch are respectively arranged on two sides of the second axis, and the first limit switch and the second limit switch are respectively in communication connection with the driving piece;
the mounting shell is provided with an arc-shaped groove, the second axis is positioned at the center of the arc-shaped groove, the first limit switch is arranged at one end of the arc-shaped groove, and the second limit switch is arranged at the other end of the arc-shaped groove;
the support frame is provided with a limit column, the limit column is positioned in the arc-shaped groove, and the limit column is used for triggering the first limit switch or the second limit switch;
the support frame comprises a support plate, a top plate and a bottom plate;
the top plate is parallel to the bottom plate, the top plate is connected with the bottom plate through the supporting plate, and the mounting shell is positioned between the top plate and the bottom plate; the second detection component is arranged on the top plate.
2. The sensing platform for health inspection of livestock and poultry according to claim 1, characterized in that,
the first detection component is located in the installation shell, a transparent window is arranged on the shell wall of the installation shell, and the detection end of the first detection component faces the transparent window.
3. The sensing platform for health inspection of livestock and poultry according to claim 1, characterized in that,
the lifting device comprises a first lifting assembly and a second lifting assembly;
the second lifting assembly is arranged on the first lifting seat of the first lifting assembly, and the sensing device is arranged on the second lifting seat of the second lifting assembly.
4. The sensing platform for health inspection of livestock and poultry according to claim 3, characterized in that,
the first lifting assembly comprises a first rotary driving piece, a first screw rod nut and a first guide rail;
the first screw rod is parallel to the first guide rail, and the first lifting seat is movably arranged on the first guide rail; the output shaft of the first rotary driving piece is connected with the first screw rod, the first screw rod nut is sleeved on the first screw rod, and the first lifting seat is connected with the first screw rod nut.
5. The sensing platform for health inspection of livestock and poultry according to claim 3, characterized in that,
the second lifting assembly comprises a second rotary driving piece, a second screw rod nut and a second guide rail;
the second screw rod is parallel to the second guide rail, and the second lifting seat is movably arranged on the second guide rail; the output shaft of the second rotary driving piece is connected with the second screw rod, the second screw rod nut is sleeved on the second screw rod, and the second lifting seat is connected with the second screw rod nut.
6. The sensing platform for health inspection of livestock and poultry according to claim 5, characterized in that,
the output shaft of the second rotary driving piece is connected with the second screw rod through a transmission assembly, and the second rotary driving piece and the second screw rod are positioned on the same side of the transmission assembly.
7. The inspection robot is characterized by comprising: a walking device, a control device and a sensing platform for health inspection of livestock and poultry according to any one of claims 1 to 6;
the control device and the sensing platform for the livestock and poultry health inspection are arranged on the running device, and the sensing platform for the livestock and poultry health inspection and the running device are respectively in communication connection with the control device.
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| CN202310589164.1A CN116295663B (en) | 2023-05-24 | 2023-05-24 | Sensing platform for livestock and poultry health inspection and inspection robot |
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| CN202310589164.1A CN116295663B (en) | 2023-05-24 | 2023-05-24 | Sensing platform for livestock and poultry health inspection and inspection robot |
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| CN116295663B true CN116295663B (en) | 2023-08-04 |
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| CN112027959A (en) * | 2020-08-28 | 2020-12-04 | 苏州天准科技股份有限公司 | Lifting device and lifting rotating equipment |
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| CN113251255A (en) * | 2021-05-11 | 2021-08-13 | 湖北省电力勘测设计院有限公司 | Transformer substation inspection device |
| CN113587993A (en) * | 2021-07-30 | 2021-11-02 | 华中农业大学 | Chicken coop environment acquisition robot |
| CN115096340A (en) * | 2022-08-23 | 2022-09-23 | 光子(深圳)精密科技有限公司 | Easily-maintained sensor for optical detection and use method thereof |
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| CA2928650C (en) * | 2015-05-01 | 2023-09-26 | Opta Minerals Inc. | Lance drive system |
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| CN112027959A (en) * | 2020-08-28 | 2020-12-04 | 苏州天准科技股份有限公司 | Lifting device and lifting rotating equipment |
| CN213658276U (en) * | 2020-09-02 | 2021-07-09 | 马文英 | Road bridge is experimental with road bed intensity detection device |
| CN113251255A (en) * | 2021-05-11 | 2021-08-13 | 湖北省电力勘测设计院有限公司 | Transformer substation inspection device |
| CN113587993A (en) * | 2021-07-30 | 2021-11-02 | 华中农业大学 | Chicken coop environment acquisition robot |
| CN115096340A (en) * | 2022-08-23 | 2022-09-23 | 光子(深圳)精密科技有限公司 | Easily-maintained sensor for optical detection and use method thereof |
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