CN116369247A - Capturing system and method for cage-rearing dead broiler chickens - Google Patents
Capturing system and method for cage-rearing dead broiler chickens Download PDFInfo
- Publication number
- CN116369247A CN116369247A CN202310460341.6A CN202310460341A CN116369247A CN 116369247 A CN116369247 A CN 116369247A CN 202310460341 A CN202310460341 A CN 202310460341A CN 116369247 A CN116369247 A CN 116369247A
- Authority
- CN
- China
- Prior art keywords
- chicken
- grabbing
- dead
- door
- cage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 241000287828 Gallus gallus Species 0.000 title claims abstract description 214
- 238000000034 method Methods 0.000 title claims abstract description 20
- 235000013330 chicken meat Nutrition 0.000 claims abstract description 170
- 210000000078 claw Anatomy 0.000 claims abstract description 56
- 238000001514 detection method Methods 0.000 claims abstract description 43
- 238000003860 storage Methods 0.000 claims description 4
- 230000000630 rising effect Effects 0.000 claims description 3
- 238000005303 weighing Methods 0.000 claims description 3
- 235000013372 meat Nutrition 0.000 claims 3
- 235000011888 snacks Nutrition 0.000 claims 1
- 238000009395 breeding Methods 0.000 description 8
- 230000001488 breeding effect Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K45/00—Other aviculture appliances, e.g. devices for determining whether a bird is about to lay
-
- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/80—Food processing, e.g. use of renewable energies or variable speed drives in handling, conveying or stacking
- Y02P60/87—Re-use of by-products of food processing for fodder production
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Birds (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Processing Of Meat And Fish (AREA)
Abstract
The invention discloses a capturing system and a capturing method for cage-raised dead broiler chickens, and relates to the technical field of cage-raised dead broiler chickens treatment; and the invention comprises a detection module arranged to detect a signal comprising: the relative position of the dead chicken with respect to the gripping device; the distance between the chicken cage door and the door opening device; the door opening arm extends to a length; the rotation angle of the driving device; the rotation angle of the grabbing arm, the extension length of the telescopic rod of the grabbing arm, the rotation angle of the claw screw rod frame, the extension length of the claw screw rod, the dead weight of the claw and the total weight after grabbing; the function of the control end is to control the device comprising: the control end of the door opening device is connected with the detection module and used for accurately grabbing dead chickens; through setting up collection device, door opener, drive device, grabbing device, the control end is used for accurately grabbing dead chicken in the chicken coop through collection device, door opener, drive device, grabbing device and detection module to the timely snatch of dead chicken in the chicken coop has conveniently been realized, simultaneously, avoids the live chicken in the chicken coop to escape.
Description
Technical Field
The invention relates to the technical field of cage-rearing dead broiler chicken treatment, in particular to a system and a method for grabbing cage-rearing dead broiler chicken.
Background
With the development of the Chinese breeding industry, the breeding scale is larger and larger, and the production benefit of the breeding industry is also receiving more and more attention.
The problem of dead chicken grabbing of cage-reared broilers serving as important varieties in the breeding industry has become a bottleneck for restricting the development of the breeding industry. Due to the large culture density and the large number of farms, farmers scatter, the death rate in the culture process is high, and the traditional capturing method is low in efficiency and high in labor cost. The traditional capturing method mainly adopts modes of manual capturing, string bag dragging and the like, has low efficiency and high labor cost, is difficult to meet the requirements of large-scale farms, and aims at the problems, the inventor provides a capturing system and a capturing method for cage-rearing dead broilers, which are used for solving the problems.
Disclosure of Invention
In order to solve the problems of opening a closed chicken cage, timely grabbing out dead chickens, avoiding the escape of the rest live chickens and improving the raising efficiency and safety of the chickens; the invention aims to provide a system and a method for grabbing cage-reared dead broiler chickens.
In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides a system is snatched to death broiler in raising in cages, the system is applied to the mobile device of raising in cages the house, the system is snatched to death broiler in raising in cages include:
the detection module is used for detecting and includes: the relative position of the dead chicken with respect to the gripping device; the distance between the chicken cage door and the door opening device; the door opening arm extends to a length; the rotation angle of the driving device; the rotation angle of the grabbing arm, the extension length of the telescopic rod of the grabbing arm, the rotation angle of the claw screw rod frame, the extension length of the claw screw rod, the dead weight of the claw and the total weight after grabbing;
the function of the control end is to control the device comprising: the control end is connected with the detection module and used for accurately grabbing dead chickens;
the control module is configured to:
s101: acquiring the relative distance L between a door opening device of the detection module and a chicken cage door, and when the value of L is equal to the door opening distance L, sending a door opening signal to the door opening device by a control end, wherein a telescopic rod of the door opening device stretches by delta L to enable the opening angle theta of the chicken cage door to reach the grabbing angle theta of the grabbing device 1 ；
S102: according to the distance l from the driving end of the driving device to the hencoop door 4 The driving device obtains the current driving device angle theta 2 ，θ 3 Output driving device angle θ 4 ，θ 5 The detection module obtains that the angle of the current driving device is theta 4 ，θ 5 Later, the control end sends a PMW signal to the driving motor;
s103: after the grabbing device receives the fixed relative positions (delta x, delta y and delta z) of the dead chicken given by the control end, the control device acquires the initial angle theta of the grabbing arm 6 Transmitting according to the relative position to rotate the grabbing arm to theta 7 The control end obtains the rotation of the grabbing arm to theta in the obtaining detection module 7 After that, the control end sends a signal: extension l of telescopic rod of gripping arm 1 Rotation angle theta of claw screw frame 8 Jaw screw elongation l 2 ；
S104: the control end acquisition detection module detects that the claw reaches the grabbing position (x) from the initial position (x, y, z) 1 ，y 1 ，z 1 ) After the signal, the tail end of the claw is tightened to grab dead chicken, the control end sends the signal to enable the claw screw rod to ascend h, and the control end acquires the dead weight and the grabbing weight W of the grabbing end acquired by the detection module 1 ，W i Obtaining a grabbing coefficient, determining whether grabbing is successful, and sending a grabbing device shrinkage signal l by the control end 2 The grabbing device conveys the grabbed dead chicken to the collecting device;
s105: after the control end receiving detection module detects that the number of dead chickens grabbed by the collecting device is increased, a signal is sent to enable the door opening device and the driving device to return to an initial angle and an initial position.
Preferably, the step of judging whether the door of the chicken coop reaches a grabbing angle specifically comprises the following steps:
a: the detection system acquires the relative distance l between the chicken cage door and the pulley of the door opening device;
the distance L of the openable door extension can be calculated according to the following formula:
wherein d is the diameter of the roller at the door opening end, l 3 For the width of the chicken cage door, when the door opening device is at the maximum extension length L 1 By comparison, when L 1 Control terminal sends door opening signal when being more than LConversely, the control end waits for the moving device to move towards the hencoop for a distance d 2 And then judging whether the chicken cage door can reach the grabbing angle again.
Preferably, the calculation model of the rotation angle of the driving device driven by the control end to the chicken coop door is as follows:
wherein θ 4 To drive the rotation angle of the device, theta 2 To drive the initial angle of the device, theta 4 To drive the rotation angle of the device, theta 3 To drive the initial angle of the device, theta 5 For driving the rotation angle of the device, l 4 For the distance from the driving end of the driving device to the chicken coop door, l 5 For driving the length of the rod.
Preferably, the specific steps of moving the control end control claw to the dead chicken fixing position to grasp the dead chicken include:
the detection system acquires the number of dead chickens in the cage;
the detection system acquires the relative positions (delta x, delta y and delta z) of the grabbing device and the dead chicken fixing position;
according to the relative position, the grabbing device obtains a grabbing device movement result according to the following formula:
a: state one
A: state two
Delta theta is the rotation angle of the grabbing arm, L 1 For the extension length of the gripping arm telescopic rod of the gripping device, delta theta 1 For the rotation angle of the claw screw frame, L 2 The length of the claw screw is prolonged; the judgment basis of the first state and the second state is determined by the position of the dead chicken.
Preferably, when the claw provided on the dead chicken grasping device reaches the position, the claw is tightened, and the claw contracts L 2 The claws stay for N seconds according to the grabbing state to acquire a dead chicken distinguishing coefficient;
the weighing device of the detection system acquires the real-time self weight W of the claw after grabbing and rising 1 Total weight of grabbed W i Coefficient of success of grabbing
Grabbing a dead chicken discrimination coefficient beta;
the dead chicken discrimination coefficient
The calculation model of (2) is as follows:
when the control end obtains
The value of (2) is higher than +.>
When the threshold value of (2) is determined to be the completion of the grabbing action, and when the value of beta is higher than the threshold value and lower than the threshold value (0.01-0.05), the dead chicken is determined to be grabbed, the claw rotates a preset angle, and the grabbing arm contracts L 1 And rotates by-delta theta.
Preferably, when the discrimination coefficient of the picked dead chicken is higher than 0.05, the picked chicken is put back in place, and a new dead chicken pick-up fixing point is acquired from the control end again to accurately pick up the dead chicken.
Preferably, the driving device specifically adopts a soft rod to rotate towards the inner side of the chicken coop.
Preferably, the method for grabbing dead broiler chickens is applied to a robot for raising broiler chickens in a cage, the robot for raising broiler chickens is located at a feeding side of the cage in a corridor of chicken coops, the robot for raising broiler chickens carries a platform for grabbing dead broiler chickens, the platform is provided with a door opening device, a driving device and a grabbing device, and the method for grabbing dead broiler chickens in a cage comprises the following steps:
s201: after the dead chicken coops are reached, acquiring position parameters and size parameters of a chicken coop door according to the corresponding position parameters, and acquiring the position parameters of the dead chicken relative to the grabbing platform;
s202: controlling a door opening device to open the chicken cage door according to the size and the position of the chicken cage door, wherein the driving device reaches the position of the chicken cage door;
s203: the grabbing device controls the claws to fixed grabbing points according to the fixed positions of the dead chickens, after grabbing the dead chickens, judges whether to grab the dead chickens according to the data of the detection device, and sends out a grabbing success signal;
s204: and controlling the claw to convey the dead chicken to a dead chicken storage cage according to the signal of successful grabbing.
Compared with the prior art, the invention has the beneficial effects that:
through setting up collection device, door opener, drive device, grabbing device, the control end is used for accurately grabbing dead chicken in the chicken coop through collection device, door opener, drive device, grabbing device and detection module to the timely snatch of dead chicken in the chicken coop has conveniently been realized, simultaneously, avoids the live chicken in the chicken coop to escape.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of the dead chicken grasping system.
Fig. 2 is a schematic view of a grasping system grasping dead chickens within a chicken coop.
Fig. 3 is a working flow chart of a control end in the capturing system of the caged dead broiler chicken provided in the embodiment of the present application.
Fig. 4 is a flowchart of capturing cage-reared dead broiler chickens according to an embodiment of the present application.
In the figure: 1. a collecting device; 2. a platform; 3. rotating the main shaft; 4. a door opening device; 5. a gripping device; 6. a driving device; 7. a control end; 8. a chicken cage; 401. a telescopic rod of the door opening device; 402. a door opener pulley; 501. a gripping arm driving motor; 502. a grab arm telescopic rod; 503. a claw screw rack; 504. a claw screw; 505. a claw; 601. driving the first end; 602. a driving end II; 603. the driving device drives the first motor; 604. the driving device drives a motor II; 605. a driving rod; 801. chicken cage door.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but 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.
Examples: as shown in fig. 1-2, the present invention provides a moving device for a system applied to a cage broiler raising house, the moving device being located at a feeding side of a chicken cage, the moving device being movable in a chicken house aisle, the moving device being provided with a dead chicken collecting device 1, the moving device being adapted to be moved to a position of each chicken cage in the chicken house to grasp dead chicken and to be placed in the collecting device 1, the cage broiler raising dead chicken grasping system comprising:
the detection modules arranged on the platform 2, the rotating shaft 3, the claw 504 and the collecting device 1 are used for detecting the distance between the chicken cage door 8 and the door opening device 4, the rotating angle of the driving device 6, the rotating angle of the grabbing arm driving motor 501, the extension length of the grabbing arm telescopic rod 502, the rotating angle of the claw screw frame 503, the extension length of the claw screw 504, the dead weight of the claw 505 and the total weight after grabbing, and the relative position of dead chicken relative to the claw 505.
The function of the control end 7 arranged on the movable robot of the cultivation house is that the control device comprises: the door opening device 4, the driving device 6 and the grabbing device 5 are connected with the detection module at the control end and used for accurately grabbing dead chickens.
The control module is configured to perform the following operations:
s101: acquiring the relative distance L between the door opener 4 of the detection module and the chicken coop door 801, and when the amount of L is equal to the door opening distance L, sending a door opening signal to the door opener 4 by the control end, and extending the expansion link 401 of the door opener by delta L to enable the opening angle theta of the chicken coop door 801 to reach the grabbing angle theta of the grabbing device 5 1 ；
S102: according to the first driving end 601 and the second driving end 602 of the driving device 6, the distance l from the driving end to the hencoop door is equal to the distance l 4 The driving device 6 obtains the current driving device 6 angle theta 2 ，θ 3 Output driving device 6 angle theta 4 ，θ 5 . The detection module obtains the angle theta of the current driving device 6 4 ，θ 5 The control end sends a PMW signal to the first driving motor 603 and the first driving motor 604;
s103: after the gripping device 5 receives the fixed relative position (Deltax, deltay, deltaz) of the dead chicken given by the control end 7, the control device obtains the initial angle theta of the gripping arm 502 6 Rotation of the gripper arm driving motor 501 to θ according to the relative position 7 The control end of the delta theta signal of (a) obtains the rotation of the grabbing arm 502 to theta in the obtaining detection module 7 The control end then sends an elongation l to the gripper arm 502 1 Rotation angle theta of claw screw frame 503 8 Jaw screw 504 elongation l 2 ；
S104: the control end acquisition detection module of (a) detects that the claw 505 reaches the position (x) from the initial position (x, y, z) 1 ，y 1 ，z 1 ) After the signal, the claw 505 tightens up and grabs dead chicken, the control end enables the tail end of the grabbing device 5 to ascend, and the control end 7 acquires the dead weight of the grabbing end and the total weight W after grabbing, which are acquired by the grabbing detection module 1 ，W i Obtaining a grabbing coefficient, determining whether grabbing is successful or not, and sending a grabbing device shrinkage signal l by a control end 2 Returning the gripping means to the initial angle;
s105: after the control end 7 of the door opening device 4 and the driving device 6 receive the increase of the number of the dead chickens which are grabbed and detected by the detection module, signals are sent to enable the door opening device 4 and the driving device 6 to return to the initial angle and the initial position.
As shown in fig. 3, the control terminal is configured to perform the steps of:
the detection system acquires the relative distance l between the chicken cage door 801 and the pulley at the 4 end of the door opener;
the distance L that the door opening device 4 extends can be calculated according to the following formula:
where d is the diameter of the door opening roller 402, l 3 Is the width of the cage door 801. When the door opening device 4 is at the maximum extension length L 1 By comparison, when L 1 And when the signal is more than L, the control terminal 7 sends a door opening signal. In contrast, the control end 7 waits for the moving means to move the distance d in the direction of the chicken 8 2 And then again determine whether the door 801 can reach the gripping angle.
The calculation model of the rotation angle of the driving device 6 to the chicken coop door 1 driven by the control end 7 is as follows:
wherein θ 4 The first motor 603 is driven by the driving device to rotate by an angle theta 2 An initial angle of the driving motor two 604 for the driving device; θ 4 An angle for driving the motor one 603 to rotate for the driving device; θ 3 An initial angle of the driving motor two 604 for the driving device; θ 5 An angle for driving the motor II 604 to rotate for the driving device; l (L) 4 The distance from the driving end 601 to the chicken coop door is driven by the driving device; l (L) 5 To drive the length of the rod 605.
The specific steps of the control end 7 for controlling the claw 505 to move to the dead chicken fixing position to grasp the dead chicken include:
the detection system acquires the relative positions (delta x, delta y and delta z) of the grabbing device 5 and the dead chicken fixing position;
according to the relative position, the gripping device obtains the rotation angle of the gripping arm 502, the extension length of the gripping arm 502, and the rotation angle θ of the claw-screw frame 503 according to the following formula 6 Length L of extension of jaw screw 504 2 ：
A: state one
B: state two
Δθ is the rotation angle of the gripper arm driving motor 501, L 1 For the device gripping arm extension 502 to extend by a length Δθ 1 L for the rotation angle of the claw screw frame 503 2 Extending the jaw screw 505; the judgment of the first state and the second state is determined by the position of the dead chicken.
The specific steps for grabbing dead chicken comprise:
when the claw 505 provided on the dead chicken grasping device 5 is in position, it is tightened, and the claw-screw holder 504 contracts L 2 Stay for N seconds to obtain a dead chicken discrimination coefficient;
the weighing device of the detection system acquires the real-time self weight W of the claw after grabbing and rising 1 GrabbingW is the total weight of i Coefficient of success of grabbing
Grabbing a dead chicken discrimination coefficient beta;
determination coefficient of dead chicken
The calculation model of (2) is as follows:
when (when)
Control terminal obtains->
The value of (2) is higher than +.>
When the threshold value of (a) is 0.05-0.95, it is judged that the grabbing action is completed, when the value of beta is higher than the threshold value and is lower than the threshold value by 0.01-0.05, it is judged that the dead chicken is grabbed, the claw screw frame 503 rotates by a preset angle, and the grabbing arm 502 contracts L 1 The gripper arm drive motor 501 rotates by- Δθ; when the discrimination coefficient of the picked dead chicken is higher than 0.05, the picked chicken is put back to the original position, and a new dead chicken grabbing fixed point is acquired from the control end 7 again to accurately grab the dead chicken.
The driving device 6 is used for preventing the live chicken from escaping, and is placed when driving the live chicken, the rotating driving device is used for damaging the live chicken and adopts a soft rod to rotate towards the inner side of the chicken cage.
According to a second aspect of the application, a method for grabbing dead broiler chickens in a cage is provided, the method for grabbing the dead broiler chickens is applied to a robot for breeding the dead broiler chickens in a cage row corridor, the robot for breeding the dead broiler chickens is located at a cage feeding side, the robot for breeding the dead broiler chickens is carried with a dead broiler chickens grabbing platform, and the platform is provided with a door opening device 4, a driving device 6 and a grabbing device 5, and the method for grabbing the dead broiler chickens in the cage comprises the following steps:
after the dead chicken coops are reached, acquiring position parameters and size parameters of the chicken coops door 801 according to the corresponding position parameters, and acquiring the position parameters of the dead chicken relative to the grabbing platform;
the driving device 6, which controls the door opening device 4 to open the door 801 according to the size and position of the door 801, reaches the position of the door 801.
The gripping device 5 controls the gripping claw 505 to a fixed gripping point according to the fixed position of the dead chicken, after gripping the dead chicken, judges whether to grip the dead chicken according to the data of the detection device, and sends out a signal that the gripping is successful;
the gripping jaws 505 are controlled to transport the dead chicken to the dead chicken storage cage based on the signal that the gripping was successful.
As shown in fig. 4, the application provides a method for capturing dead broiler chickens in a cage, the method for capturing dead broiler chickens is applied to a robot for capturing the dead broiler chickens in the cage row corridor, the robot for capturing the dead broiler chickens is located at the feeding side of a cage 8, the robot for capturing the dead broiler chickens is carried on a dead broiler chickens capturing platform, a door opening device 4, a driving device 6 and a capturing device 5 are arranged on the platform 2, and the method for capturing the dead broiler chickens in the cage comprises the following steps:
s201: after the dead chicken coop 8 is reached, acquiring the position parameters and the size parameters of the chicken coop door 801 according to the corresponding position parameters, and acquiring the position parameters of the dead chicken relative to the grabbing platform;
s202: the driving device 6 for controlling the door opening device 4 to open the chicken cage door 801 according to the size and the position of the chicken cage door 801 reaches the position of the chicken cage door 801;
s203: the gripping device 5 controls the claw 505 to a fixed gripping point according to the fixed position of the dead chicken, after gripping the dead chicken, judges whether to grip the dead chicken according to the data of the detection device, and sends out a signal that the gripping is successful;
s204: the claw 505 is controlled to transport the dead chicken to the dead chicken storage cage based on the signal that the grabbing was successful.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. The utility model provides a death broiler grabbing system raised in cages which characterized in that: the system is applied to the mobile device of house is bred to cage-rearing meat chicken, cage-rearing death meat chicken snatch system include:
the detection module is used for detecting and includes: the relative position of the dead chicken with respect to the gripping device (5); the distance between the chicken cage door (801) and the door opening device (4); the door opening arm extends to a length; the rotation angle of the driving device (6); the rotation angle of the grabbing arm, the extension length of the grabbing arm telescopic rod (502), the rotation angle of the claw screw rod frame (503), the extension length of the claw screw rod (504), the dead weight of the claw (505) and the total weight after grabbing;
the function of the control terminal (7) is to control the device comprising: the device comprises a door opening device (4), a driving device (6) and a grabbing device (5), wherein a control end (7) is connected with a detection module and used for accurately grabbing dead chickens;
the control module is configured to:
s101: acquiring the relative distance L between a door opening device (4) of a detection module and a chicken cage door (801), and when the value of L is equal to the door opening distance L, transmitting a door opening signal to the door opening device (4) by a control end (7), wherein a telescopic rod (401) of the door opening device stretches by delta L to enable the opening angle theta of the chicken cage door (801) to reach the grabbing angle theta of a grabbing device (5) 1 ；
S102: according to the distance l from the driving end of the driving device (6) to the chicken coop door (801) 4 The driving device (6) obtains the angle theta of the current driving device (6) 2 ，θ 3 Outputting the angle theta of the driving device (6) 4 ，θ 5 The detection module obtains the angle theta of the current driving device (6) 4 ，θ 5 Later, the control end (7) sends a PMW signal to the driving motor;
s103: the gripping device (6) receivesAfter the control end (7) gives a fixed relative position (Deltax, deltay, deltaz) of the dead chicken, the control device obtains the initial angle theta of the grabbing arm 6 Transmitting according to the relative position to rotate the grabbing arm to theta 7 The control end (7) obtains the rotation of the grabbing arm to theta in the obtaining detection module 7 After that, the control terminal (7) sends a signal: extension l of grabbing arm telescopic rod (502) 1 Rotation angle theta of claw screw frame (503) 8 Elongation of jaw screw (504) 2 ；
S104: the control end (7) acquires the detection module to detect that the claw (505) reaches the grabbing position (x) from the initial position (x, y, z) 1 ，y 1 ，z 1 ) After the signal, the tail end of the claw (505) is tightened to grasp dead chicken, the control end (7) sends the signal to enable the claw screw (504) to ascend by h, and the control end (7) acquires the dead weight and the grasping weight W of the grasping end acquired by the detection module 1 ，W i Obtaining a grabbing coefficient to determine whether grabbing is successful, wherein the control end (7) sends a shrinkage signal l of the grabbing device (5) 2 Causing the gripping device (5) to convey the gripped dead chicken to the collecting device (1);
s105: after the control end (7) receives the increase of the number of dead chickens grabbed by the detection module and detected by the collection device (1), a signal is sent to enable the door opening device (4) and the driving device (6) to return to an initial angle and an initial position.
2. The system for grabbing the dead broiler chickens in a cage according to claim 1, wherein the step of judging whether the door of the chicken cage (8) is opened to reach the grabbing angle is specifically as follows:
a: the detection system acquires the relative distance l between the chicken cage door (801) and the pulley (402) of the door opening device;
the distance L of the openable door extension can be calculated according to the following formula:
wherein d is the diameter of the roller at the door opening end, l 3 For the width of the chicken coop door (801), when the door opening device (4) is maximally extendedLength L of length 1 By comparison, when L 1 When the value is more than L, the control end (7) sends a door opening signal, and conversely, the control end (7) waits for the moving device to move a distance d towards the direction of the chicken coop (8) 2 And then judging whether the chicken cage door (801) can reach the grabbing angle or not again.
3. A system for gripping a caged dead broiler according to claim 1, characterized in that the calculation model of the rotation angle of the driving device (6) to the chicken cage door (801) driven by the control end (7) is as follows:
wherein θ 4 For driving the rotation angle of the device (6), theta 2 For driving the initial angle theta of the device (6) 4 For driving the rotation angle of the device (6), theta 3 For driving the initial angle theta of the device (6) 5 For driving the rotation angle of the device (6), l 4 For the distance from the driving end of the driving device (6) to the chicken coop door (801), l 5 Is the length of the driving rod (605).
4. The system for grabbing a cage-reared dead broiler chicken of claim 1, wherein the specific step of moving the control claw (505) of the control end (7) to the dead chicken fixing position to grab the dead chicken comprises the following steps:
the detection system acquires the number of dead chickens in the cage;
the detection system acquires the relative positions (delta x, delta y and delta z) of the grabbing device (5) and the dead chicken fixing position;
according to the relative position, the gripping device (5) obtains the movement result of the gripping device (5) according to the following formula:
a: state one
A: state two
Delta theta is the rotation angle of the grabbing arm, L 1 For the extension length delta theta of the gripping arm telescopic rod (502) of the gripping device (5) 1 For the rotation angle of the claw screw frame (503), L 2 -extending the jaw screw (504) by a length; the judgment basis of the first state and the second state is determined by the position of the dead chicken.
5. A caged dead meat according to claim 4Chicken grasping system, characterized in that when the claw (505) provided on the dead chicken grasping device (5) reaches the position, it is tightened, the claw (505) contracts L 2 The claw (505) stays for N seconds according to the grabbing state to acquire a dead chicken distinguishing coefficient;
the weighing device of the detection system acquires the dead weight W of the claw (505) in real time after grabbing and rising 1 Total weight of grabbed W i Coefficient of success of grabbing
Grabbing a dead chicken discrimination coefficient beta;
the dead chicken discrimination coefficient
The calculation model of (2) is as follows:
when the control end (7) obtains
The value of (2) is higher than +.>
When the threshold value of beta is higher than the threshold value and lower than the threshold value (0.01-0.05), the dead chicken is determined to be grabbed, the claw (505) rotates a preset angle, and the grabbing arm contracts L 1 And rotates by-delta theta.
6. A system for grabbing a caged dead broiler chicken as claimed in claim 4, wherein when the discrimination coefficient of the dead chicken is higher than 0.05, the grabbed chicken is put back in place, and a new dead chicken grabbing fixed point is acquired from the control end (7) again to accurately grab the dead chicken.
7. A system for gripping a caged dead broiler chicken as claimed in claim 3, wherein said driving means (6) is specifically a flexible rod rotating towards the inner side of the chicken cage (8).
8. The utility model provides a dead broiler grabbing method of raising in cages, its characterized in that, dead broiler grabbing method is applied to the robot of raising in cages, the robot of raising in cages is in the corridor of chicken coop row, is located chicken coop (8) and feeds the side, the robot of raising in cages carries on dead chicken and snacks the platform, platform (2) are provided with door opener (4), drive device (6), grabbing device (5), the method of raising in cages dead broiler grabbing include:
s201: after the dead chicken coop (8) is reached, acquiring the position parameters and the size parameters of a chicken coop door (801) according to the corresponding position parameters, and acquiring the position parameters of the dead chicken relative to the grabbing platform;
s202: controlling the door opening device (4) to open the chicken cage door (801) according to the size and the position of the chicken cage door (801), wherein the driving device (6) reaches the position of the chicken cage door (801);
s203: the grabbing device (5) controls the claw (505) to reach a fixed grabbing point according to the fixed position of the dead chicken, after grabbing the dead chicken, judges whether to grab the dead chicken according to the data of the detection device, and sends out a grabbing success signal;
s204: and controlling the claw (505) to convey the dead chicken to a dead chicken storage cage according to the signal of successful grabbing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310460341.6A CN116369247B (en) | 2023-04-26 | 2023-04-26 | Capturing system and method for cage-rearing dead broiler chickens |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310460341.6A CN116369247B (en) | 2023-04-26 | 2023-04-26 | Capturing system and method for cage-rearing dead broiler chickens |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116369247A true CN116369247A (en) | 2023-07-04 |
| CN116369247B CN116369247B (en) | 2024-05-03 |
Family
ID=86965647
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310460341.6A Active CN116369247B (en) | 2023-04-26 | 2023-04-26 | Capturing system and method for cage-rearing dead broiler chickens |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116369247B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018015519A1 (en) * | 2016-07-20 | 2018-01-25 | Farm Robotics And Automation Sl | Robot assisted surveillance of livestock |
| CN108617547A (en) * | 2018-05-14 | 2018-10-09 | 东北大学 | What the broiler chicken separation for large-scale poultry place cultivated grabs chicken distributor and method |
| JP2018186712A (en) * | 2017-04-28 | 2018-11-29 | 株式会社 フュー・テクノロジー | Poultry farming system |
| FR3088169A1 (en) * | 2018-11-13 | 2020-05-15 | Dussau Distribution | SURVEILLANCE AND INTERVENTION ASSEMBLY FOR LIVESTOCK PREMISES |
| CN112847384A (en) * | 2020-12-17 | 2021-05-28 | 河北农业大学 | Dead chicken pickup device, control system and control method |
| CN114800548A (en) * | 2022-03-30 | 2022-07-29 | 中国农业大学 | Grabbing device for livestock and poultry house |
| CN115890677A (en) * | 2022-11-29 | 2023-04-04 | 中国农业大学 | Dead chicken picking robot for standardized cage chicken house and method thereof |
-
2023
- 2023-04-26 CN CN202310460341.6A patent/CN116369247B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018015519A1 (en) * | 2016-07-20 | 2018-01-25 | Farm Robotics And Automation Sl | Robot assisted surveillance of livestock |
| JP2018186712A (en) * | 2017-04-28 | 2018-11-29 | 株式会社 フュー・テクノロジー | Poultry farming system |
| CN108617547A (en) * | 2018-05-14 | 2018-10-09 | 东北大学 | What the broiler chicken separation for large-scale poultry place cultivated grabs chicken distributor and method |
| FR3088169A1 (en) * | 2018-11-13 | 2020-05-15 | Dussau Distribution | SURVEILLANCE AND INTERVENTION ASSEMBLY FOR LIVESTOCK PREMISES |
| CN112847384A (en) * | 2020-12-17 | 2021-05-28 | 河北农业大学 | Dead chicken pickup device, control system and control method |
| CN114800548A (en) * | 2022-03-30 | 2022-07-29 | 中国农业大学 | Grabbing device for livestock and poultry house |
| CN115890677A (en) * | 2022-11-29 | 2023-04-04 | 中国农业大学 | Dead chicken picking robot for standardized cage chicken house and method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116369247B (en) | 2024-05-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN211440053U (en) | Liftable potato grabbing device | |
| CN210381946U (en) | Intelligent fruit and vegetable picking and sorting robot | |
| CN110402683B (en) | Intelligent cotton picker and control method thereof | |
| CN116369247B (en) | Capturing system and method for cage-rearing dead broiler chickens | |
| CN108702929A (en) | Intelligent pineapple picking robot | |
| CN114258783A (en) | Single fruit picking mechanical device suitable for mountain land operation and picking method thereof | |
| CN109122533B (en) | Cultivation device and control method thereof | |
| CN105235961A (en) | Blood collection tube storage and grabbing device with buffering function | |
| CN112879019B (en) | Shield muck improvement control device and method based on muck monitoring | |
| CN210591580U (en) | Pig clamping device | |
| CN211091303U (en) | A equipment is collected to automatic egg for Luhua chicken is bred | |
| CN216775528U (en) | Mechanical gripper for picking | |
| CN206782810U (en) | A kind of automatic circulating plate machine of integral type | |
| CN106655024B (en) | A kind of line hanging mechanism | |
| CN113853945B (en) | Suction and picking actuator and suction and picking control method | |
| CN215305698U (en) | Intelligent oral cavity examination robot | |
| CN215736415U (en) | Poultry epidemic disease detects sampling device | |
| CN206862291U (en) | Animal lint length intensities detector | |
| CN114800548A (en) | Grabbing device for livestock and poultry house | |
| CN114367455B (en) | Intelligent vegetable seedling classifying equipment | |
| CN210001131U (en) | robot system for automatic material pouring of optical module | |
| CN210226549U (en) | Egg tray transfer mechanism for automatic egg picking machine | |
| CN110447573B (en) | Vision-based intelligent insect transferring and supplementing device for royal jelly | |
| CN209582913U (en) | A kind of flowerpot grasping system | |
| CN112845122A (en) | Garbage sorting device for livestock breeding based on machine vision and sorting method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |