CN206227364U - Batterylaying healthy behavior monitoring system based on robot - Google Patents
Batterylaying healthy behavior monitoring system based on robot Download PDFInfo
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- CN206227364U CN206227364U CN201621224630.8U CN201621224630U CN206227364U CN 206227364 U CN206227364 U CN 206227364U CN 201621224630 U CN201621224630 U CN 201621224630U CN 206227364 U CN206227364 U CN 206227364U
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- controller
- drive component
- batterylaying
- robot
- monitoring system
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Abstract
The utility model discloses a kind of batterylaying healthy behavior monitoring system based on robot, including controller, environmental detection unit, avoidance unit, image acquisition units, execution unit and host computer, environmental detection unit, avoidance unit and image acquisition units are connected with the input of controller respectively, execution unit is connected with the output end of controller, host computer is connected by wireless transport module with controller, and by WiFi transport modules and mobile terminal wireless connection；Described image collecting unit includes camera and WiFi video transmission modules, and camera is connected by WiFi video transmission modules with controller；The execution unit includes environmental Kuznets Curves mechanism and makes an inspection tour mechanism, the movable motor of the tour mechanism including robot, robotic arm drive component and beats drive component, beats drive component on robotic arm drive component.The utility model avoid it is artificial long-term make an inspection tour that chicken labour intensity of dying of illness is high, recognition efficiency is low, cause virus to spread and bring serious financial consequences to plant.
Description
Technical field
The utility model belongs to chicken cultural technique field, and in particular to a kind of batterylaying healthy behavior based on robot
Monitoring system.
Background technology
Scale, intensive, intelligentized development with China's chicken aquaculture, domestic breeding layer chicken equipment and related chicken
House environmental monitoring and control technique have achieved some achievements, but people is still used in terms of batterylaying dies of illness healthy behavior identification
Work makes an inspection tour mode, there are problems that making an inspection tour that efficiency is low, labour intensity big, infringement, and die of illness laying hen cannot in time, have
Effect identification and removing, prevent epidemic to hen house and chicken health is very unfavorable, once virus diffusion and propagation, can receive whole plant
To very serious economic loss, therefore, during realizing that the automation and intellectuality of laying hen healthy behavior identification are breeding layer chicken
One urgent problem for solving.
Utility model content
To be solved in the utility model is that manual patrol laying hen dies of illness healthy behavior under existing staged laying hen cage pattern
Have that monitoring efficiency is low, labour intensity is high, the technical problem such as healthy that is unfavorable for tour personnel, so as to provide a kind of automation
Degree is high, the batterylaying healthy behavior monitoring system based on robot of strong interference immunity.
In order to solve the above technical problems, the technical scheme that the utility model is used is as follows：
A kind of batterylaying healthy behavior monitoring system based on robot, including controller, environmental detection unit, avoidance
Unit, image acquisition units, execution unit and host computer, environmental detection unit, avoidance unit and image acquisition units respectively with
The input connection of controller, execution unit is connected with the output end of controller, and host computer is by wireless transport module and control
Device is connected, and by WiFi transport modules and mobile terminal wireless connection；Described image collecting unit includes camera and WiFi
Video transmission module, camera is connected by WiFi video transmission modules with controller；The execution unit includes environmental Kuznets Curves
Mechanism and mechanism is maked an inspection tour, the movable motor of the tour mechanism including robot, robotic arm drive component and beats drive component,
Drive component is beaten to be arranged on robotic arm drive component.
The robotic arm drive component includes electric rotating machine, rotary shaft, upright slide block and the horizon bar of robot, rotary shaft
On the output shaft of the electric rotating machine of robot, upright slide block is threadedly coupled with rotary shaft, and horizon bar is fixed on vertical cunning
On block, beat drive component and be arranged on horizon bar.
Electric rotating machine is rotated axle rotation, and upright slide block is moved up and down on the rotary shaft, realizes the tune of horizon bar height
Section.
The drive component that beats includes substrate, stepper motor, little gear, gear wheel, first connecting rod, second connecting rod, cunning
Block and punch panel, substrate are arranged on the horizon bar of robotic arm drive component, and stepper motor is arranged on substrate, and little gear is installed
On the output shaft of stepper motor, gear wheel is arranged on first connecting rod and engages with little gear, first connecting rod and stepper motor
Output shaft it is parallel；The bending section of first connecting rod is hinged by bearing pin with one end of first connecting rod, the bending section of first connecting rod with
Sliding block is fixedly connected, and sliding block is slidably mounted on the track of substrate, and punch panel installs one end of sliding block, the track and robotic arm
The horizon bar of drive component is parallel.The camera of image acquisition units is arranged on the lower end of sliding block.
The avoidance unit includes ultrasonic sensor and reflected infrared sensors.
The model KS103 of the ultrasonic sensor, the model E18-D80NK of the reflected infrared sensors.
The environmental detection unit includes Temperature Humidity Sensor and light intensity sensor, the model of the Temperature Humidity Sensor
AM2322B；The model GY-301 of the light intensity sensor.
The environmental Kuznets Curves mechanism includes temperature-controlling module, humid control component, illumination control assembly and sound and light alarm
Device, the temperature-controlling module includes wet curtain equipment and spraying system；The humid control component includes that thermal screen, heating set
Standby, blower fan and skylight motor；The illumination control assembly includes rolling motor, illuminating lamp, skylight motor and side window motor.
The model Robot-LinkV5.0 of the WIFI video transmission modules, the model DS- of camera
2DC4220IW-D。
The controller uses the core board of EP4CE22F17C8N models；The model of the wireless transport module
APC220。
The input of the controller is connected with keyboard, and the output end of controller is connected with liquid crystal display.
Host computer of the present utility model is connected by wireless transport module with controller, realizes collection ambient parameter and avoidance
The transmission of information data, display, analyzing and processing and store function.Host computer is connected by WIFI transport modules with mobile phone terminal,
Realize that terminal control function is maked an inspection tour by Monitoring Data inquiry and robot.Controller is by USB interface and WIFI video transmission modules
Connection, host computer is reached by the leg characteristic information that camera gathers laying hen in chicken coop, and host computer is to collection laying hen leg feature
Image is processed, leg characteristic information and live avoidance information that controller is provided according to host computer, is realized to robot
Motion control.The utility model is using advanced sensors technology, image processing techniques, robot technology, FPGA controller control
Technology and wireless communication technology Visual identification technology is applied in inspecting robot with realize laying hen healthy behavior recognize from
Dynamicization, intellectuality.The system counts chicken quantity of dying of illness by IMAQ laying hen leg feature, it is to avoid artificial long-term to make an inspection tour
Chicken labour intensity of dying of illness is high, recognition efficiency is low, it is impossible in time, effective detection and removing die of illness chicken, cause virus to spread to whole
Plant brings serious financial consequences.System has that simple to operate, monitoring interface is friendly, be movably walking flexibly, acquisition precision it is high,
Data processing speed is fast, clear image transmission, recognition accuracy high, strong anti-interference performance the features such as, cultivate field in livestock and poultry etc.
It is worth with good promotion and application.
Brief description of the drawings
Fig. 1 is control principle block diagram of the present utility model.
Fig. 2 is the structural representation of robotic arm drive component in the utility model.
Fig. 3 is to beat the structural representation of drive component in the utility model.
Specific embodiment
As Figure 1-3, a kind of batterylaying healthy behavior monitoring system based on robot, including controller, environment
Detection unit, avoidance unit, image acquisition units, execution unit and host computer.The controller uses EP4CE22F17C8N types
Number core board.
Environmental detection unit, avoidance unit and image acquisition units are connected with the input of controller respectively, execution unit
Be connected with the output end of controller, host computer is connected by wireless transport module with controller, and by WiFi transport modules with
Mobile terminal wireless connection.The model APC220 of the wireless transport module.
The environmental detection unit includes Temperature Humidity Sensor and light intensity sensor, the model of the Temperature Humidity Sensor
AM2322B；The model GY-301 of the light intensity sensor.
The avoidance unit includes ultrasonic sensor and reflected infrared sensors.The model of the ultrasonic sensor
It is KS103, the model E18-D80NK of the reflected infrared sensors.
Described image collecting unit includes camera and WiFi video transmission modules, and camera passes through WiFi transmission of video moulds
Block is connected with controller.The model Robot-LinkV5.0 of the WIFI video transmission modules, the model DS- of camera
2DC4220IW-D。
The execution unit includes environmental Kuznets Curves mechanism and makes an inspection tour mechanism.The environmental Kuznets Curves mechanism includes temperature control group
Part, humid control component, illumination control assembly and audible-visual annunciator, the temperature-controlling module include that wet curtain equipment and spraying are
System；The humid control component includes thermal screen, firing equipment, blower fan and skylight motor；The illumination control assembly includes volume
Curtain motor, illuminating lamp, skylight motor and side window motor.
It is described to make an inspection tour movable motor of the mechanism including robot, robotic arm drive component and beat drive component, beat drive
Dynamic component is arranged on robotic arm drive component.
The robotic arm drive component includes electric rotating machine 1, rotary shaft 2, upright slide block 3 and the horizon bar 4 of robot, rotation
Rotating shaft 2 is arranged on the output shaft of the electric rotating machine 1 of robot, and upright slide block 3 is threadedly coupled with rotary shaft 2, and horizon bar 4 is fixed
On upright slide block 3, beat drive component and be arranged on horizon bar 4.
Electric rotating machine 1 is rotated axle 2 and rotates, and upright slide block 3 is moved up and down in rotary shaft 2, realizes horizon bar highly
Regulation.
The drive component that beats connects including substrate 5, stepper motor 6, little gear 7, gear wheel 8, first connecting rod 9, second
Bar 10, sliding block 11 and punch panel 12, substrate 5 are arranged on the horizon bar 4 of robotic arm drive component, and stepper motor 6 is arranged on base
On plate 5, little gear 7 is arranged on the output shaft of stepper motor 6, and gear wheel 8 is arranged on first connecting rod 9 and is nibbled with little gear 7
Close, first connecting rod 9 is parallel with the output shaft of stepper motor 6；The bending section of first connecting rod 9 is by bearing pin and the one of first connecting rod 10
End is hinged, and the bending section of first connecting rod 10 is fixedly connected with sliding block 11, and sliding block 11 is slidably mounted on the track of substrate 5, impact
Plate 12 installs one end of sliding block 11, and the track is parallel with the horizon bar 4 of robotic arm drive component.The shooting of image acquisition units
Head is arranged on the lower end of sliding block 11.
Stepper motor 6 is rotated, and drives little gear 7 to rotate, and little gear 7 is engaged with gear wheel 8 so that gear wheel 8 is rotated, the
One connecting rod 9 and the one of gear wheel 8, so first connecting rod 9 is rotated with, first connecting rod 9 makes second under the induced effect of bearing pin
One end concomitant rotation of connecting rod 10, and then cause that the bending section of second connecting rod 10 pulls the horizontal reciprocating in orbit of sliding block 11 to move
It is dynamic, realize that punch panel 12 is beaten to chicken coop.
The input of the controller is connected with keyboard, and the output end of controller is connected with liquid crystal display.
Controller controls the walking electricity of robot according to the detection signal of reflected infrared sensors and ultrasonic sensor
Machine is rotated, and makes robot according to black trace automatic running on prior cloth fortunately laying hen cage passage, and by environment measuring list
Humiture, intensity of illumination in hen house are detected parameter by the parameters such as humiture and intensity of illumination in unit's detection hen house, controller
Real time data is wirelessly reached in host computer and is compared with setting value, once exceed setting range, audible-visual annunciator
Realtime Alerts will be carried out, the environmental Kuznets Curves mechanism such as temperature-controlling module, humid control component and illumination control assembly makes related
Start-stop, so that ambient parameter maintains setting range, good living environment is provided to laying hen healthy growth.
The leg quantity of every chicken coop chicken of camera Real time identification that controller is carried by robotic arm drive component, and will
Detection signal is uploaded in host computer by wireless transport module, and the signal that host computer will be received compares with setting value, when
When the leg quantity of chicken is differed with actual quantity in certain chicken coop, host computer wirelessly sends a command to controller, makes control
Device control robotic arm drive component processed carries to beat drive component and the chicken coop beat vibrating to stimulate, and by camera pair
The leg quantity of chicken is recognized in the chicken coop, if the leg quantity of chicken exists in the chicken coop（2n-1,2n）Between explanation should
Chicken coop survives one's illness chicken, and n represents actual chicken quantity in single chicken coop, and n≤4 here；If the leg quantity of chicken does not exist（2n-
1,2n）Between illustrate that the chicken coop is present and die of illness chicken, audible-visual annunciator Realtime Alerts, while host computer sends and beats drive component and stop
Only operating instruction, and wirelessly send to mobile phone terminal the chicken coop position.Keeper is according to the chicken institute that dies of illness
Locate positional information to find target in time and remove, effectively prevent the diffusion and propagation of virus.Host computer will detect ambient parameter
The relevant information such as information, run trace, the leg quantity for gathering image and dying of illness chicken chicken coop present position and chicken is stored, shown
Show and process, and issue mobile phone terminal, while remote control, convenient management can also be carried out to making an inspection tour mechanism by collection image
Person carry out in real time, the start stop operation of the inquiry of historical data and related execution equipment.
Claims (10)
1. a kind of batterylaying healthy behavior monitoring system based on robot, it is characterised in that：Including controller, environment measuring
Unit, avoidance unit, image acquisition units, execution unit and host computer, environmental detection unit, avoidance unit and IMAQ list
Unit is connected with the input of controller respectively, and execution unit is connected with the output end of controller, and host computer is by being wirelessly transferred mould
Block is connected with controller, and by WiFi transport modules and mobile terminal wireless connection；Described image collecting unit includes shooting
Head and WiFi video transmission modules, camera are connected by WiFi video transmission modules with controller；The execution unit includes
Environmental Kuznets Curves mechanism and mechanism is maked an inspection tour, the movable motor of the tour mechanism including robot, robotic arm drive component and beaten
Drive component, beats drive component and is arranged on robotic arm drive component.
2. the batterylaying healthy behavior monitoring system based on robot according to claim 1, it is characterised in that：It is described
Robotic arm drive component includes the electric rotating machine of robot（1）, rotary shaft（2）, upright slide block（3）And horizon bar（4）, rotary shaft
（2）Installed in the electric rotating machine of robot（1）Output shaft on, upright slide block（3）With rotary shaft（2）Threaded connection, horizon bar
（4）It is fixed on upright slide block（3）On, drive component is beaten installed in horizon bar（4）On.
3. the batterylaying healthy behavior monitoring system based on robot according to claim 1, it is characterised in that：It is described
Beaing drive component includes substrate（5）, stepper motor（6）, little gear（7）, gear wheel（8）, first connecting rod（9）, second connecting rod
（10）, sliding block（11）And punch panel（12）, substrate（5）Installed in the horizon bar of robotic arm drive component（4）On, stepper motor
（6）Installed in substrate（5）On, little gear（7）Installed in stepper motor（6）Output shaft on, gear wheel（8）Connect installed in first
Bar（9）Upper and and little gear（7）Engagement, first connecting rod（9）With stepper motor（6）Output shaft it is parallel；First connecting rod（9）It is curved
Pars convoluta passes through bearing pin and first connecting rod（10）One end be hinged, first connecting rod（10）Bending section and sliding block（11）It is fixedly connected,
Sliding block（11）It is slidably mounted on substrate（5）Track on, punch panel（12）Sliding block is installed（11）One end, the track and machine
The horizon bar of arm drive component（4）It is parallel；The camera of image acquisition units is arranged on sliding block（11）Lower end.
4. the batterylaying healthy behavior monitoring system based on robot according to claim 1, it is characterised in that：It is described
Avoidance unit includes ultrasonic sensor and reflected infrared sensors.
5. the batterylaying healthy behavior monitoring system based on robot according to claim 4, it is characterised in that：It is described
The model KS103 of ultrasonic sensor, the model E18-D80NK of the reflected infrared sensors.
6. the batterylaying healthy behavior monitoring system based on robot according to claim 1, it is characterised in that：It is described
Environmental detection unit includes Temperature Humidity Sensor and light intensity sensor, the model AM2322B of the Temperature Humidity Sensor；It is described
The model GY-301 of light intensity sensor.
7. the batterylaying healthy behavior monitoring system based on robot according to claim 1, it is characterised in that：It is described
Environmental Kuznets Curves mechanism includes temperature-controlling module, humid control component, illumination control assembly and audible-visual annunciator, the temperature control
Component processed includes wet curtain equipment and spraying system；The humid control component includes thermal screen, firing equipment, blower fan and skylight electricity
Machine；The illumination control assembly includes rolling motor, illuminating lamp, skylight motor and side window motor.
8. the batterylaying healthy behavior monitoring system based on robot according to claim 1, it is characterised in that：It is described
The model Robot-LinkV5.0 of WIFI video transmission modules, the model DS-2DC4220IW-D of camera.
9. the batterylaying healthy behavior monitoring system based on robot according to claim 1, it is characterised in that：It is described
Controller uses the core board of EP4CE22F17C8N models；The model APC220 of the wireless transport module.
10. the batterylaying healthy behavior monitoring system based on robot according to claim 1, it is characterised in that：Institute
The input for stating controller is connected with keyboard, and the output end of controller is connected with liquid crystal display.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621224630.8U CN206227364U (en) | 2016-11-15 | 2016-11-15 | Batterylaying healthy behavior monitoring system based on robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621224630.8U CN206227364U (en) | 2016-11-15 | 2016-11-15 | Batterylaying healthy behavior monitoring system based on robot |
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| Publication Number | Publication Date |
|---|---|
| CN206227364U true CN206227364U (en) | 2017-06-09 |
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|---|---|---|---|
| CN201621224630.8U Expired - Fee Related CN206227364U (en) | 2016-11-15 | 2016-11-15 | Batterylaying healthy behavior monitoring system based on robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107549049A (en) * | 2017-09-28 | 2018-01-09 | 中北大学 | A kind of cage bird health status automatic monitoring device |
| CN108154097A (en) * | 2017-12-20 | 2018-06-12 | 中北大学 | A kind of cage bird health status automatic monitoring sphere wheel trolley and monitoring method |
| CN109407731A (en) * | 2018-10-22 | 2019-03-01 | 张振花 | A kind of reading intelligent agriculture implantation methods and its system based on bamboo rat cultivation |
| CN109729998A (en) * | 2018-11-26 | 2019-05-10 | 中国农业大学 | The dead chicken inspection device of three-dimensional poultry system and method for inspecting |
| CN110738195A (en) * | 2019-11-06 | 2020-01-31 | 北京中农志远电子商务有限公司 | poultry farm cultivation quantity recognition equipment based on image recognition |
| CN111618821A (en) * | 2020-05-10 | 2020-09-04 | 廊坊市智恒机器人科技有限公司 | Environment detection sampling robot |
| CN111652594A (en) * | 2020-06-10 | 2020-09-11 | 正大汉鼎现代农业科技有限公司 | Four-in-one BOT property type agriculture modernization development mode |
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2016
- 2016-11-15 CN CN201621224630.8U patent/CN206227364U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107549049A (en) * | 2017-09-28 | 2018-01-09 | 中北大学 | A kind of cage bird health status automatic monitoring device |
| CN108154097A (en) * | 2017-12-20 | 2018-06-12 | 中北大学 | A kind of cage bird health status automatic monitoring sphere wheel trolley and monitoring method |
| CN109407731A (en) * | 2018-10-22 | 2019-03-01 | 张振花 | A kind of reading intelligent agriculture implantation methods and its system based on bamboo rat cultivation |
| CN109407731B (en) * | 2018-10-22 | 2020-09-08 | 六安皖智知识产权运营有限公司 | Intelligent agricultural planting method and system based on bamboo rat breeding |
| CN109729998A (en) * | 2018-11-26 | 2019-05-10 | 中国农业大学 | The dead chicken inspection device of three-dimensional poultry system and method for inspecting |
| CN109729998B (en) * | 2018-11-26 | 2021-03-26 | 中国农业大学 | Dead chicken inspection device and inspection method for three-dimensional chicken raising system |
| CN110738195A (en) * | 2019-11-06 | 2020-01-31 | 北京中农志远电子商务有限公司 | poultry farm cultivation quantity recognition equipment based on image recognition |
| CN111618821A (en) * | 2020-05-10 | 2020-09-04 | 廊坊市智恒机器人科技有限公司 | Environment detection sampling robot |
| CN111652594A (en) * | 2020-06-10 | 2020-09-11 | 正大汉鼎现代农业科技有限公司 | Four-in-one BOT property type agriculture modernization development mode |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170609 Termination date: 20201115 |
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| CF01 | Termination of patent right due to non-payment of annual fee |