CN210307840U - Pig farm is with patrolling and examining robot - Google Patents

Abstract

The utility model discloses a pig farm is with patrolling and examining robot belongs to the robot field. The robot comprises a rack, wherein a walking module, an energy supply module, a control module, a monitoring module and a mechanical arm module are arranged on the rack. The walking module is used for driving the robot to move, the functional module is used for supplying power, the control module is used for controlling the work of other modules, the monitoring module comprises a panoramic monitoring device for observing the surrounding environment, and the front end of the mechanical arm module is provided with a local monitoring device for observing the local environment and a single organism. It need not the manual work and patrols and examines the pig farm, can carry out patrolling and examining of pig farm automatically, observes the breed environment in pig farm and the growth condition of pig in real time, and can carry out comprehensive observation to local environment and individual pig by the multi-angle ground, and it is high to patrol and examine the validity.

Description

Pig farm is with patrolling and examining robot

Technical Field

The utility model belongs to the robot field, more specifically say, relate to a pig farm is with patrolling and examining robot.

Background

China is a big country for pork consumption, and as a big world with 14 billion population, China eats nearly 7 billion pigs every year, and the demand for pork is far superior to that of chicken, duck, fish and even rice wheat. Therefore, the development of the pig raising industry in China is always paid much attention. In the breeding work, the state, the breeding environment and the like of the piglets need to be monitored frequently, and the physical condition and the breeding environment of the piglets are mastered, so that the piglets in a pig farm are disinfected and cleaned, and sick or injured piglets are treated. In the current breeding work, the pig farm is usually patrolled by manpower, and the manual patrol has the defects of high labor intensity, low efficiency, poor patrol effectiveness and the like, so that people want to replace people to patrol by an intelligent robot.

For example, the Chinese patent application number is: cn201811105359.x, published as: patent literature 2/22/2019 discloses an intelligent machine room inspection robot, which comprises a main body, an operating arm and a traveling mechanism, wherein the top of the main body is connected with a first camera through a universal shaft, two opposite sides of the main body are respectively provided with a sensor and a control panel, a control module and a power module are arranged in the main body, and the power module comprises a battery and a charging coil which are electrically connected; the operating arm is mounted on the side edge of the main body through the universal shaft, a second camera is mounted on the side wall of the operating arm, and a control claw is connected to the end of the operating arm through the universal shaft; the running mechanism is fixedly arranged on the bottom surface of the main body and comprises a main control wheel and four universal wheels. The invention has various functions, can monitor various equipment status lamps and display screens in the machine room, has the functions of monitoring the temperature and humidity of the machine room, finding fire and the like, can simply operate the equipment in the machine room, and is not limited by the power failure of the machine room due to the built-in battery. However, the robot is not suitable for inspection in a pig farm, firstly, because a lot of obstacles inevitably exist in the environment in the pig farm, roadblock avoidance and path planning are needed, secondly, inspection in the pig farm needs to monitor the gas environment, humidity and the like, and the robot of the scheme does not have the functions. Particularly, when the inspection robot observes that the local environment in the pig farm is abnormal or the living condition of individual pigs is abnormal, more detailed local observation is required, and the robot is difficult to perfectly observe from various angles and local parts, particularly, the pigs are in an active state, so that the observation difficulty is further increased.

Also, for example, the Chinese patent application number is: CN201810157432.1, published date: patent literature of 2018, 6 and 22 discloses an explosion-proof inspection robot, which comprises an explosion-proof shell, a holder arranged at the top of the explosion-proof shell and wheels arranged at the bottom of the explosion-proof shell, and is characterized in that: the cloud platform on be provided with: the high-definition camera is used for collecting video information around the inspection robot; and the thermal infrared imager is used for acquiring the ambient temperature information of the inspection robot. The explosion-proof shell is provided with: the ultrasonic obstacle avoidance device acquires the distance and the direction of the obstacle through ultrasonic waves and makes a judgment to avoid the obstacle; and the laser radar device is used for autonomous positioning and navigation. The explosion-proof shell is internally provided with: a controller for controlling the electric device; and the battery is used for supplying power to the electric equipment. The remote control system also comprises a control terminal used for remotely operating the controller; and the wireless communication module is used for controlling the communication between the terminal and the controller. The invention can effectively find the defects of the equipment in time, process the defects in time and improve the inspection efficiency. However, the robot according to this embodiment has only one camera for observing the entire external environment, and thus cannot precisely observe the local environment of the pig farm or the physical condition of individual pigs, and the inspection effect is not good. In particular, individual pigs with infectious diseases will cause significant losses to the pig farm if they cannot be detected in time.

SUMMERY OF THE UTILITY MODEL

1. Problems to be solved

Efficiency to current pig farm is poor, intensity of labour big scheduling problem when breeding environment and pig are patrolled and examined in the farming process to the manual work, the utility model provides a pig farm is with patrolling and examining robot, it need not the manual work and patrols and examines pig farm, can carry out patrolling and examining of pig farm automatically, and the breeding environment of real-time observation pig farm and the growth condition of pig, and can carry out comprehensive observation to local environment and individual pig with multi-angle ground, it is efficient to patrol and examine.

2. Technical scheme

In order to solve the above problems, the utility model adopts the following technical proposal.

A patrol robot for a pig farm comprises a rack, wherein a walking module, an energy supply module, a control module, a monitoring module and a mechanical arm module are arranged on the rack; the walking module is used for driving the robot to move, the functional module is used for supplying power, the control module is used for controlling the walking module, the monitoring module and the mechanical arm module to work, the monitoring module comprises a panoramic monitoring device used for observing the surrounding environment, and the front end of the mechanical arm module is provided with a local monitoring device used for observing the local environment and a single organism.

As a further improvement of the technical scheme, the mechanical arm module comprises a base, a first mechanical arm, a second mechanical arm and a monitoring device mounting arm; the base rotates and installs in the frame, the articulated upper end of connecting the base of one end of first arm, the articulated other end of connecting first arm of one end of second arm, the articulated second arm other end of connecting of one end of monitoring devices installation arm, local monitoring devices installs on the other end of monitoring devices installation arm.

As a further improvement of the technical scheme, a rotating shaft is arranged on the end face of one end, connected with the local monitoring device, of the monitoring device mounting arm, and the local monitoring device is mounted on the rotating shaft.

As a further improvement of the technical scheme, the monitoring module further comprises a gas sensor and a temperature and humidity sensor which are installed on the rack.

As a further improvement of the technical scheme, the walking module comprises a driving wheel; the driving wheels are provided with a plurality of pairs, and each pair of driving wheels are symmetrically arranged on two sides of the bottom end of the rack.

As a further improvement of the technical scheme, the walking module further comprises a laser radar for scanning the environment and a road condition camera for shooting road condition images, and the laser radar and the road condition camera are both arranged on the rack.

As a further improvement of the technical scheme, the driving wheels are universal wheels.

As a further improvement of the technical scheme, an installation cover is fixed at the upper end of the rack, and the panoramic monitoring device is fixedly installed in the installation cover.

A pig farm inspection method adopts the inspection robot for the pig farm, and comprises the following steps:

firstly, the energy supply module is started, and the control module controls the walking module to work to drive the robot to walk;

secondly, in the walking process of the robot, the panoramic monitoring device monitors and observes the surrounding environment and organisms, transmits the monitored images to the control module and transmits the images to the remote terminal equipment through the control module;

thirdly, the remote terminal equipment receives data, identifies and processes the data, controls the walking module to stop advancing through the control module when an undeterminable abnormal condition occurs, then drives the mechanical arm module to work through the control module, and controls the local monitoring device to observe each angle of the abnormal position through the rotation of the mechanical arm to adjust the position angle;

and fourthly, after the abnormal condition is determined, the remote terminal equipment informs the staff of handling the abnormal condition in the future.

As a further improvement of the inspection method, when the robot comprises a laser radar and a road condition camera, the first step further comprises the following steps: the laser radar scans the surrounding environment, the road condition camera shoots road condition images, the road condition images and the road condition images are transmitted to the control module, the obtained data are processed to obtain specific road conditions, and the driving path of the robot is planned according to the road conditions to avoid obstacles.

3. Advantageous effects

Compared with the prior art, the beneficial effects of the utility model are that:

(1) the utility model relates to a pig farm is with patrolling and examining robot, through automatic walking module and detection module, can replace the manual work, observe the breeding environment of pig farm and the growth condition of pig in real time, be convenient for in time discover and respond to after the abnormal condition appears, it patrols and examines efficiently, a large amount of manpower and materials have been saved, it is greatly reduced to patrol and examine the cost and compare with manual work and examine, especially, after tentatively observing the abnormal condition through panorama monitoring device, can go on observing the abnormal place more in detail through local monitoring device again, thereby accurately judge the abnormal condition, greatly improved the monitoring effect, make things convenient for follow-up staff to handle;

(2) the utility model relates to a pig farm is with patrolling and examining robot can conveniently and fast adjust the position and the monitoring angle of local monitoring devices through arm module to the multi-angle ground is observed to the abnormal conditions in a comprehensive way, especially, in the pig farm, individual pig is in the active state, need constantly carry out position and angular adjustment and observe, general monitoring device hardly reaches this effect, and the utility model discloses an arm module can realize the position adjustment of a plurality of degrees of freedom through base, multiunit articulated arm and the pivot that can rotate, makes the position adjustment of local monitoring devices very convenient quick, can not appear the dead angle that can not monitor, and monitoring effect strengthens greatly;

(3) the utility model relates to a pig farm is with patrolling and examining robot, through gas sensor and temperature and humidity sensor, can carry out real-time supervision to the concentration, temperature and the humidity of various gases in the surrounding environment to carry out follow-up regulation to the environment according to the monitoring result, make the environment in the pig farm keep under the condition that the pig is fit for life constantly, reduce the sick probability of pig, improve the breed effect;

(4) the utility model relates to a pig farm is with patrolling and examining robot, through the cooperation work of laser radar and road conditions camera, can master the road conditions on the robot route of advancing accurately to carry out the planning of robot route of advancing according to the road conditions, avoid barrier and sunken, prevent that the robot is blockked by the barrier or stumbled etc.;

(5) the utility model relates to a pig farm is with patrolling and examining robot, is equipped with the installation cover in the frame upper end, and panorama monitoring devices installs in the installation cover, prevents that in the process of patrolling and examining, rubbish dust etc. from falling on the monitoring position of panorama monitoring devices, influencing the monitoring effect;

(6) the utility model relates to a pig farm inspection method adopts the above-mentioned inspection robot to carry out the work of patrolling and examining of the inside condition in pig farm, compares the manual work and patrols and examines, when having improved and patrolling and examining efficiency and patrolling and examining the precision, has saved manpower and materials, has reduced labour cost.

Drawings

Fig. 1 is a schematic diagram of the overall structure of the inspection robot;

FIG. 2 is a schematic structural diagram of the lower half part of the inspection robot;

FIG. 3 is a schematic structural view of the upper half of the inspection robot;

FIG. 4 is a schematic diagram of a robot arm module;

FIG. 5 is a control flow chart of the inspection robot;

in the figure: 1. a walking module; 101. a drive wheel; 102. a laser radar; 103. a road condition camera;

2. an energy supply module; 201. a battery; 202. an electric quantity monitoring device;

3. a control module; 301. a control cabinet I; 302. a control cabinet II;

4. a frame;

5. a monitoring module; 501. a gas sensor; 502. a temperature and humidity sensor; 503. a panoramic monitoring device; 504. mounting a cover; 505. a local monitoring device;

6. a robotic arm module; 601. a base; 602. a first robot arm; 603. a second mechanical arm; 604. a monitoring device mounting arm; 605. a rotating shaft; 606. and (7) mounting the plate.

Detailed Description

The invention will be further described with reference to specific embodiments and drawings. Before the description, the signal transmission circuit, the control circuit, and the like of the inspection robot used in the embodiments belong to the common electrical control technology for those skilled in the art, and therefore, the specific structure, the connection relationship, and the operation principle of the inspection robot are not described in detail.

Example 1

As shown in fig. 1, 2 and 3, the inspection robot for the pig farm is mainly used for inspecting the breeding environment and pigs in the pig farm, finding abnormal conditions in time and processing the abnormal conditions. The robot mainly comprises a rack 4, and a walking module 1, an energy supply module 2, a control module 3 and a monitoring module 5 which are arranged on the rack 4. Wherein, walking module 1 is used for controlling the removal of robot, and energy supply module 2 is used for providing the power for the work of each module of robot, and control module 3 is used for receiving the data of each module transmission to after handling, according to the work of the other modules of data condition control, monitoring module 5 is used for observing and collects the aquaculture environment in the pig farm and the health condition of pig, and the data that will collect after discovering the abnormal conditions reflect to control module 3 in. The structure and operation of each module are explained in detail below.

The frame 4 is of a frame structure and is used as an installation main body of the robot, and other components are installed on the frame 4.

The control module 3 is a control center of the robot, is installed in the middle of the rack 4, and includes a control cabinet I301 and a control cabinet II 302. The control cabinet I301 is internally provided with a driving wheel control unit, a wireless communication unit and a microcomputer, and the control cabinet II 302 is internally provided with a mechanical arm control unit.

The walking module 1 includes a driving wheel 101, a laser radar 102, and a road condition camera 103. Wherein, the driving wheels 101 have a plurality of pairs, are arranged at the lower end of the frame 4 and are symmetrically arranged between each pair of driving wheels 101, in the embodiment, the number of the driving wheels 101 is 4, and the driving wheels are arranged at the lower end of the frame 4 in a structure similar to four wheels of an automobile. The driving wheel 101 of the present embodiment is a universal wheel, and flexible steering of the robot can be achieved. Laser radar 102 and road conditions camera 103 all install on the front end frame 4 of robot, and the two adopts laser radar and camera among the prior art all can, and in this embodiment, road conditions camera 103 adopts two mesh cameras, and image capture is more accurate. When the robot works, the laser radar 102 scans obstacles in the surrounding environment, the road condition camera 103 shoots images of the surrounding obstacles, the laser radar and the road condition camera transmit collected data to the microcomputer in the control cabinet I301, the microcomputer plans the traveling route of the driving wheel 101 after analyzing and processing the data, and controls the driving wheel 101 to avoid the obstacles through the driving wheel control unit, so that the robot is prevented from colliding with the obstacles and being blocked or stumbled.

The energy supply module 2 comprises a battery 201 and a power monitoring device 202. The battery 201 is a rechargeable battery for supplying power to other modules. The electric quantity monitoring device 202 can monitor the electric quantity of the battery 201 in real time, when the electric quantity is too low or the discharge quantity is abnormally changed, an alarm signal is sent out to inform a worker to process the electric quantity, the electric quantity monitoring device 202 belongs to the common electrical control technology which should be known by the technical personnel in the field, the electric quantity monitoring device in the prior art can be adopted, and the specific structure, the connection relation and the working principle of the electric quantity monitoring device are not described in detail.

The monitoring module 5 is the monitoring unit of robot, plays key effect in the work of patrolling and examining, and it includes gas sensor 501, temperature and humidity sensor 502, panorama monitoring devices 503 and local monitoring devices 505. The gas sensor 501 is used for detecting the concentration of various gases in the pig farm and mainly monitoring the concentration of carbon dioxide and ammonia, the temperature and humidity sensor 502 can well detect the humidity and the ambient temperature in the air, the temperature and the humidity can be combined to work, the internal environmental conditions of the pig farm can be clearly ascertained, scientific guidance is provided for cleaning, ventilating, drying and other work of workers, the working efficiency of the workers is improved, and a suitable living environment is provided for pigs. Panorama monitoring devices 503 adopts the panoramic camera among the prior art, and it is installed in the upper end of frame 4, and all-round carries out monitoring work to around to in transmitting the image of shooing to control module 3, control module 3 is with information transfer to remote equipment terminal again, and equipment terminal receives information and judges the processing back, transmits corresponding order to control module 3, carries out corresponding work by each module of control module 3 control. In addition, in order to prevent the sundries and dust from falling on the shooting part of the panoramic camera during the working process, a transparent mounting cover 504 is mounted at the upper end of the frame 4, the panoramic monitoring device 503 is mounted in the mounting cover 504, and the periphery is shot through the mounting cover 504, so that the sundries and dust are prevented from falling on the panoramic monitoring device 503 to affect the monitoring effect.

However, the panoramic monitoring device 503 needs to monitor many places as much as possible, and the robot moves back and forth, which may result in insufficient monitoring time for a certain place, and the abnormal situation is not accurately determined, so that the worker cannot timely handle the abnormal situation. However, if some abnormal situations are not handled in time, serious loss is easily caused to pig farms, for example, when an individual pig has an infectious disease, if the pig is not handled in time, once the pig infects other pigs, huge loss is caused, and even after the pig is sold, the health of consumers is damaged. In particular, in a pig farm, an individual pig is in an active state, and needs to be constantly adjusted in position and angle for observation, which is difficult to achieve by a common monitoring device. Therefore, in the present embodiment, a local monitoring device 505 and a robot arm module 6 are added on the basis of the panoramic monitoring device 503.

As shown in fig. 4, the robot module 6 is mounted on the frame 4 between the panoramic monitoring apparatus 503 and the control cabinet II 302, and is driven to operate by a robot control unit in the control cabinet II 302, and includes a base 601, a first robot 602, a second robot 603, and a monitoring apparatus mounting arm 604. Wherein, a mounting panel 606 is equipped with to base 601 lower extreme, and base 601 passes through mounting panel 606 to be fixed on frame 4, and the lower extreme of base 601 is the cylinder structure, and it can be followed the axis of self and rotated, and it can adopt the common rotating-structure among the prior art, only needs to reach the rotation effect can. One end of the first robot 602 is hinged to the upper end of the base 601, and the other end is hinged to one end of the second robot 603. One end of the monitoring device mounting arm 604 is hinged to the other end of the second mechanical arm 603, the local monitoring device 505 is mounted on the other end of the monitoring device mounting arm 604, and the local monitoring device 505 is a high-definition industrial camera in the prior art. Therefore, by controlling the rotation of the base 601 and the mutual rotation between the plurality of robot arms, the position of the local monitoring device 505 can be very conveniently adjusted, and the local abnormality can be carefully observed in a short distance.

In order to further increase the monitoring angle of the local monitoring device 505, a rotating shaft 605 is provided on the end surface of the end of the monitoring device mounting arm 604 connected to the local monitoring device 505. In this embodiment, the rotating shaft 605 is installed at the center of the monitoring device mounting arm 604 and can rotate along its own axis. The local monitoring device 505 is mounted on the rotating shaft 605 and can rotate along with the rotation of the rotating shaft 605, thereby adjusting the detection angle thereof. Through the cooperation work that can pivoted base 601, multiunit articulated arm and pivot 605, can realize the position control of a plurality of degrees of freedom and the adjustment of monitoring angle for local monitoring device 505's position control is very convenient quick, the dead angle that can not appear monitoring, and the monitoring effect strengthens greatly.

During operation, the energy supply module 2 is started, and the robot starts to patrol. When the panoramic monitoring device 503 monitors abnormal conditions of the breeding environment of the pig farm and the physical conditions of the pigs, information is transmitted to the wireless communication unit in the control module 3, the wireless communication unit transmits the information to the remote terminal device, and after the remote terminal device preliminarily judges, when the abnormal conditions cannot be determined, the walking module 1 is controlled by the control module 3 to stop advancing and approach to the abnormal position. After the pig is close to the pig body, the mechanical arm module 6 is driven to work, the position and the monitoring angle of the local monitoring device 505 are adjusted, so that the local environment and the physical conditions of individual pigs are observed in detail, data are collected carefully under abnormal conditions and are transmitted to the remote terminal device through the wireless communication unit, the abnormal conditions are analyzed and judged in detail, and therefore the worker can conveniently perform timely follow-up processing.

To sum up, the pig farm of this embodiment is with patrolling and examining robot, it need not the manual work and patrols and examines the pig farm, can carry out patrolling and examining of pig farm automatically, observes the breed environment in pig farm and the growth condition of pig in real time, and can carry out comprehensive observation to local environment and individual pig in multi-angle ground, patrols and examines the validity height, uses manpower and materials sparingly.

Example 2

A pig farm inspection method adopts the inspection robot in embodiment 1 to perform inspection work of a pig farm, and as shown in figure 5, the inspection method comprises the following steps:

firstly, the energy supply module 2 is started, the control module 3 controls the walking module 1 to work to drive the robot to walk, and meanwhile, the control module 3 controls the other modules to start working. When walking, the laser radar 102 and the road condition camera 103 work in combination to scan and shoot obstacles, recesses and the like on the walking path, and transmit the obstacles, recesses and the like to the microcomputer in the control module 3 for processing, and the control module 3 controls the driving wheel 101 to work according to the collected road condition information, plans the walking path and avoids the obstacles and the recesses.

Secondly, in the walking process, the panoramic monitoring device 503 monitors and observes the surrounding environment and organisms in the pig farm, transmits the monitored images to the control module 3, and transmits the images to the remote terminal equipment through the control module 3. Meanwhile, the gas sensor 501 and the temperature and humidity sensor 502 collect data of the gas concentration, the temperature and the humidity in the pig farm, transmit the data to the remote terminal device through the wireless communication unit, provide scientific guidance for cleaning, ventilation, drying and other work of workers, improve the work efficiency of the workers and provide a suitable breeding environment for pigs.

Thirdly, the remote terminal equipment receives the data collected by the panoramic monitoring device 503 and identifies and processes the data, and when an abnormal condition which cannot be determined occurs, the remote terminal equipment controls the walking module 1 to stop advancing through the control module 3 and approach the abnormal condition. Then, the control module 3 drives the mechanical arm module 6 to work, the mechanical arm rotates to adjust the position angle, the local monitoring device 505 is controlled to observe and collect data of various angles of abnormal parts (local abnormal environment and individual pigs with abnormal conditions), and the abnormal conditions are analyzed and judged according to the collected data.

And fourthly, after the abnormal condition is determined, the remote terminal equipment informs the staff of handling the abnormal condition in the future.

In summary, according to the inspection method for the pig farm in the embodiment, the inspection robot for the pig farm in the embodiment 1 is adopted, so that the intelligent cultivation of the pig farm can be realized, the working strength of cultivation personnel in the pig farm is reduced, manpower and material resources are saved, potential problems are predicted, scientific pig cultivation is realized, and the economic benefit of pig farm cultivation is greatly improved.

The examples of the utility model are only right the utility model discloses a preferred embodiment describes, and not right the utility model discloses design and scope are injectd, do not deviate from the utility model discloses under the prerequisite of design idea, the field engineering technical personnel are right the utility model discloses a various deformation and improvement that technical scheme made all should fall into the protection scope of the utility model.

Claims (8)

1. The utility model provides a pig farm is with patrolling and examining robot, includes frame (4), install walking module (1), energy supply module (2), control module (3) and monitoring module (5) on frame (4), walking module (1) is used for driving the robot to remove, energy supply module (2) are used for the power supply, control module (3) are used for controlling walking module (1) and monitoring module (5) work, monitoring module (5) are including panorama monitoring device (503) that are used for observing the surrounding environment, its characterized in that: the mechanical arm module (6) is arranged on the frame (4); the front end of the mechanical arm module (6) is provided with a local monitoring device (505) for observing local environment and single living beings.

2. The inspection robot for the pig farm according to claim 1, characterized in that: the robotic arm module (6) comprises a base (601), a first robotic arm (602), a second robotic arm (603), and a monitoring device mounting arm (604); the base (601) is rotatably installed on the rack (4), one end of the first mechanical arm (602) is hinged to the upper end of the base (601), one end of the second mechanical arm (603) is hinged to the other end of the first mechanical arm (602), one end of the monitoring device installing arm (604) is hinged to the other end of the second mechanical arm (603), and the local monitoring device (505) is installed at the other end of the monitoring device installing arm (604).

3. The inspection robot for the pig farm according to claim 2, characterized in that: the end face of one end, connected with the local monitoring device (505), of the monitoring device mounting arm (604) is provided with a rotating shaft (605), and the local monitoring device (505) is mounted on the rotating shaft (605).

4. The inspection robot for the pig farm according to claim 3, characterized in that: the monitoring module (5) further comprises a gas sensor (501) and a temperature and humidity sensor (502) which are installed on the rack (4).

5. The inspection robot for the pig farm according to claim 1, characterized in that: the walking module (1) comprises a driving wheel (101); the driving wheels (101) are provided with a plurality of pairs, and each pair of driving wheels (101) are symmetrically arranged on two sides of the bottom end of the rack (4).

6. The inspection robot for the pig farm according to claim 5, characterized in that: the walking module (1) further comprises a laser radar (102) used for scanning the environment and a road condition camera (103) used for shooting road condition images, and the laser radar (102) and the road condition camera (103) are both installed on the rack (4).

7. The inspection robot for the pig farm according to claim 5, characterized in that: the driving wheel (101) is a universal wheel.

8. The inspection robot for the pig farm according to any one of claims 1-7, characterized in that: an installation cover (504) is fixed at the upper end of the rack (4), and the panoramic monitoring device (503) is fixedly installed in the installation cover (504).

Images