CN213383894U - Automatic feeding unmanned vehicle for aquaculture plant based on computer vision - Google Patents
Automatic feeding unmanned vehicle for aquaculture plant based on computer vision Download PDFInfo
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- CN213383894U CN213383894U CN202020941041.1U CN202020941041U CN213383894U CN 213383894 U CN213383894 U CN 213383894U CN 202020941041 U CN202020941041 U CN 202020941041U CN 213383894 U CN213383894 U CN 213383894U
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Abstract
The utility model discloses a breed aquatics plant autoloading unmanned car based on computer vision, including unmanned car. Wherein, the top of unmanned car is provided with computer apron and pan feeding mouth, computer apron bottom is provided with the driving computer, pan feeding mouth department is provided with the pan feeding baffle, the front end of unmanned car is provided with the camera, the side of unmanned car evenly is provided with many discharge openings, the top of discharge opening is provided with the baffle of unloading, the outside of discharge opening is provided with the slide of unloading, the bottom of unmanned car is provided with four pulleys, the inboard top of unmanned car is provided with the storage cavity, pan feeding mouth and discharge opening all link up mutually with the storage cavity, the bottom in storage cavity is provided with weighing sensor, the inboard bottom of unmanned car is provided with motor and battery. The utility model discloses signboard and obstacle and then accomplish autoloading at the plant in mainly utilizing computer vision technology discernment trajectory, its part of unloading adopts the physics mode to slide and unloads, and its energy resource consumption is low, and its later maintenance cost is lower.
Description
Technical Field
The utility model relates to a poultry field specifically is a plant's autoloading unmanned car based on computer vision.
Background
Animal husbandry is one of the components of agriculture, and is combined with planting as two major pillars for agricultural production. Animal husbandry refers to the production sector of raising livestock and poultry to obtain animal products or work animals, either by grazing, housing or a combination of both. It includes livestock raising, poultry raising, economic animal domestication, etc.
Computer vision technology enables a computer to simulate the visual process of a human, and has the capability of feeling the environment and the technology of human visual function. The computer vision technology is a comprehensive interdiscipline related to artificial intelligence, neurobiology, psychophysics, computer science, image processing, artificial intelligence, pattern recognition and other technologies. Machine vision mainly uses a computer to simulate the visual function of a human, extracts information from an image of an objective object, processes and understands the information, and finally is used for actual detection, measurement and control. The machine vision technology has the biggest characteristics of high speed, large information amount and multiple functions.
Most present plant is thrown the material and is raised or semi-automatization is thrown the material and raise mostly artifically, and its human resource drops into greatly, and breeder's intensity of labour is big, and work efficiency is lower, and it throws the material machine and consumes fuel (like diesel oil) when the operation, and not only the input cost is higher, still pollutes the growing environment of livestock, and the maintenance cost in its later stage is also higher. In order to solve the existing problem, the utility model designs a breed aquatics plant autoloading unmanned car based on computer vision.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving present plant and mostly throwing the material to raise or semi-automatization throws the material to raise for the manual work, its human resource input is great, breeder's intensity of labour is big, work efficiency is lower, it throws the material machine and consumes fuel (like diesel oil) when the operation, not only the input cost is higher, still pollutes the growing environment of livestock, the maintenance cost of its later stage is shortcoming such as also higher, and provides a plant's autoloading unmanned car based on computer vision.
In order to achieve the above object, the utility model provides a following technical scheme: the unmanned vehicle running along a track line, wherein the track line is a closed unmanned vehicle running identification line, the track line surrounds the periphery of a farm, a plurality of unmanned vehicle running identification points are arranged in the track line, each identification point is correspondingly provided with an instruction identification plate, the top of the unmanned vehicle is provided with a computer cover plate and a feeding port, the computer cover plate and the feeding port are respectively positioned on two sides of the top of the unmanned vehicle, a traveling computer is arranged at the bottom of the computer cover plate, a feeding baffle is arranged at the feeding port, one side of the feeding baffle is connected with an air cylinder, the front end of the unmanned vehicle is provided with a camera, the side of the unmanned vehicle is uniformly provided with a plurality of discharging ports, the top of the discharging port is provided with a discharging baffle, one side of the discharging baffle is also connected with the air cylinder, the outer side of the discharging port is provided with a discharging slideway, and the bottom of the unmanned vehicle is provided with four pulleys, the inside top of unmanned car is provided with the storage cavity, and wherein pan feeding mouth and discharge opening all link up mutually with the storage cavity, the bottom in storage cavity is provided with weighing sensor, the inboard bottom of unmanned car is provided with motor and battery wherein the motor cooperatees with four pulleys.
Preferably, the feeding port and the plurality of discharge ports are communicated with the material storage cavity, wherein the bottom surface of the material storage cavity is an inclined surface, that is, the material storage cavity is inclined from the feeding port to the plurality of discharge ports. Because the bottom surface of the inner side of the storage cavity is an inclined plane, the fodder can be integrally stacked at the discharge opening after entering through the feeding opening, and then the fodder is discharged through the discharge opening, and the fodder is discharged in a sliding manner by adopting a physical mode, so that the energy consumption is low, and the later maintenance cost is low.
Preferably, the bottom surface of the inner side of the discharging slide way is also an inclined plane, and the discharging slide way is welded and fixed at the discharging opening. Fodder flows out the department through the discharge opening, carries to the silo in plant through the slide of unloading, and wherein, the slide mainly used of unloading carries the fodder guide to the silo in, and the small-size discharge opening in many places can play the current-limiting effect to this is guaranteed the even of unloading.
Preferably, the computer cover plate is movably connected with the top of the unmanned vehicle through a connecting shaft, the computer cover plate can rotate by taking the connecting shaft as a center, the traveling computer and the display screen thereof are positioned at the bottom of the computer cover plate, and the bottom of the computer cover plate is not in contact with the display screen of the traveling computer. The computer cover plate is mainly used for protecting the traveling crane computer to prevent interference of external factors such as sunlight, rainwater and the like, so that the service life of the traveling crane computer is prolonged.
Preferably, the unmanned vehicle is a signal control center of a traveling computer, the camera, the weighing sensor, the motor, the storage battery and the cylinder are all connected with the traveling computer through lines, and the commonly used command signboard in the track line comprises a start/end signboard, a loading stop signboard, an unloading start signboard and an unloading pause signboard. The driving computer mainly applies a computer vision technology and software to a convolutional neural network, identifies images or obstacles of the signboard in the track line through the camera and carries out operation, and then makes a corresponding instruction.
Preferably, an integrated circuit is formed among the camera, the traveling computer, the motor and the storage battery. When the unmanned vehicle identifies the start/end signboard in the track line through the camera, a driving computer sends a 'stop work' instruction after processing, at the moment, the unmanned vehicle is controlled by the motor to decelerate and stop immediately, and the driving computer waits for a work instruction; when the unmanned vehicle identifies the obstacle in the track line through the camera, the driving computer sends a 'pause driving' instruction after processing, at the moment, the unmanned vehicle is controlled by the motor to decelerate and stop at once, the driving computer sends an alarm, and when the obstacle is cleared, the unmanned vehicle continues to drive.
Preferably, an integrated circuit is formed among the camera, the traveling computer, the air cylinder, the weighing sensor, the motor and the storage battery. When the unmanned vehicle recognizes the feeding stop signboard in the track line through the camera, a traveling computer sends a feeding stop instruction after processing, at the moment, the unmanned vehicle is controlled by the motor to decelerate and stop at once, the feeding opening is opened by the cylinder control feeding baffle plate, the feeding is started by the feeding machine, the feeding opening is closed by the cylinder control feeding baffle plate until the weight of the feed preset by the weighing sensor is reached in the storage cavity, and then the unmanned vehicle is controlled by the motor to continue to run.
Preferably, an integrated circuit is formed among the camera, the traveling computer, the cylinder, the motor and the storage battery. When the unmanned vehicle recognizes the unloading start signboard in the trajectory line through the camera, the unmanned vehicle sends an unloading start command through the traveling computer after processing, at the moment, the unmanned vehicle is controlled by the motor to decelerate immediately and run at a constant speed, the air cylinder controls the unloading baffle to open the unloading opening, and the feed slides out of the storage cavity through a plurality of unloading openings uniformly and is conveyed to the material groove along the unloading slide way; when the unmanned vehicle recognizes the unloading pause signboard in the trajectory line through the camera, the unmanned vehicle sends an unloading pause instruction through the traveling computer after processing, at the moment, the unloading baffle is controlled by the cylinder to close the unloading opening, and the unmanned vehicle continues to travel at the traveling speed before resuming.
Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses signboard and obstacle and then accomplish autoloading at the plant in mainly utilizing computer vision technology discernment trajectory, reduced workman's intensity of labour, improved work efficiency, its unmanned car operation power consumption, the corresponding material machine of throwing that consumes fuel (like diesel oil), its input cost is lower, no environmental pollution, its part of unloading adopts the physics mode to slide and unloads, its energy resource consumption is low, its later maintenance cost is lower.
Drawings
Fig. 1 is a schematic view of the overhead structure of the unmanned vehicle of the present invention when the unmanned vehicle is located on the track line.
Fig. 2 is the structure schematic diagram of the unmanned vehicle of the present invention.
Fig. 3 is the structure schematic diagram of the unmanned vehicle in the right view.
Fig. 4 is a schematic view of the overhead structure of the unmanned vehicle of the present invention.
Fig. 5 is the internal structure schematic diagram of the unmanned vehicle of the present invention.
Fig. 6 is a working principle diagram of the unmanned vehicle of the utility model.
In the figure: 1-unmanned place, 2-traveling computer, 3-feeding port, 4-feeding baffle, 5-camera, 6-discharging port, 7-discharging baffle, 8-discharging slideway, 9-pulley, 10-material storage chamber, 11-weighing sensor, 12-motor, 13-storage battery, 14-cylinder and 15-computer cover plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-6, the present invention provides a technical solution: the unmanned aerial vehicle comprises an unmanned aerial vehicle 1, wherein the unmanned aerial vehicle 1 runs along a track line, the track line is a closed unmanned aerial vehicle 1 running identification line, the track line surrounds the periphery of a farm, a plurality of unmanned aerial vehicle 1 running identification points are arranged in the track line, each identification point is correspondingly provided with an instruction identification plate, the top of the unmanned aerial vehicle 1 is provided with a computer cover plate 15 and a feeding port 3, the computer cover plate 15 and the feeding port 3 are respectively positioned at two sides of the top of the unmanned aerial vehicle 1, the bottom of the computer cover plate 15 is provided with a traveling computer 2, the feeding port 3 is provided with a feeding baffle plate 4, one side of the feeding baffle plate 4 is connected with an air cylinder 14, the front end of the unmanned aerial vehicle 1 is provided with a camera 5, a plurality of discharging ports 6 are uniformly arranged on the side surface of the unmanned aerial vehicle 1, the top of each discharging port 6 is provided with a discharging baffle plate 7, one side of each discharging baffle plate 7 is also, the outside of discharge opening 6 is provided with the slide 8 of unloading, the bottom of unmanned car 1 is provided with four pulleys 9, the inboard top of unmanned car 1 is provided with storage cavity 10, and wherein pan feeding mouth 3 and discharge opening 6 all link up with storage cavity 10 mutually, the bottom of storage cavity 10 is provided with weighing sensor 11, the inboard bottom of unmanned car 1 is provided with motor 12 and battery 13, and wherein motor 12 cooperatees with four pulleys 9.
The feeding port 3 and the plurality of discharging ports 6 are communicated with the material storage cavity 10, wherein the bottom surface of the material storage cavity 10 is an inclined surface, namely, the feeding port 3 is inclined to the plurality of discharging ports 6. Because the inboard bottom surface in storage cavity 10 is the inclined plane, the fodder gets into the back through the pan feeding mouth, and the fodder is whole can pile up in discharge opening 6 department, accomplishes through discharge opening 6 and unloads, and it adopts the physics mode to slide and unloads, and not only energy resource consumption is low, and the maintenance cost of its later stage is also low.
The bottom surface of the inner side of the discharging slide way 8 is also an inclined plane, and the discharging slide way 8 is welded and fixed at the discharging opening 6. Fodder is through 6 outflow departments of many places discharge opening, carries to the silo in plant through the slide 8 of unloading, and wherein, the slide 8 mainly used of unloading is carried the fodder guide to the silo in, and the small-size discharge opening 6 in many places can play the current-limiting effect to this is guaranteed the even of unloading.
The computer cover plate 15 is movably connected with the top of the unmanned vehicle 1 through a connecting shaft, the unmanned vehicle can rotate by taking the connecting shaft as a center, the traveling computer 2 and the display screen thereof are positioned at the bottom of the computer cover plate 15, and the bottom of the computer cover plate 15 is not in contact with the display screen of the traveling computer 2. The computer cover 15 is mainly used for protecting the traveling computer 2 to prevent interference of external factors such as sunlight and rain, thereby prolonging the service life of the traveling computer 2.
The unmanned vehicle 1 is a signal control center of the driving computer 2, the camera 5, the weighing sensor 11, the motor 12, the storage battery 13 and the air cylinder 14 are all connected with the driving computer 2 through lines, and the commonly used command signboard in the track line comprises a start/end signboard, a feeding stop signboard, a discharging start signboard and a discharging pause signboard. The driving computer 2 mainly uses a computer vision technology, software application convolution neural network, and identifies the image or the obstacle of the signboard in the track line through the camera 5 and carries out operation, and then makes a corresponding instruction.
The camera 5, the traveling computer 2, the motor 12 and the storage battery 13 form an integrated circuit. When the unmanned vehicle 1 identifies the start/end signboard in the trajectory line through the camera 5, the vehicle computer 2 sends a 'stop work' instruction after processing, at the moment, the unmanned vehicle 1 is controlled to decelerate and stop immediately through the motor 12, and the vehicle computer 2 waits for a work instruction; when the unmanned vehicle 1 identifies the obstacle in the track line through the camera 5, the driving computer 2 sends a 'pause driving' instruction after processing, at the moment, the unmanned vehicle 1 is controlled to decelerate and stop immediately through the motor 12, the driving computer 2 sends an alarm, and when the obstacle is cleared, the unmanned vehicle continues to drive.
An integrated circuit is formed among the camera 5, the traveling computer 2, the air cylinder 14, the weighing sensor 11, the motor 12 and the storage battery 13. When unmanned vehicle 1 discerns the material loading in the trajectory line through camera 5 and stops the signboard, send "material loading stops" instruction by driving computer 2 after handling, at this moment, through motor 12 control unmanned vehicle 1 speed reduction stop at once, pan feeding mouth 3 is opened to cylinder 14 control pan feeding baffle 4, start the material loading through the material loading machine, when arriving the fodder weight that weighing sensor 11 predetermines in storage cavity 10, pan feeding mouth 3 is closed to cylinder 14 control pan feeding baffle 4, then continues to travel through motor 12 control unmanned vehicle 1.
The camera 5, the traveling computer 2, the cylinder 14, the motor 12 and the storage battery 13 form an integrated circuit. When the unmanned vehicle recognizes the unloading start signboard in the trajectory line through the camera 5, the unmanned vehicle sends an unloading start command through the traveling computer 2 after processing, at the moment, the unmanned vehicle 1 is controlled by the motor 12 to decelerate immediately and run at a constant speed, the air cylinder 14 controls the unloading baffle 7 to open the unloading opening 6, and the feed slides out of the storage cavity 10 through the plurality of unloading openings 6 uniformly and is conveyed to the trough along the unloading slide way 8; when the unmanned vehicle 1 recognizes the unloading pause signboard in the trajectory line through the camera 5, the processed unloading pause command is sent out by the traveling computer 2, at the moment, the air cylinder 14 controls the discharge opening 6 of the discharge baffle 7 to be closed, and the unmanned vehicle 1 continues to travel at the traveling speed before resuming.
The utility model discloses a theory of operation does: the computer cover plate 15 is opened, feeding time periods of a farm, such as feeding time periods of morning, noon and evening, are set in the traveling computer 2 in the unmanned vehicle 1, and then the computer cover plate 15 is closed.
When the time point set in the morning is reached, the unmanned vehicle 1 starts to run along the track line, and the commonly used command signboard in the track line mainly comprises a start/end signboard, a feeding stop signboard, a discharging start signboard and a discharging pause signboard.
When the unmanned vehicle 1 recognizes the start/end signboard in the trajectory line through the camera 5, the traveling computer 2 sends a 'stop work' instruction after processing, at this time, the unmanned vehicle 1 is controlled by the motor 12 to decelerate and stop immediately, and the traveling computer 2 waits for a work instruction.
When the unmanned vehicle 1 identifies the obstacle in the track line through the camera 5, the driving computer 2 sends a 'pause driving' instruction after processing, at the moment, the unmanned vehicle 1 is controlled to decelerate and stop immediately through the motor 12, the driving computer 2 sends an alarm, and when the obstacle is cleared, the unmanned vehicle continues to drive.
When unmanned vehicle 1 discerns the material loading in the trajectory line through camera 5 and stops the signboard, send "material loading stops" instruction by driving computer 2 after handling, at this moment, through motor 12 control unmanned vehicle 1 speed reduction stop at once, pan feeding mouth 3 is opened to cylinder 14 control pan feeding baffle 4, begin the material loading through the material loading machine, when reaching the fodder weight that weighing sensor 11 predetermines in the storage cavity 10, pan feeding mouth 3 is closed to cylinder 14 control pan feeding baffle 4, then continues to travel through motor 12 control unmanned vehicle 1.
When the unmanned vehicle 1 recognizes the discharging start signboard in the trajectory line through the camera 5, the vehicle computer 2 sends a discharging start command after processing, at the moment, the unmanned vehicle 1 is controlled by the motor 12 to decelerate at once and run at a constant speed, the air cylinder 14 controls the discharging baffle 7 to open the discharging opening 6, and the feed slides out of the storage cavity 10 uniformly through the discharging openings 6 and is conveyed to the trough along the discharging slide way 8.
When the unmanned vehicle 1 recognizes the unloading pause signboard in the trajectory line through the camera 5, the processed unloading pause command is sent out by the traveling computer 2, at the moment, the air cylinder 14 controls the discharge opening 6 of the discharge baffle 7 to be closed, and the unmanned vehicle 1 continues to travel at the traveling speed before resuming.
When the set time points of morning and evening are reached, the working content of the unmanned vehicle 1 is completely the same as that of morning, and the unmanned vehicle works circularly.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. The utility model provides a plant autoloading unmanned car based on computer vision which characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle (1), wherein the unmanned aerial vehicle (1) runs along a track line, the track line is a closed unmanned aerial vehicle (1) running identification line, the track line surrounds the periphery of a farm, a plurality of unmanned aerial vehicle (1) running identification points are arranged in the track line, each identification point is correspondingly provided with an instruction identification plate, the top of the unmanned aerial vehicle (1) is provided with a computer cover plate (15) and a feeding port (3), the computer cover plate (15) and the feeding port (3) are respectively positioned on two sides of the top of the unmanned aerial vehicle (1), the bottom of the computer cover plate (15) is provided with a traveling computer (2), the feeding port (3) is provided with a feeding baffle plate (4), one side of the feeding baffle plate (4) is connected with an air cylinder (14), the front end of the unmanned aerial vehicle (1) is provided with a camera (5), and the side surface of the unmanned aerial vehicle (1) is uniformly provided with a plurality of discharging ports (6), the top of discharge opening (6) is provided with baffle (7) of unloading, baffle (7) one side of unloading also is connected with cylinder (14), the outside of discharge opening (6) is provided with slide (8) of unloading, the bottom of unmanned car (1) is provided with four pulleys (9), the inboard top of unmanned car (1) is provided with storage cavity (10), and wherein pan feeding mouth (3) and discharge opening (6) all link up mutually with storage cavity (10), the bottom of storage cavity (10) is provided with weighing sensor (11), the inboard bottom of unmanned car (1) is provided with motor (12) and battery (13), and wherein motor (12) and four pulleys (9) cooperate.
2. The computer vision based farm automated feeding unmanned vehicle of claim 1, wherein: the feeding opening (3) and the plurality of discharging openings (6) are communicated with the material storage cavity (10), wherein the bottom surface of the material storage cavity (10) is an inclined plane, namely, the feeding opening (3) is inclined to the plurality of discharging openings (6).
3. The computer vision based farm automated feeding unmanned vehicle of claim 1, wherein: the bottom surface of the inner side of the discharging slide way (8) is also an inclined plane, and the discharging slide way (8) is welded and fixed at the discharging opening (6).
4. The computer vision based farm automated feeding unmanned vehicle of claim 1, wherein: the computer cover plate (15) is movably connected to the top of the unmanned vehicle (1) through a connecting shaft and can rotate by taking the connecting shaft as a center, the traveling computer (2) and the display screen thereof are located at the bottom of the computer cover plate (15), and the bottom of the computer cover plate (15) is not in contact with the display screen of the traveling computer (2).
5. The computer vision based farm automated feeding unmanned vehicle of claim 1, wherein: the unmanned vehicle (1) is a signal control center of a traveling computer (2), the camera (5), the weighing sensor (11), the motor (12), the storage battery (13) and the air cylinder (14) are all connected with the traveling computer (2) in a line mode, and a common instruction signboard in a track line comprises a start/end signboard, a loading stop signboard, an unloading start signboard and an unloading pause signboard.
6. The computer vision based farm automated feeding unmanned vehicle of claim 5, wherein: an integrated circuit is formed among the camera (5), the traveling computer (2), the motor (12) and the storage battery (13).
7. The computer vision based farm automated feeding unmanned vehicle of claim 5, wherein: an integrated circuit is formed among the camera (5), the traveling computer (2), the air cylinder (14), the weighing sensor (11), the motor (12) and the storage battery (13).
8. The computer vision based farm automated feeding unmanned vehicle of claim 5, wherein: an integrated circuit is formed among the camera (5), the traveling computer (2), the air cylinder (14), the motor (12) and the storage battery (13).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020941041.1U CN213383894U (en) | 2020-05-29 | 2020-05-29 | Automatic feeding unmanned vehicle for aquaculture plant based on computer vision |
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| CN202020941041.1U CN213383894U (en) | 2020-05-29 | 2020-05-29 | Automatic feeding unmanned vehicle for aquaculture plant based on computer vision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114128673A (en) * | 2021-12-14 | 2022-03-04 | 仲恺农业工程学院 | Meat pigeon accurate feeding method based on mixed deep neural network |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114128673A (en) * | 2021-12-14 | 2022-03-04 | 仲恺农业工程学院 | Meat pigeon accurate feeding method based on mixed deep neural network |
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