Intelligent cooling robot for scrotum of boar and working method thereof

Abstract

The invention discloses a boar scrotum intelligent cooling robot and a working method thereof, and relates to the technical field of summer breeding boar heat stress relieving method.The boar scrotum intelligent cooling robot comprises a walking supporting mechanism, and a cooling mechanism is arranged at the top of the walking supporting mechanism and used for precisely cooling the scrotum of a single boar; the cooling mechanism comprises a nozzle aiming execution unit; a spraying unit; according to the scrotum recognition unit, a first motor operates to drive a rotating shaft to rotate left and right, the rotating shaft and a Z-shaped rod rotate left and right through a mounting cylinder, the Z-shaped rod drives a base and a mounting base to rotate left and right synchronously, meanwhile, a second motor operates to drive a rotating block to rotate, the rotating block drives a Y-shaped frame to rotate synchronously, and the Y-shaped frame drives a lifting column to move up and down through a sliding column. At the moment, the lifting column drives the Z-shaped rod to rotate front and back through the support and the circular ring, so that disease cross propagation caused by manual contact is avoided, and meanwhile the problems of high labor cost, large subjective deviation and inaccurate whole group operation existing in observation of breeders are solved.

Description

Technical Field

[0001] The invention relates to the technical field of methods for alleviating heat stress of breeding boars in summer, and in particular to a boar scrotum intelligent cooling robot and a working method thereof. Background Art

[0002] Boars, or male pigs, are an important part of pig breeding and production, and play a key role in the development of pig quantity, improvement of quality, and improvement of breeds.

[0003] According to the patent name: A boar intelligent water curtain cooling device (patent publication number: CN212961961U, patent publication date: 2021-04-13), it includes a shell and a temperature sensor, the front end face of the shell is fixedly connected with a temperature sensor and a controller distributed on the left and right, an upper unit guide plate is provided below the temperature sensor, and a lower unit guide plate is provided directly below the upper unit guide plate. A water pipe is provided inside the shell, and nozzles are fixedly connected to the front and rear sides of the water pipe, and telescopic springs evenly distributed on the left and right are provided below the nozzles, and the front and rear end faces of the telescopic springs are fixedly connected to support plates; in the utility model, through the support plate, guide rod, connecting rod and fixed rod, when replacing the water curtain paper, the connecting rod is squeezed inward, and the connecting rod drives the support plate to compress the telescopic spring, so that the support plate can be taken out of the shell, and then replaced, without the need to disassemble the entire equipment, greatly saving replacement time.

[0004] Based on the above-mentioned prior art, the currently existing boar scrotum intelligent cooling robot and its working method still have the following problems. In the prior art, boar heat stress is often achieved through observation by breeders, and then the heat stress is alleviated by spraying or cooling the whole group of boars. Boar scrotum cleaning is also a manual contact method, which can easily lead to cross-transmission of diseases. In addition, breeder observation has high labor costs, large subjective deviations and inaccurate operations of the entire group. For this reason, the present invention provides a boar scrotum intelligent cooling robot and its working method. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a boar scrotum intelligent cooling robot and a working method thereof, which solves the problem that in the prior art, boar heat stress is often achieved through observation by breeders, and then the heat stress is alleviated by spraying or cooling the entire group of boars. Boar scrotum cleaning is also a manual contact method, which can easily lead to cross-transmission of diseases. In addition, breeder observation has the problems of high labor costs, large subjective deviations and inaccurate operations on the entire group.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a boar scrotum intelligent cooling robot, comprising a walking support mechanism, a cooling mechanism is arranged on the top of the walking support mechanism for accurately cooling the scrotum of a single boar, and the cooling mechanism includes:

[0007] The nozzle aiming execution unit is arranged at the top of the walking support mechanism, and comprises a base, a first motor is fixedly installed inside the base, a rotating shaft is fixedly installed at the output end of the first motor, and a mounting cylinder is fixedly installed at the top end of the rotating shaft penetrating through the top plate of the base, a lifting column is slidably installed outside the rotating shaft, a circular groove is provided inside the lifting column, a bracket is fixedly installed outside the lifting column, a circular ring is fixedly installed at the top end of the bracket, and a sliding circular groove is provided inside the circular ring, a Z-bar is rotatably installed inside the mounting cylinder, and one end of the Z-bar slides in the sliding circular groove, and a fixing rod is fixedly installed at the other end of the Z-bar, a mounting seat is fixedly installed on the top of the fixing rod, and a driving assembly is provided on the top of the base;

[0008] A spray unit is arranged above the walking support mechanism and is used for washing the boar scrotum;

[0009] The scrotum identification unit is arranged above the walking support mechanism and is used to accurately locate the position of the boar's scrotum.

[0010] Preferably, the driving assembly includes a second motor fixedly mounted on the top of the base, a rotating block is fixedly mounted on the output end of the second motor, a Y-frame is fixedly mounted on one side of the rotating block, a sliding column is fixedly mounted on the inner side of the support end of the Y-frame, and the sliding column is adapted to slide inside the circular groove.

[0011] Preferably, the spray unit includes a water storage barrel and an air storage barrel, a water pipe is fixedly installed on the top of the water storage barrel, an air pipe is fixedly installed on the top of the air storage barrel, a water spray solenoid valve is fixedly installed on the outside of the water pipe, and an air jet solenoid valve is fixedly installed on the outside of the air pipe, and a nozzle is fixedly connected to one end of the water pipe and the air pipe, a fixed ring frame is fixedly installed on the top of the mounting seat, and the nozzle is fixedly installed inside the fixed ring frame, and a cooling controller is fixedly installed on the top of the air storage barrel.

[0012] Preferably, the scrotum identification unit comprises a T-shaped frame fixedly mounted on the top of the mounting seat, and a laser ranging sensor, a visual camera and an infrared temperature measurement sensor are fixedly mounted on one side of the T-shaped frame.

[0013] Preferably, the walking support mechanism includes a support frame, a dual-axis motor is fixedly installed on the bottom, auxiliary frames are fixedly installed on both ends of the dual-axis motor, output shafts at both ends of the dual-axis motor pass through the auxiliary frames and are fixedly installed with drive wheels, auxiliary wheels are rotatably installed on the outer side of the support ends of the auxiliary frames, and tracks are provided on the outer sides of the drive wheels and the auxiliary wheels.

[0014] Preferably, the base is fixedly mounted on the top of the support frame, and the water storage tank and the gas storage tank are fixedly mounted on the top of the support frame.

[0015] Preferably, the temperature-lowering controller, the first motor, the second motor, the laser ranging sensor, the visual camera, the infrared temperature measuring sensor, the water spray solenoid valve and the air jet solenoid valve are electrically connected.

[0016] The present invention also discloses an operation method of a boar scrotum intelligent cooling robot, comprising the following steps:

[0017] S1: All the limiting pens in the boar house are numbered as (1, 2, ..., n), and the rear of the limiting pens where the first boar to be detected is located is set as the robot operation starting point P1, and the rear of the nth limiting pens is set as the robot operation ending point Pn, and the operation points between P1 and Pn are (P2, ..., Pn-1) in sequence;

[0018] S2: The robot's operating point is located behind the fence, that is, behind the boar in the fence. The operating point is uniformly located at the intersection of 30 cm vertical distance from the rear door of the fence, the center axis of the fence and 50 cm vertical to the ground;

[0019] S3: After the robot reaches the starting point described in S1 through 1, the operation of the first motor drives the rotating shaft to rotate left and right, and the rotating shaft rotates left and right through the mounting tube and the Z-shaped rod. The Z-shaped rod drives the base and the mounting seat to rotate left and right synchronously. At the same time, the driving component drives the lifting column to move up and down. At this time, the lifting column drives the Z-shaped rod to rotate forward and backward through the bracket and the ring. The Z-shaped rod drives the spray unit and the scrotum recognition unit to move synchronously through the fixed rod and the mounting seat. The scrotum recognition unit scans the position information of the boar scrotum to be detected in the No. 1 limit fence, and the scrotum recognition unit determines the distance between the spray unit and the boar scrotum;

[0020] S4: The scrotum recognition unit takes an infrared photo of the boar's scrotum, scans the infrared thermal image of the boar's scrotum, and calculates the scrotum temperature of the boar corresponding to the starting point based on the distance between the boar's scrotum and the spray unit and the scrotum infrared image measured in S3. Then the spray unit and the scrotum recognition unit cool down the boar's scrotum.

[0021] The present invention provides a boar scrotum intelligent cooling robot and a working method thereof. Compared with the prior art, it has the following beneficial effects:

[0022] 1. The boar scrotum intelligent cooling robot and its working method, the first motor drives the rotating shaft to rotate left and right, the rotating shaft rotates left and right through the mounting tube and the Z-rod, the Z-rod drives the base and the mounting seat to rotate left and right synchronously, and at the same time, the second motor drives the rotating block to rotate, the rotating block drives the Y-frame to rotate synchronously, the Y-frame drives the lifting column to move up and down through the sliding column, and drives the lifting column to move up and down. At this time, the lifting column drives the Z-rod to rotate back and forth through the bracket and the ring, and the Z-rod drives the spray unit and the scrotum identification unit to move synchronously through the fixed rod and the mounting seat, so as to realize the position adjustment of the probe and the nozzle, thereby avoiding cross-transmission of diseases caused by artificial contact, and avoiding the problems of high labor cost, large subjective deviation and inaccurate operation of the whole group due to breeder observation.

[0023] 2. The intelligent boar scrotum cooling robot and its working method, the visual camera observes the position of the boar scrotum, the operation of the spray unit drives the visual camera, the laser ranging sensor and the infrared temperature measurement sensor to move, and at the same time the laser ranging sensor scans the position of the boar scrotum to be detected and adjusts the position of the nozzle. Then the infrared temperature measurement sensor takes an infrared photo of the boar scrotum to calculate the boar's scrotum temperature, thereby realizing the position adjustment of the nozzle, and can quickly detect and feedback the surface temperature of the boar scrotum in real time, so that the breeder can quickly obtain boars with abnormal scrotum temperature through information means.

[0024] 3. The intelligent boar scrotum cooling robot and its working method, the cooling controller controls the spray unit to aim at the boar scrotum according to the distance between the boar scrotum and the spray unit, starts the connected water spray solenoid valve, and sprays water on the boar scrotum; after the water spraying is completed, the cooling controller closes the water spray solenoid valve, starts the jet solenoid valve, and sprays water on the boar scrotum. After the jetting is completed, the cooling controller closes the jet solenoid valve, thereby performing individual cooling treatment on the scrotum area of ​​the boar, effectively alleviating the impact of heat stress and improving the semen quality of the boar. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a right-side stereoscopic structural diagram of the present invention;

[0026] Figure 2 This is a bottom perspective structural diagram of the nozzle aiming execution unit of the present invention;

[0027] Figure 3 It is a top-view stereoscopic structural diagram of the nozzle aiming execution unit of the present invention;

[0028] Figure 4 It is a three-dimensional structural diagram of the spray unit of the present invention;

[0029] Figure 5 It is a schematic diagram of the cooling method flow of the present invention;

[0030] Figure 6It is a flow chart of the cooling system of the present invention.

[0031] In the figure: 1-walking support mechanism, 11-support frame, 12-dual-axis motor, 13-auxiliary frame, 14-driving wheel, 15-auxiliary wheel, 16-track, 2-cooling mechanism, 21-nozzle aiming execution unit, 211-base, 212-first motor, 213-rotating shaft, 214-lifting column, 215-installation cylinder, 216-bracket, 217-circular ring, 218-circular groove, 219-sliding circular groove, 2110-Z-shaped rod, 2111-fixed rod, 2112-mounting seat, 3 -drive assembly, 31-second motor, 32-rotating block, 33-Y-frame, 34-sliding column, 22-spray unit, 221-water storage barrel, 222-water pipe, 223-air storage barrel, 224-air pipe, 225-spray head, 226-fixed ring frame, 227-cooling controller, 228-water spray solenoid valve, 229-jet solenoid valve, 23-scrotum recognition unit, 231-T-frame, 232-laser ranging sensor, 233-visual camera, 234-infrared temperature measurement sensor. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] See also Figure 1-6 , the present invention provides a technical solution:

[0034] A boar scrotum intelligent cooling robot comprises a walking support mechanism 1, a cooling mechanism 2 is arranged on the top of the walking support mechanism 1 for accurately cooling the scrotum of a single boar, and the cooling mechanism 2 comprises:

[0035] The nozzle aiming execution unit 21 is arranged at the top of the walking support mechanism 1, and includes a base 211. A first motor 212 is fixedly installed inside the base 211, and a rotating shaft 213 is fixedly installed at the output end of the first motor 212, and a mounting cylinder 215 is fixedly installed on the top of the rotating shaft 213 through the top plate of the base 211, and a lifting column 214 is slidably installed outside the rotating shaft 213, and a circular groove 218 is provided inside the lifting column 214, and a bracket 216 is fixedly installed outside the lifting column 214, and a circular ring 217 is fixedly installed on the top of the bracket 216, and a sliding circular groove 219 is provided inside the circular ring 217, and a Z-shaped rod 2110 is rotatably installed inside the mounting cylinder 215, and one end of the Z-shaped rod 2110 slides in the sliding circular groove 219, and a fixed rod 2111 is fixedly installed on the other end of the Z-shaped rod 2110, and a mounting seat 2112 is fixedly installed on the top of the fixed rod 2111, and a driving component 3 is provided on the top of the base 211;

[0036] The spray unit 22 is arranged above the walking support mechanism 1 and is used to clean the boar scrotum;

[0037] The scrotum identification unit 23 is arranged above the walking support mechanism 1 and is used to accurately locate the position of the boar's scrotum.

[0038] In this embodiment, the driving assembly 3 includes a second motor 31 fixedly mounted on the top of the base 211, a rotating block 32 is fixedly mounted on the output end of the second motor 31, a Y-frame 33 is fixedly mounted on one side of the rotating block 32, a sliding column 34 is fixedly mounted on the inner side of the support end of the Y-frame 33, and the sliding column 34 is adapted to slide inside the circular groove 218.

[0039] The first motor 212 and the second motor 31 are three-phase asynchronous motors, which are electrically connected to an external power supply and can be opened and closed by a person operating a control panel. The first motor 212 drives the rotating shaft 213 to rotate left and right, and the rotating shaft 213 rotates left and right through the mounting tube 215 and the Z-shaped rod 2110. The Z-shaped rod 2110 drives the base 211 and the mounting seat 2112 to rotate left and right synchronously. At the same time, the second motor 31 drives the rotating block 32 to rotate, and the rotating block 32 drives the Y-shaped frame 33 to rotate synchronously. The Y-shaped frame 33 rotates left and right through the sliding column 34. The lifting column 214 is driven to move up and down, and the lifting column 214 is driven to move up and down. At this time, the lifting column 214 drives the Z-shaped rod 2110 to rotate forward and backward through the bracket 216 and the ring 217. The Z-shaped rod 2110 drives the spray unit 22 and the scrotum recognition unit 23 to move synchronously through the fixed rod 2111 and the mounting seat 2112, thereby realizing the position adjustment of the probe and the nozzle, thereby avoiding cross-transmission of diseases caused by artificial contact, and at the same time avoiding the problems of high labor cost, large subjective deviation and inaccurate operation of the whole group in the observation of the breeder.

[0040] The robot determines the cooling control mode based on the measured boar scrotum temperature T:

[0041] The robot automatically selects the normal temperature T0 of the boar scrotum corresponding to the current environment based on the ambient temperature, humidity and wind speed parameters of the boar house.

[0042] When T≤T0, the cooling mode remains off and the robot moves to the next point;

[0043] When T>T0, the cooling mode is running. After the robot completes the cooling operation at the starting point of the operation, the cooling controller turns off the jet solenoid valve switch and drives to the next operation point in sequence to detect and cool down the scrotum temperature of the boar in the limit pen corresponding to the operation point until the operation of the nth limit pen boar is completed;

[0044] When T>T0, the cooling mode is running. The cooling controller controls the aiming execution unit to aim at the boar scrotum according to the distance between the boar scrotum and the nozzle mechanism, starts the water spray solenoid valve switch on the nozzle mechanism connected to the water storage mechanism, and sprays water on the boar scrotum for 10 seconds. After the water spraying is completed, the cooling controller closes the water spray solenoid valve switch and starts the jet solenoid valve switch to spray the boar scrotum for 30 seconds. After the robot completes the jetting at the starting point of the operation, the cooling controller closes the jet solenoid valve switch and drives to the next operation point in sequence. When T≤T0, the cooling mode remains closed and the robot moves to the next point.

[0045] In this embodiment, the spray unit 22 includes a water storage barrel 221 and an air storage barrel 223, a water pipe 222 is fixedly installed on the top of the water storage barrel 221, an air pipe 224 is fixedly installed on the top of the air storage barrel 223, a water spray solenoid valve 228 is fixedly installed on the outside of the water pipe 222, and an air jet solenoid valve 229 is fixedly installed on the outside of the air pipe 224, and a nozzle 225 is fixedly connected to one end of the water pipe 222 and the air pipe 224, a fixed ring frame 226 is fixedly installed on the top of the mounting seat 2112, and the nozzle 225 is fixedly installed inside the fixed ring frame 226, and a cooling controller 227 is fixedly installed on the top of the air storage barrel 223.

[0046] The model of the water spray solenoid valve 228 and the air jet solenoid valve 229 is ZCS. The cooling controller 227 controls the spray unit 22 to aim at the boar scrotum according to the distance between the boar scrotum and the spray unit 22, and starts the connected water spray solenoid valve 228 to spray water on the boar scrotum; after the water spraying is completed, the cooling controller 227 closes the water spray solenoid valve 228, starts the air jet solenoid valve 229, and sprays water on the boar scrotum. After the air jet is completed, the cooling controller 227 closes the air jet solenoid valve 229, thereby performing individual cooling treatment on the scrotum area of ​​the boar, effectively alleviating the impact of heat stress and improving the quality of the boar semen.

[0047] In this embodiment, the scrotum identification unit 23 includes a T-shaped frame 231 fixedly mounted on the top of the mounting seat 2112, and a laser distance sensor 232, a visual camera 233 and an infrared temperature measurement sensor 234 are fixedly mounted on one side of the T-shaped frame 231.

[0048] The model of the laser distance measuring sensor 232 is GOLDY-350L, the model of the visual camera 233 is MGS508-H2, and the model of the infrared temperature measuring sensor 234 is RST600-405FB. The visual camera 233 observes the position of the boar's scrotum. The operation of the spray unit 22 drives the visual camera 233, the laser distance measuring sensor 232 and the infrared temperature measuring sensor 234 to move. At the same time, the laser distance measuring sensor 232 scans the position of the boar's scrotum to be detected and adjusts the position of the nozzle 225. Then, the infrared temperature measuring sensor 234 takes an infrared photo of the boar's scrotum to calculate the boar's scrotum temperature, thereby realizing the position adjustment of the nozzle 225, and can quickly detect and feedback the surface temperature of the boar's scrotum in real time, so that the breeder can quickly obtain the boar with abnormal scrotum temperature through information means.

[0049] In this embodiment, the walking support mechanism 1 includes a support frame 11, a dual-axis motor 12 is fixedly installed at the bottom of 111, auxiliary frames 13 are fixedly installed at both ends of the dual-axis motor 12, the output shafts at both ends of the dual-axis motor 12 pass through the auxiliary frames 13 and are fixedly installed with drive wheels 14, and auxiliary wheels 15 are rotatably installed on the outer side of the support ends of the auxiliary frames 13, and tracks 16 are provided on the outer sides of the drive wheels 14 and the auxiliary wheels 15.

[0050] The robot is operated by a dual-axis motor 12, which drives a driving wheel 14 to rotate. The driving wheel 14 drives a crawler track 16 to rotate through two auxiliary wheels 15, so that the device moves to the starting point S1.

[0051] In this embodiment, the base 211 is fixedly mounted on the top of the support frame 11 , and the water storage tank 221 and the gas storage tank 223 are fixedly mounted on the top of the support frame 11 .

[0052] In this embodiment, the cooling controller 227, the first motor 212, the second motor 31, the laser distance sensor 232, the visual camera 233, the infrared temperature measurement sensor 234, the water spray solenoid valve 228 and the jet solenoid valve 229 are electrically connected.

[0053] The present invention also discloses an operation method of a boar scrotum intelligent cooling robot, comprising the following steps:

[0054] S1: Number all the stalls in the boar house as (1, 2, ..., n), set the back of the stall where the first boar to be detected is located as the robot operation starting point P1, and the back of the nth stall is set as the robot operation end point Pn, and the operation points between P1 and Pn are (P2, ..., Pn-1) in sequence;

[0055] S2: The robot's operating point is located behind the fence, that is, behind the boar in the fence. The operating point is uniformly located at the intersection of 30 cm vertical distance from the rear door of the fence, the center axis of the fence and 50 cm vertical to the ground;

[0056] S3: The robot is operated by the dual-axis motor 12, which drives the driving wheel 14 to rotate. The driving wheel 14 drives the crawler 16 to rotate through two auxiliary wheels 15. After the device moves to the starting point of S1, the first motor 212 drives the rotating shaft 213 to rotate left and right. The rotating shaft 213 rotates left and right through the mounting tube 215 and the Z-shaped rod 2110. The Z-shaped rod 2110 drives the base 211 and the mounting seat 2112 to rotate left and right synchronously. At the same time, the second motor 31 drives the rotating block 32 to rotate, and the rotating block 32 drives the Y-shaped frame 33 to rotate synchronously. The Y-shaped frame 33 drives the lifting column 21 through the sliding column 34. 4 moves up and down, driving the lifting column 214 to move up and down. At this time, the lifting column 214 drives the Z-shaped rod 2110 to rotate forward and backward through the bracket 216 and the ring 217. The Z-shaped rod 2110 drives the spray unit 22 and the scrotum recognition unit 23 to move synchronously through the fixed rod 2111 and the mounting seat 2112. The visual camera 233 observes the position of the boar's scrotum. The operation of the spray unit 22 drives the position of the visual camera 233, the laser distance sensor 232 and the infrared temperature measurement sensor 234 to move. At the same time, the laser distance sensor 232 scans the position of the boar's scrotum to be detected and adjusts the position of the spray head 225.

[0057] S4: The infrared temperature measuring sensor 234 takes an infrared photo of the boar's scrotum to calculate the boar's scrotum temperature, scans the infrared thermal image of the boar's scrotum, and calculates the boar's scrotum temperature corresponding to the starting point based on the distance between the boar's scrotum and the spray unit 22 and the scrotum infrared image measured in S3. Then, the cooling controller 227 controls the spray unit 22 to aim at the boar's scrotum according to the distance between the boar's scrotum and the spray unit 22, and starts the connected water spray solenoid valve 228 to spray water on the boar's scrotum; after the water spraying is completed, the cooling controller 227 closes the water spray solenoid valve 228, starts the jet solenoid valve 229, and sprays water on the boar's scrotum. After the jetting is completed, the cooling controller 227 closes the jet solenoid valve 229, thereby performing individual cooling treatment on the scrotum area of ​​the breeding boar.

[0058] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0059] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0060] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A boar scrotum intelligent cooling robot, characterized in that: The walking support mechanism (1) comprises a cooling mechanism (2) disposed on the top of the walking support mechanism (1) for accurately cooling the scrotum of a single boar, wherein the cooling mechanism (2) comprises: The nozzle aiming execution unit (21) is arranged on the top of the walking support mechanism (1), and comprises a base (211), a first motor (212) is fixedly installed inside the base (211), a rotating shaft (213) is fixedly installed at the output end of the first motor (212), and the top end of the rotating shaft (213) passes through the top plate of the base (211) and is fixedly installed with a mounting cylinder (215), a lifting column (214) is slidably installed outside the rotating shaft (213), a circular groove (218) is opened inside the lifting column (214), and the outside of the lifting column (214) is fixedly installed A bracket (216) is installed, a circular ring (217) is fixedly installed on the top of the bracket (216), and a sliding circular groove (219) is opened inside the circular ring (217), a Z-shaped rod (2110) is rotatably installed inside the installation cylinder (215), and one end of the Z-shaped rod (2110) slides in the sliding circular groove (219), and a fixed rod (2111) is fixedly installed on the other end of the Z-shaped rod (2110), a mounting seat (2112) is fixedly installed on the top of the fixed rod (2111), and a driving assembly (3) is arranged on the top of the base (211); A spray unit (22) is arranged above the walking support mechanism (1) and is used for cleaning the boar scrotum; The scrotum identification unit (23) is arranged above the walking support mechanism (1) and is used to accurately locate the position of the boar's scrotum.

2. The intelligent boar scrotum cooling robot according to claim 1, characterized in that: The driving assembly (3) comprises a second motor (31) fixedly mounted on the top of the base (211); a rotating block (32) is fixedly mounted on the output end of the second motor (31); a Y-shaped frame (33) is fixedly mounted on one side of the rotating block (32); a sliding column (34) is fixedly mounted on the inner side of the branch end of the Y-shaped frame (33); and the sliding column (34) is adapted to slide inside the circular groove (218).

3. The intelligent boar scrotum cooling robot according to claim 1, characterized in that: The spray unit (22) comprises a water storage barrel (221) and an air storage barrel (223); a water pipe (222) is fixedly mounted on the top of the water storage barrel (221); an air pipe (224) is fixedly mounted on the top of the air storage barrel (223); a water spray solenoid valve (228) is fixedly mounted on the outside of the water pipe (222); an air jet solenoid valve (229) is fixedly mounted on the outside of the air pipe (224); a spray head (225) is fixedly connected to one end of the water pipe (222) and the air pipe (224); a fixed ring frame (226) is fixedly mounted on the top of the mounting seat (2112); the spray head (225) is fixedly mounted inside the fixed ring frame (226); and a temperature reduction controller (227) is fixedly mounted on the top of the air storage barrel (223).

4. The intelligent boar scrotum cooling robot according to claim 1, characterized in that: The scrotum identification unit (23) comprises a T-shaped frame (231) fixedly mounted on the top of the mounting seat (2112), and a laser distance measuring sensor (232), a visual camera (233) and an infrared temperature measuring sensor (234) fixedly mounted on one side of the T-shaped frame (231).

5. The intelligent boar scrotum cooling robot according to claim 1, characterized in that: The walking support mechanism (1) comprises a support frame (11), a dual-axis motor (12) is fixedly mounted on the bottom of the support frame (11), auxiliary frames (13) are fixedly mounted on both ends of the dual-axis motor (12), output shafts at both ends of the dual-axis motor (12) penetrate the auxiliary frame (13) and are fixedly mounted with driving wheels (14), auxiliary wheels (15) are rotatably mounted on the outer side of the support ends of the auxiliary frame (13), and tracks (16) are sleeved on the outer sides of the driving wheels (14) and the auxiliary wheels (15).

6. The intelligent boar scrotum cooling robot according to claim 3, characterized in that: The base (211) is fixedly mounted on the top of the support frame (11), and the water storage tank (221) and the gas storage tank (223) are fixedly mounted on the top of the support frame (11).

7. The intelligent boar scrotum cooling robot according to claim 1, characterized in that: The temperature reduction controller (227), the first motor (212), the second motor (31), the laser distance sensor (232), the visual camera (233), the infrared temperature measurement sensor (234), the water spray solenoid valve (228) and the air spray solenoid valve (229) are electrically connected.

8. The method for operating the boar scrotum intelligent cooling robot according to claims 1-7, characterized in that: The following steps are involved: S1: All the limiting pens in the boar house are numbered as (1, 2, ..., n), and the rear of the limiting pens where the first boar to be detected is located is set as the robot operation starting point P1, and the rear of the nth limiting pens is set as the robot operation ending point Pn, and the operation points between P1 and Pn are (P2, ..., Pn-1) in sequence; S2: The robot's operating point is located behind the fence, that is, behind the boar in the fence. The operating point is uniformly located at the intersection of 30 cm vertical distance from the rear door of the fence, the center axis of the fence and 50 cm vertical to the ground; S3: After the robot moves to the starting point described in S1 via the walking support mechanism (1), the first motor (212) drives the rotating shaft (213) to rotate left and right, the rotating shaft (213) rotates left and right via the mounting tube (215) and the Z-shaped rod (2110), the Z-shaped rod (2110) drives the base (211) and the mounting seat (2112) to rotate left and right synchronously, and at the same time, the driving component (3) drives the lifting column (214) to move up and down, at which time the lifting column (214) drives the Z-shaped rod (2110) to rotate forward and backward via the bracket (216) and the ring (217), the Z-shaped rod (2110) drives the spray unit (22) and the scrotum recognition unit (23) to move synchronously via the fixing rod (2111) and the mounting seat (2112), the scrotum recognition unit (23) scans the position information of the boar scrotum to be detected in the No. 1 limit fence, and the scrotum recognition unit (23) measures the distance between the spray unit (22) and the boar scrotum; S4: 23 takes an infrared photo of the boar's scrotum, scans the infrared thermal image of the boar's scrotum, and calculates the scrotum temperature of the boar corresponding to the starting point based on the distance between the boar's scrotum and the spray unit (22) measured by S3 and the scrotum infrared image. Then, the spray unit (22) and the scrotum recognition unit (23) cool down the boar's scrotum.

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