A complex robot for experimental animal feeding and a control method thereof
By designing a composite robot integrating a mobile chassis, weighing platform, robotic arm, and dual-spectrum temperature measurement module, the problems of low efficiency in changing laboratory animal cages and inaccurate data acquisition were solved, achieving efficient and low-stress management of laboratory animals.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-03-06
- Publication Date
- 2026-06-05
AI Technical Summary
In existing technologies, the efficiency of changing food and water in laboratory animal cages is low, the labor intensity is high, and manual operation is prone to causing stress. Traditional weighing and temperature measurement are cumbersome and inaccurate. Existing robots have limited functions and have failed to achieve highly integrated management.
Design a composite robot that integrates a mobile chassis, a multi-functional upper platform, a weighing platform, a robotic arm, a dual-spectrum temperature measurement module, and a main controller to achieve autonomous navigation, precise operation, weighing, and non-contact temperature measurement, while also possessing flexible deployment and high integration.
It achieves efficient and low-stress management of laboratory animals, accurately collects data on food intake, water intake, and body temperature, improves equipment utilization and operational consistency, and reduces human error.
Smart Images
Figure CN122139669A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of automated animal husbandry technology, and more specifically, relates to a composite robot for animal husbandry and its control method. Background Technology
[0002] In laboratory animal facilities, regularly changing the food and water containers in the cages of laboratory animals (monkeys) is a high-frequency and arduous daily task. Currently, this task is mainly performed in two ways: one is entirely manual, which is inefficient, labor-intensive, and prone to causing stress to animals due to differences in human operation, affecting the accuracy of scientific research results; the other is to use fixed automated cage conveyor lines with special clamps for replacement, but this method has high infrastructure modification costs and poor layout flexibility.
[0003] Furthermore, the amount of food and water consumed by laboratory animals, as well as their body temperature, are the most basic and important indicators for assessing their health and physiological state. Traditional methods require manual weighing and temperature measurement, which is cumbersome. Moreover, handling animals to measure their body temperature can cause a strong stress response, leading to an increase in body temperature, and the measured temperature is not the true core body temperature under natural conditions.
[0004] Although mobile robot platforms capable of autonomous patrolling have emerged in the market, their functions are typically limited, either solely for inspection or capable of performing only a single task. There is currently no mature solution that can highly integrate the four major functions of autonomous movement, precise operation (changing drinking water), automatic weighing, and non-contact temperature measurement into a single composite robot platform.
[0005] Therefore, there is an urgent need for a flexible, multifunctional, and highly integrated automated equipment to achieve precise and low-stress feeding and management of laboratory animals, which has become a problem that needs to be solved in this field. Summary of the Invention
[0006] To achieve the above objectives, the present invention adopts the following technical solution: A composite robot for feeding laboratory animals, comprising: Mobile chassis for navigation and positioning within the breeding environment; A multi-functional upper platform is set on the upper side of the mobile chassis and is used to carry the feed consumables to be replaced and the used consumables to be recycled. A weighing platform, integrated on the multifunctional upper platform, is used to weigh food containers and water containers; A robotic arm is mounted on the front of the multi-functional upper platform or on the mobile chassis. The end of the robotic arm is connected to an end effector, which is equipped with an electric gripper for reliably grasping food and water boxes. An infrared temperature probe is also installed on the end effector. A dual-spectrum temperature measurement module, integrated on the multifunctional upper platform, is used for non-contact body temperature measurement of experimental animals in cages. The main controller is integrated inside the mobile chassis and is electrically connected to the navigation system, the weighing platform, the robotic arm, the end effector, the infrared temperature probe, and the dual-spectrum temperature measurement module. It is used to control the composite robot to move to the target position and complete operations such as changing food and water, weighing, and non-contact temperature measurement.
[0007] Furthermore, the multifunctional upper-layer platform includes: Full load area, which is used to store brand new feed boxes and water boxes that are already filled with feed and drinking water; An empty recycling area is used for the temporary storage of used or contaminated food and water containers that have been replaced from the cages.
[0008] Furthermore, the mobile chassis is equipped with a lidar and a vision-assisted navigation system.
[0009] Furthermore, the dual-spectrum temperature measurement module includes a visible light camera and a thermal imaging camera, with the fields of view of the visible light camera and the thermal imaging camera aligned. The visible light camera is used to identify and locate individual experimental animals within the cage, and the thermal imaging camera is used to capture temperature distribution data as a reliable estimate of the animal's core body temperature.
[0010] Furthermore, the end effector is equipped with a 3D vision camera, and the 3D vision camera and the infrared temperature probe are located on the upper and lower sides of the end effector, respectively. The 3D vision camera is electrically connected to the main controller and is used for spatial positioning correction.
[0011] A control method for a composite robot used for raising laboratory animals, employing the aforementioned composite robot for raising laboratory animals, the method comprising the following steps: S1. Task Initiation and Navigation: The robot scheduling system issues task instructions, and the robot autonomously navigates to the first station of the target cage. S2. Remove and weigh the old box; The robotic arm moves, using an end effector to grab old food containers from the cage, moves them to a weighing platform on the platform, weighs their remaining weight, and then puts them into the empty recycling area; similarly, it grabs old water containers and weighs them. S3. Pre-weighing and replacement of new boxes: The robotic arm takes a new food container from the full-load area, places it on the weighing platform to weigh its initial weight, and then precisely installs the new food container into the designated slot in the cage. The water tank replacement procedure is the same as above; S4. Non-contact body temperature measurement; After completing the box-changing operation, the robotic arm does not leave immediately, but adjusts its posture and activates the dual-spectrum temperature measurement module and infrared temperature probe; the visible light camera locks onto the head of a stationary animal, and the thermal imaging camera simultaneously reads the animal's thermal radiation value; the system converts the thermal radiation value into an accurate body temperature reading through the built-in temperature calibration model; the infrared temperature probe is set on the end effector of the robotic arm to collect the temperature in the blind spot or edge area of the dual-spectrum temperature measurement module's field of view. S5. Data transmission: The robot binds all data to the unique code of the target cage position and uploads it to the data center. S6. Then move to the next station and repeat the S1-S5 process.
[0012] The beneficial effects of this invention are: This invention features highly integrated functions and multiple uses: for the first time, it integrates four major functions—movement, grasping, weighing, and temperature measurement—into a single robot platform, greatly improving equipment utilization.
[0013] This invention features flexible deployment and convenient modification: based on an autonomous navigation mobile chassis, it can be quickly put into use without the need for large-scale civil engineering or installation of fixed tracks in existing animal facilities, making it extremely versatile.
[0014] This invention enables true low-stress monitoring: through a dual-spectrum module at the end of a robotic arm, body temperature can be measured with almost no awareness in the animal, obtaining physiological data that is closest to the natural state, which has extremely high scientific value.
[0015] The data in this invention is automatically linked, making it accurate and reliable: data on food intake, water consumption, and body temperature are automatically collected and linked by the same robot at the same time for the same cage of animals, eliminating human error in recording and forming a complete and reliable health record.
[0016] This invention improves efficiency and consistency: the robot can work 24 hours a day according to a preset program, and each operation has a high degree of consistency and repeatability, far exceeding the level of human operation. Attached Figure Description
[0017] Figure 1 This is a front view structural schematic diagram of a composite robot for raising laboratory animals according to the present invention; Figure 2 This is a schematic diagram of the left side of a composite robot for raising laboratory animals according to the present invention. Figure 3 This is a right-side structural schematic diagram of a composite robot for raising laboratory animals according to the present invention. Figure 4This is a top view structural schematic diagram of a composite robot for raising laboratory animals according to the present invention; Figure 5 This is a schematic diagram of the water-holding box of a composite robot for raising laboratory animals according to the present invention; Figure 6 This is a diagram showing the placement of a water box in a composite robot for raising laboratory animals according to the present invention. Figure 7 This is a partial schematic diagram of a composite robot for raising laboratory animals according to the present invention.
[0018] In the diagram: 1. Mobile chassis; 2. Multifunctional upper platform; 3. Weighing platform; 4. Robotic arm; 5. End effector; 6. Gripper chuck; 7. Water tank; 8. Water storage bottle; 9. Food container; 10. 3D vision camera; 11. Electric gripper; 12. Infrared temperature probe; 13. Dual-spectrum temperature measurement module. Detailed Implementation
[0019] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.
[0020] This section will describe in detail specific embodiments of the present invention. Preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present invention, but they should not be construed as limiting the scope of protection of the present invention.
[0021] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.
[0022] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.
[0023] Example 1
[0024] refer to Figures 1 to 7 A composite robot for raising laboratory animals, comprising: Mobile chassis 1, used for navigation and positioning within the breeding environment; Multifunctional upper platform 2 is set on the upper side of the mobile chassis 1 and is used to carry the feed consumables to be replaced and the used consumables to be recycled. Weighing platform 3 is integrated on the multi-functional upper platform 2 and is used to weigh food box 9 and water box 7. In this embodiment, the weighing platform 3 is a high-precision, impact-resistant digital weighing sensor module embedded on the platform surface. Before performing the replacement operation, the robot can place the new food box or water box to be replaced on this weighing platform to obtain its initial weight. After the replacement is completed, the old food box / water box is placed on it to obtain the remaining weight. By calculating the initial weight minus the remaining weight, the precise amount of food or water consumed by the caged animal in the previous cycle can be obtained.
[0025] Preferably, the weighing platform 3 is a balance or an electronic scale.
[0026] The robotic arm 4 is mounted on the front of the multi-functional upper platform 2 or on the mobile chassis 1. The end of the robotic arm 4 is connected to an end effector 5. The end effector 5 is equipped with an electric gripper 11 for reliably gripping the food box 9 and the water box 7. An infrared temperature probe 12 is installed on the end effector 5. In practice, the robotic arm has six or more degrees of freedom, and its movements are flexible and precise.
[0027] In practice, the electric gripper 11 is equipped with a gripper head, which can reliably grasp the food box and water box.
[0028] In this embodiment, the dual-spectrum temperature measurement module is integrated into the multi-functional upper platform for non-contact body temperature measurement of experimental animals in cages; the infrared temperature probe 12 is used to collect the temperature in the blind spot or edge area of the dual-spectrum temperature measurement module.
[0029] The main controller is integrated inside the mobile chassis 1 and is electrically connected to the navigation system, weighing platform 3, robotic arm 4, end effector 5, infrared temperature probe 12 and dual-spectrum temperature measurement module. It is used to control the composite robot to move to the target position and complete the operations of changing food and water, weighing and non-contact temperature measurement.
[0030] This invention features highly integrated functions and multiple uses: for the first time, it integrates four major functions—movement, grasping, weighing, and temperature measurement—into a single robot platform, greatly improving equipment utilization.
[0031] Example 2
[0032] This embodiment is a further modification of embodiment 1.
[0033] In this embodiment, the mobile chassis 1 is equipped with a lidar and a vision-assisted navigation system.
[0034] In practice, the mobile chassis 1 adopts a differential drive method, which has high flexibility and precise positioning capabilities. It is equipped with a LiDAR (SLAM) and a vision-assisted navigation system to achieve autonomous mapping, positioning and path planning in complex cage environments. The mobile chassis 1 integrates a main controller, a power management system and a large-capacity battery.
[0035] In this embodiment, the dual-spectrum temperature measurement module 13 includes a visible light camera and a thermal imaging camera. The two cameras are rigorously optically calibrated and standardized to align their field of view centers (coaxial). The visible light camera is used to identify and locate individual experimental animals in the cage, and the thermal imaging camera is used to capture temperature distribution data as a reliable estimate of the animal's core body temperature.
[0036] In practice, a visible light camera is used to identify and locate individual experimental animals within the cage, especially typical areas such as the head and eye region where the skin is thinner and closer to the core temperature. Subsequently, a thermal imaging camera is aimed at this specific area to capture temperature distribution data, and an algorithm is used to calculate the precise temperature of that area, which is then used as a reliable estimate of the animal's core body temperature.
[0037] In this embodiment, the multi-functional upper-layer platform 2 includes: Full load area, the full load area is used to store the brand new feed box 9 and water box 7 that are already full of feed and drinking water; The empty recycling area is used for temporary storage of used or contaminated food containers 9 and water containers 7 that have been replaced from the cages.
[0038] In practice, both the full-load area and the empty-load recycling area are equipped with fixed bases for placing the food box 9 and the water box 7.
[0039] In this embodiment, a 3D vision camera 10 is provided on the end effector 5. The 3D vision camera 10 is electrically connected to the main controller and is used for spatial positioning correction.
[0040] In practice, the 3D vision camera 10 acquires 3D image information of the target workpiece, calculates the offset of the target workpiece relative to the preset actual position based on the 3D image information, and controls the movement of the robotic arm body according to the position offset so that the end effector reaches the position of the target workpiece.
[0041] Example 3
[0042] This embodiment provides a control method for a composite robot used for raising laboratory animals, which is the control method for the composite robot used for raising laboratory animals in Embodiment 1 or Embodiment 2. The method includes the following steps: S1. Task Initiation and Navigation: The robot scheduling system issues task instructions, and the robot autonomously navigates to the first station of the target cage. S2. Remove and weigh the old box; The robotic arm 4 moves and uses the end effector 5 to grab the old food box 9 on the cage, move the old food box to the weighing platform 3 on the platform, weigh its remaining weight, and then put it into the empty recycling area; similarly, it grabs the old water box 7 and weighs it. S3. Pre-weighing and replacement of new boxes: The robotic arm 4 takes a new food container 9 from the full load area, places it on the weighing platform 3 to weigh its initial weight, and then precisely installs the new food container 9 into the designated slot of the cage. The replacement procedure for water tank 7 is the same as above; Specifically, by subtracting the remaining weight of the recycled old food or water container from the initial weight of the new food or water container to be replaced, the precise amount of food or water consumed by the caged animal in the previous cycle can be obtained.
[0043] S4. Non-contact body temperature measurement; After completing the box-changing operation, the robotic arm 4 does not leave immediately, but adjusts its posture and activates the dual-spectrum temperature measurement module 13 and the infrared temperature measurement probe 12; the visible light camera locks onto the head of a stationary animal, and the thermal imaging camera simultaneously reads the animal's thermal radiation value; the system converts the thermal radiation value into an accurate body temperature reading through the built-in temperature calibration model; the infrared temperature measurement probe 12 is set on the end effector of the robotic arm to collect the temperature in the blind spot or edge area of the dual-spectrum temperature measurement module's field of view; S5. Data transmission: The robot binds all data to the unique code of the target cage position and uploads it to the data center. S6. Then move to the next station and repeat the S1-S5 process.
[0044] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.
Claims
1. A composite robot for raising laboratory animals, characterized in that, include: Mobile chassis for navigation and positioning within the breeding environment; A multi-functional upper platform is set on the upper side of the mobile chassis and is used to carry the feed consumables to be replaced and the used consumables to be recycled. A weighing platform, integrated on the multifunctional upper platform, is used to weigh food containers and water containers; A robotic arm is mounted on the front of the multi-functional upper platform or on the mobile chassis. The end of the robotic arm is connected to an end effector, which is equipped with an electric gripper for reliably grasping food and water boxes. An infrared temperature probe is also installed on the end effector. A dual-spectrum temperature measurement module, integrated on the multifunctional upper platform, is used for non-contact body temperature measurement of experimental animals in cages. The main controller is integrated inside the mobile chassis and is electrically connected to the navigation system, the weighing platform, the robotic arm, the end effector, the infrared temperature probe, and the dual-spectrum temperature measurement module. It is used to control the composite robot to move to the target position and complete operations such as changing food and water, weighing, and non-contact temperature measurement.
2. The composite robot for raising laboratory animals according to claim 1, characterized in that, The multi-functional upper-layer platform includes: Full load area, which is used to store brand new feed boxes and water boxes that are already filled with feed and drinking water; An empty recycling area is used for the temporary storage of used or contaminated food and water containers that have been replaced from the cages.
3. The composite robot for raising laboratory animals according to claim 2, characterized in that, The mobile chassis is equipped with a lidar and visual-assisted navigation system.
4. A composite robot for raising laboratory animals according to claim 2, characterized in that, The dual-spectral temperature measurement module includes a visible light camera and a thermal imaging camera, with the fields of view of the visible light camera and the thermal imaging camera aligned. The visible light camera is used to identify and locate individual experimental animals within the cage, and the thermal imaging camera is used to capture temperature distribution data, which is used as a reliable estimate of the animal's core body temperature.
5. A composite robot for raising laboratory animals according to claim 1, characterized in that, The end effector is equipped with a 3D vision camera. The 3D vision camera and the infrared temperature probe are located on the upper and lower sides of the end effector, respectively. The 3D vision camera is electrically connected to the main controller and is used for spatial positioning correction.
6. A control method for a composite robot used in the rearing of laboratory animals, characterized in that, The method using the composite robot for laboratory animal husbandry as described in any one of claims 2-5 includes the following steps: S1. Task Initiation and Navigation: The robot scheduling system issues task instructions, and the robot autonomously navigates to the first station of the target cage. S2. Remove and weigh the old box; The robotic arm moves, using an end effector to grab old food containers from the cage, moves them to a weighing platform on the platform, weighs their remaining weight, and then puts them into the empty recycling area; similarly, it grabs old water containers and weighs them. S3. Pre-weighing and replacement of new boxes: The robotic arm takes a new food container from the full-load area, places it on the weighing platform to weigh its initial weight, and then precisely installs the new food container into the designated slot in the cage. The water tank replacement procedure is the same as above; S4. Non-contact body temperature measurement; After completing the box-changing operation, the robotic arm does not leave immediately, but adjusts its posture and activates the dual-spectrum temperature measurement module and infrared temperature probe; the visible light camera locks onto the head of a stationary animal, and the thermal imaging camera simultaneously reads the animal's thermal radiation value; the system converts the thermal radiation value into an accurate body temperature reading through the built-in temperature calibration model; the infrared temperature probe is set on the end effector of the robotic arm to collect the temperature in the blind spot or edge area of the dual-spectrum temperature measurement module's field of view. S5. Data transmission: The robot binds all data to the unique code of the target cage position and uploads it to the data center. S6. Then move to the next station and repeat the S1-S5 process.