An intelligent inspection robot for a farm

Abstract

The application discloses a farm intelligent inspection robot and relates to the breeding technical field.The robot body moves on the track to realize the inspection function.The track is arranged above the pigsty to avoid the sundries on the bottom surface from affecting the inspection process.The specific process is as follows: the rotation of the left roller is driven by the robot driving assembly, the rotation of the right roller is realized by the robot driven assembly, the movement of the left roller and the right roller on the track is realized, and the robot body is driven to move;in the process, the self-inspection is realized, the labor inspection and the epidemic prevention pressure are reduced, the intelligent degree is high, meanwhile, the application is provided with three large modules, namely, a receiving integrated cabin, a host cabin and a data acquisition integrated cabin, and the modular design is used, so that the maintenance is facilitated.

Description

Technical Field

[0001] This invention relates to the field of aquaculture technology, specifically to an intelligent inspection robot for aquaculture farms. Background Technology

[0002] Pig farming is a direct way to obtain pork, but various common pig diseases cannot be avoided during the farming process, which can affect the health of pigs and slow their growth rate, resulting in significant financial losses for farmers. Therefore, strengthening the monitoring of pig growth and controlling the pig's growth environment can improve the quality of pork.

[0003] In traditional pig farms, most methods rely on manual inspections to monitor and regulate environmental parameters in the pigsty and observe abnormal pig behavior. Patent application number 202110115441.6 discloses a livestock farming inspection robot with a walking chassis and a battery at its bottom. However, these methods are inefficient, labor-intensive, and the inspection routes are often obstructed by debris on the ground, leading to poor inspection effectiveness. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent inspection robot for farms.

[0005] The technical problem solved by this invention is that debris is stored on the bottom surface of the farm, which affects the cleanliness of the road surface and thus affects the inspection route. This application makes improvements to address the above problem.

[0006] This invention can be achieved through the following technical solution: an intelligent inspection robot for farms, including a track, which is set above the pigpen and is in the shape of an "I". The robot body is mounted on the track and RFID tags are affixed at intervals below the track. The RFID tags are located above each pigpen. An RFID reader is installed inside the robot body. The RFID reader reads the RFID tags to obtain basic information about the pigs in the pigpen.

[0007] A further technical improvement of the present invention is that: the power output end of the robot body is provided with a right roller and a left roller, the right roller and the left roller are located on the track, and the right roller and the left roller are located on both sides of the track. The left roller is driven by the robot drive component, and the right roller is supported by the robot driven component.

[0008] Further technical improvements of the present application are that the track is symmetrically provided with a track left side guide rib and a track right side guide rib, and the track left side guide rib is located at the right side of the left side roller, and the track right side guide rib is located at the left side of the right side roller.

[0009] Further technical improvements of the present application are that the robot body further comprises a visible light camera, a thermal infrared camera, a 3D camera and a radar, signal output ends of the visible light camera, the thermal infrared camera, the 3D camera and the radar are connected to an AI edge computing board, a data output end of the AI edge computing board is connected to a cloud platform, and the cloud platform is further connected to a card reading output end of the RFID card reader.

[0010] Further technical improvements of the present application are that the robot body further comprises a main machine cabin, a receiving integrated cabin and a data acquisition integrated cabin, the receiving integrated cabin and the data acquisition integrated cabin are installed below the main machine cabin, the receiving integrated cabin is used for battery and wireless charging reception, the main machine cabin is used for computer and control, and the data acquisition integrated cabin is used for video radar infrared integrated data acquisition.

[0011] Further technical improvements of the present application are that the main machine cabin is provided with a plurality of clamping grooves at the bottom, the receiving integrated cabin and the data acquisition integrated cabin are provided with a plurality of clamping hooks at the bottom, the clamping grooves and the clamping hooks are matched, the main machine cabin is provided with a first bolt fixing hole, a second bolt fixing hole, a third bolt fixing hole and a fourth bolt fixing hole, the receiving integrated cabin is provided with a seventh bolt fixing hole and an eighth bolt fixing hole, and the data acquisition integrated cabin is provided with a fifth bolt fixing hole and a sixth bolt fixing hole, the fifth bolt fixing hole, the sixth bolt fixing hole and the first bolt fixing hole and the second bolt fixing hole are matched, and the seventh bolt fixing hole, the eighth bolt fixing hole and the third bolt fixing hole and the fourth bolt fixing hole are matched.

[0012] Further technical improvements of the present application are that the track is annular, when the track is close to the charging position, the longest side length of the track is smaller than the interval between the left side roller and the right side roller, the track bottom is provided with a middle plate, the middle plate is symmetrically fixed with telescopic rods on both sides, the telescopic rods are fixed with support plates at the end portions, the support plates are fixed with rotating motors, the rotating motors are drivingly connected with rotating shafts, and the rotating shafts are fixed with extension plates, and when the rotating motor is at the starting position, the extension plate is located at the side edge of the track.

[0013] Compared with the prior art, the present application has the following beneficial effects:

[0014] 1. The application realizes the function of inspection by moving the robot body on the track, the track is arranged above the pigsty, avoiding the influence of sundries on the bottom surface on the inspection process, the specific process is: driving the rotation of the left roller through the robot driving assembly, realizing the rotation of the right roller through the robot driven assembly, realizing the movement of the left roller and the right roller on the track, driving the movement of the robot body, if turning is needed, the left roller is extruded by the left guide rib of the track, the left roller is pushed to the left, realizing the left turning of the robot, if reverse turning is needed, the right roller is extruded by the right guide rib of the track, the right roller is pushed to the right, realizing the right turning of the robot, in this process, the self-inspection reduces the labor inspection and the pressure of epidemic prevention, the intelligent degree is high, and the application is provided with three large modules of receiving integrated cabin, host cabin and data acquisition integrated cabin, and the modular design is convenient for maintenance.

[0015] 2. The application adopts a 3D camera to monitor the depth data of living bodies, including the weight of pigs, back fat and other body parameter data of pigs; the visible light camera includes image and video data, which is used for monitoring the number of pigs, activity and other behavior analysis; the radar can be used for detecting the heartbeat and breathing light data of pigs, which is used for evaluating the physical condition of pigs; the infrared camera can be used for thermal map analysis, which is used for evaluating the abnormal temperature of pigs; finally, the information into the column is used as the basis for key index data such as strain, time into the column and feeding information, to make the change curve of pig information, realize the monitoring of pig information, realize the digital management of pig farm, and facilitate sufficient monitoring. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to facilitate the understanding of those skilled in the art, the application will be further described below with reference to the drawings.

[0017] Figure 1 It is an external structure diagram of the application;

[0018] Figure 2 It is a left roller and right roller position diagram of the application;

[0019] Figure 3 It is a track and robot body connection diagram of the application;

[0020] Figure 4 It is an external structure diagram of the robot body of the application;

[0021] Figure 5 It is an external explosion diagram of the robot body of the application;

[0022] Figure 6 It is a host cabin structure diagram of the application;

[0023] Figure 7 Schematic diagram of the socket position of the host cabin of the present application;

[0024] Figure 8 Schematic diagram of the socket plane of the host cabin of the present application;

[0025] Figure 9 Schematic diagram of the integrated mainboard of the host cabin of the present application;

[0026] Figure 10 Schematic diagram of the connection of the host cabin, the receiving integrated cabin and the data acquisition integrated cabin of the present application;

[0027] Figure 11 Schematic diagram of the installation of the host cabin, the receiving integrated cabin and the data acquisition integrated cabin of the present application;

[0028] Figure 12 Schematic diagram of the robot body operation of the present application;

[0029] Figure 13 Schematic diagram of the robot body inspection content of the present application;

[0030] Figure 14 Schematic diagram of the extension plate position of the present application.

[0031] In the figure: 11, left upper cover of the robot; 12, right upper cover of the robot; 100, track; 101, robot body; 102, charging cabin; 21, robot driving assembly; 22, robot driven assembly; 23, right side roller; 24, left side roller; 3, receiving integrated cabin; 31, seventh bolt fixing hole; 32, eighth bolt fixing hole; 4, host cabin; 41, power interface; 42, antenna box; 43, motor connection port; 44, digital display screen; 45, first data transmission port; 46, second data transmission port; 47, third data transmission port; 48, antenna; 49, computing card upgrade port; 410, first anti-collision switch; 411, first power supply power interface; 412, second power supply power interface; 413, second anti-collision switch; 414, power indicator light; 415, power switch; 416, first data interface; 417, second data interface; 418, third data interface; 419, fourth data interface; 420, first bolt fixing hole; 421, second bolt fixing hole; 422, third bolt fixing hole; 423, fourth bolt fixing hole; 424, control board; 425, integrated mainboard; 426, removable computing card; 5, data acquisition integrated cabin; 51, fifth bolt fixing hole; 52, sixth bolt fixing hole; 6, track section; 61, left side guide rib of the track; 62, right side guide rib of the track; 71, extension plate; 72, middle plate; 73, rotating seat; 74, rotating shaft; 75, support plate; 76, telescopic rod; 77, arc-shaped connecting plate. DETAILED DESCRIPTION

[0032] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided.

[0033] Please see Figures 1-14 As shown, an intelligent inspection robot for a pig farm includes a track 100, which is installed on the pigsty at a fixed height above the pig pens. The track 100 is laid at each location in the pigsty, and the system monitors the pigs inside each pen. The track 100 is used for the robot to move. RFID tags are affixed at intervals under the track 100, with each RFID tag corresponding to the position directly above each pig pen, for positioning and start / stop operation of the robot. The track 100 is in the shape of an "I" to limit the movement of the robot.

[0034] As for the robot body 101, in this application, the robot body 101 includes a shell, a control board 424, an RFID reader, a motor, a servo motor, sensors, an AI edge computing board, a Wi-Fi & BT protocol communication module, a visible light camera, a thermal infrared camera, a 3D camera, radar, a wireless charging receiver module, a battery BMS, and other necessary components. The motor is used for the robot's walking power output, the servo motor is used for the camera and radar direction adjustment, and the sensors include monitoring of temperature, humidity, light intensity, ammonia concentration, and carbon dioxide concentration.

[0035] The charging compartment 102 includes a wireless charging transmitter module for the robot to charge itself.

[0036] Specifically, this application controls motion-related components with high real-time requirements, such as robot power supply, battery BMS, motors, and servos, via a control board 424. An AI edge computing board receives data from visible light cameras, thermal infrared cameras, 3D cameras, radar, etc., processes the collected data using an algorithm model, and uploads the collected data and the processed inspection results via a Wi-Fi & BT protocol communication module. These inspection results are then transmitted to a cloud platform for data processing. An RFID reader reads RFID tags to obtain basic information about the pigs in the pen. Data collected during robot inspection is bound to the information in the corresponding column of the tag read by the RFID reader and simultaneously uploaded to the cloud platform for big data analysis. Alternatively, the robot can automatically run according to pre-set tasks, uploading inspection results to the cloud platform in real time. After inspection, the robot automatically returns to the charging compartment 102 for automatic charging. Furthermore, the Wi-Fi & BT protocol communication module on the robot enables remote control of the robot for inspection.

[0037] 3D camera is used to monitor the depth data of the living body, including the weight of the pig, the back fat and other body parameter data of the pig; visible light camera includes image and video data, which is used to monitor the number of pigs, activity and other behavior analysis; radar can be used to detect the heartbeat and breathing light data of the pig, which is used to evaluate the body condition of the pig; infrared camera can be used for thermal map analysis to evaluate the abnormal temperature of the pig; finally, the information into the column is used to make the change curve of the pig information based on the key index data such as strain, entering time and feeding information.

[0038] For the movement of the robot body 101 on the track 100, the following specific parts and their connection modes can be included: the cross section of the track 100 is track section 6, which is used to show the connection relationship between the robot body 101 and the track 100, wherein the output end of the robot body 101 is provided with two groups of rollers, including right roller 23 and left roller 24, wherein the right roller 23 and the left roller 24 are a certain distance apart, and the track left guide rib 61 and the track right guide rib 62 are symmetrically arranged on the track 100, the track left guide rib 61 is located to the right of the left roller 24, and the track right guide rib 62 is located to the left of the right roller 23, but the distance between the left roller 24 and the right roller 23 is less than the length of the longest side of the track section 6. Therefore, the left roller 24 and the right roller 23 are controlled by the motor to rotate, and when rotating, they move along the track 100, realize the movement of the robot body 101 on the track 100, and realize the patrol movement. When turning, the left roller 24 and the track left guide rib 61 are extruded, the left roller 24 is subjected to a leftward thrust force, and the robot turns left; if reverse turning is needed, the right roller 23 and the track right guide rib 62 are extruded, the right roller 23 is subjected to a rightward thrust force, and the robot turns right.

[0039] The left roller 24 is driven by the robot driving assembly 21, and the right roller 23 is received by the robot driven assembly 22. The robot driving assembly 21 and the robot driven assembly 22 are both installed on the main machine cabin 4. The robot left upper cover 11 and the robot right upper cover 12 are also installed on the main machine cabin 4. The receiving integrated cabin 3 and the data acquisition integrated cabin 5 are installed below the main machine cabin 4. The receiving integrated cabin 3 is a battery and wireless charging receiving integrated cabin. The main machine cabin 4 is a computer and control integrated main machine cabin. The data acquisition integrated cabin 5 is a video radar infrared multifunctional data acquisition integrated cabin.

[0040] The main engine compartment 4 is equipped with an aviation plug interface 41, a motor connection port 43, a first data transmission port 45, a second data transmission port 46, a third data transmission port 47, a computing card upgrade port 49, a first power aviation plug 411, a second power aviation plug 412, a first data interface 416, a second data interface 417, a third data interface 418, and a fourth data interface 419 for data transmission, power access, and other functions. The first data interface 416, the second data interface 417, the third data interface 418, and the fourth data interface 419 are the connection interfaces between the data acquisition integration compartment 5 and the main engine compartment 4. The main engine compartment 4 also houses an antenna box 42 and a digital... The system includes a display screen 44, an antenna 48, a first anti-collision switch 410, a second anti-collision switch 413, a power indicator light 414, a power switch 415, a first pin fixing hole 420, a second pin fixing hole 421, a third pin fixing hole 422, and a fourth pin fixing hole 423. The antenna box 42 is used for tag identification, and the antenna 48 is used to receive signals. The antenna 48 is located at both ends of the main unit compartment 4, and there are two sets of antennas. The movable computing card 426 consists of a computing card body and a rubber plug. It can be directly inserted into the connector of the integrated motherboard 425 through the computing card upgrade port 49 to complete the upgrade. At the same time, the main unit compartment 4 also integrates a control board 424.

[0041] In order to connect the main unit compartment 4, the receiving integration compartment 3, and the data acquisition integration compartment 5, several guide slots are provided at the bottom of the main unit compartment 4, and guide hooks are provided inside the receiving integration compartment 3 and the data acquisition integration compartment 5. By using the cooperation of the slots and hooks, the main unit compartment 4, the receiving integration compartment 3, and the data acquisition integration compartment 5 can be installed. That is, by pushing the hooks in along the direction of the slots, the two connecting parts can be combined together.

[0042] The first pin fixing hole 420, the second pin fixing hole 421, the third pin fixing hole 422, and the fourth pin fixing hole 423 are pin fixing holes on the main unit compartment 4. The receiving integration compartment 3 is provided with a seventh pin fixing hole 31 and an eighth pin fixing hole 32. The data acquisition integration compartment 5 is provided with a fifth pin fixing hole 51 and a sixth pin fixing hole 52. The seventh pin fixing hole 31, the eighth pin fixing hole 32, the fifth pin fixing hole 51, the sixth pin fixing hole 52, the first pin fixing hole 420, the second pin fixing hole 421, the third pin fixing hole 422, and the fourth pin fixing hole 423 are respectively connected to the data acquisition integration compartment 5 and the receiving integration compartment 3 to install and fix them on the main unit compartment 4, so as to achieve matching and fixation.

[0043] In the above technical solution, the robot body 101 performs annular inspection around the track 100, but if the robot body 101 is damaged and needs to be removed, all left rollers 24 and right rollers 23 need to be removed before the robot body 101 can be removed, which is a complicated process and has great difficulty. In order to solve the above technical problems, a discharge port is arranged on the track 100 in the present application, which is located at the charging position. In the present application, when the track 100 is at the charging position, the length of the longest side of the track 100 is greatly reduced, which is less than the original length. When the track 100 is close to the charging position, the length of the longest side of the track 100 is less than the distance between the left roller 24 and the right roller 23. An extension plate 71 is arranged at the track 100, wherein the extension plate 71 is used to extend the length of the track 100, but the extension plate 71 can rotate. When rotating, the extension plate 71 can be removed from the track 100. At this time, because the length of the longest side of the track 100 is small, the robot body 101 can be easily removed for maintenance.

[0044] Specifically, the middle plate 72 is fixed at the bottom of the track 100, wherein the middle plate 72 is in the shape of a "T". The two sides of the middle plate 72 are symmetrically fixed with telescopic rods 76, wherein the end of the telescopic rod 76 is fixed with a support plate 75, and the support plate 75 is fixed with a rotating seat 73. A rotating motor is installed on the rotating seat 73, which drives a rotating shaft 74. The rotating shaft 74 is fixed with an arc-shaped connecting plate 77, and the end of the arc-shaped connecting plate 77 is fixed with an extension plate 71. Specifically, if the extension plate 71 needs to be folded, first use the rotating motor to drive the rotating shaft 74 to rotate the extension plate 71 to a certain angle, that is, below the height of the track 100, and then fold the extension plate 71 below the track 100 through the telescopic rod 76 to realize the storage of the extension plate 71. At this time, the robot body 101 falls by itself.

[0045] In use, first, the robot body 101 moves on the track 100 to realize the inspection function, and the specific process is as follows: the rotation of the left roller 24 is driven by the robot driving assembly 21, the rotation of the right roller 23 is realized by the robot driven assembly 22, the movement of the left roller 24 and the right roller 23 on the track 100 is realized, and the robot body 101 is driven to move; if it is necessary to turn, the left roller 24 is extruded by the left guide rib 61 of the track, the left roller 24 is subjected to a left thrust force, and the robot is turned to the left; if it is necessary to turn reversely, the right roller 23 is extruded by the right guide rib 62 of the track, the right roller 23 is subjected to a right thrust force, and the robot is turned to the right; in this process, the self-inspection reduces the labor inspection and the epidemic prevention pressure, and the intelligent degree is high; meanwhile, the application is provided with the three large modules of the receiving integrated cabin 3, the main cabin 4 and the data acquisition integrated cabin 5, and the modular design facilitates the maintenance.

[0046] In the application, the 3D camera is used for monitoring the depth data of the living body, including the weight of the pig, the back fat and other body parameter data of the pig; the visible light camera includes image and video data, and is used for monitoring the number of pigs, activity and behavior analysis; the radar can be used for detecting the heartbeat and breathing light data of the pig, and is used for evaluating the physical condition of the pig; the infrared camera can be used for thermal map analysis, and is used for evaluating the abnormal temperature of the pig; finally, the information is entered into the column, which is used for taking the strain, the entering time, the feeding information and other key index data as the basis to make the change curve of the pig information, realizes the monitoring of the pig information, realizes the digital management of the pig farm, and facilitates sufficient monitoring.

[0047] If it is necessary to remove the robot body 101 from the track 100, that is, the extension plate 71 needs to be retracted, first, the rotation shaft 74 is driven by the rotation motor to rotate the extension plate 71 to a certain angle, that is, below the height of the track 100, and then the extension plate 71 is retracted below the track 100 through the telescopic rod 76, so that the extension plate 71 is stored, and the robot body 101 falls by itself, thereby facilitating the removal of the robot body 101.

[0048] The above is only a preferred embodiment of the application, and does not limit the application in any form. Although the application has been disclosed as above, it is not intended to limit the application. Any person skilled in the art can make some changes or modifications to the above disclosed technical content without departing from the scope of the technical solution of the application, and any simple modification, equivalent change and modification of the above embodiment based on the technical essence of the application are still within the scope of the technical solution of the application.

Claims

1. An intelligent inspection robot for farms, characterized in that: Includes a track (100) set above the pigpen. The track (100) is in the shape of an "I". A robot body (101) is mounted on the track (100). RFID tags are affixed at intervals under the track (100). The RFID tags are positioned above each pigpen. An RFID reader is installed inside the robot body (101). The RFID reader reads the RFID tags to obtain basic information about the pigs in the pigpen. The robot body (101) is equipped with a right-side roller (23) and a left-side roller (24) at its power output end. The right-side roller (23) and the left-side roller (24) are located on the track (100) and are located on both sides of the track (100). The left-side roller (24) is driven by the robot drive component (21), and the right-side roller (23) is supported by the robot slave component (22). The track (100) is circular. When the track (100) is close to the charging position, the longest side of the track (100) is less than the distance between the left roller (24) and the right roller (23). A middle plate (72) is provided at the bottom of the track (100). Telescopic rods (76) are symmetrically fixed on both sides of the middle plate (72). A support plate (75) is fixed at the end of the telescopic rod (76). A rotating motor is fixed on the support plate (75). The rotating motor drives and connects to a rotating shaft (74). An extension plate (71) is fixed on the rotating shaft (74). When the rotating motor is in the starting position, the extension plate (71) is located on the side of the track (100).

2. The intelligent inspection robot for farms according to claim 1, characterized in that, The track (100) is symmetrically provided with a left guide rib (61) and a right guide rib (62), with the left guide rib (61) located to the right of the left roller (24) and the right guide rib (62) located to the left of the right roller (23).

3. The intelligent inspection robot for farms according to claim 1, characterized in that, The robot body (101) also includes a visible light camera, a thermal infrared camera, a 3D camera and a radar. The signal output terminals of the visible light camera, the thermal infrared camera, the 3D camera and the radar are connected to an AI edge computing board. The data output terminal of the AI ​​edge computing board is connected to a cloud platform. The cloud platform is also connected to the card reader output terminal of an RFID card reader.

4. The intelligent inspection robot for farms according to claim 1, characterized in that, The robot body (101) also includes a main unit compartment (4), a receiving integration compartment (3) and a data acquisition integration compartment (5). The receiving integration compartment (3) and the data acquisition integration compartment (5) are installed below the main unit compartment (4). The receiving integration compartment (3) is used for battery and wireless charging reception. The main unit compartment (4) is used for computer and control. The data acquisition integration compartment (5) is used for video radar infrared integrated data acquisition.

5. The intelligent inspection robot for farms according to claim 4, characterized in that, The bottom of the main unit compartment (4) is provided with several card slots, and the bottom of the receiving integration compartment (3) and the data acquisition integration compartment (5) is provided with several card hooks. The card slots and card hooks cooperate. The main unit compartment (4) is provided with a first pin fixing hole (420), a second pin fixing hole (421), a third pin fixing hole (422) and a fourth pin fixing hole (423). The receiving integration compartment (3) is provided with a seventh pin fixing hole (31) and an eighth pin fixing hole (32). The data acquisition integration compartment (5) is provided with a fifth pin fixing hole (51) and a sixth pin fixing hole (52). The fifth pin fixing hole (51) and the sixth pin fixing hole (52) cooperate with the first pin fixing hole (420) and the second pin fixing hole (421). The seventh pin fixing hole (31) and the eighth pin fixing hole (32) cooperate with the third pin fixing hole (422) and the fourth pin fixing hole (423).

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