Multifunctional AGV (Automatic Guided Vehicle) for livestock farm

Abstract

The invention discloses a farm multifunctional AGV mobile vehicle, and relates to the technical field of livestock breeding, the farm multifunctional AGV mobile vehicle comprises an AGV body, an obstacle avoidance system, a navigation system, a walking system and a control module, the walking system is located at the bottom of the AGV body, the top of the AGV body is provided with a bearing platform, and the bearing platform is detachably provided with an auxiliary module; the navigation system comprises at least one navigation radar and a plurality of position sensing devices; the obstacle avoidance system comprises a vehicle head anti-collision beam and a front camera which are located at the front end of the AGV body, a vehicle tail anti-collision beam and a reversing obstacle avoidance radar which are located at the rear end of the AGV body, and a front obstacle avoidance radar located at the top of the AGV body. The navigation system, the obstacle avoidance system and the walking system are electrically connected to the control module. According to the invention, the environment condition in the farm is monitored by freely carrying the auxiliary module, autonomous navigation and coverage of the whole preset area are realized through the preset inspection route and algorithm, and the inspection efficiency and accuracy are greatly improved; and the breeding environment is cleaned, so that the environmental sanitation in the breeding farm is ensured.

Description

Technical Field

[0001] The invention belongs to the technical field of animal husbandry, and in particular relates to a multifunctional AGV mobile vehicle for a breeding farm. Background Art

[0002] In the livestock and poultry breeding process, real-time monitoring of animal body temperature, behavior and posture is a key measure to reflect the health status of animals and optimize the breeding environment. Although the existing technology has achieved automated management through infrared temperature measurement, video image acquisition, sensor monitoring of the surrounding environment, etc. However, for large-scale farms, the traditional inspection method requires a lot of manpower and is inefficient, and it is no longer suitable for modern breeding needs; and setting up the above-mentioned environmental information collection module in each breeding house will increase a lot of costs, which is not suitable for promotion in large-scale farms.

[0003] Therefore, in order to meet the needs of modernization and automated monitoring, the livestock and poultry farming industry needs to develop advanced monitoring technologies and intelligent management systems. This can not only improve management efficiency and reduce labor costs, but also significantly improve the animal living environment and production efficiency, thereby promoting the sustainable development of the farming industry.

[0004] In view of this, it is necessary to propose a multifunctional AGV mobile vehicle for a farm to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide a multifunctional AGV mobile vehicle for a farm, so as to solve the above-mentioned technical problems existing in the prior art.

[0006] To achieve the above object, the present invention provides the following solution: a multifunctional AGV mobile vehicle for a farm, comprising an AGV body, an obstacle avoidance system, a navigation system, a walking system and a control module, wherein the walking system is located at the bottom of the AGV body, and a bearing platform is provided on the top of the AGV body, and an auxiliary module can be detachably mounted on the bearing platform;

[0007] The navigation system includes at least one navigation radar and a plurality of position sensing devices;

[0008] The obstacle avoidance system includes a front anti-collision beam and a front camera located at the front end of the AGV body, a rear anti-collision beam and a reversing obstacle avoidance radar located at the rear end of the AGV body, and a front obstacle avoidance radar located at the top of the AGV body;

[0009] The navigation system, the obstacle avoidance system, and the walking system are electrically connected to the control module respectively.

[0010] Preferably, the traveling system comprises two front wheels and two rear wheels, and the two front wheels and the two rear wheels are driven by four-wheel differentials respectively.

[0011] Preferably, the walking system is electrically connected to a rechargeable battery, the rechargeable battery is connected to a charging pile brush plate and a charging port, and the charging pile brush plate and the charging port are arranged at the rear end of the AGV body.

[0012] Preferably, the auxiliary module includes an inspection module and / or a disinfection module.

[0013] Preferably, the inspection module includes multiple information collection units and multiple sensors.

[0014] Preferably, the information collection unit comprises a high-definition camera for collecting farm pavement image information and a high-resolution thermal imaging camera for collecting animal body temperature.

[0015] Preferably, the sensors include a temperature sensor, a humidity sensor, a PM2.5 sensor, a light sensor, a wind speed sensor and a gas composition sensor.

[0016] Preferably, the disinfection module includes a water tank, a water pump and a water spraying device. A rotating seat is fixedly connected above the water tank, a pan head is rotatably connected to the rotating seat, the water spraying device is fixedly connected above the pan head, and the water spraying device is connected to the water tank pipeline through a water pump.

[0017] Preferably, a plurality of electromagnets are provided in the AGV body below the carrying platform, and the electromagnets are used to magnetically fix the auxiliary module.

[0018] Preferably, the position sensing device includes an accelerometer, a gyroscope, an encoder, a 3D camera, an infrared camera, and a DI signal module.

[0019] Compared with the prior art, the present invention at least discloses the following beneficial effects:

[0020] The multifunctional AGV mobile vehicle for a breeding farm of the present invention can be freely equipped with an inspection module, a disinfection module and other auxiliary modules, so as to achieve seamless integration and realize multiple uses of one vehicle.

[0021] The present invention uses the AGV body + inspection module to monitor the environmental conditions in the farm. Through the preset inspection route and algorithm, it can autonomously navigate and cover the entire preset area, greatly improving the inspection efficiency and accuracy.

[0022] The present invention uses an AGV body + disinfection module to clean the breeding environment. The spray device in the disinfection module can spray disinfectant into the breeding area according to preset conditions, effectively killing bacteria, viruses and other harmful substances, ensuring environmental hygiene in the farm and ensuring that livestock grow in a suitable environment.

[0023] The AGV body of the present invention meets the requirements of automatic navigation, can automatically patrol according to a preset path, and can avoid obstacles at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 This is a front view of the multifunctional AGV mobile vehicle for a farm according to an embodiment of the present invention;

[0026] Figure 2 It is a right view of the multifunctional AGV mobile vehicle for a farm according to an embodiment of the present invention;

[0027] Figure 3 It is a left view of the multifunctional AGV mobile vehicle for a farm according to an embodiment of the present invention;

[0028] Figure 4 A top view of a multifunctional AGV mobile vehicle for a farm according to an embodiment of the present invention;

[0029] Figure 5 Axonometric view of the multifunctional AGV mobile vehicle for a farm according to an embodiment of the present invention Figure 1 ;

[0030] Figure 6 Axonometric view of the multifunctional AGV mobile vehicle for a farm according to an embodiment of the present invention Figure 2 ;

[0031] In the figure: 1. AGV body; 2. Carrying platform; 3. Front anti-collision beam; 4. Rear anti-collision beam; 5. Charging pile brush plate; 6. Charging port; 7. Reversing obstacle avoidance radar; 8. Navigation system; 81. Main navigation radar assembly; 82. Navigation radar; 83. Front obstacle avoidance radar; 9. Front camera; 10. AGV body display; 11. Front wheel; 12. Rear wheel; 13. First emergency stop button; 14. Second emergency stop button; 15. Power switch; 16. Navigation control module switch button; 17. Navigation control module key switch; 18. Vehicle router network cable port; 19. Industrial computer USB port. 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] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] Reference Figures 1 to 6 As shown, the present invention provides a multifunctional AGV mobile vehicle for a breeding farm, which is used for inspection, disinfection, information collection, etc. in a breeding area (taking a pig house as an example). By carrying an inspection module / disinfection module, the breeding environment can be cleaned and treated to ensure the environmental hygiene in the pig house, and ensure that the livestock grow in a suitable environment to achieve a weight gain effect. The multifunctional AGV mobile vehicle for a breeding farm includes an AGV body 1, a walking system, an obstacle avoidance system, a navigation system 8, and a carrying platform 2 for carrying auxiliary modules (inspection module and disinfection module).

[0035] Specifically, the traveling system includes a front wheel 11 and a rear wheel 12 located at the bottom of the AGV body 1. The front wheel 11 and the rear wheel 12 are driven by a four-wheel differential and have a function of turning around in situ.

[0036] The carrying platform 2 is located above the AGV body 1, and a plurality of electromagnets are arranged on the platform surface. By energizing the electromagnets, magnetic attraction is generated, and then the platform is connected to the inspection module or the disinfection module. There is no need to set up positioning devices of other structures, which greatly improves the scalability and practicality of the AGV mobile vehicle.

[0037] The front of the AGV body 1 is provided with a front anti-collision beam 3, a front camera 9, and an AGV body display 10, and the rear of the body is provided with a rear anti-collision beam 4, a reversing obstacle avoidance radar 7, a charging pile brush plate 5 and a charging port 6; the front of the AGV body 1 has an upwardly protruding body, and a navigation system 8 is fixedly connected to the top of the body. Multiple control buttons and connection ports are respectively arranged on both sides of the body, including a second emergency stop button 14 located on the left side of the AGV mobile vehicle's traveling direction, a vehicle router network cable port 18 and an industrial computer USB interface 19, as well as a first emergency stop button 13, a power switch 15, a navigation control module switch button 16 and a navigation control module key switch 17 located on the left side of the AGV mobile vehicle's traveling direction.

[0038] In a possible implementation, a control module is further included, which integrates the data information obtained by the AGV body 1, the inspection module, and the disinfection module, and visualizes the obtained environment and equipment information on the AGV body display 10. The control module adopts the CAN communication protocol, and the communication interface is a CAN interface.

[0039] In a possible implementation, the control module wireless signal is connected to a remote controller, and manual control can be achieved through the remote controller, with a control range of less than 100 meters. The control module includes a 4G communication module and a vehicle-mounted server. The 4G communication module is specifically a 4G router, which is used to achieve wireless communication between the control module and the system platform in the farm control room. The vehicle-mounted server can use a vehicle-mounted industrial computer with model DTB-3042-H310 / I5-8500T16G / 500G SSD / 19V / KM.

[0040] The navigation system 8 includes a main navigation radar assembly 81, a navigation radar 82 and a front obstacle avoidance radar 83 located in the main navigation radar assembly 81. The front obstacle avoidance radar 83 is set toward the front of the vehicle to monitor obstacles in the driving direction and automatically transmit the monitoring signal to the control module. The control module converts the obstacle signal into a deceleration and braking control signal of the walking system, and controls the AGV mobile vehicle to achieve the automatic obstacle avoidance function of 3-meter deceleration and 1-meter parking. The navigation radar 82 is a laser radar, which determines the distance, size and position of an object and other key information by emitting a laser beam and receiving the reflected light signal. The main navigation radar assembly 81 is rotatably connected to the top of the AGV body 1, and can achieve 360° free rotation, and collect the position signal and obstacle distance signal of the AGV mobile vehicle in all directions.

[0041] The obstacle avoidance system includes a front anti-collision beam 3 located at the front end of the vehicle body, a rear anti-collision beam 4 located at the rear end of the vehicle body, a front camera 9, a reversing obstacle avoidance radar 7, and a front obstacle avoidance radar 83 integrated in the main navigation radar assembly 81.

[0042] The navigation system 8 and the obstacle avoidance system control the AGV body 1 to navigate to the destination in the constructed map according to the task instructions issued by the user, or operate the actuator according to the current state of the AGV body 1.

[0043] Specifically, the functions of the navigation system 8 include:

[0044] Global path planning: based on the target point and map file planning, generates the shortest path to the target point and breaks down the overall task into subtasks for each route;

[0045] Task planning: The task planner generates a task queue based on the current route subtask instructions and the model file information, and then calls the path navigation module or action execution module for execution;

[0046] Local path planning, based on the attributes, positioning and sensors of the current path, controls AGV body 1 to walk along the current route. If an obstacle is encountered, AGV body 1 will block and report an error;

[0047] Motion planning, based on motion instructions and sensor information, controls the AGV body 1 mechanism to perform specified actions;

[0048] Positioning: The positioning module is based on laser SLAM navigation, or QR code navigation, or odometer navigation, to provide the AGV body 1 with accurate position information in real time under different environments;

[0049] Furthermore, the navigation system 8 includes a variety of position sensing devices, including accelerometers, gyroscopes, encoders, 3D cameras, infrared cameras, DI signals, etc., to provide real-time status queries for the AGV body 1. This information can be used for arrival point judgment, obstacle judgment, deceleration judgment, etc.

[0050] Furthermore, the navigation system 8 includes an actuator, specifically a motor, an audio, a DO module, the vehicle body's own state, etc., which ultimately realizes the AGV body 1's response to the task instruction. The user sends a task instruction to a certain place to the AGV body 1 through the network. The AGV body 1 will automatically generate a path to the target point based on the configurable content, positioning and sensors, and use the actuator to complete the corresponding task action.

[0051] The inspection module can monitor key environmental indicators in the pig house in real time, including but not limited to temperature, humidity and ammonia concentration, so as to quickly respond to any potential environmental abnormalities.

[0052] It should be understood that in actual applications, four drive motors and rechargeable batteries are provided in the AGV body 1 for driving four running wheels. The drive motor is a 1000W servo motor, and the four drive motors drive the four running wheels separately to better control the steering, turning and climbing of the vehicle. The rechargeable battery adopts a 48V / 70A battery, which can provide 24V~12V / 15A external power supply. The rechargeable battery is electrically connected to the charging pile brush plate 5 and the charging port 6 located at the rear of the AGV body 1. When the control module detects that the remaining power of the rechargeable battery reaches the preset threshold, the control module controls the AGV mobile vehicle to automatically go to the charging pile to start charging, and the charging pile brush plate 5 is adaptively connected to the charging pile to complete the charging action. Manual charging can also be performed through the charging port 6 in conjunction with the charger.

[0053] The carrying platform 2 on the AGV body 1 is used to carry the inspection module and the disinfection module and to transport other items. The inspection module and the disinfection module are integrated devices with independent structures, which can be placed in a fixed position in the farm in advance, such as near the charging pile, or placed in different areas at multiple stations for the AGV body 1 to pick up.

[0054] Specifically, the inspection module includes multiple information collection units and sensors. The inspection module uses sensors to monitor the temperature, humidity, gas concentration and other parameters of the surrounding environment, and can transmit data to the system platform through wireless communication; the information collection unit includes multiple high-definition cameras and high-resolution thermal imaging cameras to identify livestock and measure body temperature, and use AI algorithms to timely analyze and feedback the collected data.

[0055] In a possible implementation, the inspection module includes a plurality of sensors for collecting livestock-related data in the breeding area, and the sensors are electrically connected to the control module. It is understandable that the sensors may include temperature sensors, humidity sensors, PM2.5 sensors, light sensors, wind speed sensors, and gas composition sensors, among which the gas composition sensors include ammonia concentration sensors, hydrogen sulfide concentration sensors, carbon dioxide concentration sensors, and methane concentration sensors, and by providing sensors, environmental information collection and monitoring can be made more accurate and efficient.

[0056] Specifically, the disinfection module includes a 640mm×510mm×470mm square water tank with a maximum water capacity of 160 liters. A non-contact liquid level sensor is installed in the water tank, such as a liquid level sensor with model number XKC-Y25-NPN (24V); a rotating seat is fixed on the top of the water tank, and a pan-tilt is rotatably connected to the rotating seat. The pan-tilt can rotate 360° and can realize cruising swing. A water spraying device, such as a wind gun, is fixed on the pan-tilt. The water spraying device is connected to the water tank pipeline through a water pump. The water pump and the pan-tilt are controlled by a control box, and the control box is connected to the system platform network. When working, the disinfection module is placed on the carrying platform 2, and the AGV mobile vehicle carries the disinfection module and walks in the pig house. The execution instruction is sent to the control box through the network. The control box controls the rotation of the pan-tilt and the operation of the water pump to evenly spray the disinfectant in the water tank to achieve the disinfection of the pig house.

[0057] In a specific embodiment, the power of the water spray device is 500W, the maximum withstand voltage is 0.2MPa, the working voltage is 48V-60V, and the diameter of the spray droplets is 10μm.

[0058] In a specific embodiment, the maximum rotation angle of the pan / tilt head is 360° horizontally and ±35° vertically, the rotation speed is 9° / second horizontally and 1° / second vertically (constant speed), the operating voltage is DC12V, and the machine power is 12W.

[0059] In a specific embodiment, the water pump and the pan / tilt head are powered by a 48V lithium battery, which is provided with overcharge protection, over-discharge protection, power-off protection, overvoltage protection, overcurrent protection, etc.

[0060] In a specific embodiment, the size of the AGV mobile vehicle is 1150×820×745mm, the vehicle mass is 150kg, the main material of the AGV body 1 is Q235 steel, the ground clearance of the AGV body 1 is 120mm, the wheelbase of the front wheel 11 and the rear wheel 12 is 580mm, and the tire diameter is 400mm.

[0061] The AGV mobile vehicle of the embodiment of the present invention can achieve a load of 200kg, a running speed of 0 to 4km / h, a cruising range of 20km, a minimum turning radius of 0, a wading depth of 100mm, a maximum climbing angle of 15° (full load), a crossing width of 200mm (full load), an obstacle crossing height of 100mm (full load), a protection level of IP44, and an operating temperature of -20℃ to 60℃.

[0062] In some embodiments, the front anti-collision beam 3 and the rear anti-collision beam 4 both include a metal anti-collision beam and a rubber buffer beam detachably installed on the outside of the metal anti-collision beam. The rubber buffer beam adopts a hollow structure and can absorb energy to a large extent to avoid damage to the AGV body 1 due to collision.

[0063] The details not disclosed in the present invention are conventional technical means well known to those skilled in the art.

[0064] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0065] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A multifunctional AGV mobile vehicle for a farm, characterized in that: The AGV comprises an AGV body (1), an obstacle avoidance system, a navigation system (8), a walking system and a control module, wherein the walking system is located at the bottom of the AGV body (1), and a carrying platform (2) is provided on the top of the AGV body (1), and an auxiliary module can be detachably mounted on the carrying platform (2); The navigation system (8) includes at least one navigation radar (82) and a plurality of position sensing devices; The obstacle avoidance system comprises a front anti-collision beam (3) and a front camera (9) located at the front end of the AGV body (1), a rear anti-collision beam (4) and a reversing obstacle avoidance radar (7) located at the rear end of the AGV body (1), and a front obstacle avoidance radar (83) located at the top of the AGV body (1); The navigation system (8), the obstacle avoidance system, and the walking system are electrically connected to the control module respectively.

2. The multifunctional AGV mobile vehicle for breeding farms according to claim 1, characterized in that: The traveling system comprises two front wheels (11) and two rear wheels (12), and the two front wheels (11) and the two rear wheels (12) are respectively driven by a four-wheel differential.

3. The multifunctional AGV mobile vehicle for breeding farms according to claim 2, characterized in that: The walking system is electrically connected to a rechargeable battery, and the rechargeable battery is connected to a charging pile brush plate (5) and a charging port (6), and the charging pile brush plate and the charging port (6) are arranged at the rear end of the AGV body (1).

4. The multifunctional AGV mobile vehicle for breeding farms according to claim 1, characterized in that: The auxiliary module includes an inspection module and / or a disinfection module.

5. The multifunctional AGV mobile vehicle for breeding farms according to claim 4, characterized in that: The inspection module includes multiple information collection units and multiple sensors.

6. The multifunctional AGV mobile vehicle for breeding farms according to claim 5, characterized in that: The information collection unit includes a high-definition camera for collecting farm road surface image information and a high-resolution thermal imaging camera for collecting animal body temperature.

7. The multifunctional AGV mobile vehicle for breeding farms according to claim 5, characterized in that: The sensors include a temperature sensor, a humidity sensor, a PM2.5 sensor, a light sensor, a wind speed sensor and a gas composition sensor.

8. The multifunctional AGV mobile vehicle for breeding farms according to claim 4, characterized in that: The disinfection module includes a water tank, a water pump and a water spraying device. A rotating seat is fixedly connected above the water tank, a pan head is rotatably connected to the rotating seat, the water spraying device is fixedly connected above the pan head, and the water spraying device is connected to the water tank pipeline through the water pump.

9. The multifunctional AGV mobile vehicle for breeding farms according to claim 1, characterized in that: A plurality of electromagnets are arranged in the AGV body (1) below the carrying platform (2), and the electromagnets are used to magnetically fix the auxiliary module.

10. The multifunctional AGV mobile vehicle for breeding farms according to claim 1, characterized in that: The position sensing device includes an accelerometer, a gyroscope, an encoder, a 3D camera, an infrared camera, and a DI signal module.

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