An efficient inspection method for caged poultry houses

Abstract

The present invention relates to an efficient inspection method for caged poultry house scenes, and belongs to the field of poultry house inspection robots. In the method, the inspection robot adopts a walking and shooting method to inspect and take pictures; during the walking process of the inspection robot, the inspection robot adopts a global shutter high frame rate camera module to shoot a video stream, and the software controls the acquisition of corresponding frame images from the video stream to obtain clear corresponding cage position pictures; at the same time, the inspection robot adopts a lifting mechanism to install multiple groups of cameras for inspection and picture taking. Through the lifting mechanism, a group of camera modules are installed on each layer, and each group has two camera modules, which can realize the simultaneous acquisition of chicken head and chicken feet pictures on each layer of cages. By upgrading the camera configuration, the present invention enables the robot to obtain high-definition pictures in uniform motion without stopping; through the multi-layer lifting mechanism, the robot can simultaneously take pictures of chicken cages on all layers. Thereby greatly reducing the inspection time, reducing it to about 80 minutes.

Description

Technical Field

[0001] The present invention belongs to the field of poultry house inspection robots, and in particular relates to an efficient inspection method for caged poultry house scenes. Background Art

[0002] Existing industrial inspection robots usually use magnetic navigation or laser slam, equipped with a single camera, stop during inspection, and adjust the camera angle to take pictures or videos. If used in egg-laying poultry breeding houses, it will take a lot of time to take pictures of each cage, and it will not be possible to complete reasonable product functions (such as dead and weak chicken inspection). Taking a 50,000-feather egg-laying poultry house as an example, each house has about 5,000 cages. Using the existing inspection robot single-camera stop-and-take solution, it takes about 10 seconds to shoot each cage on average, so the inspection of the whole house takes about 13.8 hours. For egg-laying poultry breeding houses, the best time to detect dead and weak chickens is when the breeder just goes to work (7:30-8:00 am). The lights in the egg-laying house are turned on at around 5:00 am, so the robot inspection time should not exceed 2-3 hours to ensure the normal use of the product function. In addition, if the inspection time is too long, the battery capacity requirements are also relatively high, which increases the cost. The battery is large in size, which is not conducive to internal space planning. In summary, we need to solve the problem of completing the inspection of 50,000 chicken houses within 2 hours. Summary of the invention

[0003] The purpose of the present invention is to overcome the problem of long poultry house inspection time in the prior art, to provide an efficient inspection method for caged poultry houses, and to significantly reduce the inspection time of poultry houses by inspection robots.

[0004] To achieve the above-mentioned purpose, the technical solution of the present invention is: an efficient inspection method for caged poultry house scenes, in which an inspection robot inspects and takes pictures while walking.

[0005] In one embodiment of the present invention, while the inspection robot is walking, the inspection robot uses a global shutter high frame rate camera module to shoot a video stream, and software control is used to obtain corresponding frame images from the video stream to obtain clear corresponding cage position images.

[0006] In one embodiment of the present invention, the software controls the acquisition of corresponding frame images from the video stream. The software calculates the frame acquisition time point based on the walking speed of the inspection robot, the length of a single poultry house in the cage poultry house scene, and the length of a single cage position, and then the software controls the acquisition of corresponding frame images from the video stream to obtain clear corresponding cage position pictures.

[0007] In one embodiment of the present invention, the specific implementation method of software controlling the acquisition of corresponding frame images from the video stream is: a position positioning module is set at the corresponding position of each cage position along the walking direction of the inspection robot, and the software controls the acquisition of corresponding frame images from the video stream based on information transmitted by the position positioning module to obtain clear corresponding cage position images.

[0008] In one embodiment of the present invention, the inspection robot uses a lifting mechanism to install multiple groups of cameras for inspection and image acquisition.

[0009] In one embodiment of the present invention, each group of cameras respectively captures images of the head and feet of the poultry in the corresponding cage.

[0010] In one embodiment of the present invention, when entering a corresponding single poultry house in a caged poultry house scene, based on the height of each cage layer in the corresponding single poultry house, the lifting mechanism is controlled so that each group of cameras corresponds to each cage layer.

[0011] In one embodiment of the present invention, the lifting mechanism includes an electric push rod vertically fixed on the upper surface of a base plate and a multi-section telescopic slide rail, the telescopic free end of the electric push rod is connected to the free end of the multi-section telescopic slide rail, and each section of the slide rail is fixedly connected to a seat plate and at least one group of global shutter high frame rate cameras fixed on the seat plate.

[0012] In one embodiment of the present invention, the multi-section retractable slide rail includes two first guide rails and a plurality of second guide rails that are slidably connected relative to each other in sequence, the two first guide rails are vertically fixed on a base plate, the first second guide rail adjacent to the first guide rail is slidably connected relative to the first guide rail, the adjacent second guide rails are slidably connected, and limit blocks are provided between adjacent guide rails to limit the highest and lowest travel positions of the guide rails.

[0013] In one embodiment of the present invention, the inspection robot uses magnetic navigation technology to perform inspection navigation.

[0014] Compared with the prior art, the present invention has the following beneficial effects: the present invention combines a global high frame rate camera module and a multi-house camera lifting mechanism to realize fast and efficient inspection and image acquisition in egg-laying poultry breeding houses. In order to speed up the inspection and image acquisition speed, the robot adopts a uniform walking without stopping, obtains the video stream through the global shutter high frame rate (60 frames) camera module, and the software controls the frame acquisition from the video stream to obtain a clear cage position picture. The reason for using the global shutter and high frame rate camera module is to ensure that the image of each frame is clear and the pixel points are not lost in the uniform motion, so as to obtain a picture that can be used by the algorithm. At the same time, through the lifting mechanism, a group of camera modules are installed on each layer, and each group of two camera modules can realize the simultaneous acquisition of chicken heads and chicken feet pictures at each layer of cages. In summary, by upgrading the camera configuration, the robot can obtain high-definition pictures in uniform motion without stopping; through the multi-layer lifting mechanism, the robot can simultaneously shoot chicken cages of all layers. Thereby greatly reducing the inspection time, reducing it to about 80 minutes. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the process of the present invention.

[0016] Figure 2 It is a stereoscopic image from one perspective of the inspection robot;

[0017] Figure 3 This is a stereoscopic image of the inspection robot from another perspective;

[0018] Figure 4 It is a cross-sectional perspective view of the chassis structure;

[0019] Figure 5 It is an exploded view of the tensioner, shaft, fixed block, etc.;

[0020] Figure 6 This is an exploded view of the connections of the anti-collision bar sensor, etc.

[0021] Figure 7 It is a three-dimensional diagram of the connection between the front wall plate and the charging socket module;

[0022] Figure 8 It is a one-view stereogram of the charging socket module;

[0023] Fig. 9 yes Figure 8 Exploded diagram of

[0024] Fig.10 This is a stereoscopic image of the charging socket module from another perspective;

[0025] Fig.11 yes Fig.10 Exploded diagram of

[0026] Fig.12 It is a partial stereogram of the U-shaped strip;

[0027] Fig.13 It is a three-dimensional diagram of the connection of the charging plug, the retractable column and the charging box;

[0028] Fig.14 yes Fig.13 A cross-sectional perspective view of

[0029] Fig.15 is a partial three-dimensional cross-sectional view of another embodiment of a charging plug and a retractable column;

[0030] Fig.16 This is an exploded view of the inspection robot;

[0031] Fig.17 yes Fig.16 A partial view of

[0032] Fig.18 It is a partial exploded view of the lifting structure from one perspective;

[0033] Fig.19 This is a partial exploded view of the lifting structure from another perspective;

[0034] Fig. 20 yes Figure 4 A partial view of

[0035] Fig.21 yes Fig.18 A partial view of the . DETAILED DESCRIPTION

[0036] The technical solution of the present invention is described in detail below in conjunction with the accompanying drawings.

[0037] like Figure 1 As shown, the present invention provides an efficient inspection method for caged poultry house scenes, in which the inspection robot inspects and takes pictures while walking.

[0038] While the inspection robot is walking, it uses a global shutter high frame rate camera module to shoot video streams, and the software controls the acquisition of corresponding frame images from the video stream to obtain clear pictures of the corresponding cage positions.

[0039] In one embodiment, the software controls the acquisition of corresponding frame images from the video stream. The software calculates the frame acquisition time point based on the walking speed of the inspection robot, the length of a single poultry house in the cage poultry house scene, and the length of a single cage position, and then the software controls the acquisition of corresponding frame images from the video stream to obtain clear corresponding cage position images.

[0040] When the inspection robot adopts magnetic navigation technology for inspection navigation, the inspection robot generally walks at a constant speed. In addition, for the convenience of calculation, it is assumed that the single poultry house in the caged poultry house scene is fully equipped with cages along the walking direction of the inspection robot, that is, the length of the single poultry house in the caged poultry house scene is an integer multiple of the length of a single cage. By calculating the value of the length of the single poultry house in the caged poultry house scene / the length of a single cage, the number of cages in the horizontal direction of the single poultry house in the caged poultry house scene can be obtained, the length of a single cage*the number of cages / the walking speed of the inspection robot=the inspection time of the single poultry house in the caged poultry house scene. The inspection time of the single poultry house in the caged poultry house scene is divided into multiple time periods according to the number of cages, and the middle time point of each time period is the frame time point.

[0041] Inspection robots can also use other navigation technologies for inspection navigation, including laser navigation and so on.

[0042] In another embodiment, the specific implementation method of software controlling the acquisition of corresponding frame images from the video stream is: a position positioning module is set at the corresponding position of each cage position along the walking direction of the inspection robot, and the software controls the acquisition of corresponding frame images from the video stream based on information transmitted by the position positioning module to obtain clear corresponding cage position images.

[0043] The position positioning module can adopt a module composed of a limit block and a sensor. When the inspection robot is walking, the sensor touches the limit block or collects the limit block information (such as infrared sensor, etc.) to locate the cage position. Alternatively, a QR code can be set at the corresponding position of the cage, and the cage position can be located by scanning the QR code with a code scanning module. After the cage position is located, the frame image corresponding to the cage position can be obtained from the video stream to obtain a clear corresponding cage position picture.

[0044] The present invention ensures that the image of each frame is clear and pixels are not lost during motion by using a global shutter high frame rate camera module, thereby obtaining pictures that can be used by the algorithm without stopping, that is, the inspection robot does not need to stop shooting, thus achieving efficient inspection while walking and shooting.

[0045] Taking into account that caged poultry houses are generally multi-story poultry houses, in order to further improve the inspection efficiency, a multi-layer lifting mechanism is used to enable the robot to simultaneously photograph chicken cages on all layers, further significantly reducing the inspection time.

[0046] The inspection robot uses a lifting mechanism to install multiple groups of cameras for inspection and image acquisition; each group of cameras takes images of the heads and feet of poultry in the corresponding cages; when entering the corresponding single poultry house scene, based on the height of each layer of cages in the corresponding single poultry house, the lifting mechanism is controlled to make each group of cameras correspond to each layer of cages; due to structural problems in each single poultry house, the inspection robot must retract the lifting mechanism when entering and exiting to reduce the overall height of the inspection robot. Therefore, the lifting mechanism must be re-controlled every time it enters and exits, and the height of each layer of cages in each single poultry house may be different. Therefore, when the inspection robot walks, it will also adjust the lifting mechanism in real time based on the actual cage height.

[0047] In addition, in order to enable the inspection robot to operate in complex poultry house scenarios, the inspection robot is provided with a communication module for communicating with the switch doors that move horizontally across areas and the elevators that move vertically across areas, so that the inspection robot can communicate with the switch doors and elevators in real time and realize the high efficiency of the inspection robot's horizontal and vertical movement across areas.

[0048] The following Figures 2 to 21 The specific structure of an inspection robot involved in an example of the present invention is described. The present invention can also adopt other inspection robots that can achieve the above functions. Therefore, the following example does not limit the structure of the inspection robot of the present invention, but only explains the inspection robot as an example.

[0049] The inspection robot includes a chassis box A1 and a track mechanism A2 arranged on both sides of the chassis box A1. The chassis box A1 is a rigid box. The track mechanism A2 includes a track A3, a driving wheel A4 that drives the track to move, and a guide wheel A5 for guiding the track, wherein at least one guide wheel is a tensioning wheel A6 that can adjust the tightness of the track.

[0050] By arranging crawler mechanisms on both sides of the chassis box, the crawler tracks realize moving motion under the drive of the driving wheel, and the crawler tracks are guided by the guide wheels. In addition, the tightness of the crawler tracks can be adjusted by adjusting the tensioning wheel. This enables the inspection robot to work in complex ground environments without slipping or unstable operation. In addition, in a ground environment with an overhead layer, the robot has a strong ditch-crossing ability for the upper and lower elevators, avoiding the problem of chassis wheels getting stuck in the gap of the elevator car.

[0051] A fixed block A7 close to the tensioning wheel A6 is installed on the inner wall surface of the above-mentioned chassis box A1, and a guide groove A8 is provided on the fixed block. The length direction of the guide groove A8 is consistent with the tensioning adjustment direction of the tensioning wheel A6. The part of the wheel axle A9 of the tensioning wheel A6 that penetrates into the chassis box body is fixedly provided with a sliding sleeve A10 that can slide and cooperate with the guide groove to limit the position, wherein the tensioning wheel A6 and the wheel axle A9 are coaxially sleeved and can rotate relative to each other, and the sliding sleeve A10 is fixedly connected to the wheel axle A9 or made into one piece, and a threaded hole A11 is opened in the sliding sleeve, and the threaded hole A11 is perpendicular to the axis of the wheel axle A9.

[0052] A hole A27 coaxial with the threaded hole A11 is provided on the fixing block A7 and the front wall panel A26 of the chassis box, and a bolt A12 which can only rotate but not move axially is passed through the hole. The bolt A12 can only rotate but not move axially. Two limiting grooves are provided on the bolt A12, and a retaining ring is clamped in the limiting groove. The retaining ring is abutted against the inner and outer side surfaces of the front wall panel A26, so that the bolt A12 can only rotate but not move axially.

[0053] The bolt A12 is threadedly connected with the threaded hole A11, and the bolt A12 and the sleeve A10 form a screw-nut mechanism. The head of the bolt extends out of the chassis box. When in use, the operator rotates the head of the bolt, and the sleeve A10 is driven to move axially in the guide groove A8 through the rotation of the bolt A12, thereby driving the wheel axle A9 and the tensioning wheel A6 to move along the length direction of the guide groove A8, thereby realizing the tightness adjustment of the track by the tensioning wheel A6.

[0054] In order to ensure that the tensioning wheel A6 is stable and reliable after adjustment, the inner end of the axle A9 of the tensioning wheel is provided with an external thread, and the external thread is threadedly connected with a nut A13 whose end face is pressed against the side of the fixed block. By locking the nut, the axle A9 and the tensioning wheel A6 can be stably fastened in the corresponding positions.

[0055] The above-mentioned guide wheels A5 have three, namely the first guide wheel, the second guide wheel and the third guide wheel, wherein the first guide wheel is a tensioning wheel, the second guide wheel and the third guide wheel are horizontally arranged, the vertical distance between the upper edge of the first guide wheel and the lower edge of the second guide wheel or the third guide wheel is equal to the diameter of the driving wheel, and the guidance and limitation of the track is achieved by the guidance of the second guide wheel or the third guide wheel.

[0056] In order to facilitate the installation and removal of the battery, a window A15 for taking and placing the battery A14 is provided on the front wall panel A26 of the chassis box A1, and a detachable connecting window panel A16 is installed on the window. The detachable connecting window panel A16 can be connected to the window by screws or buckles. A battery mounting frame A17 for fixing the battery is provided in the chassis box. The battery mounting frame A17 can be a rigid frame with a shape comparable to that of the battery. The battery is preferably in a rectangular shape. The battery mounting frame A17 can also be a rectangular shell with an opening on one side as a pull-out for the mounting frame. When disassembling and installing the battery, remove the detachable connecting window panel A16, install the battery power supply circuit, and then insert the battery into the battery mounting frame A17 (the battery mounting frame A17 may have a fastening buckle or a screw hole for locking the battery, so that the battery is fastened to the battery mounting frame A17), and then install the detachable connecting window panel A16; compared with the existing battery installed on the bottom surface of the inspection robot (multiple people are required to help put down the equipment when disassembling and installing the battery, the equipment is not only easy to be bumped and damaged, but also affects the disassembly and installation efficiency), the present application greatly facilitates the disassembly and installation of the battery.

[0057] In order to reduce damage to the circuit of the anti-collision strip sensor A18, an anti-collision strip sensor A18 is provided under the front wall panel A26 of the above-mentioned chassis box A1, and the anti-collision strip sensor is installed on the anti-collision positioning frame A19, and the anti-collision positioning frame A19 includes a first mounting strip A20 (which can be a solid strip or a groove strip) and a second groove strip A21 vertically fixed (welded and fixed) on both sides of the first mounting strip. The first mounting strip A20 can be a solid strip or a groove strip, and the second groove strip A21 is a channel steel. The side portion of the first mounting strip A20 in the length direction is used to install the length direction portion of the anti-collision strip sensor A18, and the second groove strip A21 is used to install the width direction portion wrapped around the anti-collision strip sensor A18.

[0058] The inner side edge of the anti-collision strip sensor A18 is fixedly installed on one side edge of the first mounting strip, and a channel A22 for the wires of the anti-collision strip sensor to pass through is formed between the bottom of the second groove-shaped strip and the side of the first mounting strip. An inclined plate A23 is provided at the outer end of the second groove-shaped strip for closing the outer end of the channel, and the end of the inclined plate abuts against the side of the anti-collision strip sensor. Through the channel A22 and the above-mentioned structure, the wires of the anti-collision strip sensor can be kept from being exposed, thereby preventing the exposed wires from being damaged by being gnawed by mice.

[0059] A U-shaped diagonal support plate A29 is welded and fixedly installed on the outer side of the above-mentioned second groove-shaped strip, and a through hole A24 is provided on the first mounting strip. A screw for locking the anti-collision strip sensor is passed through the through hole, and a screw hole A25 is provided on the U-shaped diagonal support plate. The U-shaped diagonal support plate is threadedly connected and fixed to the front wall panel A26 of the chassis box by screws passing through the screw holes.

[0060] A charging socket module B is installed on the detachable connecting window panel A16 on the chassis box A1, and the charging socket module B includes a charging socket shell B2 (made of plastic material or other non-conductive material) with a mounting groove B1 and a cover plate B3 covered on the back of the charging socket shell. The front of the charging socket shell B2 is provided with two groups of through grooves B4 respectively connected to the mounting grooves B1. The through grooves B4 have two independent and unconnected groups and are arranged on the charging socket shell B2 for installing the positive electrode sheet and the negative electrode sheet of the charging socket. The positive electrode sheet and the negative electrode sheet of the charging socket are U-shaped strips B5 with elastic notches. The U-shaped notches of the positive electrode sheet and the negative electrode sheet of the charging socket are opposite to the through grooves, and the charging plug can pass through the through grooves B4 and be inserted into the U-shaped grooves of the electrode sheets.

[0061] In poultry breeding places, pollutants such as dust and wet particles are easily contaminated on the charging plug, resulting in poor contact during charging. The present application uses the elastic U-shaped strip B5 to move the chassis box A1 to allow the charging socket shell B2 to approach and insert the charging plug. During the insertion process, the elastic U-shaped strip B5 can scrape off the dirt covering the surface of the charging plug, thereby ensuring good contact during charging.

[0062] For the sake of reasonable design, the above-mentioned U-shaped strip B5 includes two side panels B6 and an arc-shaped panel B7 connecting the bottom of the two side panels. The two side panels have a relatively inward-extending protrusion B8 near the U-shaped groove. The protrusion B8 can scrape off foreign matter on the surface of the charging plug when the charging plug is inserted into the U-shaped strip. Since the protrusion B8 is provided, the effect of scraping off dirt and foreign matter is better.

[0063] For the sake of reasonable design, the above-mentioned raised portion is an inwardly convex arc transition, and the minimum spacing of the arc transition on the two side plates is smaller than the width of the charging plug, so as to facilitate the scraping of foreign matter on the surface of the charging plug. The raised portion is an arc transition, so that the charging plug can be inserted into the U-shaped groove of the pole piece more smoothly. If a sharp raised portion is used, electric arcs are easily generated, which affects the service life and safety of equipment components.

[0064] In order to achieve the installation and positioning of the U-shaped strip B5, the U-shaped strip B5 is provided with a first protrusion B9 at both ends in the length direction, and the first protrusion B9 has a flush section B10 and a bent section B11, and the side of the through groove is provided with an arc-shaped recessed groove B12, and the flush section B10 abuts against the arc-shaped recessed groove B12, and the arc-shaped recessed groove is provided with a first compression spring B13 with the first end sleeved on the bent section. The cover plate is locked on the charging socket shell by screws, and the inner side surface of the cover plate B3 presses on the second end of the first compression spring B13. Through the pressure of the first compression spring, the U-shaped strip B5 and the charging socket shell can be kept relatively stable.

[0065] In addition, second protrusions B14 are provided on both sides of the middle part of the above-mentioned U-shaped strip, and rectangular recessed grooves B15 for supporting the second protrusions are provided on both sides of the middle part of the through groove. The second protrusion B14 can be formed by stamping a local sheet on the U-shaped strip body, and the second protrusion B14 is limited in the rectangular recessed groove B15. Through the arrangement of the first protrusion B9 and the second protrusion B14, the installation of the U-shaped strip B5 is made more stable and reliable.

[0066] Two strip holes B16 are provided on the cover plate B3, and studs B28 and threaded nuts are provided on the U-shaped strip opposite the strip holes. Wires are inserted into the strip holes to be connected and fixed with the studs and nuts, and the locking of the studs and nuts realizes the electrical connection between the wires and the U-shaped strip B5.

[0067] For the sake of reasonable design, the above-mentioned charging plug B17 is installed on the retractable column B18, and the retractable column B18 is slidably connected to the charging box B19. A trigger switch B20 is relatively provided on the charging box or the retractable column. The trigger switch is in contact with the retractable column or the charging box to trigger the trigger switch when the retractable column is pushed and moved, so that the trigger switch serving as a circuit on-off switch turns on the circuit. The trigger switch B20 can also use a position sensor. When the position of the charging box or the retractable column moves relatively, the position sensor triggers the circuit to turn on.

[0068] The retractable column B18 extends from the outside of the charging box B19 and is connected to the first surface of the retractable plate B29. The second surface of the retractable plate is fixedly connected to the first end of the guide sleeve B21. The guide sleeve B21 is sleeved with a guide rod B22 fixed on the charging box. A second compression spring B23 is provided between the second end of the guide sleeve B21 and the top plate B24 fixed in the charging box. The first end of the guide rod is fixed on the inner wall surface of the charging box, and the second end of the guide rod is fixed on the top plate B24. Both ends of the second compression spring B23Z act between the top plate B24 and the retractable plate B29. Through the action of the second compression spring B23, the retractable plate B29 and the retractable column B18 can be relatively located in the initial position (the position where the circuit is not triggered). When the charging plug B17 and the retractable column B18 are squeezed and pushed, the switch B20 is triggered to turn on the circuit.

[0069] An elastic cover shell B25 is provided at the position where the charging plug is installed on the above-mentioned retractable column B18, and two through-hole grooves B26 for the charging plug B17 to pass through are provided on the elastic cover shell B25. A return spring B27 is provided between the elastic cover shell and the retractable column so that under the action of the return spring, the outer end surface of the elastic cover shell is flush with the outer end surface of the charging plug. After being pushed by the charging socket shell, the elastic cover shell is pushed backward so that the charging plug can be inserted into the U-shaped groove of the pole piece. The elastic cover shell B25 is connected to the retractable column B18 in a relative sliding manner.

[0070] In order to realize the lifting and lowering of the camera assembly of the inspection robot, the upper surface of the above-mentioned chassis box A1 is provided with a bottom plate A27 and a lifting structure C of the inspection robot camera assembly arranged on the upper surface of the bottom plate. The bottom surface of the bottom plate A27 is flat, and the upper surface of the chassis box A1 is also flat, so that the bottom plate A27 and the chassis box A1 can be locked by screws, thereby facilitating the detachable connection between the bottom plate A27 and the chassis box A1. In addition, 2-4 handles A28 are provided on the bottom plate A27 to facilitate lifting the bottom plate as a whole and separating it from the chassis box A1, thereby facilitating the maintenance of the chassis box A1, or the maintenance of the lifting structure C or control equipment above the chassis box A1.

[0071] Specifically, the lifting structure C of the inspection robot's camera assembly includes an electric push rod C1 and a multi-section telescopic slide rail C2 vertically fixed on the upper surface of the base plate. The telescopic free end of the electric push rod is connected to the free end of the multi-section telescopic slide rail. Each section of the slide rail is fixedly connected to a seat plate C3 and at least one group of camera assemblies C4 fixed on the seat plate.

[0072] Through the operation of the electric push rod C1, each section of the multi-section retractable slide rail C2 can be raised and lowered in sequence, thereby driving the lifting of the seat plate C3 connected to each section of the slide rail and the camera component C4 on the seat plate, so that the camera component C4 can perform video scanning or image collection on the poultry in the poultry houses on different floors (usually in order to improve space utilization, several floors of breeding houses are set up in a vertical space, and the height of each floor is 35-70 cm).

[0073] The specific multi-section retractable slide rail C2 includes two first guide rails C5 and multiple second guide rails C6 that are slidably connected relative to each other in sequence. The two first guide rails C5 are vertically fixed on the base plate A27. The first second guide rail adjacent to the first guide rail is slidably connected relative to the first guide rail. The adjacent second guide rails are slidably connected in sequence. When the second guide rail that can slide to the highest position is connected to the free end of the electric push rod, the electric push rod drives the second guide rail that can slide to the highest position and successively drives each second guide rail to rise and fall and slide in sequence when it is working; a limit block C17 is provided between adjacent guide rails to limit the highest and lowest travel positions of the guide rails. The adjacent guide rails can slide relative to each other. By setting the limit block C17, the guide rail can be prevented from sliding out of the highest or lowest travel.

[0074] Specifically, a guide groove C7 is provided on the first side of the guide rail, and a guide wheel C8 is rotatably connected on the second side of the guide rail and slides with the guide groove of the adjacent guide rail. There are at least two guide wheels C8 on each guide rail, one guide wheel abuts against one side of the C-shaped guide groove, and the other guide wheel abuts against the other side of the C-shaped guide groove.

[0075] The seat plate C3 is fixedly provided on each second guide rail C6, and a detachable connecting plate C9 is installed on the seat plate. The detachable connecting plate is provided with a limiting guide groove C10, and screws are passed through the limiting guide groove to be connected to the seat plate C3. The detachable connecting plate is provided with a horizontal bending plate and a hinge C11 connected to the horizontal bending plate, and the hinge is connected to the camera assembly C4. By setting the detachable connecting plate C9, the detachable connection of the camera assembly C4 and the adjustment of the height position of the camera assembly C4 are facilitated.

[0076] Preferably, the free end of the electric push rod C1 is horizontally fixedly connected to a top plate C12, and a seat plate is connected to the top plate, on which a group of camera components are installed. In the present application, a slide rail (one of the second guide rails) that can slide to the highest position is fixedly connected to the top plate, so that when the electric push rod is raised or lowered, the slide rail that can slide to the highest position is driven to rise or fall, thereby driving other slide rails (other second guide rails) to rise or fall in turn.

[0077] In order to prevent the entry of dirt from outside the machine body, individual seat plates C3 are fixedly connected with a support frame C13 and a cylindrical liftable cover shell C14 fixed on the support frame. The present application has three liftable cover shells C14, which are nested with each other when in the lowest working position, wherein the lowest liftable cover shell C14 is fixed, and the other two are lifted and lowered as the base plate to which they are fixed is lifted and lowered; the above-mentioned liftable cover shell is provided with an open channel C15 to avoid movement interference with the camera assembly, and a folding curtain C16 is installed between the seat plates located on the upper and lower adjacent slide rails, and the folding curtain is opposite to the open channel to block dirt from entering the liftable cover shell, and the liftable cover shell C14 and the folding curtain C16 can prevent dirt from entering the interior, thereby reducing the problem of unsmooth lifting and lowering caused by contamination of the slide rail.

[0078] The above are preferred embodiments of the present invention. Any changes made according to the technical solution of the present invention, as long as the resulting functions do not exceed the scope of the technical solution of the present invention, belong to the protection scope of the present invention.

Claims

1. An efficient inspection method for caged poultry houses, characterized in that: The inspection robot conducts inspections and takes pictures while walking.

2. The efficient inspection method for caged poultry houses according to claim 1 is characterized in that: While the inspection robot is walking, it uses a global shutter high frame rate camera module to shoot video streams, and the software controls the acquisition of corresponding frame images from the video stream to obtain clear pictures of the corresponding cage positions.

3. The efficient inspection method for caged poultry houses according to claim 2 is characterized in that: The software controls the acquisition of corresponding frame images from the video stream. The software calculates the frame acquisition time point based on the walking speed of the inspection robot, the length of a single poultry house in the cage poultry house scene, and the length of a single cage position. Then the software controls the acquisition of corresponding frame images from the video stream to obtain clear corresponding cage position pictures.

4. The efficient inspection method for caged poultry houses according to claim 2 is characterized in that: The specific implementation method of software control to obtain the corresponding frame image from the video stream is: a position positioning module is set at the corresponding position of each cage position along the walking direction of the inspection robot, and the software controls the acquisition of the corresponding frame image from the video stream based on the information transmitted by the position positioning module to obtain a clear corresponding cage position picture.

5. The efficient inspection method for caged poultry houses according to claim 1, characterized in that: The inspection robot uses a lifting mechanism to install multiple groups of cameras for inspection and image acquisition.

6. The efficient inspection method for caged poultry houses according to claim 5, characterized in that: Each group of cameras takes images of the heads and feet of the birds in the corresponding cages.

7. The efficient inspection method for caged poultry houses according to claim 5, characterized in that: When entering the corresponding single poultry house in the caged poultry house scene, based on the height of each cage layer in the corresponding single poultry house, the lifting mechanism is controlled so that each group of cameras corresponds to each cage layer.

8. The efficient inspection method for caged poultry houses according to claim 5, characterized in that: The lifting mechanism includes an electric push rod vertically fixed on the upper surface of the base plate and a multi-section telescopic slide rail. The telescopic free end of the electric push rod is connected to the free end of the multi-section telescopic slide rail. Each section of the slide rail is fixedly connected to a seat plate and at least one group of global shutter high frame rate cameras fixed on the seat plate.

9. The efficient inspection method for caged poultry houses according to claim 8, characterized in that: The multi-section telescopic slide rail includes two first guide rails and a plurality of second guide rails that are slidably connected relative to each other in sequence. The two first guide rails are vertically fixed on a base plate. The first second guide rail adjacent to the first guide rail is slidably connected relative to the first guide rail. The adjacent second guide rails are slidably connected. Limit blocks are provided between adjacent guide rails to limit the highest and lowest travel positions of the guide rails.

10. The efficient inspection method for caged poultry houses according to claim 1, characterized in that: The inspection robot adopts magnetic navigation technology to perform inspection navigation.

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