Unmanned intelligent feeding vehicle for cattle farm

Abstract

The invention belongs to the technical field of livestock breeding, and discloses an unmanned intelligent feeding vehicle for a cattle farm. The feeding vehicle comprises a main body, walking wheels, a Beidou navigation and UWB positioning system, a sensor control device, a driving motor, a lithium battery, a feed storage bin, a stirring rod, a conveying belt and the like. The feeding vehicle achieves centimeter-level accurate positioning based on Beidou navigation in combination with the UWB technology, the sensor control device stores cattle farm layout information and a planned route and controls the feeding vehicle to run according to the planned route, the feed storage bin is provided with a stirring rod and a weight sensor, it is ensured that feed is evenly mixed, the remaining amount is monitored, and the driving motor and the lithium battery provide power; and the integrated monitoring camera monitors the running state of the feeding vehicle in real time. The problems that a traditional feeding mode is large in labor intensity, low in efficiency and poor in precision are solved through the intelligent and automatic technology, efficient and accurate unmanned feeding is achieved, and the automation level and production efficiency of cattle farm breeding are improved. The device is suitable for feeding in large, medium and small cattle farms.

Description

Technical Field

[0001] The present invention relates to the technical field of livestock breeding, and particularly to an unmanned intelligent feeding vehicle for cattle farms. Background Art

[0002] During the breeding process in cattle farms, the TMR feeding technology has been widely applied. It can fully mix roughage, concentrate feed, minerals, vitamins, and other additives to provide a balanced daily diet for each cow.

[0003] However, there are many problems with the traditional TMR feeding method. First, manual feeding has a high labor intensity and low efficiency, and due to differences in manual operations, it is difficult to ensure the accuracy and consistency of each feeding. Second, some automated feeding equipment has a low degree of intelligence and requires manual driving and manual operation for feeding, increasing the breeding cost. Therefore, the present invention proposes an unmanned intelligent feeding vehicle for cattle farms. The feeding vehicle of the present invention performs intelligent and precise feeding in the cattle farm based on Beidou navigation + UWB technology. Summary of the Invention

[0004] The present invention aims to provide an unmanned intelligent feeding vehicle for cattle farms to solve the problems of poor feeding accuracy, low degree of intelligence, and inability to monitor and manage in real time in the prior art.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] An unmanned intelligent feeding vehicle for cattle farms includes a main body. The main body is connected with walking wheels. A Beidou navigation and positioning system and a sensor control device are fixedly installed at the front end of the main body. The Beidou navigation and positioning system includes Beidou navigation and a UWB positioning and ranging instrument. Beidou navigation is used to provide high-precision and highly reliable positioning services, and the UWB positioning and ranging instrument is used to achieve precise communication and ranging between the feeding vehicle and the cattle farm environment. The sensor control device is used to store the cattle farm layout information and fixed planned routes, and the sensor control device is used to control the feeding vehicle to run according to the specified routes. A driving motor and a lithium battery are installed inside the rear end of the main body. The driving motor is used to drive the walking wheels, and the lithium battery is used to supply energy to the driving motor. A feed storage bin is connected to the top of the main body. The inside of the feed storage bin is of an inclined structure. The bottom of the feed storage bin is open. Two stirring rods are rotatably connected to the lower side inside the feed storage bin. One end of each of the two stirring rods is rotatably connected inside the feed storage bin, and the other end is rotatably connected to a stirring motor. An outlet is provided on the side wall of the main body. A conveyor belt is installed inside the outlet. The conveyor belt is arranged below the opening of the feed storage bin. An inclined conveyor belt is provided at the outlet.

[0007] Further, the sensor control device uses 5G technology to receive the signals sent by the intelligent inspection track robot in the cattle farm in real time and uses an algorithm to obtain instructions for operation.

[0008] Furthermore, integrated monitoring cameras (or radar sensors) are installed at the four corner points of the vehicle body. The integrated monitoring cameras are used to monitor the operating status of the feeding vehicle and the cattle farm environment.

[0009] Furthermore, weight sensors are horizontally installed inside the feed storage bin. The weight sensors are used to monitor the remaining amount of feed in the feed storage bin in real time.

[0010] Furthermore, the lithium battery is a 72V / 32Ah battery, and the drive motor is a permanent magnet synchronous motor.

[0011] Principle of the technical solution: In the present invention, the Beidou navigation and positioning system is jointly composed of Beidou navigation and the UWB positioning system. The Beidou navigation technology can provide high-precision and highly reliable positioning services for the feeding vehicle. The UWB technology can achieve precise communication and ranging between the feeding vehicle and the cattle farm environment. The sensor control device is used to store the cattle farm layout information and fixed planned routes and control the feeding vehicle to run according to the specified routes. The feed storage bin is used to place feed. After the feeding vehicle reaches the designated feeding point, the feed after being stirred by the stirring rod falls onto the conveyor belt, and the stirred feed is transported to the specified position through the conveyor belt.

[0012] Advantages of the technical solution: The device of the present invention can remotely control the feeding vehicle by receiving and transmitting signals through the sensor control device, enabling the feeding vehicle to automatically complete the feeding task according to the set routes and time. Compared with manual feeding, the labor input is greatly reduced. The device of the present invention is based on Beidou navigation and UWB technologies. The high-precision positioning service of Beidou navigation, the precise communication and ranging capabilities of UWB technology, as well as the sensor technology and automatic control algorithm of the sensor control device, can enable the feeding vehicle to feed efficiently and accurately. The stirring rod is provided in the device of the present invention, which can stir the feed evenly, facilitating each cow to obtain the same nutrition and improving the production performance of each cow. Description of the Drawings

[0013] Figure 1 is the structural diagram of the present invention;

[0014] Figure 2 is the internal structural diagram of the present invention;

[0015] The names of the corresponding marks in the drawings are: main body 1, Beidou navigation and positioning system 2, sensor control device 3, drive motor 4, lithium battery 5, feed storage bin 6, stirring rod 7, conveyor belt 8, walking wheel 11, discharge port 12, integrated monitoring camera 13, weight sensor 61, stirring motor 71. Detailed Description of the Invention

[0016] The present invention will be further described in detail below in conjunction with the drawings and embodiments:

[0017] As Figure 1 - Figure 2As shown in the figure, an unmanned intelligent feeding vehicle for cattle farms includes a main body 1. Four walking wheels 11 are connected to the main body 1. The main body 1 is the core part of the feeding vehicle and is made of strong and lightweight metal material. At the front end of the main body 1, a Beidou navigation and positioning system 2 and a sensor control device 3 are fixedly installed. The Beidou navigation and positioning system 2 is composed of Beidou navigation and a UWB locator. Two metal protective shells are welded on the outside of both the Beidou navigation and positioning system 2 and the sensor control device 3, which can effectively avoid collision damage during work. The sensor control device 3 can accurately plan and store the route according to the cattle farm layout, cattle herd distribution, and feeding requirements entered by the staff. The Beidou navigation and positioning system 2 can use the Beidou navigation locator to achieve meter-level precise positioning of the feeding vehicle indoors and outdoors. The feeding vehicle uses the UWB positioning system, installs positioning base stations, and installs UWB tags on the feeding vehicle to achieve centimeter-level precise positioning during work. Under the mutual cooperation of the sensor control device 3 and the Beidou navigation and positioning system 2, the sensor control device 3 receives instructions to control the work of the feeding vehicle, so as to carry out precise feeding work according to the planned route, thus greatly improving the accuracy of feeding.

[0018] In the middle part of the main body 1, a TMR feed storage bin 6 is welded. The size of the feed storage bin 6 is about half of the entire feeding vehicle. The inside of the feed storage bin 6 is of an inclined structure, with a larger opening at the upper end and a smaller opening at the lower end. At the lower opening of the storage bin, two stirring rods 7 are rotatably connected. Threads for stirring are provided on the two stirring rods 7. One end of the stirring rod 7 is rotatably connected to the side wall of the feed storage bin 6, and the other end is rotatably connected to a stirring motor 71. The rotation of the stirring rod 7 is controlled by the stirring motor 71. A conveyor belt 8 is installed below the stirring rod 7. The outside of the conveyor belt 8 is the discharge port 12. An inclined conveyor belt 8 is connected to the discharge port 12. The structural frame of the conveyor belt 8 is welded with hard metal and is paved with rubber on the surface. The conveyor belt 8 cooperates with the stirring rod 7 to realize the mixing and feeding of the feed. Secondly, two weight sensors 61 are horizontally installed on both sides inside the feed storage bin 6. The weight sensors 61 are used to monitor the remaining feed weight in the feed storage bin 6 in real time, which is convenient for adding feed.

[0019] A lithium battery 5 and a driving motor 4 are installed inside the rear end of the main body 1. The driving motor 4 is connected to the lithium battery 5 by wires. The driving motor 4 obtains driving force through the lithium battery 5. The driving motor 4 is used to drive the walking wheels 11 of the feeding vehicle. The lithium battery 5 is a battery with a model of 72V / 32Ah, and the driving motor 4 is a permanent magnet synchronous motor, which can meet the operation of the feeding vehicle.

[0020] Integrated monitoring cameras 13 are installed at the four corner points of the main body 1. The integrated monitoring cameras 13 can be infrared night vision integrated monitoring cameras 13. With the cooperation of the integrated monitoring cameras 13 and the Beidou navigation and positioning system 2, the running state and feeding position of the feeding vehicle can be monitored in real time, providing convenience for the breeding staff in the cattle farm.

[0021] Key technologies

[0022] The Beidou navigation technology provides high-precision and highly reliable positioning services for the intelligent feeding vehicle. In the cattle farm, the intelligent feeding vehicle needs to accurately know its own position in order to carry out feeding according to the preset route and plan. The application of the Beidou navigation differential technology (RTK) enables the intelligent feeding vehicle to achieve centimeter-level precise positioning from the material receiving port to the cowshed, realizing path planning, thus greatly improving the accuracy and efficiency of feeding.

[0023] Secondly, the UWB (Ultra-Wideband) technology realizes precise communication and ranging between the intelligent feeding vehicle and the cattle farm environment. The UWB technology has the characteristics of high precision, low power consumption, strong anti-interference, etc. This technology utilizes the characteristics of radio waves and realizes real-time positioning of the path position by transmitting and receiving extremely narrow pulse signals. It is very suitable for positioning and communication in complex indoor environments. In the cattle farm, the intelligent feeding vehicle needs to communicate with other devices or systems in the cowshed through the UWB technology and adjust the feeding strategy and route according to this information. At the same time, the UWB technology can also be used to realize the safety distance control between the intelligent feeding vehicle and the cattle, avoiding collisions or injuries during the feeding process.

[0024] In addition, the intelligent feeding vehicle also integrates advanced sensor technologies and automatic control algorithms. By integrating sensors such as cameras and lidar, the intelligent feeding vehicle can perceive the cattle farm environment in real time and identify the position and state of the cattle. At the same time, combined with the automatic control algorithm, the intelligent feeding vehicle can make independent decisions according to the perceived information and realize functions such as automatic navigation and automatic feeding. The application of these technologies enables the intelligent feeding vehicle to independently complete the feeding task without human intervention, greatly improving the automation level and production efficiency of the cattle farm.

[0025] In summary, the key technologies of the unmanned intelligent feeding vehicle for cattle farms based on Beidou navigation + UWB technology include the high-precision positioning service of Beidou navigation technology, the precise communication and ranging ability of UWB technology, as well as advanced sensor technologies and automatic control algorithms. The application of these technologies together constitutes the core technology system of the intelligent feeding vehicle, providing a strong guarantee for its efficient and accurate feeding in the cattle farm.

[0026] The specific implementation process is as follows: First, the staff in the cattle farm plan the driving route of the feeding vehicle according to the distribution of the cattle farm, the distribution of the cattle herd, and the feeding requirements, and upload it to the control system. The path information is transmitted back and stored in the control system of the feeding vehicle. When the feeding vehicle is operating, the Beidou navigation and positioning system 2 receives satellite signals to determine the real-time position of the vehicle, with an accuracy at the meter level. At this time, the position information is transmitted to the sensor control device 3 for vehicle driving path tracking and navigation. UWB positioning base stations are installed in key areas and cattle sheds in the cattle farm, and UWB tags are installed on the feeding vehicle. When working, the tags send UWB signals to the surrounding area. After the base stations receive the signals, they calculate the distances between the tags and each base station according to the time of flight (ToF) of the signals, and then accurately locate the position of the feeding vehicle in the cattle farm through a multi-variable positioning algorithm, with an accuracy up to the centimeter level. The feeding vehicle integrates Beidou navigation + UWB positioning data to accurately master the position and driving state of the feeding vehicle. By comparing with the preset path, the system adjusts the parameters such as the speed and steering of the feeding vehicle in real time to ensure that it travels accurately along the planned path. After reaching the designated feeding position, it automatically performs the feeding operation.

[0027] At the same time, a weight sensor 61 is installed on the feeding vehicle, which can monitor the remaining amount of feed in real time and feedback it to the control system. The control system dynamically adjusts the feeding speed, feeding amount, etc. according to this feedback information. The feeding vehicle is provided with four integrated monitoring cameras 13. If an obstacle is detected during driving, the control system will take braking or avoidance measures in time to ensure the safety of the vehicle and the cattle farm facilities.

[0028] The above are only embodiments of the present invention, and common general technical solutions or characteristics in the solution are not described in detail here. It should be noted that for those skilled in the art, without departing from the technical solution of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicality of the patent. The protection scope required by this application should be subject to the content of its claims, and the specific implementation manners in the specification can be used to interpret the content of the claims.

Claims

1. An unmanned intelligent feeding vehicle for cattle farms, characterized by: The invention comprises a main body (1), wherein the main body (1) is connected to a walking wheel (11), and a Beidou navigation and positioning system (2) and a sensor control device (3) are fixedly installed at the front end of the main body (1), wherein the Beidou navigation and positioning system (2) comprises Beidou navigation and a UWB positioning and distance meter, wherein the Beidou navigation is used to provide a high-precision and high-reliability positioning service, and the UWB positioning and distance meter realizes accurate communication and distance measurement between the feeding vehicle and the cattle farm environment, and the sensor control device (3) is used to store cattle farm layout information and a fixed planned route, and the sensor control device (3) is used to control the feeding vehicle to run along a prescribed route, and a driving motor (4) and a lithium battery (5) are installed inside the rear end of the main body (1), and the driving motor (1) is used to drive the walking wheel (11). The main body (1) comprises a feeding wheel (11), the lithium battery (5) is used to supply energy to the driving motor (4), the top of the main body (1) is connected to a feed storage bin (6), the interior of the feed storage bin (6) is an inclined structure, the bottom of the feed storage bin (6) is open, and two stirring rods (7) are rotatably connected to the lower side of the interior of the feed storage bin (6), one end of the two stirring rods (7) is rotatably connected to the inside of the feed storage bin (6), and the other end is rotatably connected to a stirring motor (71), the side wall of the main body (1) is provided with a discharge port (12), a conveyor belt (8) is installed inside the discharge port (12), and the conveyor belt (8) is arranged on the lower side of the opening of the feed storage bin (6), and an inclined conveyor belt (8) is arranged at the discharge port (12).

2. The unmanned intelligent feeding system for cattle farms according to claim 1, characterized in that: The sensor control device (3) uses 5G technology to receive signals sent by the cattle farm intelligent inspection track robot in real time, and uses an algorithm to obtain instructions to perform operation.

3. The unmanned intelligent feeding system for cattle farms according to claim 1 is characterized by: Integrated monitoring cameras (13) or radar sensors are provided at the four corner points of the vehicle body (1), and the integrated monitoring cameras (13) or radar sensors are used to monitor the running status of the feeding vehicle and the cattle farm environment.

4. The unmanned intelligent feeding system for cattle farms according to claim 1 is characterized by: A weight sensor (61) is horizontally arranged inside the feed storage bin (6), and the weight sensor (61) is used to monitor the remaining amount of feed in the feed storage bin (6) in real time.

5. The unmanned intelligent feeding system for cattle farms according to claim 1 is characterized by: The lithium battery (5) is a 72V / 32Ah battery, and the drive motor (4) is a permanent magnet synchronous motor.

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