Composite robot system for poultry breeding

Abstract

The invention discloses a compound robot system for poultry farming, which comprises compound robot equipment, the compound robot equipment comprises a mobile chassis, the mobile chassis is provided with two base columns arranged at an interval, the base columns are provided with two stand columns arranged at an interval, and an avoiding groove is arranged between the two stand columns; the avoiding groove is provided with a first jacking device, and the first jacking device is provided with at least one first camera module; a second jacking device is arranged between the two stand columns, and the second jacking device is provided with at least one second camera module; avoiding grooves are formed in the height directions of the two base columns; an air monitoring mechanism is arranged at the position, located between the avoiding grooves, of the movable chassis and used for monitoring preset parameters of a preset position or a preset road section of the feeding place; the movable chassis is provided with a position monitoring mechanism; the automatic system applying the composite robot equipment comprises an acquisition module, and the acquisition module acquires the state of the poultry at the preset position through the first camera module and the second camera module.

Description

Technical Field

[0001] The present invention relates to the field of breeding robots, and particularly to a composite robot system for poultry breeding. Background Art

[0002] In existing large-scale poultry breeding, cage breeding is adopted. The activity space of each individual is limited, which is likely to cause diseases. If diseased chickens and dead chickens cannot be removed from the breeding cages in time, it is easy to cause the spread of diseases and large-scale death of individuals. Therefore, it is necessary to regularly inspect the health status of individuals in the breeding cages.

[0003] However, existing automated machines can generally only monitor sick poultry, and their monitoring effects are relatively single. At the same time, the existing monitoring efficiency is low and single monitoring cannot be achieved. Its main monitoring mainly uses a vision system to judge the state of poultry individuals (such as feeding state, whether lying prone or lying down). Therefore, the specific situation of poultry cannot be judged in time, and the judged data is relatively single, and it gradually cannot be applied to large breeding farms. Summary of the Invention

[0004] The main object of the present invention is to propose a composite robot system for poultry breeding, aiming to improve the existing automated robot system, effectively improve the pre-judgment of the state of poultry, improve the pre-judgment of the individual state, reduce the infectious diseases in poultry breeding, improve the breeding efficiency by predicting the environment and individual conditions in advance, and at the same time improve the comprehensiveness of monitoring by means of an internal map and a laser-scanned map.

[0005] To achieve the above object, the present invention proposes a composite robot system for poultry breeding, including a composite robot device.

[0006] The composite robot device includes:

[0007] A mobile chassis, the mobile chassis is provided with two spaced base columns, the base columns are provided with two spaced upright columns, and an avoidance groove is provided between the two upright columns;

[0008] The avoidance groove is provided with a first lifting device, and the first lifting device is provided with at least one first camera module;

[0009] A second lifting device is provided between the two upright columns, and the second lifting device is provided with at least one second camera module;

[0010] Avoidance grooves are provided in the height direction of the two base columns;

[0011] On both sides of the mobile chassis are provided with mobile devices, which include driving wheels, driven wheels, and a driving belt provided on the outer peripheral walls of the driving wheels and the driven wheels. The driving belt is of a closed-loop structure, and an adjusting wheel is further provided on the inner circumference of the driving belt for adjusting the tightness of the driving belt.

[0012] The driving wheel is connected to a rotating device.

[0013] The driving wheel is used to drive the driving belt to rotate.

[0014] An air monitoring mechanism is provided between the avoidance grooves of the mobile chassis for monitoring the temperature, humidity, ammonia, hydrogen sulfide, light, carbon dioxide, PM2.5, PM10, and wind speed at a predetermined position or a predetermined section of the breeding site.

[0015] The mobile chassis is provided with a position monitoring mechanism.

[0016] An automated system applying a composite robot device includes:

[0017] An acquisition module, which acquires the state of poultry at a predetermined position through a first camera module and a second camera module.

[0018] The first camera module and the second camera module are a thermoforming camera and / or a vision acquisition camera (in actual design, the first camera module can be a thermoforming camera and the second camera module can be a vision acquisition camera;

[0019] It can also be that both the first camera module and the second camera module are provided with a vision acquisition camera and a thermoforming camera);

[0020] The thermoforming camera is used to acquire the body temperature and temperature distribution state of poultry at a predetermined position.

[0021] The vision camera is used to acquire the posture of the poultry.

[0022] A judgment module, when the body temperature, temperature distribution state, and posture of the poultry at a predetermined position are higher than the health threshold, the judgment module makes a mark on the poultry at the predetermined position and issues a predetermined warning.

[0023] A map module, which is stored in the mobile chassis. The map module maps the position of the breeding site and forms a two-dimensional map, and the two-dimensional map is synchronized and networked with the central system.

[0024] The map module regionalizes or blocks the breeding site area. When the judgment module makes a mark on a predetermined position, the two-dimensional map shows a predetermined color for warning.

[0025] In the actual design, this system includes a mobile chassis and a camera module. The mobile chassis is used to ensure the automatic inspection and movement of the unmanned robot, and the camera module is used to accurately obtain the health status of the predetermined poultry. Further, by monitoring environmental factors, the pre-judgment and disease judgment of poultry breeding are improved, and the spread of the epidemic is reduced.

[0026] Specifically, in the actual monitoring, the air monitoring agency can judge the overall growth environment of the poultry through the predetermined air parameters. In a specific embodiment, when problems such as diarrhea occur in the poultry in a predetermined area, the ammonia and hydrogen sulfide will have parametric changes, and through the comparison of air parameters between regions, the predetermined position is marked, thereby reducing the infectious problems in poultry breeding.

[0027] Further, based on the body temperature, temperature distribution state and posture of the poultry at a predetermined position, it is judged whether the poultry is sick, and then it can be manually or automatically clamped out of the cage by the robot, thereby reducing the infection.

[0028] In addition, the use of a double-base column setting can simultaneously observe the cages on both sides of the aisle; the use of the structure of a double-lifting device can observe multiple layers of cages, thereby improving the data acquisition speed. The lifting device can adjust the relative height of the camera module to achieve multi-layer or single-layer monitoring. The corresponding lifting device synchronously drives the height of the camera module to improve the adjustment rate. In addition, the camera module can be increased or decreased according to actual needs to achieve flexible installation. In addition, when the cage is multi-layered, the height between the camera modules of the same lifting device is the same as or suitable for the height between the cages, so that the predetermined data can be quickly obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 Schematic three-dimensional view of the present invention Figure 1 ;

[0030] Figure 2 Schematic three-dimensional view of the present invention Figure 2 ;

[0031] Figure 3 Semi-sectional schematic view of the present invention;

[0032] Figure 4 Schematic view of the camera module;

[0033] Figure 5 Schematic view of the mobile device;

[0034] Figure 6 Schematic view of the cooperation between the driving wheel and the driving belt;

[0035] Figure 7 Schematic view of the driving belt;

[0036] Figure 8 is a schematic diagram of a two-dimensional map;

[0037] Figure 9 is a schematic diagram of the logic of the judgment module;

[0038] Figure 10 is the logic diagram of the central system.

[0039] In the figure,

[0040] 1 is a mobile chassis, 10 is a base column, 11 is a vertical column, 12 is an avoidance groove,

[0041] 21 is the first lifting device, 22 is the second lifting device,

[0042] 31 is the first camera module, 32 is the second camera module,

[0043] 4 is a mobile device, 40 is a rotating device, 41 is a driving wheel, 411 is a driving pin, 412 is a driven wheel,

[0044] 42 is a driving belt, 421 is a trapezoidal tooth block, 422 is a driving groove, 423 is an anti-slip pattern, 43 is an adjusting wheel,

[0045] 5 is an air monitoring mechanism,

[0046] 61 is an RFID reader / writer, 62 is a magnetic stripe navigation,

[0047] 100 is a cage. Detailed implementation manners

[0048] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0049] It should be noted that if there are directional indications (such as up, down, left, right, front, back, top, bottom, inside, outside, vertical, horizontal, longitudinal, counterclockwise, clockwise, circumferential, radial, axial...) involved in the embodiments of the present invention, then the directional indications are only used to explain the relative position relationship and movement conditions between components in a certain specific posture (as shown in the drawings). If the specific posture changes, then the directional indications will also change accordingly.

[0050] In addition, if there is a description involving "first" or "second" in the embodiments of the present invention, the description of "first" or "second" is only for descriptive purposes and should not be construed as indicating or implying its relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments may be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0051] As Figures 1 to 9 shown, a composite robot system for poultry farming includes a composite robot device.

[0052] The composite robot device includes:

[0053] A mobile chassis 1, the mobile chassis 1 is provided with two base columns 10 arranged at intervals, the base columns 10 are provided with two columns 11 arranged at intervals, and an avoidance groove 12 is arranged between the two columns 11;

[0054] The avoidance groove 12 is provided with a first lifting device 21, and the first lifting device 21 is provided with at least one first camera module;

[0055] A second lifting device 22 is arranged between the two columns 11, and the second lifting device 22 is provided with at least one second camera module;

[0056] Avoidance grooves 12 are arranged in the height direction of the two base columns 10;

[0057] Moving devices 4 are arranged on both sides of the mobile chassis 1. The moving devices 4 include driving wheels 41, driven wheels, and a driving belt 42 provided on the outer peripheral walls of the driving wheels 41 and the driven wheels. The driving belt 42 is a closed-loop structure, and an adjusting wheel 43 is further arranged on the inner periphery of the driving belt 42. The adjusting wheel 43 is used to adjust the tightness of the driving belt 42.

[0058] The driving wheel 41 is connected to a rotating device 40.

[0059] The driving wheel 41 is used to drive the driving belt 42 to rotate;

[0060] An air monitoring mechanism 5 is arranged between the avoidance grooves 12 of the mobile chassis 1. The air monitoring mechanism is used to monitor the temperature, humidity, ammonia, hydrogen sulfide, light, carbon dioxide, PM2.5, PM10, and wind speed at a predetermined position or a predetermined section of the breeding place.

[0061] The mobile chassis 1 is provided with a position monitoring mechanism;

[0062] An automated system applying a composite robot device includes:

[0063] An acquisition module that acquires the status of poultry at a predetermined position through a first camera module and a second camera module.

[0064] The first camera module and the second camera module are a thermoforming camera and / or a vision acquisition camera (in actual design, the first camera module 31 can be a thermoforming camera and the second camera module 32 can be a vision acquisition camera;

[0065] Among them, the vision acquisition camera is preferably a CCD camera; the thermoforming camera can be understood as a temperature sensor;

[0066] It can also be that both the first camera module 31 and the second camera module 32 are provided with a vision acquisition camera and a thermoforming camera).

[0067] The thermoforming camera is used to acquire the body temperature and temperature distribution status of poultry at a predetermined position.

[0068] The vision camera is used to acquire the posture of poultry.

[0069] A judgment module that, when the body temperature, temperature distribution status, and posture of poultry at a predetermined position are higher than the health threshold, the judgment module marks the poultry at the predetermined position and issues a predetermined warning.

[0070] A map module stored in the mobile chassis 1. The map module maps the location of the breeding site and forms a two-dimensional map (where the two-dimensional map can flatten the height of the cage into a horizontal arrangement). The two-dimensional map is synchronized and connected to a central system (which can be a local area network or the Internet (such as 5G\WIFI, etc.), or both can be used).

[0071] The map module regionalizes or blocks the breeding site area. When the judgment module marks a predetermined position, the two-dimensional map displays a predetermined color to give a warning.

[0072] In actual design, this system includes a mobile chassis 1 and a camera module. Among them, the mobile chassis 1 is used to ensure the automatic inspection and movement of the unmanned robot, and the camera module is used to accurately acquire the health status of the predetermined poultry. Further, by monitoring environmental factors, the pre-judgment and disease judgment of poultry breeding are improved, and the spread of the epidemic is reduced.

[0073] Specifically, in actual monitoring, the air monitoring agency 5 can judge the overall growth environment of poultry through predetermined air parameters. In a specific embodiment, when problems such as diarrhea occur in poultry in a predetermined area, parametric changes will occur in ammonia and hydrogen sulfide, and through the comparison of air parameters between regions, the predetermined position will be marked, thereby reducing the problem of infectious diseases in poultry farming;

[0074] Furthermore, through the body temperature, temperature distribution state and posture of poultry at a predetermined position, it is judged whether the poultry is sick, and then it can be manually or automatically clamped out of the cage by a robot, thereby reducing infectivity.

[0075] The mandatory data includes the sick postures of poultry, and the sick postures are used to screen out sick poultry in a timely manner;

[0076] In addition, the setting of the double base columns 10 can simultaneously observe the cages on both sides of the aisle; in addition, the structure of the double lifting devices can realize the observation of multiple layers of cages, thereby improving the speed of data acquisition. The lifting device can adjust the relative height of the camera module, thereby realizing multi-layer or single-layer monitoring. The corresponding lifting device synchronously drives the height of its camera module, thereby improving the adjustment rate. In addition, the camera modules can be increased or decreased according to actual needs, thereby realizing flexible installation; in addition, when the cages are multi-layered, the height between the camera modules of the same lifting device is the same as or suitable for the height between the cages, so that the predetermined data can be quickly obtained.

[0077] Specifically, the judgment module receives a number of sensor data, where the sensor data is Xn, and n is the sensor;

[0078] When the data of the predetermined sensor is mandatory data, the predetermined Xn is greater than the predetermined threshold, and the judgment module gives an early warning;

[0079] When the mandatory data is less than the predetermined threshold and the sum of several Xn is greater than the predetermined threshold Y (i.e., Y = X1 + X2 + X3.... + Xn), the judgment module makes a reservation and marks the predetermined area or block;

[0080] The mandatory data includes the body temperature, posture and behavior of poultry at a predetermined position, and the behavior includes feeding behavior, drinking behavior and fecal behavior.

[0081] Specifically, n is 1, 2, 3.....n, and specific data can set predetermined parameters according to different poultry. This design logic can be used as a reference model to realize adaptive adjustment,

[0082] The poultry can be chickens, ducks, geese, pigeons, quails, etc.

[0083] Specifically, the behavior also includes egg-laying behavior. For poultry farming, the number of eggs laid and the time period of egg-laying are accurately recorded, which can more effectively improve the economy of automated farming. This design preferably separates poultry individually to ensure the accuracy of records and the stability of data.

[0084] Specifically, the judgment module is connected to the health storage module, and the health storage module is used to record the healthy body temperature of poultry, the healthy temperature distribution map, and the posture of poultry.

[0085] When the data obtained by the judgment module is higher than the predetermined threshold compared with the data in the health storage module, real-time warning is realized.

[0086] That is, the composite robot system has a built-in health storage module, which can improve the real-time performance of judgment. After the acquisition module obtains the predetermined data, it is stored. When the stored data shows differences, it can be identified and entered into the health storage module manually and by the judgment module according to requirements, thereby improving the comprehensiveness of the database and reducing the monitoring blind area.

[0087] The posture also includes that the poultry is cold or hot. Through temperature detection and the temperature posture of the poultry, it is fed back to the central system.

[0088] Furthermore, through the visual acquisition device and the thermoforming camera, the states of the head (such as eyelids, etc.), feet (such as toes, claws) and body temperature of the poultry are obtained, and the standard health data and the acquired image data are analyzed.

[0089] The analysis method is as follows:

[0090] The visual acquisition device acquires the first on-site image data, and compares the first on-site image data with the first standard health image data. The first on-site image data includes several first on-site sub-images, and several sub-images can be the head of the poultry, the feet of the poultry, and the posture.

[0091] By comparing several first on-site sub-images with several first sub-health standard image data one by one, the first data value is obtained.

[0092] The thermoforming camera acquires the second on-site image data, and compares the second on-site image data with the second standard image data.

[0093] The second standard health data includes the local health temperature map and the overall health temperature distribution map; through the distribution at different positions, it is compared with the second on-site image data one by one, and the comparison data is the temperature value, thereby obtaining the second data value.

[0094] Through the first data value and the second data value, the health status of the poultry can be accurately known, and the monitoring accuracy can be improved.

[0095] Predict the health status of poultry in a timely manner; then identify sick or dead poultry from the normal poultry group, report it to the management system or give an alarm, and notify manual workers or grabbing robots for handling.

[0096] The central system also includes a temperature regulation system, a humidity regulation system, a light regulation system, etc.;

[0097] Then adjust the environmental conditions in a timely manner;

[0098] Then reduce the problem of poultry getting sick.

[0099] That is, pre-intervene to reduce the occurrence of diseases, improve the overall health of farming, reduce the manual workload, and achieve scientific unmanned breeding.

[0100] Specifically, the map module maps the cage distribution and aisle distribution in the breeding environment into a two-dimensional map. The aisle is provided with a magnetic stripe navigation 62, and the bottom wall of the mobile chassis 1 is provided with an RFID reader / writer 61 that cooperates with the magnetic stripe navigation 62, thereby realizing accurate position determination, and further making the position between the cage and the two-dimensional map more accurate, reducing breeding blind spots or errors.

[0101] Among them, the magnetic stripe navigation 62 can reduce the interference of foreign objects, and the RFID reader / writer 61 can ignore foreign objects with a predetermined thickness.

[0102] Specifically, the map navigation further includes laser navigation and QR code navigation. The laser navigation is used to avoid foreign objects. When scanning the map with a laser, if there are too few scanned feature points in the map, resulting in the robot laser navigation being unable to work, in the laser navigation, instead of adding external map feature points, we perform normalization through the two-dimensional map to solve the pain point that the laser navigation cannot travel due to consistent map features; Figure 1 The QR code navigation can improve the recognition degree of a predetermined environment and mark a predetermined area, thereby improving the recognition features.

[0103] The QR code navigation can improve the recognition degree of a predetermined environment and mark a predetermined area, thereby improving the recognition features.

[0104] Specifically, an obstacle avoidance radar can also be set to improve the running stability.

[0105] Specifically, two rows of trapezoidal tooth blocks 421 are arranged at intervals on the inner circumference of the drive belt 42;

[0106] A drive groove 422 is provided between the two trapezoidal tooth blocks 421;

[0107] The driving wheel 41 includes driving pins 411 that cooperate with the driving groove 422. The driving pins 411 are distributed at intervals along the circumference of the driving wheel 41, improving the existing way of driving the toothed belt by gear meshing and enhancing the running stability of the drive belt 42.

[0108] Specifically, the trapezoidal tooth block 421 is arranged with a gradually increasing diameter from the inside towards the driving belt 42. The driving groove 422 is provided with strip-shaped lines distributed in the width direction, thereby improving the meshing stability and contact area. The arrangement of the strip-shaped lines improves the contact stability between the driving pin 411 and the driving belt 42, avoiding tooth jamming and achieving elastic counteraction.

[0109] Specifically, the driving pin 411 is a cylindrical tooth. By using the cylindrical tooth method, the pain points of track tooth jamming, track detachment, and severe shaking during the robot's walking are solved.

[0110] Specifically, the outer wall of the driving belt 42 is provided with "V"-shaped anti-slip lines 423 arranged at intervals. The ends of the "V"-shaped anti-slip lines 423 are arc chamfers. Through the re-design of the track, using smaller patterns and smaller tooth heights, the service life of the track is greatly improved, the walking smoothness of the robot is significantly enhanced, the walking speed of the robot is faster, and the inspection efficiency is greatly improved.

[0111] At the same time, the adhesion of foreign objects is also avoided.

[0112] Specifically, the first lifting device 21 includes a first guide rail, a first upper camera module arranged on the first guide rail, and a lower camera module arranged on the first guide rail.

[0113] The first lifting device 21 is provided with a first upper driving device for driving the first upper camera module and a first lower driving device for driving the first lower camera module respectively;

[0114] The second lifting device 22 includes a second guide rail, a second upper camera module arranged on the second guide rail, and a lower camera module arranged on the second guide rail.

[0115] The second lifting device 22 is provided with a second upper driving device for driving the second upper camera module and a second lower driving device for driving the second lower camera module respectively.

[0116] The first upper driving device and the first lower driving device can be respectively above and below the first guide rail, and thus can respectively drive the first upper camera module and the lower camera module.

[0117] Of course, a synchronous driving method can also be adopted.

[0118] The driving device can achieve vertical movement in ways such as a screw pair, a telescopic motor, and a belt drive.

[0119] The camera can be a high-speed camera. For example, it can monitor one poultry per second or one poultry per two seconds. Specifically, it can be adaptively modified according to the actual environment, and correspondingly, there is also the moving speed of the moving chassis 1.

[0120] In a specific embodiment, the camera module may also include a color camera and a black-and-white camera. By using the color camera and the black-and-white camera, the interference of light can be reduced, and the accuracy of monitoring the state of poultry can be improved.

[0121] In a further design, when a high-definition and high-magnification camera module is adopted, the eyes of poultry can be locally captured, and further, the health state of poultry can be monitored.

[0122] Of course, the camera module can be fixed or mobile.

[0123] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structural transformation made by using the specification and drawings of the present invention under the inventive concept of the present invention, or direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A composite robot system for poultry farming, characterized in that: Including composite robotic equipment, The composite robot device comprises: A mobile chassis, wherein the mobile chassis is provided with two spaced-apart base columns, the base column is provided with two spaced-apart upright columns, and an avoidance groove is provided between the two upright columns; The avoidance groove is provided with a first lifting device, and the first lifting device is provided with at least one first camera module; A second lifting device is provided between the two columns, and the second lifting device is provided with at least one second camera module; There are avoidance grooves in the height direction of the two base columns; The two sides of the mobile chassis are provided with a moving device, and the moving device includes a driving wheel, a driven wheel, and a driving belt provided with the outer peripheral walls of the driving wheel and the driven wheel. The driving belt is a closed-loop structure, and the inner periphery of the driving belt is also provided with an adjusting wheel, and the adjusting wheel is used to adjust the tightness of the driving belt. The driving wheel is connected to the rotating device. The driving wheel is used to drive the driving belt to rotate; The mobile chassis is provided with an air monitoring mechanism between the avoidance slots, and the air monitoring mechanism is used to monitor the temperature, humidity, ammonia, hydrogen sulfide, light, carbon dioxide, PM.25, PM10 and wind speed at a predetermined position or a predetermined section of the breeding place; The mobile chassis is provided with a position monitoring mechanism; Automation systems that use composite robotic equipment include: an acquisition module, wherein the acquisition module acquires the status of poultry at a predetermined position through a first camera module and a second camera module, The first camera module and the second camera module are thermoforming cameras and / or visual acquisition cameras; The thermoforming camera is used to obtain the body temperature and temperature distribution status of poultry at a predetermined position; The visual camera is used to obtain the posture of the poultry. A judgment module, when the body temperature, temperature distribution state and posture of the poultry at the predetermined position are higher than the health threshold, the judgment module marks the poultry at the predetermined position and issues a predetermined warning; The determination module receives a number of sensor data, wherein the sensor data is Xn, and n is a sensor; When the data of the predetermined sensor is necessary data, the predetermined Xn is greater than the predetermined threshold, and the judgment module issues an early warning; When the necessary data is less than a predetermined threshold value, and the sum of a number of Xn is greater than a predetermined threshold value Y, the judgment module makes a reservation and marks the predetermined area or predetermined block; The necessary data includes the sickness status of the poultry, and the sickness status is used to screen out sick poultry in time; A map module, which is stored in the mobile chassis and maps the location of the breeding site to form a two-dimensional map, which is synchronously connected to the central system; The map module sets the breeding place in regions or blocks, and when the judgment module marks the predetermined position, the two-dimensional map displays a predetermined color for warning.

2. The composite robot system for poultry farming according to claim 1, characterized in that: The necessary data include the temperature, posture and behavior of the poultry at the predetermined location, The behaviors include feeding behaviors, drinking behaviors, and feces behaviors.

3. The composite robot system for poultry farming according to claim 2, characterized in that: The behavior also includes egg-laying behavior.

4. The composite robot system for poultry farming according to claim 1, characterized in that: The judgment module is connected to a health storage module, and the health storage module is used to record the healthy body temperature, the healthy temperature distribution diagram and the posture of the poultry; When the data obtained by the judgment module and the data of the health storage module are higher than the predetermined threshold, a real-time warning is achieved.

5. The composite robot system for poultry farming according to claim 1, characterized in that: The map module maps the cage distribution and aisle distribution of the breeding environment in two dimensions. The aisles are provided with magnetic strip navigation, and the bottom wall of the mobile chassis is provided with an RFID reader / writer that cooperates with the magnetic strip navigation.

6. The composite robot system for poultry farming according to claim 1, characterized in that: The map navigation also includes laser navigation and QR code navigation, and the laser navigation is used to avoid foreign objects; The two-dimensional code navigation can improve the recognition of the predetermined environment and mark the predetermined area, thereby improving the recognition characteristics.

7. The composite robot system for poultry farming according to claim 1, characterized in that: The inner periphery of the driving belt is provided with two rows of trapezoidal tooth blocks arranged at intervals; A driving groove is provided between the two trapezoidal gear blocks; The driving wheel comprises driving pins matched with the driving grooves, and the driving pins are distributed at intervals along the circumference of the driving wheel.

8. The composite robot system for poultry farming according to claim 7, characterized in that: The trapezoidal tooth block is gradually expanded in diameter from the inside toward the driving belt direction, and the driving groove is provided with strip patterns distributed along the width direction.

9. The composite robot system for poultry farming according to claim 7, characterized in that: The driving pin is a cylindrical tooth.

10. The composite robot system for poultry farming according to claim 7, characterized in that: The outer wall of the driving belt is provided with "V"-shaped anti-skid grooves arranged at intervals, and the ends of the "V"-shaped anti-skid grooves are arc-shaped chamfers.

11. The composite robot system for poultry farming according to claim 1, characterized in that: The first lifting device includes a first guide rail, a first upper camera module disposed on the first guide rail, and a lower camera module disposed on the first guide rail. The first lifting device is provided with a first upper driving device that drives the first upper camera module and a first lower driving device that drives the first lower camera module respectively; The second lifting device includes a second guide rail, a second upper camera module disposed on the second guide rail, and a lower camera module disposed on the second guide rail. The second lifting device is provided with a second upper driving device for driving the second upper camera module and a second lower driving device for driving the second lower camera module respectively.

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