Automatic lactation system

Abstract

The invention discloses an automatic lactation system, and relates to the technical field of stockbreeding machinery, the automatic lactation system comprises a main cylinder, a recovery device, a motion device and a control system, the main cylinder is provided with a material inlet, and a nipple communicated with the internal space of the main cylinder is arranged outside the main cylinder; the recovery device is provided with a recovery station and is used for adding milk or milk raw materials into the main barrel at the recovery station through the material inlet; the moving device can drive the main cylinder body to automatically move to the recycling station and the feeding position; the control system is in communication connection with the movement device and the recovery device, the control system controls the movement device to drive the main barrel to automatically move to the recovery station or the milk feeding position, and the control system controls the recovery device to add milk or milk raw materials into the main barrel. The lamb survival rate and the breeding efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of animal husbandry machinery, in particular to an automatic breastfeeding system. Background Art

[0002] Lamb survival rate is a key factor influencing the economic benefits of sheep farming. To improve lamb survival, farms generally use artificial lactation for lactation management. However, this method faces challenges such as high labor intensity, inaccurate milk supply, and uncertain milk temperature, making it difficult to meet the needs of intensive farming. Summary of the Invention

[0003] The purpose of the present invention is to provide an automatic lactation system to solve the problems existing in the above-mentioned prior art and improve the survival rate and breeding efficiency of lambs.

[0004] To achieve the above object, the present invention provides the following solutions: The present invention provides an automatic breastfeeding system, comprising: a robot, a recycling device and a control system, the robot comprising a main cylinder and a motion device, the main cylinder being configured with a material inlet, and a nipple being arranged on the outside of the main cylinder and communicating with the internal space of the main cylinder; the recycling device having a recycling station, the recycling device being used to add milk or milk raw materials into the interior of the main cylinder at the recycling station through the material inlet; the motion device being capable of driving the main cylinder to automatically move to the recycling station and feeding station; the control system being communicatively connected to the motion device and the recycling device, the control system controlling the motion device to drive the main cylinder to automatically move to the recycling station or feeding station, and the control system controlling the recycling device to add milk or milk raw materials into the main cylinder.

[0005] Preferably, a stirring device is provided in the main cylinder, and the control system controls the stirring device to stir the materials in the main cylinder so that the milk powder is uniformly dissolved in water to form milk liquid.

[0006] Preferably, the main cylinder is provided with a heating device and a temperature sensor for detecting the temperature of the material in the main cylinder, the heating device is used to heat the material in the main cylinder, the temperature sensor and the heating device are both communicatively connected to the control system, the temperature sensor is used to transmit the detected temperature information to the control system, and the control system controls the operation of the heating device according to the temperature monitored by the temperature sensor and the temperature setting value or temperature range preset in the control system so that the temperature of the material in the main cylinder is always within the set value or range.

[0007] Preferably, the nipple is connected to the internal space of the main cylinder through a milk outlet tube, and the bottom of the main cylinder is constructed with a milk outlet. One end of the milk outlet tube is connected to the interior of the main cylinder through the milk outlet, and the other end is connected to and connected with the nipple. The nipple is provided on a lifting ring, and the lifting ring is slidably mounted on the outside of the main cylinder along the vertical direction. The lifting ring is driven up and down by a lifting drive device.

[0008] Preferably, it also includes a camera and a height sensor, the camera is arranged on the main cylinder, the height sensor is arranged on the lifting ring, the height sensor and the nipple are located on the same horizontal plane, the height sensor is used to detect the height of the nipple from the ground, the camera is used to capture lamb image information and transmit it to the control system, the control system determines the height of the sheep's mouth from the ground based on the image information, and the control system controls the lifting drive device to drive the lifting ring up and down based on the sheep's mouth height information and the nipple height information so that the height difference between the nipple height and the sheep's mouth height does not exceed the set threshold.

[0009] Preferably, the lifting ring is provided with a plurality of telescopic devices, and the driving ends of the plurality of telescopic devices can be telescoped in the horizontal direction and in the direction close to and away from the main cylinder. The number of the telescopic devices is consistent with the number of the nipples, and one nipple is provided at the driving end of one telescopic device. The control system controls the telescopic device to drive the nipple to move in the direction away from or close to the main cylinder.

[0010] Preferably, the milk outlet tube is a tube that can be passively retracted, and a silicone valve is provided inside the nipple or at one end of the milk outlet tube for connecting to the nipple. The silicone valve is normally closed, and the silicone valve automatically opens when the nipple is sucked and the interior is in a negative pressure state.

[0011] Preferably, a solenoid valve is provided inside the end of the milk outlet pipe for connecting to the inside of the main cylinder, and a flow meter is provided inside the end of the milk outlet pipe close to the nipple. The solenoid valve and the flow meter are both communicatively connected to the control system. Each of the telescopic devices is provided with a camera. The camera on each telescopic device is used to capture image information of the front side of the nipple in real time and transmit it to the control system. The control system determines whether the lamb is willing to suck the nipple based on the image information. If so, the telescopic device is controlled to drive the nipple to extend and the solenoid valve is controlled to open. The flow meter is used to measure the lamb's single sucking flow rate and control the solenoid valve to close when the single feeding amount preset by the control system is reached to achieve single quantitative milk discharge.

[0012] Preferably, the recovery device includes a milk powder supply assembly, a water supply assembly, a charging module and an infrared detector; a cylinder cover which is opened and closed by a control system is provided on the top of the main cylinder, and the infrared detector, water supply assembly and milk powder supply assembly are all communicatively connected to the control system, and the infrared detector is used to detect the position of the main cylinder and transmit the position information to the control system. The control system determines whether the main cylinder is located at the recovery station of the recovery device according to the position information of the main cylinder. If so, the control system controls the opening of the cylinder cover to control the milk powder supply assembly and the water supply assembly to supply milk powder and water into the main cylinder according to a preset milk powder-water ratio.

[0013] Preferably, the control system is provided with a human-computer interaction module, which is used for the user to input instructions, and the control system controls the operation of the recovery device, the motion device and the main cylinder according to the instruction information; if the instruction is to prepare milk liquid, the control system controls the motion device to carry the main cylinder to the recovery station, and controls the milk powder supply assembly and the water supply assembly to supply milk powder and water into the main cylinder according to a preset milk powder-water ratio after the cylinder cover is opened; if the instruction is to clean the main cylinder, the motion device is controlled to carry the main cylinder to the recovery station , and controls the water supply assembly to supply water into the main cylinder according to a preset water volume after the cylinder cover is opened. While supplying water or after supplying water, the control system controls the stirring device to stir the water in the main cylinder and controls the heating device to heat the water to improve the cleaning effect; after cleaning, the control system can also control the sewage valve on one side of the main cylinder to open and discharge the sewage to the sewage recovery point on the side of the recovery station; if the instruction is to charge, the motion device is controlled to carry the main cylinder to the recovery station, and the charging module is controlled to start; The charging module includes a power supply electrode and a first magnetic component, and the motion device includes a Mecanum wheel power system and a chassis. The main cylinder is disposed on the chassis, and the Mecanum wheel power system is provided at the bottom of the chassis. A second magnetic component and a charging electrode are provided on one side of the chassis. After the motion device carries the main cylinder to the recovery station, the first magnetic component and the second magnetic component attract each other, causing the charging electrode and the power supply electrode to contact to achieve the purpose of charging.

[0014] Compared with the prior art, the present invention has achieved the following technical effects: The present invention realizes the purpose of automatic milk distribution and automatic feeding through a control system, a motion device, a main cylinder, and a recovery device, eliminating a large number of tedious steps in manual operation, significantly improving the feeding efficiency and health level of lambs, ensuring centralized and unified management of lambs during the lactation stage, and improving the survival rate and breeding efficiency of lambs.

[0015] Furthermore, it is equipped with the function of automatically cleaning the main cylinder, which can further improve food safety and further improve the health level of lambs during the lactation stage.

[0016] Furthermore, it is equipped with automatic stirring and automatic heating functions, so that the temperature and mixing uniformity of the milk are consistent each time it is fed, thereby further improving the health level of the lambs during the lactation stage.

[0017] Furthermore, it is equipped with an automatic charging function, which further reduces the degree of human intervention and further improves the degree of automation.

[0018] Furthermore, the height of the nipple is equipped with an automatic lifting function to adapt to feeding lambs of different ages.

[0019] Furthermore, the control system is equipped with a human-computer interaction module, which can be an app on a mobile phone or computer, allowing users to issue tasks and control the system to work on the mobile phone or computer.

[0020] Furthermore, the present invention can be connected to the smart livestock farming Internet of Things system, participating in the formation of a complete set of automated sheep breeding systems, and creating a comprehensive, modern, fully automatic smart ranch.

[0021] In summary, the present invention is conducive to promoting the dual growth of production efficiency and economic benefits of mutton sheep farming, accelerating the scale and intelligent development of the mutton sheep industry, promoting the construction of my country's animal husbandry industry into a world-leading smart animal husbandry demonstration zone, and is committed to creating a model model for high-quality development of modern animal husbandry with Chinese characteristics. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 is a schematic structural diagram of an automatic breastfeeding system in some embodiments of the present invention; Figure 2 for Figure 1 Front view of Figure 3 for Figure 1 Schematic diagram of the robot structure; Figure 4 for Figure 1 Schematic diagram of the structure of the recovery device; Figure 5 Schematic diagram of the structure of the milk outlet tube, the nipple and the telescopic device in some embodiments of the present invention; Figure 6 Schematic diagram of the structure of the stirring device in some embodiments of the present invention; In the figure: 1-main cylinder; 2-recovery device; 3-recovery station; 4-movement device; 5-robot; 6-stirring device; 7-nipple; 8-milk outlet pipe; 9-lifting ring; 10-lifting drive device; 11-telescopic device; 12-milk powder supply assembly; 13-water supply assembly; 14-charging module; 15-stirring motor; 16-stirring blade; 17-drive shaft. DETAILED DESCRIPTION

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] The following combination Figures 1 to 6 , describing embodiments of the present invention.

[0027] The present invention provides an automatic breastfeeding system, comprising: a robot 5, a recovery device 2 and a control system. The robot 5 includes a main cylinder 1 and a motion device 4. The main cylinder 1 is configured with a material inlet, and a nipple 7 connected to the internal space of the main cylinder 1 is provided on the outside of the main cylinder 1; the recovery device 2 has a recovery station 3, and the recovery device 2 is used to add milk or milk raw materials into the main cylinder 1 at the recovery station 3 through the material inlet; the motion device 4 can drive the main cylinder 1 to automatically move to the recovery station 3 and the feeding location; the control system is communicatively connected with the motion device 4 and the recovery device 2, the control system controls the motion device 4 to drive the main cylinder 1 to automatically move to the recovery station 3 or the feeding location, and the control system controls the recovery device 2 to add milk or milk raw materials into the main cylinder 1.

[0028] The embodiment of the present invention achieves the purpose of automatic milk distribution and automatic feeding through the control system, the motion device 4, the main cylinder 1, and the recovery device 2, eliminating a large number of tedious steps in manual operation, significantly improving the lamb feeding efficiency and health level, ensuring the centralized and unified management of the lambs during the lactation stage, and improving the lamb survival rate and breeding efficiency.

[0029] In some embodiments, a stirring device 6 is provided in the main cylinder 1 , and a control system controls the stirring device 6 to stir the materials in the main cylinder 1 so that the milk powder is uniformly dissolved in water to form milk liquid.

[0030] This embodiment is equipped with an automatic stirring function, thereby ensuring that the mixing uniformity of the milk is consistent each time it is fed, thereby further improving the health level of the lambs during the lactation stage.

[0031] In some examples, the stirring device 6 includes a stirring motor 15, a transmission shaft 17, and a stirring blade 16; the rotating shaft of the stirring motor 15 is connected to one end of the transmission shaft 17; the stirring motor 15 is located below the main cylinder 1, and the transmission shaft 17 or the rotating shaft passes through the bottom wall of the main cylinder 1 and extends into the main cylinder 1, and the stirring blades 16 are fixed to the upper and lower ends of the transmission shaft 17.

[0032] In some embodiments, a heating device and a temperature sensor for detecting the temperature of the material in the main cylinder 1 are provided on the main cylinder 1. The heating device is used to heat the material in the main cylinder 1. The temperature sensor and the heating device are both communicated with the control system. The temperature sensor is used to transmit the detected temperature information to the control system. The control system controls the operation of the heating device according to the temperature monitored by the temperature sensor and the preset temperature setting value or temperature range in the control system so that the temperature of the material in the main cylinder 1 is always within the set value or range.

[0033] This embodiment is equipped with an automatic heating function, thereby ensuring that the temperature of the milk is consistent for each feeding and maintaining the milk at a constant temperature, thereby further improving the health level of the lambs during the lactation stage.

[0034] In some examples, the wall surface of the main cylinder 1 is made of a thermal insulation material or is wrapped with a thermal insulation layer on the outside.

[0035] In some examples, in order to facilitate the user to know the liquid level of the material inside the main cylinder 1, at least a portion of the wall of the main cylinder 1 is usually made of a transparent material, such as a transparent acrylic plate. The transparent acrylic plate is long and extends from the bottom. If necessary, a scale can be set on the acrylic plate to facilitate the user to accurately know the liquid level in the main cylinder 1.

[0036] In some examples, the heating device includes two heating plates symmetrically arranged on the inner wall of the cylinder.

[0037] In some embodiments, the nipple 7 is connected to the internal space of the main cylinder 1 through a milk outlet tube 8. The bottom of the main cylinder 1 is constructed with a milk outlet. One end of the milk outlet tube 8 is connected to the interior of the main cylinder 1 through the milk outlet, and the other end is connected to and connected with the nipple 7. The nipple 7 is set on a lifting ring 9, which is slidably mounted on the outside of the main cylinder 1 along the vertical direction. The lifting ring 9 is driven up and down by a lifting drive device 10.

[0038] This embodiment can achieve the raising and lowering of the nipple 7 to adapt to lambs of different sizes. For example, when the height of the lamb's mouth from the ground is 50 cm, the height of the nipple 7 is adjusted to 45-55 cm from the ground, thereby facilitating the lamb's sucking. It should be noted that on a farm, lambs of similar size or age are usually kept in the same pen. Therefore, the height of the lamb's mouth from the ground in each pen is similar. Therefore, the height of the nipple 7 in this embodiment can be uniformly controlled.

[0039] Specifically, the lifting drive device 10 can be a linear motor, which is arranged on the outer wall of the main cylinder 1 and arranged vertically. The lifting ring 9 is fixed to the driving end of the linear motor, thereby achieving the purpose of the linear motor driving the lifting ring 9 to rise and fall.

[0040] In some embodiments, the embodiments of the present invention further include a camera and a height sensor. The camera is arranged on the main cylinder 1, and the height sensor is arranged on the lifting ring 9. The height sensor and the nipple 7 are located on the same horizontal plane. The height sensor is used to detect the height of the nipple 7 from the ground. The camera is used to capture the image information of the lamb and transmit it to the control system. The control system determines the height of the sheep's mouth from the ground based on the image information. The control system controls the lifting drive device 10 to drive the lifting ring 9 up and down based on the height information of the sheep's mouth from the ground and the height information of the nipple 7 from the ground so that the height difference between the height of the nipple 7 from the ground and the height of the sheep's mouth from the ground does not exceed the set threshold.

[0041] This embodiment realizes intelligent control of the height of the nipple 7 from the ground, and can automatically adjust the height of the nipple 7 without manual intervention, thereby improving the degree of automation.

[0042] In some embodiments, a plurality of telescopic devices 11 are provided on the lifting ring 9, and the driving ends of the plurality of telescopic devices 11 can be telescoped in the horizontal direction and in the direction close to and away from the main cylinder 1. The number of telescopic devices 11 is consistent with the number of nipples 7. One nipple 7 is provided at the driving end of one telescopic device 11, and the control system controls the telescopic device 11 to drive the nipple 7 to move away from or close to the main cylinder 1.

[0043] This embodiment achieves the purpose of driving the nipple 7 away from and close to the main cylinder 1. When the position of the main cylinder 1 needs to be transferred or moved to the recycling station 3 for maintenance, the nipple 7 is driven close to the main cylinder 1 to reduce the volume occupied and avoid collision with external objects. When it reaches the feeding place for feeding, the nipple 7 is controlled to stay away from the main cylinder 1, which is conducive to the lamb sucking the nipple 7 smoothly.

[0044] In some embodiments, the milk outlet tube 8 is a tube that can be passively extended and retracted, and a silicone valve is provided inside the nipple 7 or at one end of the milk outlet tube 8 connected to the nipple 7. The silicone valve is normally closed. When the nipple 7 is sucked and the inside is in a negative pressure state, the silicone valve automatically opens.

[0045] In this embodiment, the milk outlet tube 8 is provided as a passively retractable tube to facilitate the lifting and retraction of the nipple 7 , and the silicone valve is provided to prevent milk from automatically flowing out of the nipple 7 .

[0046] In some embodiments, a solenoid valve is installed at one end of the milk outlet tube 8 that connects to the interior of the main cylinder 1, and a flow meter is installed at the end of the milk outlet tube 8 near the nipple 7. Each telescopic device 11 is provided with a camera, which is used to capture real-time image information of the front side of the nipple 7 and transmit it to the control system. The control system determines whether the lamb is willing to suck the nipple 7 based on the image information. If so, the control system controls the telescopic device 11 to drive the nipple 7 to extend and control the solenoid valve to open. The flow meter is used to measure the lamb's single sucking flow rate and control the solenoid valve to close when the single feeding amount preset by the control system is reached, thereby achieving a single quantitative milk discharge. This achieves automated quantitative lactation control.

[0047] This embodiment achieves the purpose of quantitative feeding, which is conducive to scientific feeding.

[0048] In some embodiments, the recovery device 2 includes a milk powder supply component 12, a water supply component 13, a charging module 14 and an infrared detector; a cylinder cover is provided on the top of the main cylinder 1, which is opened and closed by the control system, and the infrared detector, the water supply component 13 and the milk powder supply component 12 are all communicated with the control system. The infrared detector is used to detect the position of the main cylinder 1 and transmit the position information to the control system. The control system determines whether the main cylinder 1 is located at the recovery station 3 of the recovery device 2 based on the position information of the main cylinder 1. If so, the control system controls the milk powder supply component 12 and the water supply component 13 to supply milk powder and water into the main cylinder 1 according to the preset milk powder-water ratio after the cylinder cover is opened.

[0049] This embodiment further improves the automation level of the device and reduces manual intervention.

[0050] In some embodiments, the control system has a human-computer interaction module, which is used for the user to input instructions. The control system controls the recovery device 2, the motion device 4 and the main cylinder 1 according to the instruction information; if the instruction is to prepare milk liquid, the control system controls the motion device 4 to carry the main cylinder 1 to the recovery station 3, and controls the milk powder supply component 12 and the water supply component 13 to supply milk powder and water into the main cylinder 1 according to the preset milk powder-water ratio after the cylinder cover is opened; if the instruction is to clean the main cylinder 1, the motion device 4 is controlled to carry the main cylinder 1 to the recovery station 3, and after the cylinder cover is opened, the water supply assembly 13 is controlled to supply water into the main cylinder 1 according to the preset water volume. While supplying water or after supplying water, the control system controls the stirring device 6 to stir the water in the main cylinder 1 and controls the heating device to heat the water to improve the cleaning effect; after cleaning, the control system can also control the sewage valve on one side of the main cylinder 1 to open and discharge the sewage to the sewage recovery point on the side of the recovery station 3; if the instruction is to charge, the motion device 4 is controlled to carry the main cylinder 1 to the recovery station 3, and the charging module 14 is controlled to start; The charging module 14 includes a power supply electrode and a first magnetic component, and the motion device 4 includes a Mecanum wheel power system and a chassis. The main cylinder 1 is mounted on the chassis, and the Mecanum wheel power system is provided at the bottom of the chassis. A second magnetic component and a charging electrode are provided on one side of the chassis. After the motion device 4 carries the main cylinder 1 to the recycling station 3, the first and second magnetic components attract each other and bring the charging electrode and the power supply electrode into contact to achieve the purpose of charging.

[0051] The human-computer interaction module in this embodiment can be an app on a mobile phone or computer, allowing the user to issue tasks and control the system to work on the mobile phone or computer.

[0052] Specifically, the control system consists of a host computer, a slave computer, and a human-computer interaction module. The slave computer is an STM32VET6 control board, which controls the execution components of the system and reads data. The host computer, a Jetson Nano, transmits instructions to the execution components to meet various requirements. The motion path is planned using the MPC algorithm, and the height of the nipple 7 is adjusted in real time using YOLOv8s deep learning. A remote interactive interface is used to receive user commands (such as milk mixing parameters and cleaning instructions) and monitor status (battery level, temperature, etc.), and the system communicates with the slave computer via the MQTT protocol. Simultaneously, the system coordinates the heating and stirring of the main cylinder 1, the quantitative milk dispensing, and the automatic milk mixing, charging, and cleaning processes of the recovery bin.

[0053] The human-computer interaction module is used to establish a connection with the host computer using the MQTT protocol, thereby transmitting real-time information to the host computer user interface display through the WiFi module, allowing users to monitor the status of the robot 5 in real time through a mobile phone or computer anytime and anywhere, and at the same time, they can also use the host computer to transmit instructions to the robot 5 to meet various needs.

[0054] In some examples, the drum cover can be driven by an electric cover opening mechanism to open and close by translation or by flipping the cover open and close.

[0055] In some embodiments, the control system in the solution provided by the present invention can be connected to the smart livestock farming Internet of Things system, participating in the formation of a complete set of automated sheep farming systems, and creating a comprehensive, modern, fully automatic smart ranch.

[0056] In summary, the present invention is conducive to promoting the dual growth of production efficiency and economic benefits of mutton sheep farming, accelerating the scale and intelligent development of the mutton sheep industry, promoting the construction of my country's animal husbandry industry into a world-leading smart animal husbandry demonstration zone, and is committed to creating a model model for high-quality development of modern animal husbandry with Chinese characteristics.

[0057] In some embodiments, the water supply assembly 13 includes a water pump and a water flow meter. The water inlet of the water pump is connected to an external water source. The water flow meter is arranged on the water supply pipe. The water pump is used to pump the external water source into the main cylinder 1 through the water flow meter. The water flow meter is used to measure the water supply and stop pumping when the water supply reaches the set value.

[0058] The milk powder supply assembly 12 includes a powder storage barrel, a powder discharge pipe, and a timer flow valve. The powder discharge pipe is vertically arranged, and the top of the powder discharge pipe is connected to the bottom opening of the powder storage barrel. The bottom opening is arranged as a milk powder outlet so that the milk powder falls into the barrel. The powder discharge pipe is provided with a timer flow valve to control the opening and closing of the milk powder outlet. The milk concentration is set by the control system and the milk powder demand is calculated. The speed of the milk powder is consistent when it falls, and the powder discharge cross-section remains unchanged. The specified powder discharge amount can be obtained by controlling the powder discharge time. When preparing milk, the upper computer sends a command to control the timer flow valve to open, and the milk powder flows out. The timer flow valve monitors that the specified powder discharge time is reached and automatically closes. In some examples, an ordinary solenoid valve can also be used to control the opening and closing of the milk powder outlet, and the opening time of the solenoid valve can be controlled by the control system.

[0059] First, the present invention innovatively constructs an efficient, intelligent, and integrated lamb lactation management system through four main modules: a control system, a motion device 4, a main cylinder 1, and a recovery device 2. The main cylinder 1 is equipped with a nipple 7 telescopic and height-adaptive adjustment system, and is equipped with integrated lactation functions such as automatic emulsion proportioning, quantitative output, constant temperature control, and automatic stirring, which eliminates a large number of tedious steps in manual operation, significantly improves the lamb feeding efficiency and health level, ensures centralized and unified management of lambs during the lactation stage, and improves the lamb survival rate and breeding efficiency.

[0060] Second, the present invention enables remote control of the robot 5 through a remote human-computer interaction system, an MPC algorithm, and a deep learning system. This system, combined with features such as automatic emulsion proportioning, quantitative output, constant temperature control, automatic stirring, and automatic cleaning, enables unmanned precision control, allowing operations to be controlled anytime, anywhere via a mobile phone, reducing time costs. This is particularly relevant for new mutton farms undergoing large-scale, refined, and intelligent transformation and upgrading. This invention can be integrated into the Smart Livestock Farming Internet of Things system, contributing to the formation of a complete automated mutton farming system and creating a comprehensive, modern, fully automated smart ranch.

[0061] In summary, the present invention can promote the dual growth of production efficiency and economic benefits of mutton sheep farming, accelerate the scale and intelligent development of the mutton sheep industry, promote the construction of my country's animal husbandry industry into a world-leading smart animal husbandry demonstration zone, and is committed to creating a model model for high-quality development of modern animal husbandry with Chinese characteristics.

[0062] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. An automatic breastfeeding system, characterized in that: include: A robot, a recycling device and a control system, wherein the robot includes a main cylinder and a motion device, the main cylinder is configured with a material inlet, and a nipple connected to the internal space of the main cylinder is provided on the outside of the main cylinder; the recycling device has a recycling station, and the recycling device is used to add milk or milk raw materials into the main cylinder at the recycling station through the material inlet; the motion device can drive the main cylinder to automatically move to the recycling station and feeding place; the control system is communicatively connected with the motion device and the recycling device, the control system controls the motion device to drive the main cylinder to automatically move to the recycling station or feeding place, and the control system controls the recycling device to add milk or milk raw materials into the main cylinder.

2. The automatic breastfeeding system according to claim 1, wherein: The main cylinder is provided with a stirring device, and the control system controls the stirring device to stir the materials in the main cylinder so that the milk powder is uniformly dissolved in water to form milk liquid.

3. The automatic breastfeeding system according to claim 2, wherein: The main cylinder is provided with a heating device and a temperature sensor for detecting the temperature of the material in the main cylinder. The heating device is used to heat the material in the main cylinder. The temperature sensor and the heating device are both communicatively connected to the control system. The temperature sensor is used to transmit the detected temperature information to the control system. The control system controls the operation of the heating device according to the temperature monitored by the temperature sensor and the temperature setting value or temperature range preset in the control system so that the temperature of the material in the main cylinder is always within the set value or range.

4. The automatic breastfeeding system according to claim 1, wherein: The nipple is connected to the internal space of the main cylinder through a milk outlet tube. A milk outlet is configured at the bottom of the main cylinder. One end of the milk outlet tube is connected to the interior of the main cylinder through the milk outlet, and the other end is connected to and connected to the nipple. The nipple is provided on a lifting ring, which is slidably mounted on the outside of the main cylinder in a vertical direction. The lifting ring is driven up and down by a lifting drive device.

5. The automatic breastfeeding system according to claim 4, characterized in that: The robot also includes a camera and a height sensor. The camera is arranged on the main cylinder, and the height sensor is arranged on the lifting ring. The height sensor and the nipple are located on the same horizontal plane. The height sensor is used to detect the height of the nipple from the ground. The camera is used to capture lamb image information and transmit it to the control system. The control system determines the height of the sheep's mouth from the ground based on the image information. The control system controls the lifting drive device to drive the lifting ring up and down based on the sheep's mouth height information and the nipple height information so that the height difference between the nipple height and the sheep's mouth height does not exceed the set threshold.

6. The automatic breastfeeding system according to claim 5, characterized in that: The lifting ring is provided with multiple telescopic devices, and the driving ends of the multiple telescopic devices can be telescoped in the horizontal direction and in the direction close to and away from the main cylinder. The number of the telescopic devices is consistent with the number of the nipples. One nipple is provided at the driving end of one telescopic device, and the control system controls the telescopic device to drive the nipple to move away from or close to the main cylinder.

7. The automatic breastfeeding system according to claim 4, wherein: The milk outlet tube is a tube that can be passively extended and retracted. A silicone valve is provided inside the nipple or at one end of the milk outlet tube for connecting to the nipple. The silicone valve is normally closed. When the nipple is sucked and the interior is in a negative pressure state, the silicone valve automatically opens.

8. The automatic breastfeeding system according to claim 6, wherein: An electromagnetic valve is provided inside the milk outlet pipe at one end for connecting to the interior of the main cylinder, and a flow meter is provided inside the milk outlet pipe at one end close to the nipple. The electromagnetic valve and the flow meter are both communicatively connected to the control system. Each of the telescopic devices is provided with a camera. The camera on each telescopic device is used to capture image information of the front side of the nipple in real time and transmit it to the control system. The control system determines whether the lamb is willing to suck the nipple based on the image information. If so, the control system controls the telescopic device to drive the nipple to extend and controls the electromagnetic valve to open. The flow meter is used to measure the lamb's single sucking flow rate and controls the electromagnetic valve to close when the single feeding amount preset by the control system is reached to achieve single quantitative milk discharge.

9. The automatic breastfeeding system according to claim 3, wherein: The recovery device includes a milk powder supply component, a water supply component, a charging module and an infrared detector; a cylinder cover is provided on the top of the main cylinder body, which is opened and closed by a control system, and the infrared detector, water supply component and milk powder supply component are all communicated with the control system. The infrared detector is used to detect the position of the main cylinder body and transmit the position information to the control system. The control system determines whether the main cylinder body is located at the recovery station of the recovery device based on the position information of the main cylinder body. If so, the control system controls the opening of the cylinder cover to control the milk powder supply component and the water supply component to supply milk powder and water into the main cylinder body according to a preset milk powder-water ratio.

10. The automatic breastfeeding system according to claim 9, characterized in that: The control system is provided with a human-computer interaction module, which is used for the user to input instructions, and the control system controls the recovery device, the motion device and the main cylinder to work according to the instruction information; if the instruction is to prepare milk liquid, the control system controls the motion device to carry the main cylinder to the recovery station, and controls the milk powder supply component and the water supply component to supply milk powder and water into the main cylinder according to the preset milk powder-water ratio after the cylinder cover is opened; if the instruction is to clean the main cylinder, the motion device is controlled to carry the main cylinder to the recovery station, and After the cylinder cover is opened, the water supply assembly is controlled to supply water into the main cylinder according to a preset water volume. While or after the water is supplied, the control system controls the stirring device to stir the water in the main cylinder and controls the heating device to heat the water to improve the cleaning effect. After cleaning, the control system can also control the sewage valve on one side of the main cylinder to open and discharge the sewage to the sewage recovery point on the side of the recovery station. If the instruction is to charge, the motion device is controlled to carry the main cylinder to the recovery station and the charging module is controlled to start. The charging module includes a power supply electrode and a first magnetic component, and the motion device includes a Mecanum wheel power system and a chassis. The main cylinder is disposed on the chassis, and the Mecanum wheel power system is provided at the bottom of the chassis. A second magnetic component and a charging electrode are provided on one side of the chassis. After the motion device carries the main cylinder to the recovery station, the first magnetic component and the second magnetic component attract each other, causing the charging electrode and the power supply electrode to contact to achieve the purpose of charging.

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