An automated breastfeeding system

Abstract

The application discloses an automatic lactation system, and relates to the technical field of livestock husbandry machinery, which comprises a main cylinder, a recovery device, a moving device and a control system. The main cylinder is provided with a material inlet, and a nipple communicating with the internal space of the main cylinder is arranged outside the main cylinder. The recovery device has a recovery station, and is used for adding milk or milk raw materials into the internal space of the main cylinder through the material inlet. The moving device can drive the main cylinder to automatically move to the recovery station and a feeding station. The control system is in communication connection with the moving device and the recovery device. The control system controls the moving device to drive the main cylinder to automatically move to the recovery station or the feeding station, and controls the recovery device to add milk or milk raw materials into the main cylinder. The application can improve the survival rate of lambs and the breeding efficiency.

Description

Technical Field

[0001] This invention relates to the field of livestock machinery technology, and in particular to an automatic nursing system. Background Technology

[0002] Lamb survival rate is a crucial factor affecting the economic benefits of sheep farming. To improve lamb survival rate, farms commonly use artificial feeding during the lactation period, but this faces problems such as high labor intensity, inaccurate milk volume, and uncertain milk temperature, making it difficult to meet the needs of intensive farming. Summary of the Invention

[0003] The purpose of this invention is to provide an automatic nursing system to solve the problems existing in the prior art and improve lamb survival rate and breeding efficiency.

[0004] To achieve the above objectives, the present invention provides the following solution: This invention provides an automatic breastfeeding system, comprising: a robot, a retrieval device, and a control system. The robot includes a main cylinder and a motion device. The main cylinder has a material inlet, and a nipple communicating with the internal space of the main cylinder is disposed on the outside of the main cylinder. The retrieval device has a retrieval station, which is used to add milk or milk raw materials into the main cylinder at the retrieval station through the material inlet. The motion device can drive the main cylinder to automatically move to the retrieval station or the feeding area. The control system is communicatively connected to the motion device and the retrieval device. The control system controls the motion device to drive the main cylinder to automatically move to the retrieval station or the feeding area, and controls the retrieval device to add milk or milk raw materials into the main cylinder.

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

[0006] Preferably, the main cylinder is equipped with a heating device and a temperature sensor for detecting the temperature of the material inside the main cylinder. The heating device is used to heat the material inside the main cylinder. Both the temperature sensor and the heating device are 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 preset temperature setpoint or temperature range in the control system so that the temperature of the material inside 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. The bottom of the main cylinder has a milk outlet. One end of the milk outlet tube is connected to the inside of the main cylinder through the milk outlet, and the other end is connected to and communicates with the nipple. The nipple is mounted on a lifting ring. The lifting ring is slidably fitted onto the outside of the main cylinder along the vertical direction. The lifting ring is driven to move up and down by a lifting drive device.

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

[0009] Preferably, the lifting ring is provided with multiple telescopic devices, and the driving ends of the multiple telescopic devices can extend and retract along the horizontal direction and in the direction of approaching and moving away from the main cylinder. The number of telescopic devices is the same as the number of nipples. One nipple is provided on the driving end of one telescopic device. The control system controls the telescopic device to drive the nipple to move in the direction of moving away from or towards the main cylinder.

[0010] Preferably, the milk outlet tube is a passively retractable tube, and a silicone valve is provided inside the nipple or at one end of the milk outlet tube that is connected to the nipple. The silicone valve is normally closed, and automatically opens when the nipple is sucked and the inside is under negative pressure.

[0011] Preferably, the end of the milk outlet tube connected to the inside of the main cylinder is equipped with a solenoid valve, and the end of the milk outlet tube near the nipple is equipped with a flow meter. Both the solenoid valve and the flow meter are communicatively connected to the control system. Each telescopic device is equipped 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 has the intention to suckle the nipple based on the image information. If it determines that the lamb does, it controls the telescopic device to drive the nipple to extend and controls the solenoid valve to open. The flow meter is used to measure the flow rate of the lamb suckling once and controls the solenoid valve to close when the amount of milk fed once is reached, thus achieving a single quantitative milk output.

[0012] Preferably, the recycling device includes a milk powder supply component, a water supply component, a charging module, and an infrared detector; the top of the main cylinder is provided with a cylinder cover that is controlled to open and close by the control system. The infrared detector, the water supply component, and the milk powder supply component are all communicatively connected to the control system. 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 recycling station of the recycling device based on the position information of the main cylinder. If so, the control system controls the cylinder cover to open and controls the milk powder supply component and the water supply component to supply milk powder and water into the main cylinder according to a preset milk powder-water ratio.

[0013] Preferably, the control system includes a human-machine interface module for user input of commands. The control system controls the recycling device, the moving device, and the main cylinder to operate according to the command information. If the command is to prepare milk, the control system controls the moving device to carry the main cylinder to the recycling station, and controls the opening of the cylinder lid to supply milk powder and water to the main cylinder according to a preset milk powder-water ratio via the milk powder supply component and the water supply component. If the command is to clean the main cylinder, the control system controls the moving device to carry the main cylinder to the recycling station. The system controls the water supply component to supply water into the main cylinder according to a preset water volume after the cylinder cover is opened. Simultaneously or after water supply, the system controls the stirring device to stir the water in the main cylinder and the heating device to heat the water to improve the cleaning effect. After cleaning, the system can also control the drain valve on one side of the main cylinder to open and discharge the wastewater to the wastewater collection point on the side of the recycling station. If the command is charging, the system controls the motion device to move the main cylinder to the recycling station and controls the charging module to turn on. The charging module includes a power supply electrode and a first magnetic attraction component. The motion device includes a Mecanum wheel power system and a chassis. The main cylinder is mounted on the chassis, and the Mecanum wheel power system is located at the bottom of the chassis. A second magnetic attraction component and a charging electrode are located on one side of the chassis. After the motion device carries the main cylinder to the recycling station, the first magnetic attraction component and the second magnetic attraction component attract each other, causing the charging electrode and the power supply electrode to come into contact to achieve the purpose of charging.

[0014] The present invention achieves the following technical effects compared to the prior art: This invention achieves automated milk preparation and feeding through a control system, motion device, main cylinder, and recycling device, eliminating many tedious steps in manual operation, significantly improving lamb feeding efficiency and health, ensuring centralized and unified management of lambs during the lactation stage, and increasing lamb survival rate and breeding efficiency.

[0015] Furthermore, it is equipped with an automatic cleaning function for the main cylinder, which can further improve food safety and, consequently, the health of lambs during the suckling stage.

[0016] Furthermore, it is equipped with automatic stirring and automatic heating functions, which ensures that the temperature and mixing uniformity of the milk are consistent for each feeding, thereby further improving the health of lambs during the suckling stage.

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

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

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

[0020] Furthermore, this invention can be connected to a smart livestock farming Internet of Things system to form a complete automated sheep farming system, creating a comprehensive, modern, fully automated smart ranch.

[0021] In summary, this invention is conducive to promoting the dual growth of production efficiency and economic benefits in sheep farming, accelerating the large-scale and intelligent development of the sheep industry, promoting the construction of my country's livestock industry into a world-leading smart animal husbandry demonstration zone, and striving to create a model for the high-quality development of modern animal husbandry. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of an automatic breastfeeding system in some embodiments of the present invention; Figure 2 for Figure 1 The front view; Figure 3 for Figure 1 A schematic diagram of the robot's structure; Figure 4 for Figure 1 A schematic diagram of the structure of the recycling unit; Figure 5This is a schematic diagram of the structure of the milk tube, nipple, and telescopic device in some embodiments of the present invention; Figure 6 This is a schematic diagram of the stirring device in some embodiments of the present invention; In the diagram: 1-Main cylinder; 2-Recycling device; 3-Recycling station; 4-Motion 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 component; 13-Water supply component; 14-Charging module; 15-Stirring motor; 16-Stirring blade; 17-Drive shaft. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] The following is combined Figures 1 to 6 The following describes embodiments of the present invention.

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

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

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

[0030] This embodiment is equipped with an automatic stirring function, which ensures that the milk is mixed evenly in each feeding, thereby further improving the health of lambs during the suckling stage.

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

[0032] In some embodiments, the main cylinder 1 is provided with a heating device and a temperature sensor for detecting the temperature of the material inside the main cylinder 1. The heating device is used to heat the material inside the main cylinder 1. Both the temperature sensor and the heating device are 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 preset temperature set value or temperature range in the control system so that the temperature of the material inside the main cylinder 1 is always within the set value or range.

[0033] This embodiment is equipped with an automatic heating function, which ensures that the temperature of the milk is consistent with each feeding and keeps the milk at a constant temperature, thereby further improving the health of lambs during the suckling stage.

[0034] In some examples, the walls of the main cylinder 1 are made of insulating material or are wrapped with an insulating layer on the outside.

[0035] In some examples, in order to make it easier for users to know the material level inside the main cylinder 1, at least a portion of the wall of the main cylinder 1 is usually made of transparent material, such as a transparent acrylic sheet. The transparent acrylic sheet is long and extends from bottom to top. If necessary, graduations can also be set on the acrylic sheet so that users can accurately know the liquid level inside 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 body 1 through the milk outlet tube 8. The bottom of the main body 1 has a milk outlet. One end of the milk outlet tube 8 is connected to the inside of the main body 1 through the milk outlet, and the other end is connected to and communicates with the nipple 7. The nipple 7 is mounted on a lifting ring 9. The lifting ring 9 is slidably fitted on the outside of the main body 1 along the vertical direction. The lifting ring 9 is driven to move up and down by the lifting drive device 10.

[0038] This embodiment allows for the raising and lowering of the nipple 7 to accommodate lambs of different sizes. For example, when the lamb's mouth is 50cm above the ground, the height of the nipple 7 can be adjusted to 45-55cm above the ground to facilitate sucking. It should be noted that in farms, lambs of similar size or age are usually kept in the same enclosure. Therefore, the mouth height of lambs in each enclosure is roughly the same. Thus, in this embodiment, the height of the nipple 7 can be uniformly controlled.

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

[0040] In some embodiments, the present invention further includes a camera and a height sensor. The camera is mounted on the main cylinder 1, and the height sensor is mounted 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 lamb image information and transmit it to the control system. The control system determines the height of the lamb'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 to move up and down based on the height information of the lamb'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 lamb's mouth from the ground does not exceed a set threshold.

[0041] This embodiment achieves intelligent control of the nipple 7's height from the ground, automatically adjusting the nipple 7's height without manual intervention, thus improving the degree of automation.

[0042] In some embodiments, the lifting ring 9 is provided with a plurality of telescopic devices 11. The driving ends of the plurality of telescopic devices 11 can extend and retract along the horizontal direction and in the direction of approaching and moving away from the main cylinder 1. The number of telescopic devices 11 is the same as the number of nipples 7. One nipple 7 is provided at the driving end of one telescopic device 11. The control system controls the telescopic device 11 to drive the nipple 7 to move in the direction away from or towards the main cylinder 1.

[0043] This embodiment achieves the purpose of driving the nipple 7 away from and closer to the main cylinder 1. When the position of the main cylinder 1 needs to be moved or moved to the recycling station 3 for maintenance, the nipple 7 is driven closer to the main cylinder 1 to reduce the volume occupied and avoid collision with external objects. When feeding is carried out at the feeding area, the nipple 7 is controlled to move 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 passively retractable tube, and a silicone valve is provided inside the nipple 7 or at one end of the milk outlet tube 8 that is used to connect to the nipple 7. The silicone valve is normally closed, and automatically opens when the nipple 7 is sucked and the inside is under negative pressure.

[0045] In this embodiment, the milk outlet tube 8 is a passively retractable tube to facilitate the raising, lowering, and retracting of the nipple 7. The purpose of setting the silicone valve is to prevent milk from automatically flowing out of the nipple 7.

[0046] In some embodiments, the milk outlet tube 8, connected to the interior of the main cylinder 1, has a solenoid valve inside one end. A flow meter is installed inside the end of the milk outlet tube 8 near the nipple 7. Each telescopic device 11 is equipped with a camera. The camera on each telescopic device 11 captures real-time image information of the area in front of the nipple 7 and transmits it to the control system. The control system determines whether the lamb intends to suckle the nipple 7 based on the image information. If so, it controls the telescopic device 11 to extend the nipple 7 and opens the solenoid valve. The flow meter measures the flow rate of the lamb's single sucking and closes the solenoid valve when the pre-set single feeding amount is reached, thus achieving automated quantitative milk dispensing.

[0047] This embodiment achieves the purpose of quantitative feeding, which in turn facilitates scientific feeding.

[0048] In some embodiments, the recycling device 2 includes a milk powder supply component 12, a water supply component 13, a charging module 14, and an infrared detector. The top of the main cylinder 1 is provided with a cylinder cover that is controlled to open and close by the control system. The infrared detector, the water supply component 13, and the milk powder supply component 12 are all communicatively connected to 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 recycling station 3 of the recycling 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 human intervention.

[0050] In some embodiments, the control system includes a human-machine interface module for user input of commands. The control system controls the operation of the recycling device 2, the motion device 4, and the main cylinder 1 based on the command information. If the command is to prepare milk, the control system controls the motion device 4 to carry the main cylinder 1 to the recycling station 3, and controls the cylinder lid to open and then 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. If the command is to clean the main cylinder 1, the control system controls the motion device 4 to carry the main cylinder 1 to the recycling station. The system controls the water supply component 13 to supply water into the main cylinder 1 according to the preset water volume after the cylinder cover is opened. At the same time or after water supply, the 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 system can also control the drain valve on one side of the main cylinder 1 to open and discharge the sewage to the sewage collection point on one side of the recycling station 3. If the instruction is charging, the system controls the motion device 4 to carry the main cylinder 1 to the recycling station 3 and controls the charging module 14 to turn on. The charging module 14 includes a power supply electrode and a first magnetic attraction component. 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 located at the bottom of the chassis. A second magnetic attraction component and a charging electrode are located on one side of the chassis. After the motion device 4 carries the main cylinder 1 to the recycling station 3, the first magnetic attraction component and the second magnetic attraction component attract each other, causing the charging electrode and the power supply electrode to come into contact to achieve the purpose of charging.

[0051] In this embodiment, the human-computer interaction module can be an app on a mobile phone or computer, enabling users to issue tasks and control the system to work on their mobile phones or computers.

[0052] Specifically, the control system includes a host computer, a slave computer, and a human-machine interface module. The slave computer is an STM32VET6 control board, which is used to execute tasks and read data for the execution components in the control system. The host computer uses a Jetson Nano, which is used to transmit instructions to the execution components to complete various requirements. The motion path is planned through the MPC algorithm, and the height of the nipple 7 is adjusted in real time by combining YOLOv8s deep learning. The system relies on a remote interactive interface to receive user instructions (such as milk preparation parameters and cleaning instructions) and monitor status (battery power, temperature, etc.), and links with the slave computer through the MQTT protocol. At the same time, it coordinates the heating and stirring of the main cylinder 1, quantitative milk dispensing, and the automatic milk preparation, charging, and cleaning process of the recycling bin.

[0053] The human-computer interaction module is used to establish a connection with the host computer via the MQTT protocol, thereby transmitting real-time information to the host computer's user interface via the WiFi module. This allows users to monitor the status of robot 5 anytime, anywhere via mobile phone or computer, and also to transmit instructions to robot 5 through the host computer to fulfill various needs.

[0054] In some examples, the lid can be opened and closed by a motorized opening mechanism, either by sliding or by flipping.

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

[0056] In summary, this invention is conducive to promoting the dual growth of production efficiency and economic benefits in sheep farming, accelerating the large-scale and intelligent development of the sheep industry, promoting the construction of my country's livestock industry into a world-leading smart animal husbandry demonstration zone, and striving to create a model for the high-quality development of modern animal husbandry.

[0057] In some embodiments, the water supply component 13 includes a water pump and a water flow meter. The water pump inlet is connected to an external water source, and the water flow meter is installed on the water supply pipeline. 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 stops pumping when the water supply reaches the set value.

[0058] The milk powder supply assembly 12 includes a powder storage cylinder, a powder dispensing pipe, and a timing flow valve. The powder dispensing pipe is vertically arranged, with its top end connected to the bottom opening of the powder storage cylinder. The bottom opening serves as the milk powder outlet, allowing the milk powder to fall into the cylinder. A timing flow valve is installed on the powder dispensing pipe to control the opening and closing of the milk powder outlet. The control system sets the milk concentration and calculates the required milk powder amount. The milk powder falls at a consistent speed, maintaining a constant dispensing cross-section. By controlling the dispensing time, the specified dispensing amount can be obtained. During milk preparation, the host computer sends a command to open the timing flow valve, allowing milk powder to flow out. The timing flow valve automatically closes once the specified dispensing time is reached. In some examples, a common solenoid valve can also be used to control the opening and closing of the milk powder outlet, with the opening time controlled by the control system.

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

[0060] Secondly, this invention enables remote control of the robot through a remote human-computer interaction system, MPC algorithm, and deep learning system. Combined with functions such as automatic emulsion proportioning, quantitative output, constant temperature control, automatic stirring, and automatic cleaning, it achieves precise unmanned control, allowing for operation anytime, anywhere via a mobile phone, reducing time costs. Especially for new-type sheep farms undergoing large-scale, refined, and intelligent transformation and upgrading, this invention can be connected to a smart livestock farming IoT system to form a complete automated sheep farming system, creating a comprehensive, modern, fully automated smart ranch.

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

[0062] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. An automatic breastfeeding system, characterized in that: include: The system includes a robot, a recycling device, and a control system. The robot comprises a main cylinder and a motion device. The main cylinder has a material inlet, and a nipple communicating with the internal space of the main cylinder is disposed on the outside of the main cylinder. The recycling device has a recycling station, which 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 automatically move the main cylinder to the recycling station or the feeding area. The control system is communicatively connected to the motion device and the recycling device. The control system controls the motion device to automatically move the main cylinder to the recycling station or the feeding area, and controls the recycling device to add milk or milk raw materials into the main cylinder. The nipple is connected to the internal space of the main cylinder via a milk outlet tube. The bottom of the main cylinder has multiple milk outlets. One end of the milk outlet tube connects to the interior of the main cylinder through the milk outlet, and the other end connects to the nipple. The nipple is mounted on a lifting ring, which is vertically slidably fitted onto the main cylinder. The lifting ring is driven up and down by a lifting drive device. The robot also includes a camera and a height sensor. The camera is mounted on the main cylinder, and the height sensor is mounted on the lifting ring. The height sensor and the nipple are on the same horizontal plane. The height sensor detects the nipple's height above the ground. The camera captures lamb image information and transmits it to the control system. The control system determines the lamb's mouth height above the ground based on the lamb image information. Based on the lamb's mouth height and the nipple's height above the ground, the control system controls the lifting drive device to move the lifting ring up and down so that the height difference between the nipple's height above the ground and the lamb's mouth height above the ground does not exceed a set threshold. The lifting ring is equipped with multiple telescopic devices. The drive end of each telescopic device can extend and retract horizontally and towards and away from the main cylinder. The number of telescopic devices is the same as the number of nipples. One nipple is installed at the drive end of one telescopic device. The control system controls the telescopic device to drive the nipple to move towards or away from the main cylinder. The milk outlet pipe is connected to the inside of the main cylinder and has a solenoid valve inside. The end of the milk outlet pipe near the nipple has a flow meter inside. Both the solenoid valve and the flow meter are communicatively connected to the control system. Each telescopic device is equipped with a second camera. The second camera on each telescopic device is used to capture image information of the front of the nipple in real time and transmit it to the control system. The control system determines whether the lamb has the intention to suckle the nipple based on the image information of the front of the nipple. If it determines that the lamb has the intention to suckle the nipple, it controls the telescopic device to extend the nipple and controls the solenoid valve to open. The flow meter is used to measure the flow rate of the lamb suckling once and controls the solenoid valve to close when the amount of milk fed once is reached, thus achieving a single quantitative milk dispensing.

2. The automatic breastfeeding system according to claim 1, characterized in that: The main cylinder is equipped 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 evenly dissolved in the water to form milk.

3. The automatic breastfeeding system according to claim 2, characterized in that: The main cylinder is equipped with a heating device and a temperature sensor for detecting the temperature of the material inside the main cylinder. The heating device is used to heat the material inside the main cylinder. Both the temperature sensor and the heating device are 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 based on the temperature monitored by the temperature sensor and the preset temperature setpoint or temperature range in the control system so that the temperature of the material inside the main cylinder is always within the set value or range.

4. The automatic breastfeeding system according to claim 1, characterized in that: The milk outlet tube is a passively retractable tube. A silicone valve is provided inside the nipple or at one end of the milk outlet tube that is connected to the nipple. The silicone valve is normally closed, but automatically opens when the nipple is sucked and the inside is under negative pressure.

5. The automatic breastfeeding system according to claim 3, characterized in that: The recycling device includes a milk powder supply component, a water supply component, a charging module, and an infrared detector. The top of the main cylinder is equipped with a cylinder cover that is controlled to open and close by a control system. The infrared detector, water supply component, and milk powder supply component are all communicatively connected to the control system. 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 recycling station of the recycling device based on the position information of the main cylinder. If so, it controls the cylinder cover to open and controls the milk powder supply component and the water supply component to supply milk powder and water into the main cylinder according to a preset milk powder-water ratio.

6. The automatic breastfeeding system according to claim 5, characterized in that: The control system includes a human-machine interface module for user input. This module allows the control system to control the recycling device, the moving device, and the main cylinder based on the input commands. For example, if the command is to prepare milk, the control system controls the moving device to carry the main cylinder to the recycling station and, after the cylinder lid opens, controls the milk powder supply component and the water supply component to supply milk powder and water into the main cylinder according to a preset milk powder-to-water ratio. If the command is to clean the main cylinder, the control system controls the moving device to carry the main cylinder to the recycling station. After the cylinder cover is opened, the water supply component is controlled to supply water into the main cylinder according to a preset water volume. Simultaneously or after water supply, 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 drain valve on one side of the main cylinder to open and discharge the wastewater to the wastewater collection point on the side of the recycling station. If the command is for charging, the motion device is controlled to carry the main cylinder to the recycling station, and the charging module is activated. The charging module includes a power supply electrode and a first magnetic attraction component. The motion device includes a Mecanum wheel power system and a chassis. The main cylinder is mounted on the chassis, and the Mecanum wheel power system is located at the bottom of the chassis. A second magnetic attraction component and a charging electrode are located on one side of the chassis. After the motion device carries the main cylinder to the recycling station, the first magnetic attraction component and the second magnetic attraction component attract each other, causing the charging electrode and the power supply electrode to come into contact to achieve the purpose of charging.

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