Device for picking up chickens in bad state

Abstract

The invention discloses a bad-state chicken picking device, and relates to the technical field of poultry farming, the bad-state chicken picking device comprises a mobile platform, and a lifting mechanism is arranged on the mobile platform; one end of the mechanical arm is connected to the lifting mechanism, and the mechanical arm can achieve three-dimensional movement in the space; the identifying mechanism and the picking mechanism are both connected to the other end of the mechanical arm, and the identifying and picking mechanism can identify sick chickens, weak chickens and dead chickens in the chicken house; the moving platform, the lifting mechanism, the mechanical arm, the picking mechanism and the recognition mechanism are all in communication connection with the control unit. The recognition mechanism is used for shooting the images of the chickens in the chicken coop, the control unit recognizes the health conditions of the chickens, and sick chickens, weak chickens or dead chickens are recognized as target objects; the picking-up mechanism is used for picking up chickens in the coop in a piercing mode, the automation rate is high, interference to the chickens is small, the labor intensity of workers can be reduced, flexibility is high, and the picking-out efficiency of dead chickens is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of poultry farming, and in particular to a device for picking up sick chickens. BACKGROUND

[0002] With the development of modern farming, new requirements are put forward for the management of cage chickens. In the process of breeding, it is inevitable that chickens will die. In order to ensure the hygiene of the farm and the health of the chickens, it is crucial to pick up and dispose of sick, weak and dead chickens in a timely manner. This not only prevents the spread of disease, but also improves overall breeding efficiency. However, in such a densely populated breeding environment, picking up sick, weak and dead chickens from the cage poses many challenges.

[0003] Currently, the picking up of dead cage chickens is mostly done manually. However, manually picking up sick, weak and dead chickens requires working in a small space, which often requires bending over and kneeling, resulting in high physical demands and potential occupational hazards. Moreover, manual picking up is inefficient, which may result in sick, weak and dead chickens not being disposed of in a timely manner, thereby affecting the overall hygiene and production environment. Therefore, there is an urgent need for a device that can timely dispose of sick, weak and dead chickens. SUMMARY

[0004] The purpose of the present application is to provide a device for picking up sick chickens, which solves the problems existing in the prior art and enables sick, weak and dead chickens to be picked up and disposed of in a timely manner, thereby avoiding the impact on the hygiene and production environment of the chicken coop, effectively preventing the spread of disease and improving overall breeding efficiency.

[0005] To achieve the above-mentioned purpose, the present application provides the following solutions: The present application provides a device for picking up sick chickens, comprising: a mobile platform capable of moving in the chicken coop according to a set route; a lifting mechanism arranged on the mobile platform, capable of adjusting the height; a mechanical arm connected to one end of the lifting mechanism, capable of moving in three dimensions in space; a recognition mechanism connected to the other end of the mechanical arm, capable of recognizing sick, weak and dead chickens in the chicken coop; a picking mechanism connected to the other end of the mechanical arm, capable of picking up sick, weak and dead chickens in the chicken coop; and a control unit, wherein the mobile platform, the lifting mechanism, the mechanical arm, the picking mechanism and the recognition mechanism are all communicatively connected to the control unit.

[0006] Preferably, the mobile platform is a tracked chassis, and a base of the lifting mechanism is bolted to a middle base plate of the tracked chassis.

[0007] Preferably, the mobile platform is provided with a positioning tracking sensor, and the positioning tracking sensor is in communication connection with the control unit.

[0008] Preferably, the lifting mechanism comprises a support frame and a lifting module, the support frame is vertically arranged on the mobile platform, the lifting module is connected to the support frame, the mechanical arm is connected to the lifting module, and the lifting module is in communication connection with the control unit.

[0009] Preferably, the lifting module is a hydraulic cylinder, a pneumatic cylinder or an electric push rod, the mechanical arm is connected to a top rod of the lifting module, and a connecting seat of the mechanical arm is slidingly arranged in a guide rod or a guide groove of the support frame; or, the lifting module is a synchronous belt transmission mechanism or a ball screw mechanism, a belt pulley of the synchronous belt transmission mechanism is connected to an electric motor, a screw rod of the ball screw mechanism is connected to an electric motor, and the electric motor is in communication connection with the control unit.

[0010] Preferably, the support frame is provided with a plurality of limit switches, positions and numbers of the limit switches are matched with positions and layers of the chicken cages of the henhouse, the limit switches are off switches, and the limit switches are in communication connection with the control unit.

[0011] Preferably, the mechanical arm comprises a five-degree-of-freedom mechanical arm or a six-degree-of-freedom mechanical arm, and the identification mechanism comprises a multi-spectrum camera, a three-primary-color camera or a black-and-white camera sensitive to infrared rays.

[0012] Preferably, the picking mechanism comprises a mounting seat, a telescopic assembly, a piercing cone shell and a barb assembly, the mounting seat is provided with at least one telescopic assembly, the telescopic assembly is connected with the piercing cone shell, the barb assembly is movably arranged in the piercing cone shell, and the barb assembly can extend out of or retract into the piercing cone shell.

[0013] Preferably, the telescopic assembly comprises a motor, a gear box and telescopic rods, the input end of the gear box is connected with the motor, the output end is connected with three transmission screws, the three transmission screws are uniformly distributed along the circumference of the gear box, and the transmission screws are respectively connected with the telescopic rods through threads; the transmission box comprises a box shell, a bottom cover, a driving gear, a driven gear and a transmission screw, the driving gear is connected with the rotating shaft of the motor, the driving gear is uniformly provided with three driven gears in the circumferential direction, the driving gear is engaged with the driven gears, the lower end of each driven gear is connected with a transmission screw, and the driving gear and the driven gears are arranged in the box shell; the box shell is detachably connected with the bottom cover, the transmission screw penetrates through the bottom cover, three guide blocks are arranged below the bottom cover, each telescopic rod is provided with a sliding groove, and the sliding groove is slidably matched with the guide blocks; the lower end of the telescopic rod is connected with a rotating assembly, the rotating assembly comprises a motor, a shaft coupling and a transmission shaft, the motor is connected with the transmission shaft through the shaft coupling, and the transmission shaft is fixedly connected with the piercing cone shell.

[0014] Preferably, the end of the piercing cone shell is conical and hollow, the barb assembly comprises a motor, a lead screw, a sliding block and an arrow, the motor is fixed to the upper end of the piercing cone shell, the motor is connected with the lead screw, the lead screw is connected with the sliding block, at least two arrows are hingedly connected to the sliding block through connecting rods, the connecting rods are hingedly connected to the middle parts of the arrows, and the upper ends of the arrows are sharp blades and the lower ends abut against the end of the piercing cone shell.

[0015] The present application has the following technical effects relative to the prior art: The present application uses the recognition mechanism to shoot the image of the chickens in the cage, the control unit identifies the health condition of the chickens, and identifies the sick, weak or dead chickens as the target object; the picking mechanism picks up the sick, weak or dead chickens in the cage in a piercing manner, has a high automation rate, has little disturbance to the chickens, can reduce the labor intensity of workers, has high flexibility, and greatly improves the picking efficiency of the dead chickens. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Figure 1 It is a structural schematic view of the bad state chicken picking device in the embodiments of the present application. Figure 2Figure 1 is a schematic diagram of the appearance of the pickup mechanism in an embodiment of the present application; Figure 3 Figure 2 is a schematic diagram of the exploded structure of the pickup mechanism in an embodiment of the present application Figure 1 ; Figure 4 Figure 3 is a schematic diagram of the exploded structure of the pickup mechanism in an embodiment of the present application Figure 2 ; Figure 5 Figure 4 is a schematic diagram of the cross-sectional structure of the telescopic assembly, the piercing cone shell and the barb assembly in an embodiment of the present application; Figure 6 Figure 5 is a schematic diagram of the structure of the piercing cone shell in an embodiment of the present application; Figure 7 Figure 6 is a schematic diagram of the structure of the barb assembly in an embodiment of the present application; Figure 1 is a schematic diagram of the appearance of the pickup mechanism in an embodiment of the present application; DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0019] It should be noted that in the description of this invention, terms such as "upper," "lower," "left," "right," "inner," "outer," "front," "rear," "clockwise," and "counterclockwise," indicating directional or positional relationships, are based on the directional or positional relationships shown in the accompanying drawings. These are merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," "third," and "fourth" may explicitly or implicitly include one or more of the stated features. In the description of the invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0020] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "set," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0021] The purpose of this invention is to provide a device for picking up chickens in poor condition, so as to solve the problems existing in the prior art, so that sick, weak and dead chickens can be picked up and disposed of in a timely manner, avoiding affecting the hygiene and production environment of the chicken house, effectively preventing the spread of diseases and improving the overall breeding efficiency.

[0022] 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.

[0023] Example 1 like Figures 1 to 7 As shown, this embodiment provides a device for picking up chickens in poor condition, including: Mobile platform 100, which can move within the chicken coop according to a set route; The lifting mechanism 200 is mounted on the mobile platform 100 and is capable of lifting and adjusting. The robotic arm 300 has one end connected to the lifting mechanism 200 and is capable of three-dimensional movement in space. The identification mechanism 600 is connected to the other end of the robotic arm 300. The identification mechanism 600 can identify sick chickens, weak chickens and dead chickens in the chicken house. The picking mechanism 400 is connected to the other end of the mechanical arm 300, and the picking mechanism 400 can pick up sick chickens, weak chickens and dead chickens in the chicken coop; The control unit, the moving platform 100, the lifting mechanism 200, the mechanical arm 300, the picking mechanism 400 and the identification mechanism 600 are all in communication connection with the control unit. In this embodiment, the identification mechanism 600 is used to shoot the image of the chickens in the cage, and the control unit is used to identify the health status of the chickens and identify sick chickens, weak chickens or dead chickens as target objects; the picking mechanism 400 is used to pick up sick chickens, weak chickens or dead chickens in the cage by piercing, which has high automation rate, small disturbance to the chickens, low labor intensity of workers, high flexibility and greatly improved efficiency of picking up dead chickens.

[0024] As an optional solution, the moving platform 100 in this embodiment is a tracked chassis, and the base of the lifting mechanism 200 is connected to the middle base plate of the tracked chassis by bolts. In this embodiment, the moving platform 100 is preferably a tracked chassis, which runs stably, can realize in-place turning, occupies less space, can adapt to narrow passages and can adapt to various uneven road surfaces, especially grid format road surfaces. The passages of the chicken coop are mostly grid format road surfaces, and the noise during driving is small, which avoids scaring the chickens due to excessive noise.

[0025] As an optional solution, the moving platform 100 in this embodiment is provided with a positioning tracking sensor 500, and the positioning tracking sensor 500 is in communication connection with the control unit. In this embodiment, the positioning tracking sensor 500 can detect position information to guide the moving platform 100 to move according to the path set by the control unit. The positioning tracking sensor 500 can use laser radar for positioning. The control unit can be remotely controlled by a computer, and a magnetic stripe can be pasted on the ground corresponding to each cage in the passage of the chicken coop. The positioning tracking sensor 500 obtains the magnetic stripe information, and the control unit navigates the moving platform 100 according to the magnetic stripe information to guide the moving platform 100 to move or stop.

[0026] As an optional solution, the lifting mechanism 200 in this embodiment includes a support frame 210 and a lifting module 220. The support frame 210 is vertically arranged on the moving platform 100, and the lifting module 220 is connected to the support frame 210. The mechanical arm 300 is connected to the lifting module 220, and the lifting module 220 is in communication connection with the control unit, which is convenient for realizing automatic control.

[0027] As an alternative, the lifting module 220 in the embodiment is a hydraulic cylinder, a pneumatic cylinder or an electric push rod, the mechanical arm 300 is connected to the top rod of the lifting module 220, and the connecting seat of the mechanical arm 300 is slidingly arranged in the guide rod or the guide groove of the support frame 210; or the lifting module 220 is a synchronous belt transmission mechanism or a ball screw mechanism, the pulley of the synchronous belt transmission mechanism is connected with a motor, the lead screw 496 of the ball screw mechanism is connected with a motor, the motor is in communication connection with the control unit, and the motor of the lifting module 220 is the lifting motor 240. In the embodiment, the lifting module 220 can be a synchronous belt linear sliding table module, the support frame 220 is a square tube, the bottom of the square tube is inserted into a square mouth base, the synchronous belt linear sliding table module is installed on one side of the square tube and can be connected by an aluminum connecting sheet. In terms of selection, the model and length can be selected according to the required load and working environment.

[0028] As an alternative, the support frame 220 in the embodiment is provided with a plurality of limit switches 230, the positions and the number of the limit switches are matched with the positions and the number of layers of the chicken cages of the henhouse to realize the positioning of the chicken cages; the limit switch is preferably a power-off switch, and the limit switch is in communication connection with the control unit. In the embodiment, the limit switch 230 can also be a photoelectric sensor, and four limit switches 230 are arranged, which are respectively installed at four points of the lifting module 220 and correspond to the door opening positions of the four layers of chicken cages.

[0029] As an alternative, the mechanical arm 300 in the embodiment includes a five-degree-of-freedom mechanical arm or a six-degree-of-freedom mechanical arm. In the embodiment, the mechanical arm 300 can adopt a dexterous multi-degree-of-freedom mechanical arm, preferably a five-degree-of-freedom mechanical arm or a six-degree-of-freedom mechanical arm 300, so that it can realize three-dimensional movement in the chicken cage, thereby using the picking mechanism 400 to take the dead chickens out of the chicken cage.

[0030] As an alternative, the recognition mechanism 600 in the embodiment includes a multispectral camera, a three-primary-color (RGB) camera or a black-and-white camera sensitive to infrared rays. In the embodiment, the recognition mechanism 600 shoots the image of the chickens in the chicken cage, so that the control unit can identify the health status of the chickens and identify the sick chickens, weak chickens or dead chickens as target objects. Since the body temperature of the sick chickens, weak chickens and dead chickens is different from that of the live chickens, the control unit can identify the sick chickens, weak chickens and dead chickens by analyzing the color or spectrum of the image, the controller identifies the target object according to the image information shot by the recognition mechanism 600, and controls the picking mechanism 400 to move to the target object to grasp it.

[0031] As an alternative, the picking mechanism 400 in the embodiment comprises a mounting base, a telescopic assembly, a piercing cone shell 490 and a barb assembly, the mounting base is provided with at least one telescopic assembly, the mounting base is connected to the end of the mechanical arm 300, the telescopic assembly is connected with the piercing cone shell 490, the barb assembly is movably arranged in the piercing cone shell, and the barb assembly can extend out of or retract into the piercing cone shell 490. The piercing cone shell 490 comprises a cylindrical segment and a conical segment which are connected in a smooth transition, and a plurality of outer blades 491 are arranged on the outer surface of the conical segment along the conical surface, for reducing the resistance in the process of piercing the dead chicken.

[0032] As an alternative, the telescopic assembly in the embodiment comprises a motor, a gear box 430 and telescopic rods 481, the input end of the gear box is connected with the motor, the output end is connected with three transmission screws 460, the motor is externally provided with a motor cover, the motor of the telescopic assembly is a telescopic motor 410, the three transmission screws 460 are uniformly distributed along the circumference of the gear box, and each transmission screw 460 is threadedly connected with a telescopic rod 481. In the embodiment, the telescopic rod 481 is a threaded sleeve with internal threads, which is driven to rotate by the power transmission of the gear box, and the transmission screw 460 is a stepped shaft which penetrates through the bottom cover 470 and limits the large end of the stepped shaft. Since the position of the transmission screw 460 is unchanged, the telescopic rod 481 is telescoped in the axial direction, thereby driving the piercing cone shell 490 to pierce into or separate from the dead chicken.

[0033] As an alternative, the transmission box in the embodiment comprises a box shell 430, a bottom cover 470, a driving gear 440, a driven gear 450 and a transmission screw 460, the driving gear 440 is connected with the rotating shaft 420 of the motor, the driving gear 440 is uniformly provided with three driven gears 450 in the circumferential direction, the driving gear 440 is engaged with the driven gears 450, and the lower end of each driven gear 450 is connected with a transmission screw 460. The driving gear 440 and the driven gear 450 are arranged in the box shell 430, the box shell 430 is detachably connected with the bottom cover 470, the transmission screw 460 penetrates through the bottom cover 470, three guide blocks 486 are arranged below the bottom cover 470, one sliding groove 485 is arranged on each telescopic rod 481, the sliding groove 485 is slidably matched with the guide block 486, and when the transmission screw 460 rotates relative to the telescopic rod 481, the telescopic rod 481 moves up and down along the guide block 486 to avoid rotation during the telescopic piercing process.

[0034] As an alternative, the lower end of the telescopic rod 481 is connected to a rotating assembly 480, which includes a motor, a shaft coupling 483 and a transmission shaft 484. The motor is connected to the transmission shaft 484 through the shaft coupling 483, and the transmission shaft 484 is fixedly connected to the piercing cone shell 490, so that the rotating assembly 480 drives the piercing cone shell 490 to move. The motor of the telescopic rod 481 is a rotation motor 482, which is fixedly arranged inside the piercing cone shell 490, and the transmission shaft 484 is suspended in the piercing cone shell 490. In this embodiment, the rotating assembly 480 can drive the piercing cone shell 490 to rotate, so as to improve the efficiency of the piercing cone shell 490 piercing and separating from the dead chicken.

[0035] As an alternative, the end of the piercing cone shell 490 is conical and hollow inside. The barb assembly includes a motor, a lead screw 496, a sliding block and an arrow 495. The motor is fixed to the upper end of the piercing cone shell 490, the motor is connected to the lead screw 496, the sliding block 497 is connected to the lead screw 496, and at least two arrows are hingedly connected to the sliding block 497 through a connecting rod 494. The connecting rod 494 is hingedly connected to the middle part of the arrow, and the upper end of the arrow is a sharp blade and the lower end abuts against the end of the piercing cone shell 490. The motor of the barb assembly in this embodiment is a push rod motor 493. The arrows are arranged in a V shape, which is equivalent to a barb form. The rotation of the push rod motor 493 drives the sliding block 497 to move downward, and then pushes the arrow out of the piercing cone shell 490, so as to fix the piercing cone shell 490 in the dead chicken body. When it is necessary to fix the dead chicken, the telescopic rod 481 is extended, and the rotation of the piercing cone shell 490 is controlled to pierce into the dead chicken body. The telescopic motor 410 should be accelerated at a high speed to ensure the high-speed movement of the piercing cone shell 490, so as to improve the piercing efficiency. After the piercing cone shell 490 pierces, the arrow 495 is controlled to extend out of the shell body 492, so as to fix the dead chicken. When it is necessary to release the dead chicken, the arrow 495 is controlled to retract, and then the rotation motor 482 drives the piercing cone shell 490 to rotate, so as to improve the efficiency of releasing the dead chicken through the gravity of the dead chicken and the rotation.

[0036] When piercing the dead chicken, the rotation is not required, and the rotation of the cone shell body is required to improve the release efficiency. The telescopic rod 481 does not rotate due to the guide block 486 below the box bottom cover 470. The push rod motor 493 is connected to the lead screw. The push rod 494 is a common connecting rod 494 without telescopic function. Due to the limiting of the lower part of the arrow 495 and the action of the motor, the sliding block 497 on the lead screw 496 moves up and down to drive the connecting rod 494 to move and control the opening and closing of the arrow 495.

[0037] Embodiment two In this embodiment, the use principle and process of the bad state chicken picking device are provided, which are as follows: Firstly, the positioning magnetic strip is pasted on the ground corresponding to each cage in the passageway of the henhouse, the positioning tracking sensor 500 obtains the information on the positioning magnetic strip, the control unit navigates and moves the mobile platform 100 according to the information of the positioning magnetic strip, guides the mobile platform 100 to move or stop, and then the lifting mechanism 200 precisely transports the mechanical arm 300 to the target cage position. The henhouse breeding mode is mainly the stacked cage breeding, and the stacked cage henhouse is usually composed of multiple layers of cage frames arranged in the height direction. In this embodiment, four layers are taken as an example, each layer of cage frame is composed of multiple cages arranged in the length direction, and each cage is provided with a corresponding cage door. The cage door is usually formed by splicing two horizontal rods and two vertical rods, the two vertical rods are hooked with the horizontal rods of the cage frame, and the cage door can be slid in the horizontal direction to realize the opening or closing of each cage door. A certain number of chickens, for example, 5-10, are bred in each cage. The mechanical arm 300 can enter through the cage door, the cage door can be opened by other actuators, or an automatic opening mechanism is loaded on each cage, or it is opened by manual operation. At this time, the recognition mechanism 600 shoots the image of the chicken in the cage, and the control unit identifies the health status of the chicken by image recognition technology, and identifies the sick chicken, weak chicken or dead chicken as the target object. When it is necessary to fix the dead chicken, the control unit controls the motor 410 to drive the three driven gears 450 to rotate, the driven gears 450 are sleeved on the transmission screw 460, so as to drive the transmission screw 460 to rotate. In addition, three guide blocks 486 are arranged below the box bottom cover 470 and fixed on the box bottom cover 470, three telescopic rods 481 are respectively provided with a sliding groove 485, the guide blocks 486 slide in the sliding grooves 485, so as to play a positioning role. The rotation of the transmission screw 460 and the threads at the lower end of the transmission screw 460 under the guidance of the sliding grooves push the telescopic rods 481 out, the telescopic rods 481 push the penetration cone shell 490 to extend to penetrate into the body of the dead chicken. After the penetration cone shell 490 penetrates, the control arrow 495 extends out of the shell body 492 of the penetration cone shell, so as to fix the dead chicken. When it is necessary to release the dead chicken, the control arrow 495 is retracted, and then the motor 482 drives the penetration cone shell 490 to rotate, so as to improve the efficiency of releasing the dead chicken by the gravity of the dead chicken and the rotation.

[0038] In the description of this specification, the description of the terms "one embodiment", "certain embodiments", "illustrative embodiments", "this embodiment", "specific examples" or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0039] The principles and implementation manners of the present application are described by using specific examples in the present application, and the above examples are only used for helping to understand the method of the present application and its core idea; meanwhile, for the general technical personnel in the art, according to the idea of the present application, the specific implementation manners and application ranges will be changed. In conclusion, the content of the present specification should not be understood as the limitation of the present application.

Claims

1. A device for picking up chickens in poor condition, characterized in that, include: A mobile platform capable of moving within the chicken coop according to a pre-defined route; A lifting mechanism is provided on the mobile platform, and the lifting mechanism is capable of lifting and adjusting. A robotic arm, one end of which is connected to the lifting mechanism, is capable of three-dimensional movement in space; An identification mechanism is connected to the other end of the robotic arm, and the identification mechanism is capable of identifying sick chickens, weak chickens, and dead chickens in the chicken coop; A picking mechanism is connected to the other end of the robotic arm, and the picking mechanism is capable of picking up sick, weak, and dead chickens in the chicken coop; The mobile platform, the lifting mechanism, the robotic arm, the picking mechanism, and the identification mechanism are all communicatively connected to the control unit.

2. The defective chicken picking device according to claim 1, characterized in that: The mobile platform is a tracked chassis, and the base of the lifting mechanism is bolted to the central base plate of the tracked chassis.

3. The defective chicken picking device according to claim 1, characterized in that: The mobile platform is equipped with a positioning and tracking sensor, which is communicatively connected to the control unit.

4. The defective chicken picking device according to claim 1, characterized in that: The lifting mechanism includes a support frame and a lifting module. The support frame is vertically mounted on the mobile platform. The lifting module is connected to the support frame and the robotic arm is connected to the lifting module. The lifting module is communicatively connected to the control unit.

5. The defective chicken picking device according to claim 4, characterized in that: The lifting module is a hydraulic cylinder, a pneumatic cylinder, or an electric push rod. The robotic arm is connected to the top rod of the lifting module, and the connecting seat of the robotic arm is slidably disposed in the guide rod or guide groove of the support frame; or, the lifting module is a synchronous belt drive mechanism or a ball screw mechanism, the pulley of the synchronous belt drive mechanism is connected to a motor, the screw of the ball screw mechanism is connected to a motor, and the motor is communicatively connected to the control unit.

6. The defective chicken picking device according to claim 4, characterized in that: The support frame is equipped with several limit switches, the position and number of which match the position and number of layers of the chicken cages in the chicken house; the limit switches are power-off switches and are communicatively connected to the control unit.

7. The defective chicken picking device according to claim 1, characterized in that: The robotic arm includes a five-degree-of-freedom or a six-degree-of-freedom robotic arm; the identification mechanism includes a multispectral camera, a three-primary-color camera, or a black-and-white camera sensitive to infrared light.

8. The defective chicken picking device according to claim 1, characterized in that: The picking mechanism includes a mounting base, a telescopic component, an insertion cone, and a barb assembly. At least one of the telescopic components is provided on the mounting base. The insertion cone is connected to the telescopic component. The barb assembly is movably disposed inside the insertion cone and can extend or retract from the insertion cone.

9. The defective chicken picking device according to claim 8, characterized in that: The telescopic assembly includes a motor, a gearbox, and telescopic rods. The input end of the gearbox is connected to the motor, and the output end is connected to three transmission screws. The three transmission screws are evenly distributed along the circumference of the gearbox, and each transmission screw is threadedly connected to a telescopic rod. The transmission box includes a housing, a bottom cover, a driving gear, a driven gear, and transmission screws. The driving gear is connected to the shaft of the motor. Three driven gears are evenly distributed along the circumference of the driving gear, and the driving gear meshes with the driven gears. The lower end of each driven gear has... A transmission screw is connected to the housing. Both the driving gear and the driven gear are located inside the housing. The housing is detachably connected to the bottom cover. The transmission screw passes through the bottom cover. Three guide blocks are placed below the bottom cover. Each of the three telescopic rods has a sliding groove that slides with the guide blocks. A rotating assembly is connected to the lower end of each telescopic rod. The rotating assembly includes a motor, a coupling, and a drive shaft. The motor is connected to the drive shaft via the coupling. The drive shaft is fixedly connected to the inserting cone shell.

10. The defective chicken picking device according to claim 8, characterized in that: The end of the piercing cone is conical and hollow inside. The barb assembly includes a motor, a lead screw, a sliding nut, and arrows. The motor is fixed to the upper end of the piercing cone and is connected to the lead screw. The sliding nut is connected to the lead screw. At least two arrows are hinged to the sliding nut via a connecting rod. The connecting rod is hinged to the middle of the arrows. The upper end of the arrow is a sharp blade, and the lower end abuts against the end of the piercing cone.

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