Multi-angle farm intelligent inspection device

Abstract

This invention relates to a multi-angle intelligent inspection device for livestock farms. It includes an inspection unit and support arms that support the inspection unit. The support arms have two hinged members, with the inspection unit located at the hinge point. The device also includes a track supporting the support arms. The two free ends of the two support arms slide along the track. Synchronous movement and angle changes of the support arms are achieved through synchronous and asynchronous sliding of the free ends on the track, thereby changing the position of the inspection unit at the hinge point within the livestock farm, achieving comprehensive inspection coverage. It supports the inspection actuator through two hinged arms, and the angle adjustment of the support rods enables full-coverage inspection of the livestock sheds.

Description

Technical Field

[0001] This invention relates to the field of monitoring equipment technology for farms, specifically a multi-angle intelligent inspection device for farms. Background Technology

[0002] The modernization of livestock farms is mainly reflected in their level of automation and intelligence. In traditional large-scale farms, the control of the conditions inside the sheds relies primarily on manual labor, with staff conducting regular inspections to monitor, but not limited to, the condition of the animals and environmental conditions—a range of information closely related to livestock farming. With the development of modern information technology, this information is increasingly being processed by related devices and equipment, significantly improving work efficiency. Furthermore, the intervention of these technologies enables standardized analysis and judgment of data collected from livestock farms, allowing for more precise positioning in the phased analysis and assessment of the farming process.

[0003] Inspection equipment is a design concept proposed for intelligent farming in livestock sheds. By moving the equipment within the shed, it collects, analyzes, and judges information from various locations, providing data support for staff decision-making. The main feature of inspection equipment is how to ensure that the equipment can achieve good detection of all areas within the livestock shed, that is, how to achieve comprehensive detection coverage. Fixed detection equipment is difficult to meet the expected needs unless the number of detection points is increased to expand its coverage, but this operation increases the cost and the setting of multiple detection points actually wastes resources. Mobile detection equipment is also currently in use, and its coverage is greater than that of fixed-structure detection equipment. However, it is limited by the track setting and cannot achieve comprehensive detection. Its coverage generally changes with the location of the track. Summary of the Invention

[0004] This invention is a multi-angle intelligent inspection device for livestock farms. It supports the inspection execution mechanism through two hinged arms and achieves full-coverage inspection of the livestock shed by adjusting the angle of the support rods.

[0005] The present invention adopts the following technical solution: A multi-angle intelligent inspection device for a farm includes an inspection unit and support arms that support the inspection unit. The support arms have two hinged joints, and the inspection unit is located at the hinge point of the two support arms. The device also includes a track that supports the support arms. The two free ends of the two support arms slide on the track. The synchronous movement and angle change of the support arms are achieved by the synchronous and asynchronous sliding of the free ends of the support arms on the track, thereby changing the position of the inspection unit at the hinge point within the farm, achieving a comprehensive inspection operation covering the entire farm.

[0006] The track consists of two sets, each corresponding to the free end of one of the two arms; one set of tracks is looped and surrounds the outside of the other set of tracks.

[0007] Furthermore, the circular track has a square structure and covers the entire upper part of the breeding shed. Another set of tracks has a straight structure and is located at the center of the inner side of the circular track. The straight track is arranged longitudinally inside the circular track and corresponds to the walkway above the center of the breeding farm. Traveling vehicles are installed on the circular track and the straight track respectively. The free ends of the two support arms are respectively hinged to the underside of the traveling vehicles on the two sets of tracks. The movement of the support arms and the adjustment of their angles are realized by the movement of the traveling vehicles on the tracks, thereby achieving the purpose of covering the breeding shed. Positioning devices are installed on the traveling vehicles and the inspection unit respectively.

[0008] Furthermore, the two arms are of the same length, and the distance from the straight track to the side of the circular track parallel to it is equal to the length of the arm.

[0009] A vertically penetrating groove is provided at the center of the straight track, and the corresponding traveling vehicle has an I-shaped structure. The vertical part of the I-shaped traveling vehicle is inserted into the groove and slides within it. Electric traveling wheels are provided on both sides of the top of the traveling vehicle. The support arm is hinged to the bottom of the I-shaped traveling vehicle.

[0010] The four corners of the circular track are respectively provided with arc-shaped chamfers; the traveling vehicle includes a bracket and a wheel set on the bracket. The shape of the bracket corresponds to the shape of the circular track. The wheel set includes an electric traveling wheel on the top of the bracket and guide wheels on both sides of the bracket. The electric traveling wheel corresponds to the top of the circular track, and the guide wheels support the inner and outer sides of the track respectively; there are two adjacent sets of traveling vehicles on the circular track. The bottoms of the two sets of traveling vehicles are connected by a connecting plate. The two ends of the connecting plate are respectively hinged to the bottom of the bracket of the adjacent traveling vehicle; the support arm is hinged to the lower part of the connecting plate.

[0011] Furthermore, the end face of the ring-shaped track is a vertical plate-like structure, and a triangular protrusion is provided on the outer bottom of the track, with the hypotenuse of the protrusion facing the outer side of the track at an angle upward; another guide wheel is provided on the bracket at a position corresponding to the protrusion.

[0012] The inspection unit includes an inspection head and a connecting column located above the inspection head. The inspection head integrates an image acquisition device and various sensors. The connecting column extends upwards for a distance, and the bottom of the traveling vehicle corresponding to the straight track has a hinge column of the same height as the connecting column. A support arm is provided between the connecting column and the hinge column. The support arm has a ladder-shaped structure, and bushings are provided above and below the hinge point of the support arm. The support arm below the traveling vehicle on the ring track has a right-angled triangular structure. A vertical sliding sleeve is provided on the inner side of the support arm. The sliding sleeve is clamped between the bushings of another support arm. The connecting column passes through the bushings and the sliding sleeve. A master control probe is provided at the bottom of the hinge column, and the master control probe integrates a 360-degree image acquisition device.

[0013] Furthermore, a steering structure is provided at the hinge point of the two support arms, which adjusts the direction of the included angle formed by the two support arms. The steering mechanism includes a steering motor on the support arm corresponding to the straight track and a steering tooth on the support arm corresponding to the circular track. The steering tooth has only one tooth, is located on the sliding sleeve, and is located opposite the support arm and facing the other support arm. The steering motor is provided with a drive gear, which corresponds to the steering tooth. When the included angle between the two support arms approaches 180 degrees, the drive gear meshes with the steering tooth, and under the rotation of the drive gear, the included angle between the two support arms reverses to the other side.

[0014] Furthermore, a sliding guide wire is provided at the top of the straight track, and a brush corresponding to the sliding guide wire is provided at the top of the traveling vehicle inside the straight track. When the traveling vehicle slides in the track, the brush slides on the sliding guide wire to draw power; the electric traveling wheels, inspection unit, and main control probe obtain power in this way.

[0015] The device employing the above-mentioned technical solution has the following beneficial effects: This device employs a two-track structure combined with two support arms of corresponding lengths. During use, the position of the inspection unit can be adjusted by controlling the position of the traveling vehicle on the tracks. This adjustment method allows for omnidirectional coverage of the inspection unit within the breeding shed, and the adjustment is stepless, resulting in better inspection coverage in practical use. Furthermore, this device can perform inspection operations on all breeding sheds with just one inspection unit, significantly reducing costs and avoiding the clutter caused by installing too many inspection devices. Since the device is installed on the top of the breeding shed, it will not excessively affect the breeding area below.

[0016] In practical use, the central control probe combined with the inspection head in this device can first perform continuous cyclic monitoring of the breeding house. When an abnormality is detected in a local area, the movement of the mobile vehicle can be controlled to drive the inspection unit to the corresponding part for more detailed observation. Alternatively, the inspection unit can be controlled to move back and forth in the breeding house through a pre-set route to monitor the overall condition of the breeding house in real time.

[0017] The circular track and the two sets of traveling vehicles allow it to move well on the track, especially when passing through the chamfered corners of the track. The structure can achieve a good transition without any bumps during the sliding process. In addition, the structure of the two sets of traveling vehicles also has good stability in actual use, providing stable support for the inspection department's monitoring. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the present invention.

[0019] Figure 2 This is a schematic diagram of the second traveling trolley and the inner track.

[0020] Figure 3 This is a schematic diagram of the first traveling trolley and the outer track.

[0021] Figure 4 This is a schematic diagram of a sliding conductor.

[0022] Figure 5 This is a schematic diagram of the outrigger.

[0023] Figure 6 This is a breakdown diagram of the first traveling trolley.

[0024] Figure 7 This is a schematic diagram of the inner support arm, outer support arm, and inspection unit.

[0025] Figure 8 This is a schematic diagram of the steering mechanism. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments. It should be understood that the following embodiments are only one or more manifestations of the present invention and are not a complete limitation on the invention content described in this application. Any improvements made based on the invention content or technical solution described in this application that are known to those skilled in the art should fall within the scope of protection claimed in this application.

[0027] Furthermore, the descriptions of directions such as up, down, left, right, front, and back presented in the specific embodiments are merely for the purpose of describing the technical solutions and are not absolute limitations unless otherwise stated.

[0028] like Figures 1-8The device illustrates a multi-angle intelligent inspection system for a livestock farm. It includes an inspection unit 1 and support arms 2 that support the inspection unit 1. Each support arm 2 has two hinged arms: an outer support arm 201 and an inner support arm 202. The inspection unit 1 is located at the hinge point of the two support arms 2. The device also includes a track 3 that supports the support arms 2. The two free ends of the two support arms 2 slide on the track 3. Synchronous movement and angle changes of the support arms 2 are achieved through synchronous and asynchronous sliding of the free ends on the track 3, thereby changing the position of the inspection unit 1 at the hinge point within the livestock farm, achieving comprehensive inspection coverage of the farm.

[0029] The track 3 includes two sets, namely an outer track 301 and an inner track 302. The free ends of the outer support arm 201 and the inner support arm 202 correspond to the outer track 301 and the inner track 302, respectively. The outer track 301 is ring-shaped, and the inner track 302 is located inside the outer track 301.

[0030] Furthermore, the outer track 301 has a square structure and covers the entire upper part of the breeding house. The inner track 302 has a straight structure and is located at the center of the inner side of the outer track 301. The inner track 302 is arranged longitudinally inside the outer track 301 and corresponds to the walkway above the center of the breeding farm. The outer track 301 and the inner track 302 are respectively equipped with a first traveling vehicle 401 and a second traveling vehicle 402. The free ends of the outer support arm 201 and the inner support arm 302 are respectively hinged to the lower part of the first traveling vehicle 401 and the second traveling vehicle 402. The movement of the support arm 2 and the adjustment of the angle between them are realized by the movement of the first traveling vehicle 401 and the second traveling vehicle 402 on the corresponding track 3, thereby achieving the purpose of covering the breeding house. The first traveling vehicle 401, the second traveling vehicle 402, and the inspection unit 1 are respectively equipped with positioning devices.

[0031] Furthermore, the two support arms 2 are of the same length, and the distance from the inner track 302 to the side of the outer track 301 parallel to it is equal to the length of the support arm 2.

[0032] The inner track 302 has a vertical through groove 303 at its center. The second traveling vehicle 402 has an I-shaped structure. The vertical part of the second traveling vehicle 402 is inserted into the groove 303 and slides therein. Electric traveling wheels 403 are provided on both sides of the top of the second traveling vehicle 402. The inner support arm 202 is hinged to the bottom of the second traveling vehicle 402.

[0033] The outer track 301 has arc-shaped chamfers at its four corners; the first traveling vehicle 401 includes a bracket 4011 and a wheel set on the bracket 4011. The shape of the bracket 4011 corresponds to the shape of the outer track 301. The wheel set includes an electric traveling wheel 403 on the top of the bracket 4011 and guide wheels 4012 on both sides of the bracket 4011. The electric traveling wheel 403 corresponds to the top of the outer track 301, and the guide wheels 4012 support the inner and outer sides of the outer track 301 respectively; the first traveling vehicle 401 on the outer track 301 has two adjacent sets. The bottoms of the two sets of first traveling vehicles 401 are connected by a connecting plate 404. The two ends of the connecting plate 404 are respectively hinged to the bottom of the bracket 4011 of the adjacent first traveling vehicle 401; the outer support arm 201 is hinged to the lower part of the connecting plate 404.

[0034] Furthermore, the end face of the outer track 301 is a vertical plate-like structure, and a triangular protrusion 304 is provided on the outer bottom of the outer track 301, with the hypotenuse of the protrusion 304 facing the outer side of the outer track 301 at an angle upward; another guide wheel 4012 is provided on the bracket 4011 at a position corresponding to the protrusion 304.

[0035] The inspection unit 1 includes an inspection head 101 and a connecting column 102 located above the inspection head 101. The inspection head 101 integrates an image acquisition device and various sensors. The connecting column 102 extends upwards for a certain distance, and the bottom of the second traveling vehicle 402 is provided with a hinge column 4021 of the same height as the connecting column 102. An inner support arm 202 is provided between the connecting column 102 and the hinge column 4021. The inner support arm 202 has a ladder-shaped structure, and the upper and lower parts of the hinge point of the support arm 202 are respectively provided. Bushing 2021; The outer support arm 201 below the first traveling vehicle 401 on the outer track 301 is a right-angled triangular structure. The inner side of the outer support arm 201 is provided with a vertical sliding sleeve 2011. The sliding sleeve 2011 is clamped between the bushings 2021 of the inner support arm 202. The connecting column 102 is provided through the bushings 2021 and the sliding sleeves 2011. The bottom of the hinge column 4021 is provided with a master control probe 4022, which integrates a 360-degree image acquisition device.

[0036] Furthermore, a steering structure 5 is provided at the hinge point of the two support arms 2. The steering structure 2 adjusts the direction of the included angle formed by the two support arms 2. The steering mechanism 5 includes a steering motor 501 on the inner support arm 202 and a steering gear 502 on the outer support arm 201. The steering gear 502 has only one tooth. The steering gear 502 is provided on the sliding sleeve 2011 and is located opposite the outer support arm 201 and facing the inner support arm 202. The steering motor 501 is provided with a drive gear 503. The drive gear 503 corresponds to the steering gear 502. When the included angle between the two support arms 2 approaches 180 degrees, the drive gear 503 meshes with the steering gear 502. Under the rotation of the drive gear 503, the included angle between the two support arms 2 reverses to the other side.

[0037] Furthermore, a sliding guide wire 6 is provided on the top of the inner track 302, and a brush 601 corresponding to the sliding guide wire 6 is provided on the top of the second traveling vehicle 402 inside the inner track 302. When the second traveling vehicle 402 slides inside the inner track 302, the brush 601 slides on the sliding guide wire 6 to draw power; the electric traveling wheel 403, the inspection unit 1, and the main control probe 4022 obtain power in this way.

[0038] In actual use, the track is installed on the top of the breeding house, and the traveling vehicle and the corresponding support arm are installed below the track. When the two traveling vehicles move in the corresponding tracks, they drive the support arms to move and rotate, thereby enabling the inspection part at the hinge point of the two support arms to move inside the breeding house. This movement can cover the entire area of ​​the breeding house, even at the outside of the chamfer of the outer track.

[0039] The traveling carriages are designed based on a track structure. The straight structure of the inner track allows the corresponding traveling carriages to slide along it. This facilitates power supply via the sliding wire and keeps the movement of the traveling carriages within a specific area, avoiding the positional inconvenience caused by large-scale movement of both carriages. The steering mechanism adjusts the angle between the two support arms, allowing the inspection unit to reach different areas. Specifically, when the inspection unit needs to move to the object connecting the two traveling carriages, the movement and stopping of the two carriages are controlled to straighten the two support arms. As they are straightened, the drive gear of the steering mechanism rotates, causing the two support arms to bend in the opposite direction, thus adjusting the angle of the support arms and achieving the desired reverse angle adjustment effect.

[0040] The dual-cart configuration of the first traveling trolley allows for more stable sliding on the outer track, especially when traversing the chamfered edges. The two trolleys can smoothly pass through the chamfer without any jamming. This stable passage method also enables the support arm to move smoothly, ensuring the overall stability of the inspection unit.

[0041] The outer track of this device covers the entire space of the breeding shed, allowing the first traveling trolley to move extensively on it during operation. This, in turn, enables the inspection unit to move freely within the areas on either side of the inner track. In practical use, this device is highly adaptable to conventional breeding sheds. The structure of a conventional breeding shed features a walkway in the center and enclosed areas on both sides. In this structure, the outer track corresponds to the entire area of ​​the enclosed areas and the top of the walkway, while the inner track corresponds directly above the walkway. Thus, a set of interlocking support arms enables full-range coverage inspection operations.

[0042] In actual use, the relative positions of the three components in the shed can be marked by positioning devices installed on the first and second traveling trolleys and the inspection unit. The control system performs simulated positioning at the terminal. After positioning based on the location and expected destination of the inspection unit, the trajectory of the inspection unit is calculated, and the trajectories of the two traveling trolleys are calculated. Then, movement commands are issued to the traveling trolleys. The central control probe performs cyclic monitoring of the entire area of ​​the breeding shed. After observing local anomalies, it sends position commands to the system and performs calculations and issues commands according to the above movement logic.

Claims

1. A multi-angle intelligent inspection device for livestock farms, characterized in that: It includes an inspection unit and support arms that support the inspection unit. The support arms have two hinged joints, and the inspection unit is located at the hinge point of the two support arms. The device also includes a track that supports the support arms. The two free ends of the two support arms slide on the track. The synchronous movement and angle change of the support arms are achieved by the synchronous and asynchronous sliding of the free ends of the support arms on the track, thereby changing the position of the inspection unit at the hinge point within the farm, achieving a comprehensive inspection operation covering the entire farm.

2. The multi-angle intelligent inspection device for livestock farms according to claim 1, characterized in that: The track consists of two sets, each corresponding to the free end of one of the two arms; one set of tracks is looped and surrounds the outside of the other set of tracks.

3. The multi-angle intelligent inspection device for livestock farms according to claim 2, characterized in that: The circular track has a square structure and covers the entire top of the breeding shed. Another set of tracks has a straight structure and is located at the center of the inner side of the circular track. The straight track is longitudinally positioned inside the circular track and corresponds to the walkway above the center of the breeding area. Traveling vehicles are installed on both the circular and straight tracks. The free ends of two support arms are hinged to the underside of the traveling vehicles on the two tracks. The movement of the traveling vehicles on the tracks allows the support arms to move and adjust their angles, thus achieving the purpose of covering the breeding shed. Positioning devices are installed on both the traveling vehicles and the inspection unit.

4. The multi-angle intelligent inspection device for livestock farms according to claim 3, characterized in that: The two arms are of the same length, and the distance from the straight track to the side of the circular track parallel to it is equal to the length of the arm.

5. The multi-angle intelligent inspection device for livestock farms according to claim 4, characterized in that: A vertically penetrating groove is provided at the center of the straight track, and the corresponding traveling vehicle has an I-shaped structure. The vertical part of the I-shaped traveling vehicle is inserted into the groove and slides within it. Electric traveling wheels are provided on both sides of the top of the traveling vehicle. The support arm is hinged to the bottom of the I-shaped traveling vehicle.

6. The multi-angle intelligent inspection device for livestock farms according to claim 5, characterized in that: The four corners of the circular track are respectively provided with arc-shaped chamfers; the traveling vehicle includes a bracket and a wheel set on the bracket. The shape of the bracket corresponds to the shape of the circular track. The wheel set includes an electric traveling wheel on the top of the bracket and guide wheels on both sides of the bracket. The electric traveling wheel corresponds to the top of the circular track, and the guide wheels support the inner and outer sides of the track respectively; there are two adjacent sets of traveling vehicles on the circular track. The bottoms of the two sets of traveling vehicles are connected by a connecting plate. The two ends of the connecting plate are respectively hinged to the bottom of the bracket of the adjacent traveling vehicle; the support arm is hinged to the lower part of the connecting plate.

7. The multi-angle intelligent inspection device for livestock farms according to claim 6, characterized in that: The end face of the ring-shaped track is a vertical plate-like structure. A triangular protrusion is provided on the outer bottom of the track, with the hypotenuse of the protrusion facing the outer side of the track at an angle upward. Another guide wheel is provided on the bracket at a position corresponding to the protrusion.

8. The multi-angle intelligent inspection device for livestock farms according to claim 7, characterized in that: The inspection unit includes an inspection head and a connecting column located above the inspection head. The inspection head integrates an image acquisition device and various sensors. The connecting column extends upwards for a distance, and the bottom of the traveling vehicle corresponding to the straight track has a hinge column of the same height as the connecting column. A support arm is provided between the connecting column and the hinge column. The support arm has a ladder-shaped structure, and bushings are provided above and below the hinge point of the support arm. The support arm below the traveling vehicle on the ring track has a right-angled triangular structure. A vertical sliding sleeve is provided on the inner side of the support arm. The sliding sleeve is clamped between the bushings of another support arm. The connecting column passes through the bushings and the sliding sleeve. A master control probe is provided at the bottom of the hinge column, and the master control probe integrates a 360-degree image acquisition device.

9. The multi-angle intelligent inspection device for a livestock farm according to claim 8, characterized in that: The hinge point of the two support arms is also provided with a steering structure, which adjusts the direction of the included angle formed by the two support arms. The steering mechanism includes a steering motor on the support arm corresponding to the straight track and a steering tooth on the support arm corresponding to the circular track. The steering tooth has only one tooth, is located on the sliding sleeve, and is located opposite the support arm and facing the other support arm. The steering motor is provided with a drive gear, which corresponds to the steering tooth. When the included angle between the two support arms approaches 180 degrees, the drive gear meshes with the steering tooth, and under the rotation of the drive gear, the included angle between the two support arms reverses to the other side.

10. The multi-angle intelligent inspection device for a livestock farm according to claim 9, characterized in that: The top of the straight track is equipped with a sliding guide wire, and the top of the traveling vehicle inside the straight track is equipped with a brush corresponding to the sliding guide wire. When the traveling vehicle slides in the track, the brush slides on the sliding guide wire to draw power; the electric traveling wheels, inspection unit, and main control probe obtain power in this way.

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