Rabbit hutch automatic inspection device

Abstract

The utility model belongs to the technical field of rabbit hutch breeding, and particularly relates to an automatic inspection device for a rabbit hutch. The driving devices are arranged in the x-axis direction, the y-axis direction and the z-axis direction respectively, all-directional detection of the rabbit hutch can be achieved, behavior recognition of a target object and collection of environment data can be completed, the whole device is arranged above the rabbit hutch, operation is stable, interference on walking of rabbit hutch workers is small, no influence is generated on rabbits, the inspection efficiency is high, and the inspection efficiency is high. Later data acquisition is facilitated, and the data processing difficulty is reduced; in order to avoid the situation that the truss moves unstably in the x-axis direction and deviates left and right to damage the device, a gap sensor and / or an absolute value encoder are / is adopted for deviation correction. In order to make up for the influence of insufficient illumination or shadow on image quality and recognition precision, the design of the infrared camera is adopted, the infrared camera can be used under all-weather and any weather conditions, and the accuracy of image recognition under various environmental conditions is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of rabbit house breeding, and specifically relates to an automatic inspection device for rabbit houses. Background Art

[0002] With the continuous development of the rabbit farming industry, people's demand for rabbit house management is gradually increasing. There are some problems with the traditional way of raising rabbits. For example, farmers need to regularly inspect the rabbit house, which will consume a lot of time and energy. In addition, affected by factors such as personnel quality, it is easy to cause inadequate inspections, inaccurate detection data, and low inspection efficiency. In order to improve the efficiency and accuracy of rabbit house management, the rabbit house inspection system came into being. Through the application of cloud computing and Internet of Things technology, the system realizes remote monitoring and data sharing, allowing farmers to access rabbit house information anytime and anywhere. However, the rabbit house environment may have complex conditions, such as insufficient light, shadows, etc., which may affect the quality and recognition accuracy of the image. It is a challenge to improve the accuracy of image recognition under various environmental conditions.

[0003] Therefore, the ability to conduct all-round real-time monitoring and image recognition of the rabbit house through cameras so that breeders can monitor the real-time situation of the rabbit house anytime and anywhere through the Internet is a problem that needs to be solved at present. Utility Model Content

[0004] In view of the above problems existing in the prior art, the purpose of the utility model is to provide an automatic inspection device for a rabbit house, which can automatically record various data in the rabbit house and simultaneously capture and detect images of the conditions in the rabbit house.

[0005] In order to solve the above problems, the technical solution adopted by the utility model is as follows: an automatic inspection device for a rabbit house, the device comprises tracks set up on both sides of the upper part of the rabbit house, a first driving mechanism and a second driving mechanism are respectively provided on the two tracks, a truss is set up between the first driving mechanism and the second driving mechanism, and the first driving mechanism and the second driving mechanism drive the truss to move on the tracks;

[0006] The truss is provided with an electrical cabinet and a patrol mechanism, the patrol mechanism includes an aluminum profile beam arranged around the truss, the aluminum profile beam is provided with a plurality of support wheel brackets, each of the support wheel brackets is connected to a U-shaped wheel, and each of the U-shaped wheels is rotatably connected to the truss at the same time;

[0007] The aluminum profile beam is fixedly connected to a motor bracket that can slide on the truss, and the motor bracket is provided with a synchronous pulley and a tensioning pulley, and the synchronous pulley is transmission-connected to an adjustment tensioning assembly, a motor and a reducer that are fixedly installed on the truss;

[0008] A camera platform capable of synchronous lifting and lowering is arranged on the aluminum profile beam, and a plurality of image acquisition modules are arranged on the camera platform;

[0009] The first driving mechanism includes a driving wheel and a driven wheel rotatably arranged on the track, the driving wheel is connected to a driving motor via a corner box, the corner box is fixedly connected to a main board, the main board is rotatably connected to the driven wheel via another corner box on the other side, two sliding rails parallel to the truss are fixedly installed on the main board, connecting plates are slidably installed on the two sliding rails, the connecting plates are fixedly connected to the truss, and a sliding rail stopper for limiting the connecting plate is also fixedly installed on the main board.

[0010] Furthermore, the main board is provided with a plurality of gap sensors distributed on both sides of the driving wheel and the driven wheel. The gap sensors are used to keep the distance between the two inner sides of the U-shaped wheel and the track within a preset range, and generate signal feedback when the distance exceeds the preset range.

[0011] Furthermore, the driven wheel is connected to an absolute encoder via an elastic coupling, the encoder value difference is maintained within a preset range, and a signal feedback is generated after the encoder value exceeds the preset range.

[0012] Furthermore, a limit block is provided on the track to limit the moving range of the truss on the track.

[0013] Furthermore, the first driving mechanism and the second driving mechanism are respectively provided with front and rear limit travel switches and origin limit travel switches.

[0014] Furthermore, the second driving mechanism includes a square tube fixedly connected to the truss.

[0015] Furthermore, the driving wheel and the driven wheel are both concave in shape with high sides and low middle, and the concave parts are stuck on the track and roll.

[0016] Furthermore, the aluminum profile beam is provided with a plurality of environment detection modules that can be raised and lowered synchronously.

[0017] Compared with the prior art, the beneficial effects of the utility model are:

[0018] The utility model designs a patrol inspection device for a rabbit house. By respectively setting up driving devices in the three directions of x, y and z axes, it is possible to realize all-round detection of the rabbit house, complete the behavior recognition of the target object and the collection of environmental data. The device is arranged above the rabbit house as a whole, runs smoothly, has little interference with the walking of the rabbit house staff, and will not affect the rabbits. The patrol inspection efficiency is high, and it is conducive to the later data collection and reduces the difficulty of data processing.

[0019] In addition, in order to avoid the truss moving in an unstable manner in the x-axis direction and causing damage to the device due to left-right deviation, a gap sensor and / or an absolute encoder is used for deviation correction. In order to eliminate the spacing changes and staged non-parallelism during the installation of the overly long track, the slide rail design is used to appropriately extend or shorten the length of the truss to offset the slight error during track installation.

[0020] In order to compensate for the lack of light or shadows that affect the quality and recognition accuracy of the image, an infrared camera design is adopted, which can be used in all weather conditions and all weather conditions, improving the accuracy of image recognition under various environmental conditions. The camera gimbal design is adopted, which can collect images for large-scale rabbit houses without blind spots, reducing the difficulty of image collection. The environmental sensor design is also adopted, which can record various environmental data in the rabbit house. Under different requirements, one or more different sensors can be selected to automatically record various data in the rabbit house and the growth status of rabbits. Through the analysis of these data, breeders can formulate more scientific and reasonable breeding strategies. By integrating more advanced technologies, this device provides a more intelligent and efficient solution for rabbit house management, improving the management level and production efficiency of the rabbit industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the device;

[0022] Figure 2 is a structural schematic diagram of a first driving mechanism;

[0023] Figure 3 is a structural schematic diagram of a second driving mechanism;

[0024] Figure 4 It is a schematic diagram of the transmission structure of the inspection mechanism;

[0025] Figure 5 It is a schematic diagram of the overall structure of the inspection organization;

[0026] Figure 6 It is a schematic diagram of the structure of the camera pan and camera in the inspection mechanism;

[0027] Figure 7 This is a schematic diagram of the process of the device correcting the deviation during operation;

[0028] Figure 8 This is a schematic diagram of the startup process of the inspection mode of this device;

[0029] Fig. 9 This is a schematic diagram of the zero-seeking process of the device;

[0030] In the figure: 1-truss; 2-first driving mechanism; 3-inspection mechanism; 4-track; 5-environmental detection module; 6-driving wheel; 7-driven wheel; 8-driving motor; 9-main board; 10-connecting board; 11-gap sensor; 12-absolute encoder; 13-front and rear limit travel switch; 14-origin limit travel switch; 15-limit block; 16-corner box; 17-slide rail; 18-slide rail block; 19-square tube; 20-synchronous pulley; 21-tensioning wheel; 22-motor and reducer; 23-motor bracket; 24-tensioning wheel handle; 25-U-shaped wheel; 26-aluminum profile beam; 27-support wheel bracket; 28-z-axis moving device; 29-adjusting tensioning assembly; 30-electrical cabinet; 31-camera gimbal; 32-image acquisition module. DETAILED DESCRIPTION

[0031] The utility model is further described below in conjunction with specific embodiments.

[0032] like Figure 1-5 As shown, the automatic inspection device for a rabbit house described in the utility model includes tracks 4 erected on both sides of the upper part of the rabbit house, a first driving mechanism 2 and a second driving mechanism are respectively provided on the two tracks 4, and a truss 1 is provided between the first driving mechanism 2 and the second driving mechanism, thereby, the first driving mechanism 2 and the second driving mechanism can drive the truss 1 to move on the track 4.

[0033] Specifically, the first driving mechanism 2 includes a driving wheel 6 and a driven wheel 7 rotatably arranged on the track 4. Both the driving wheel 6 and the driven wheel 7 are concave with high sides and low middle, and the concave part is stuck on the track 4 and rolls. This shape can ensure that during the operation of the device, if friction occurs between the wheel body and the track 4, the wheel body will not ride on the track 4, thereby causing the entire device to fall. The driving wheel 6 is connected to the driving motor 8 and the reducer through the corner box 16, and the corner box 16 is fixedly connected to the main board 9. At the same time, the main board 9 is rotatably connected to the driven wheel 7 through another corner box 16 on the other side. Therefore, under the action of the driving motor 8 and the reducer, the driving wheel 6 can be driven to rotate, and the driven wheel 7 can be driven to rotate at the same time, thereby realizing the movement of the main board 9 on the track 4. Two slide rails 17 parallel to the truss 1 are fixedly mounted on the main board 9, and a connecting plate 10 is slidably mounted on the two slide rails 17. The connecting plate 10 is fixedly connected to the bottom of the truss 1, so that the truss 1 can move on the track 4 following the connecting plate 10 and the main board 9, that is, it realizes movement in the x-axis direction. The slide rail 17 is used to moderately extend or shorten the overall length of the truss 1 fixed above it, so as to eliminate the slight spacing error or slightly non-parallel situation of the tracks 4 on both sides when they are built. When the truss 1 moves on the track 4, the spacing error of the track 4 will passively make the first drive mechanism 1 and the second drive mechanism on the left and right sides move away from or close to each other, changing the required length of the truss 1. Since the right side is fixedly connected, it will force the slide rail 17 on the left side to move, thereby extending the length of the truss 1 outward or shortening it inward, so that the truss 1 can meet the change of its spacing.

[0034] Correspondingly, the second driving mechanism basically includes the same structure as the first driving mechanism, except that the top of the main board 9 of the second driving mechanism is fixedly connected to the truss 1 through the square tube 19. The square tube 19 can stably support the upper truss and reduce the overall cost.

[0035] On the truss 1, there are an electrical cabinet 30 and a patrol mechanism 3. The patrol mechanism 3 first includes an aluminum profile beam 26 arranged around the truss 1, and a plurality of support wheel brackets 27 are arranged on the aluminum profile beam 26. Each support wheel bracket 27 is connected to a U-shaped wheel 25, and each U-shaped wheel 25 is rotatably connected to the truss 1, that is, the aluminum profile beam 26 is slidably connected to the truss 1 through the U-shaped wheel 25. In this embodiment, there are eight U-shaped wheels 25, four on the top and four on the bottom, which can ensure that the aluminum profile beam 26 will not fall off the truss 1.

[0036] As for the aluminum profile beam 26 itself, it is fixedly connected with a motor bracket 23, which is mounted on the truss 1. The motor bracket 23 is fixedly connected with a synchronous belt pressure plate. Two tensioning wheels 21 and a synchronous pulley 20 are rotatably installed on the motor bracket 23 through a tensioning wheel handle 24. An adjusting tensioning assembly 29 is provided on the truss 1. The adjusting tensioning assembly 29 is connected to the synchronous pulley 20 and the tensioning wheel 23 through a synchronous belt. The two tensioning wheels 21 are respectively located on the left and right sides of the synchronous pulley 20. Therefore, the tension of the synchronous belt can be adjusted by adjusting the advancing assembly 29 to ensure that the synchronous pulley 20 fits tightly with the synchronous belt and regularly tightens the loose synchronous belt. The synchronous pulley 20 is also connected to a motor and a reducer 22, thereby driving the synchronous pulley 20 to rotate and drive the aluminum profile beam 26 to move along the synchronous belt on the truss 1. Combined with the above, it can be known that the inspection mechanism 3 can follow the truss 1 to move in the x-axis direction, and here, the movement in the y-axis direction can be achieved.

[0037] A z-axis moving device 28 is also provided on the aluminum profile beam 26, and the z-axis moving device 28 includes a motor, a z-axis ball screw, a plurality of module fixings and a camera gimbal 31. Each module fixing is mounted with an environment detection module 5, which includes an environment sensor. The module fixing is mounted on the z-axis ball screw, and the z-axis ball screw is fixed to the outer side of the aluminum profile beam 26 through the aluminum profile fixing. The motor can be a brake motor to drive the z-axis ball screw to move up and down, and when the power is cut off and stopped, the brake motor can ensure that the environment detection module 5 will not move downward due to gravity.

[0038] Environmental sensors can be selected as needed, such as carbon dioxide, ammonia, wind speed, light, oxygen, atmospheric pressure, temperature and humidity, etc., and the collected data can be remotely returned to the control end based on whether it meets the requirements.

[0039] The camera platform 31 is equipped with an image acquisition module 32, which includes a camera, i.e., a spectral light probe or an RGB camera, a light source, and an infrared recognition sensor. The camera is used to capture images of rabbits in the rabbit cage, and the images can be multispectral images or RGB images. The camera platform can be rotated to a specified angle according to the actual working object for image acquisition.

[0040] The light source can be a visible light sensor lamp or an infrared lamp. When the light in the rabbit house is dim, turning on the light source can provide lighting with appropriate brightness, which is convenient for the camera to shoot, ensures the clarity of the image, and improves the recognition accuracy of the target object.

[0041] During the movement of the environmental detection module 5, the infrared recognition sensor is used to determine whether it has reached the predetermined shooting position of each rabbit cage. If it has reached the shooting position, the component stops moving, and then the camera shoots images or videos that meet the conditions of the target in the rabbit house. After the current target rabbit house completes a shooting, the entire component continues to move to shoot the next rabbit house to be shot. During the entire inspection and detection process, the staff does not need to identify the target object in advance. During the movement process, the identification operation and the shooting operation are also carried out successively, which is conducive to reducing the labor intensity of the staff. At the same time, compared with the inspection car, the shooting efficiency and accuracy are greatly improved. This method of image acquisition is also suitable for time-phased rabbit behavior research, which can improve the overall work efficiency.

[0042] In addition, in this embodiment, eight gap sensors 11 are also provided on the main board 9, which are distributed on both sides of the driving wheel 6 and the driven wheel 7. The gap sensors 11 can keep the distance between the two inner sides of the U-shaped wheel 25 and the track 4 within a preset range, and generate signal feedback in time when the inner side of the wheel is too close to the track 4 during the movement of a certain position along the track 4. The gap between the driving wheel 6 and the driven wheel 7 and the track 4 is consistent with the distance between the U-shaped wheel 25 and the truss 1, so as to monitor in real time whether the first driving mechanism 2 and the second driving mechanism are deviated, and then detect whether the truss 1 is offset.

[0043] The driven wheel 7 is coaxially connected to an absolute encoder 12 through an elastic coupling, which can synchronously record the travel distance of the first drive mechanism 2 and the second drive mechanism on the track 4 to determine whether the left and right sides are traveling normally and whether the speed of the two sides is inconsistent, causing the truss 1 to deviate.

[0044] like Figure 6 As shown, in the above technical solution, the absolute encoder 12 and the gap sensor 11 can choose to use a separate judgment method or a joint judgment method to judge the offset of the truss 1. The offset conditions of the truss 1 are divided into four types, namely, slight right deviation, slight left deviation, severe right deviation and severe left deviation.

[0045] When the first driving mechanism 2 has a higher travel speed than the second driving mechanism, there will be a slight deviation to the right or a severe deviation to the right, and vice versa, there will be a slight deviation to the left or a severe deviation to the left.

[0046] Therefore, a separate judgment method is that for the gap sensor 11: each gap sensor 11 is numbered from left to right and from front to back, the first drive mechanism 2 is numbered ① to ④, the second drive mechanism is numbered ⑤ to ⑧, and the gap between each gap sensor 11 and the track 4 is consistent with the gap between the inner side of the wheel and the track 4. Therefore, when there is a slight right deviation or a serious right deviation, due to the tilt, one side of the inner side of the driving wheel 6 and the driven wheel 7 will be close to the track 4, resulting in a reduction in the gap between the inner side of the wheel and the track 4. After it is reduced to the preset distance of the gap sensor 11, the gap sensor 11 is activated, and whether the truss 1 is offset can be determined according to the set deviation correction situation and the number of the gap sensor 11 that should be activated.

[0047] For the absolute value encoder 12: when the walking speeds on the left and right sides are inconsistent, the truss 1 is offset, and the values ​​of the absolute value encoders 12 on both sides are different. Taking into account the accuracy of the data of the absolute value encoder 12, an error value of the left and right encoders is preset. When the actual error value is greater than the set error value, it can be determined that the truss 1 is offset. The set error value is divided into positive and negative values, which are used to determine whether the left deviation or the right deviation occurs. There are also two set error values, one is the error value of slight offset, and the other is the error value of severe offset.

[0048] A common judgment method is to use the above two judgment methods at the same time. Considering that the driven wheel 7 may slip on the track 4 during walking, resulting in an erroneous judgment of the absolute encoder 12, it is recommended to use a common judgment method. Only when both of them show the same offset judgment, the system can finally determine that the truss 1 has offset.

[0049] Therefore, through the gap sensor 11 and the absolute value encoder 12, the system can make autonomous judgments according to the triggering situation and correct the deviation by adjusting the speed of the drive motor. This continues until the offset signal message disappears, so that the motors on both sides of the truss 1 return to the normal inspection speed and carry out the inspection work.

[0050] like Figure 7-8 As shown, the working process of the inspection device described in the utility model is:

[0051] S1: When it is necessary to complete the inspection work of a given area, positioning and path planning can be performed in the control center, and then the inspection task is performed through the first drive mechanism 2 and the second drive mechanism, and the gap sensor 11 and / or the absolute value encoder 12 are used to correct the deviation, so as to realize precise control of the inspection movement;

[0052] S2: After the data input to the control system is tested and corrected, the control system first operates the motors in the x-axis direction, that is, the first drive mechanism 2 and the second drive mechanism, to achieve displacement of the environment detection module 5 on the x-axis;

[0053] S3: After the test and correction of the data input into the control system are completed, the control system can operate the motor and reducer 22 in the y-axis direction (movement of the aluminum profile beam 26 on the truss 1) to achieve displacement of the environment detection module 5 on the y-axis;

[0054] S4: After the data input into the control system is tested and corrected, the control system can operate the motor in the z-axis direction (z-axis moving device 28) to achieve the displacement of the environment detection module 5 on the z-axis, thereby achieving the displacement of the environment detection module 5 in the three directions of the x-axis, y-axis, and z-axis, thereby completing the inspection of the designated area;

[0055] S5: When the inspection work starts, the control system can drive each motor to work. When the two sides of the truss 1 deviate, the gap sensor 11 and / or the absolute value encoder 12 will be triggered, and an independent judgment will be made according to the triggering situation, and then the first drive mechanism 2 and the second drive mechanism will be adjusted and corrected. This will continue until the deviation signal disappears, so that the motors on both sides of the truss 1 return to normal inspection speed;

[0056] S6: When the inspection work is completed, the control system continues to drive each motor to work until the entire device returns to its original position.

[0057] In addition, during the walking process, in addition to the offset situation, when the spacing between the two side rails 4 changes and the rails 4 stages are not parallel, the slide rail 17 of the first drive mechanism 2 can respond to the reduction and expansion of the rail 4 spacing accordingly and drive the upper truss 1 to move outward or inward, thereby adjusting the overall length of the truss 1 and eliminating the error caused by the change in the spacing between the rails 4. Since the width of the driving device is limited and the adjustment length of the slide rail 17 is also limited, when the maximum or minimum limit of the slide rail 17 is about to be exceeded, the slide rail block 18 will resist each other to prevent the slide rail 17 from moving further. This design can be used for smaller rail 4 installation errors.

[0058] Limit blocks 15 are provided at the two ends of the movable position of the track 4 and at the start and stop origins specified by the track 4, respectively, which can be used to limit the moving range of the truss 1 on the track 4. Front and rear limit travel switches and origin limit travel switches are also provided on the first drive mechanism 2 and the second drive mechanism, respectively, to limit the movement of the truss 1.

Claims

1. An automatic inspection device for a rabbit house, characterized in that: The device comprises tracks set up on both sides of the upper part of the rabbit house, a first driving mechanism and a second driving mechanism are respectively arranged on the two tracks, a truss is set up between the first driving mechanism and the second driving mechanism, and the first driving mechanism and the second driving mechanism drive the truss to move on the tracks; The truss is provided with an electrical cabinet and a patrol mechanism, the patrol mechanism includes an aluminum profile beam arranged around the truss, the aluminum profile beam is provided with a plurality of support wheel brackets, each of the support wheel brackets is connected to a U-shaped wheel, and each of the U-shaped wheels is rotatably connected to the truss at the same time; The aluminum profile beam is fixedly connected to a motor bracket that can slide on the truss, and the motor bracket is provided with a synchronous pulley and a tensioning pulley, and the synchronous pulley is transmission-connected to an adjustment tensioning assembly, a motor and a reducer that are fixedly installed on the truss; A camera platform capable of synchronous lifting and lowering is arranged on the aluminum profile beam, and a plurality of image acquisition modules are arranged on the camera platform; The first driving mechanism includes a driving wheel and a driven wheel rotatably arranged on the track, the driving wheel is connected to a driving motor via a corner box, the corner box is fixedly connected to a main board, the main board is rotatably connected to the driven wheel via another corner box on the other side, two sliding rails parallel to the truss are fixedly installed on the main board, connecting plates are slidably installed on the two sliding rails, the connecting plates are fixedly connected to the truss, and a sliding rail stopper for limiting the connecting plate is also fixedly installed on the main board.

2. The automatic inspection device for rabbit houses according to claim 1, characterized in that: The main board is provided with a plurality of gap sensors distributed on both sides of the driving wheel and the driven wheel. The gap sensors are used to keep the distance between the two inner sides of the U-shaped wheel and the track within a preset range, and generate signal feedback when the distance exceeds the preset range.

3. The automatic inspection device for rabbit houses according to any one of claims 1 or 2, characterized in that: The driven wheel is connected with an absolute encoder via an elastic coupling.

4. The automatic inspection device for rabbit houses according to claim 1, characterized in that: The track is provided with a limit block for limiting the moving range of the truss on the track.

5. The automatic inspection device for rabbit houses according to claim 1, characterized in that: The first driving mechanism and the second driving mechanism are respectively provided with front and rear limit travel switches and origin limit travel switches.

6. The automatic inspection device for rabbit houses according to claim 1, characterized in that: The second driving mechanism includes a square tube fixedly connected to the truss.

7. The automatic inspection device for rabbit houses according to claim 1, characterized in that: The driving wheel and the driven wheel are both in a concave shape with high sides and low middle, and the concave parts are clamped on the track and roll.

8. The automatic inspection device for rabbit houses according to claim 1, characterized in that: The aluminum profile beam is provided with a plurality of environment detection modules which can be raised and lowered synchronously.

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