Autonomous inspection device suitable for multi-column and multi-layer caged chicken coop

Abstract

The utility model discloses an autonomous inspection device suitable for a multi-column and multi-layer caged chicken house, which belongs to the technical field of automation of poultry breeding equipment and comprises a robot chassis component, a robot body component, a robot body component, a robot body component and a robot body component, and the robot body component is configured to move back and forth along inspection routes arranged among a plurality of columns of coops; the environment information acquisition assembly is fixedly mounted on the robot chassis assembly and is used for acquiring and displaying environment gas information in the multi-column and multi-layer caged chicken coop; the lifting assembly is fixedly mounted on the robot chassis assembly in a lifting adjustment manner in the vertical direction; and the camera assembly is at least provided with one group of cameras which are connected to the lifting assembly in a lifting adjustment manner along the vertical direction and are provided with height and angle self-adjustment cameras. According to the autonomous inspection device suitable for the multi-column and multi-layer caged chicken coop, autonomous cross-column inspection in the multi-column and multi-layer caged chicken coop is achieved, operation is convenient and intelligent, and efficiency is high.

Description

Technical Field

[0001] This utility model belongs to the field of automation technology of poultry farming equipment, specifically relating to an autonomous inspection device suitable for multi-row, multi-layer cage chicken houses. Background Technology

[0002] With the continuous development of modern information technology, the widespread application of various technologies such as sensor technology, audio-visual technology, and Internet of Things technology in the agricultural field has enabled intelligent analysis of agricultural production, and has also made highly intensive poultry farming models possible. However, with the increase in poultry farming density, especially for multi-row, multi-story cage chicken houses, disease prevention and control has become particularly prominent. Due to the high density of chicken flocks, once an epidemic occurs, it can easily spread rapidly, causing significant losses. Therefore, the use of automated inspection technology to monitor the health status of chicken flocks, especially dead chickens, in real time is of paramount importance.

[0003] Currently, in the field of automated equipment for chicken farming, patents such as CN112198874A "A Mobile Platform for Chicken House Inspection Based on Magnetic Navigation" and CN118642487A "Inspection Robot and Control Method Applicable to Multi-Layer Cage Chicken Houses" utilize magnetic navigation technology for inspection operations within chicken houses. However, the passageways in cage chicken houses are often very narrow, and when there are feeders, lighting equipment, and other devices intersecting, how to avoid these devices and potential intersecting magnetic strip paths in such a confined space is not addressed and remains a problem to be considered. Patent CN113983322A "A Camera Installation Device for Chicken House Inspection Robot with Adjustable Spacing" describes the height and position adjustment of the monitoring equipment to adapt to monitoring chicken cages of different heights. However, it is sometimes limited by the camera's field of view. Therefore, how to achieve multiple degrees of freedom, such as coarse and fine adjustment of camera height and adjustment of camera angle, to better improve the practicality of the equipment is a key question. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology and provide an autonomous inspection device suitable for multi-row, multi-layer cage chicken houses.

[0005] To achieve the above objectives, this utility model employs the following technical solution:

[0006] This utility model provides an autonomous inspection device suitable for multi-row, multi-layer caged chicken houses, characterized in that it includes:

[0007] The robot chassis component is configured to move back and forth along an inspection route laid out between multiple rows of chicken cages.

[0008] An environmental information acquisition component is fixedly installed on the robot chassis component and collects and displays environmental gas information in multi-row, multi-layer caged chicken houses.

[0009] The lifting assembly is vertically adjustable and fixedly mounted on the robot chassis assembly;

[0010] A camera assembly, comprising at least one camera that is vertically adjustable and connected to the lifting assembly, and equipped with cameras that are self-adjusting in height and angle.

[0011] Furthermore, the robot chassis assembly includes charging copper electrodes, safety contact edges, ultrasonic sensors, RFID sensors, magnetic navigation sensors, drive wheels, reducers, drive motors, and casters;

[0012] The environmental information acquisition component is equipped with a gas sensor, a display screen, and a ranging radar.

[0013] The lifting assembly includes a lifting column base, an outer guide rod, an inner guide rod, a guide bearing, a clamp, a lower top plate of the lifting column, a middle top plate of the lifting column, a middle column of the lifting column, a top column of the lifting column, and an upper top plate of the lifting column;

[0014] The camera assembly includes a camera guide rod, a camera slider, a camera base, a camera, a camera rotating block, and a camera side mount.

[0015] Furthermore, the charging copper electrode is installed at the front of the robot chassis, the safety contact edge is installed at the front and rear positions below the robot chassis, and the ultrasonic sensor is installed at the four corners of the robot chassis.

[0016] The RFID sensor is installed directly below the robot chassis. The magnetic navigation sensors are installed along the central axis of the robot chassis's movement direction and near the front and rear ends of the robot chassis. The drive wheels are installed parallel to the central axis of the robot chassis's movement direction and near both sides of the robot chassis. A reducer and a drive motor are fixed on each drive wheel. The omnidirectional wheels are fixed at the four corners of the robot chassis, forming a dual-wheel differential motion structure to enable the robot to move forward, backward, rotate in place, and turn in arcs.

[0017] Furthermore, the gas sensor collects the ambient gas in the chicken house and displays the collected data on the display screen in real time.

[0018] Furthermore, the lifting column base is fixed on the robot chassis, the middle column of the lifting column is nested inside the lifting column base, and the top column of the lifting column is nested inside the middle column of the lifting column, and they are connected to each other by a screw and nut.

[0019] The lower top plate of the lifting column is fixed above the lifting column base, the guide bearing is fixed below the lower top plate of the lifting column, the outer guide rod passes through the guide bearing, and a clamp is installed at the upper end of the outer guide rod. The clamp is fixed below the middle top plate of the lifting column, the middle top plate of the lifting column and the middle column of the lifting column are fixedly connected, the inner guide rod is nested inside the outer guide rod, and the upper top plate of the lifting column is fixed above the inner guide rod and fixed to the top column of the lifting column. When the lifting column base moves the middle column and the top column of the lifting column up and down, the outer guide rod and the inner guide rod can move together synchronously.

[0020] The aforementioned set of camera components is fixed on the top plate of the lifting column and moves up and down with the lifting column, thereby allowing the stroke H1 of the lifting column to be flexibly adjusted according to the working conditions.

[0021] Furthermore, the camera is fixed on the camera rotating block, and camera side seats are installed on both sides of the camera rotating block. The camera rotating block is driven to move along the arc of the camera side seats and locked by locking screws on both sides, so as to realize the camera angle adjustment.

[0022] The camera side mount is fixed to the camera base, and a camera slider is fixed below the camera base. The camera slider is fitted onto the camera guide rod, thereby driving the camera to make a fine adjustment of the height along the camera guide rod with a stroke H2. The camera can be fixed in a suitable position by locking screws on both sides.

[0023] Furthermore, the robot chassis assembly has a camera assembly that extends vertically upwards on its chassis, and is parallel to but not on the same straight line as the camera assembly connected to the top plate of the lifting column.

[0024] Furthermore, the safety contact edges at the front and rear of the robot chassis assembly and the ultrasonic sensors at the four corners together form a 360° safety zone around the robot chassis, ensuring that the robot will not collide with equipment or other obstacles during autonomous inspection.

[0025] Furthermore, the caged chicken houses often have height-restricted areas at both ends, such as egg collection lines, feeders, and manure removal machines. Each row of chicken cages has several layers of stacked cages. In order to obtain monitoring videos of the chickens in each layer of cages, it is often necessary to use lifting components to raise several cameras to a higher position, exceeding the height restriction area at the end.

[0026] The ranging radar is installed above the environmental information acquisition component and behind the lifting component to determine that the robot's lifting component has retracted to its minimum height when the robot encounters a height restriction zone.

[0027] Furthermore, the passageways L1 of the multi-row, multi-layer caged chicken houses are often very small, and external equipment such as feeders and lights are located within these passageways. To accommodate autonomous robot inspection across rows, magnetic strips are laid within the chicken house passageways, and three-way routes are established at both ends. Additionally, each chicken house passageway is equipped with "lifting column descent indicator," "lifting column ascent indicator," "rotation indicator," "reverse indicator," and "inspection tag" points. Autonomous inspection by the robot is achieved through RFID sensors and magnetic navigation sensors. After completing one inspection cycle, the robot returns to the "automatic charging station" point, where its charging copper terminals, mounted on the front of its chassis, align with the charging station for autonomous charging, and it awaits the next inspection task.

[0028] Compared with the prior art, the beneficial effects achieved by this utility model are as follows: The autonomous inspection device for multi-row, multi-layer caged chicken houses provided by this utility model adopts a multi-layer safety protection mechanism for the robot chassis component, consisting of safety contact edges, ultrasonic sensors, and ranging radar installed on the robot chassis, to prevent the robot from colliding with external equipment or other obstacles during autonomous operation; at the same time, the camera component is equipped with multiple coupled adjustment mechanisms, such as a coarse adjustment mechanism for camera height, a fine adjustment mechanism for camera height, and a camera angle adjustment mechanism, to facilitate the mounting of cameras with different field of view and to adapt to monitoring chicken cages of different heights; furthermore, for multi-row caged chicken house environments, three-way intersections are configured at both ends of the passage with corresponding magnetic strip inspection routes to achieve autonomous cross-row inspection within the chicken house, comprehensively improving the robot's scene adaptability, and making it convenient, intelligent, and highly efficient to operate. Attached Figure Description

[0029] Figure 1 This is a front view of a robot suitable for inspecting multi-row, multi-layer caged chicken houses according to an embodiment of the present invention.

[0030] Figure 2 This is a side view of a robot suitable for inspecting multi-row, multi-layer caged chicken houses according to an embodiment of the present invention.

[0031] Figure 3 This is a schematic diagram of a robot's inspection route in a chicken coop according to an embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram of a robot chassis structure according to an embodiment of the present utility model;

[0033] Figure 5 This is a schematic diagram of a robot camera height adjustment mechanism according to an embodiment of the present utility model;

[0034] Figure 6 This is a schematic diagram of a camera angle adjustment mechanism for a robot according to an embodiment of the present invention;

[0035] Figure 7 This is a schematic diagram of a robot's decision-making strategy at a three-way intersection according to an embodiment of the present invention;

[0036] The components include: robot chassis assembly I, environmental information acquisition assembly II, lifting assembly III, camera assembly IV, charging copper electrode 101, safety contact edge 102, ultrasonic sensor 103, RFID sensor 104, magnetic navigation sensor 105, drive wheel 106, reducer 107, drive motor 108, caster wheel 109, gas sensor 201, display screen 202, ranging radar 203, lifting column base 301, outer guide rod 302, inner guide rod 303, guide bearing 304, clamp 305, lower top plate of lifting column 306, middle top plate of lifting column 307, middle column of lifting column 308, top column of lifting column 309, upper top plate of lifting column 310, camera guide rod 401, camera slider 402, camera base 403, camera 404, camera rotating block 405, and camera side seat 406. Detailed Implementation

[0037] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0038] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., 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," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0039] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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 utility model based on the specific circumstances.

[0040] like Figure 1 As shown in the figure, this utility model embodiment provides an autonomous inspection device suitable for multi-row, multi-layer cage chicken houses, including robot chassis component I, environmental information acquisition component II, lifting component III, and camera component IV.

[0041] The environmental information acquisition component II is equipped with, but is not limited to, a gas sensor 201 and a display screen 202, for collecting environmental gas information in the chicken house and displaying the collected data on the display screen 202 in real time for personnel to view at any time.

[0042] Combination Figure 4 As shown, safety contact edges 102 are installed at the front and rear of the robot chassis component I, and ultrasonic sensors 103 are installed at the four corners. Together, they form a safety zone within a 360° range of the robot chassis, ensuring that the robot will not collide with equipment or other obstacles during autonomous inspection.

[0043] Combination Figure 2 and Figure 3 As shown, there are often height-restricted areas at both ends of caged chicken houses, such as egg collection lines, feeders, and manure removal machines. Each row of chicken cages has several layers of cages stacked on top of each other. In order to obtain monitoring videos of the chickens in each layer of cages, it is often necessary to raise the camera to a high position, which exceeds the height restriction area at the end. Therefore, when the robot enters or exits the height restriction area, it is necessary to perform the raising and lowering actions of the lifting column. In this embodiment, "lifting column lowering indicator" points and "lifting column raising indicator" points are arranged on the inspection route near the height restriction area, and a ranging radar 203 is installed on the robot to determine that when the robot encounters the height restriction area, the robot's lifting component III has been retracted to the minimum height, that is, it has a dual protection mechanism to ensure that the lifting column will not fail to perform its action due to the loss of the point card caused by external factors, so that the robot will not collide with the chicken cage equipment.

[0044] The robot chassis assembly I includes two centrally located drive wheels 106 and four omnidirectional wheels 109. A reducer 107 and a drive motor 108 are respectively installed on the drive wheels 106. By controlling the rotation speed of the two drive motors 108, the drive wheels 106 are driven to realize the robot's forward, backward, stationary rotation, and curved turning movements. This embodiment adopts a chassis motion structure with dual centrally located drive wheels, which can ensure that the robot can turn smoothly and without shaking during movement.

[0045] The robot chassis assembly I has an RFID sensor 104 installed at the geometric center of the robot chassis to read position information; and magnetic navigation sensors 105 installed at the front and rear of the chassis to acquire chassis motion status information.

[0046] Combination Figure 3 As shown, caged chicken houses often contain multiple rows of chicken cages, with chickens on both sides of each row of cages. Patrol magnetic strips and RFID cards are arranged according to the chicken house scenario. Corresponding information is burned into each RFID card, including but not limited to "automatic charging pile" location, "lifting column descent indicator" location, "lifting column rise indicator" location, "stationary rotation indicator" location, "reverse indicator" location, and "inspection tag" location.

[0047] The robot is equipped with a magnetic navigation sensor 105 and uses differential speed control of two drive wheels 106 to achieve inspection along the magnetic strip. Since there are chickens on both sides of each row of chicken cages, this embodiment places a "rotation indicator" point at the end of each row of chicken cages. By turning around, the robot can inspect the chicken cages on the other side, thereby improving inspection efficiency. At the same time, the width L1 of the chicken cage passage is often very narrow. If the robot does not travel along the arc to the middle of the chicken cage passage, it is difficult to meet the minimum turning radius R1 of the robot. Therefore, this embodiment proposes a three-way magnetic strip inspection route determination strategy to improve the scene adaptability of the robot equipment. This enables the robot to always move along the right side of the robot's direction of travel when encountering a three-way intersection, so as to meet the function of the robot inspecting along a designated route.

[0048] Combination Figure 7 As shown, when the magnetic navigation sensor 105 encounters a three-way magnetic strip route, there will be a negative deviation value C1 on the right side of the center line of the magnetic navigation sensor 105 along the direction of vehicle movement, and a positive deviation value C2 on the left side. It is set that when the magnetic navigation sensor 105 acquires two values ​​at the same time, it will always take the negative value, thereby realizing the robot moving to the right.

[0049] Combination Figure 2 and Figure 3As shown, the caged chicken house has walls on both sides, and the robot's camera is always facing one side. Therefore, in order to fully obtain monitoring videos of the chickens, "backward indicator" points are set at the end of the passage on both sides to ensure that the camera lens of the robot is always aimed at the chickens when it moves in the passage of the chicken house.

[0050] After completing an inspection, the robot will return to the "automatic charging station" location. The charging copper electrode 101 installed at the front of its chassis will be aligned with the charging station to charge autonomously, and then it will wait for the next round of inspection tasks.

[0051] Combination Figure 5 and Figure 6 As shown, each row of cages in a caged chicken house often has multiple layers of cages stacked together. To accommodate the different monitoring heights and shooting angles of each camera, this embodiment designs a camera height adjustment mechanism and a camera angle adjustment mechanism.

[0052] The camera height adjustment mechanism includes a lifting column base 301, an outer guide rod 302, an inner guide rod 303, a guide bearing 304, a clamp 305, a lower top plate of the lifting column 306, a middle top plate of the lifting column 307, a middle column of the lifting column 308, a top column of the lifting column 309, an upper top plate of the lifting column 310, a camera guide rod 401, a camera slider 402, and a camera base 403.

[0053] The lifting column base 301 is fixed to the robot chassis. The middle column 308 is nested inside the lifting column base 301, and the top column 309 is nested inside the middle column 308. They are connected to each other by a screw and nut, enabling the top surface of the lifting column to move up and down. Since caged chicken houses are often high-rise, and there are external devices such as lights in the chicken house passageways, the cylinder diameter of the lifting column is limited, while the lifting stroke needs to be large. Therefore, this embodiment designs a guide device around the original lifting column to increase the rigidity of the equipment.

[0054] The lifting assembly III consists of a lower top plate 306 fixed above the lifting column base 301, a guide bearing 304 fixed below the lower top plate 306, and an outer guide rod 302 passing through the guide bearing 304. A clamp 305 is installed at the upper end of the outer guide rod 302 and is fixed below the middle top plate 307 of the lifting column. The middle top plate 307 and the middle column 308 of the lifting column are fixedly connected. An inner guide rod 303 is nested inside the outer guide rod 302, and an upper top plate 310 of the lifting column is fixed above the inner guide rod 303 and to the top column 309 of the lifting column. When the lifting column base 301 moves the middle column 308 and the top column 309 up and down, the outer guide rod 302 and the inner guide rod 303 move synchronously. A camera assembly IV is fixed to the upper top plate 310 of the lifting column and moves up and down with the lifting column. This allows for flexible adjustment of the lifting column stroke H1 according to working conditions.

[0055] Because the camera's field of view is limited, and the camera is often very close to the chicken coop when the robot is inspecting inside the passageway, it is necessary to make fine adjustments to the camera's height and angle in order to accurately position the camera's field of view on a specific part of the chicken, since the height of the chicken coop varies in different scenarios.

[0056] In some embodiments, a camera assembly extending vertically upwards is connected to the robot chassis of the robot chassis assembly, and is spaced parallel to and not on the same straight line as the camera assembly connected to the top plate of the lifting column.

[0057] Combination Figure 5 and Figure 6 As shown, in this embodiment, the camera 404 is fixed on the camera rotating block 405. Camera side seats 406 are installed on both sides of the camera rotating block 405. The camera rotating block 405 is driven to move along the arc of the camera side seats 406 and lock by the locking screws on both sides, thereby realizing the camera angle adjustment. The camera side seats 406 are fixed on the camera base 403. A camera slider 402 is fixed below the camera base 403. The camera slider 402 is sleeved on the camera guide rod 401, thereby driving the camera 404 to make a fine adjustment of the height of the stroke H2 along the camera guide rod 401, and the camera 404 is fixed in a suitable position by the locking screws on both sides.

[0058] This embodiment employs a multi-protection mechanism consisting of a safety contact edge 102, an ultrasonic sensor 103, and a ranging radar 203. The robot is also equipped with multiple coupled adjustment mechanisms, including a coarse camera height adjustment mechanism, a fine camera height adjustment mechanism, and a camera angle adjustment mechanism. Furthermore, a three-way intersection determination strategy is proposed for multi-row caged chicken house environments. By laying corresponding magnetic strip inspection routes, the equipment can autonomously cross rows within the chicken house, comprehensively improving the robot's scene adaptability.

[0059] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. An autonomous inspection device suitable for multi-row, multi-layer caged chicken houses, characterized in that, include: Robot chassis component (Ⅰ) is configured to move back and forth along an inspection route laid out between multiple rows of chicken cages; An environmental information acquisition component (II) is fixedly installed on the robot chassis component (I) and collects and displays environmental gas information in multi-row, multi-layer cage chicken houses; The lifting assembly (Ⅲ) is vertically adjustable and fixedly mounted on the robot chassis assembly (Ⅰ); The camera assembly (Ⅳ) is configured with at least one camera that is vertically adjustable and connected to the lifting assembly (Ⅲ), and is equipped with a camera that is self-adjusting in height and angle.

2. The autonomous inspection device for multi-row, multi-layer caged chicken houses according to claim 1, characterized in that, The robot chassis assembly (I) includes a charging copper electrode (101), a safety contact edge (102), an ultrasonic sensor (103), an RFID sensor (104), a magnetic navigation sensor (105), a drive wheel (106), a reducer (107), a drive motor (108), and a caster wheel (109). The charging copper electrode (101) is installed at the front of the robot chassis, the safety contact edge (102) is installed at the front and rear positions under the robot chassis, and the ultrasonic sensor (103) is installed at the four corners of the robot chassis. The RFID sensor (104) is installed directly below the robot chassis. The magnetic navigation sensor (105) is installed along the central axis of the robot chassis's movement direction and near the front and rear ends of the robot chassis. The drive wheels (106) are installed parallel to the central axis of the robot chassis's movement direction and near the sides of the robot chassis. A reducer (107) and a drive motor (108) are fixed on the drive wheels (106). The omnidirectional wheels (109) are fixed at the four corners of the robot chassis, forming a dual-wheel differential motion structure to drive the robot chassis components to move forward, backward, rotate in place, and turn in arcs.

3. The autonomous inspection device for multi-row, multi-layer caged chicken houses according to claim 2, characterized in that, The environmental information acquisition component (II) is equipped with a gas sensor (201), a display screen (202), and a ranging radar (203); the gas sensor (201) is used to collect environmental gases in the chicken house and display the collected data on the display screen (202) in real time; the ranging radar (203) is configured to be installed above the top of the environmental information acquisition component (II) and behind the lifting component (III).

4. The autonomous inspection device for multi-row, multi-layer caged chicken houses according to claim 3, characterized in that, The lifting assembly (Ⅲ) includes a lifting column base (301), an outer guide rod (302), an inner guide rod (303), a guide bearing (304), a clamp (305), a lower top plate of the lifting column (306), a middle top plate of the lifting column (307), a middle column of the lifting column (308), a top column of the lifting column (309), and an upper top plate of the lifting column (310). The lifting column base (301) is fixed on the robot chassis, the lifting column middle column (308) is nested in the lifting column base (301), and the lifting column top column (309) is nested in the lifting column middle column (308), and they are connected to each other by a screw and nut. The lower top plate (306) of the lifting column is fixed above the lifting column base (301), the guide bearing (304) is fixed below the lower top plate (306), the outer guide rod (302) passes through the guide bearing (304), and a clamp (305) is installed at the upper end of the outer guide rod (302). The clamp (305) is fixed below the middle top plate (307) of the lifting column. The middle top plate (307) of the lifting column and the lifting column The middle column (308) is fixedly connected, the inner guide rod (303) is nested inside the outer guide rod (302), the top plate (310) of the lifting column is fixed above the inner guide rod (303) and is fixed to the top column (309) of the lifting column; when the lifting column base (301) drives the middle column (308) and the top column (309) of the lifting column to move up and down, it synchronously drives the outer guide rod (302) and the inner guide rod (303) to move together.

5. The autonomous inspection device for multi-row, multi-layer caged chicken houses according to claim 4, characterized in that, The top plate (310) of the lifting column is connected to a camera assembly (Ⅳ) that extends downward in the vertical direction, and the camera assembly (Ⅳ) moves up and down with the lifting column and adjusts the stroke H1 of the lifting column.

6. The autonomous inspection device for multi-row, multi-layer caged chicken houses according to claim 5, characterized in that, The robot chassis assembly (I) has a camera assembly (IV) that extends vertically upwards on its chassis, and is parallel to and not on the same straight line as the camera assembly (IV) connected to the top plate (310) of the lifting column.

7. The autonomous inspection device for multi-row, multi-layer caged chicken houses according to claim 6, characterized in that, The camera assembly (Ⅳ) includes a camera guide rod (401), a camera slider (402), a camera base (403), a camera (404), a camera rotating block (405), and a camera side mount (406); The camera (404) is fixed on the camera rotating block (405). Camera side mounts (406) are installed on both sides of the camera rotating block (405). The camera rotating block (405) is driven to move along the arc of the camera side mount (406) and lock by the locking screws on both sides to adjust the camera angle. The camera side mount (406) is fixed on the camera base (403). A camera slider (402) is fixed below the camera base (403). The camera slider (402) is sleeved on the camera guide rod (401) and drives the camera (404) to make a stroke H2 micro-adjustment along the camera guide rod (401). The camera (404) can also be adjusted to a suitable fixed position by the locking screws on both sides.

8. The autonomous inspection device for multi-row, multi-layer caged chicken houses according to claim 2, characterized in that, The safety contact edges (102) at the front and rear of the robot chassis assembly (Ⅰ) and the ultrasonic sensors (103) at the four corners together form a safety zone within the 360° range of the robot chassis.

9. The autonomous inspection device for multi-row, multi-layer caged chicken houses according to claim 1, characterized in that, The caged chicken house is equipped with egg collection lines, feeders, and manure removal machines at both ends, and height-limited areas; and in the passage between multiple rows of multi-layer caged chicken houses, the camera (404) of the camera assembly (Ⅳ) driven by the lifting component (Ⅲ) is raised to make the height exceed the height-limited area, so as to inspect the multi-layer cages of each row.

10. The autonomous inspection device for multi-row, multi-layer caged chicken houses according to claim 1, characterized in that, The multi-column, multi-layer cage chicken house has magnetic strips for inspection routes laid in the passage L1 between the multiple columns, and three-way magnetic strips for inspection routes laid at both ends of the passage; and each passage is equipped with "lifting column descent indicator", "lifting column rise indicator", "rotation indicator", "reverse indicator" and "inspection label" points.

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