Inspection robot and livestock inspection system

Abstract

The utility model relates to the technical field of livestock and poultry breeding, and provides an inspection robot and a livestock and poultry inspection system. The inspection robot comprises a robot body, walking wheels, a main controller and a power source, the walking wheels are installed on the top of the robot body, an attitude sensor is installed on the robot body, and the main controller controls the walking wheels to walk according to information collected by the attitude sensor so that the inspection robot can walk above a to-be-detected object; the main controller and the power source are both installed in the machine body, a charging module is arranged on the side of the machine body, the charging module is electrically connected with the power source, and the charging module can be matched with charging equipment located on the side of the walking direction of the machine body for wireless charging. According to the inspection robot provided by the utility model, stable annular inspection can be realized, and the inspection effect of the inspection robot is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of livestock and poultry breeding, especially to a kind of inspection robot and livestock and poultry inspection system. BACKGROUND

[0002] For the current larger livestock and poultry house, usually adopt intelligent equipment such as inspection robot to carry out inspection, to improve the inspection efficiency and quality.In the inspection process, if the inspection robot is low, it needs to return to the charging position to charge.The track laid in the livestock and poultry house is mostly annular or curve type, to avoid the charging device hindering the progress, the charging device is mostly set at the starting end of the track, after the inspection, the inspection robot resets and charges by the charging device.If the inspection robot has low power during the journey, it needs to return and continue the inspection after charging, which affects the inspection efficiency. SUMMARY

[0003] The utility model provides a kind of inspection robot and livestock and poultry inspection system, to solve the problem that the inspection robot in prior art is difficult to carry out annular inspection stably, lead to the problem that the inspection effect is not ideal.

[0004] To solve the above technical problem, the present application is realized as follows:

[0005] First, the utility model provides a kind of inspection robot, comprising: machine main body, walking wheel, main control unit and power supply, the walking wheel is installed in the top of the machine main body, attitude sensor is installed on the machine main body, the main control unit controls the walking wheel walking according to the information collected by the attitude sensor, so that the inspection robot can walk above the object to be measured;The main control unit and the power supply are installed in the machine main body, the side of the machine main body is equipped with charging module, the charging module is electrically connected with the power supply, the charging module can cooperate with the charging device located in the side of the walking direction of the machine main body to carry out wireless charging.

[0006] According to the utility model provides a kind of inspection robot, the walking wheel has multiple, multiple walking wheels are arranged in single row along the walking direction of the machine main body.

[0007] According to the utility model provides a kind of inspection robot, the attitude sensor is six-axis gyroscope.

[0008] According to the utility model provides a kind of inspection robot, the front end and the rear end of the machine main body are equipped with obstacle avoidance sensor, and the obstacle avoidance sensor is electrically connected with the main control unit.

[0009] According to the utility model provides a kind of inspection robot, the obstacle avoidance sensor is ultrasonic radar.

[0010] The utility model provides a kind of inspection robot, the machine main body is equipped with display screen, the host computer is electrically connected with the display screen.

[0011] According to the utility model provides a kind of inspection robot, still include video collector, the video collector is located the machine main body deviates from the one side of walking wheel, the video collector is electrically connected with the host computer.

[0012] According to the utility model provides a kind of inspection robot, the video collector includes one or more of thermal imaging camera, visible light camera and 3D camera.

[0013] Secondly, the utility model provides a kind of livestock and poultry inspection system, it includes: charging station, track and as described above inspection robot, the walking wheel can be slidably installed on the track, the charging station is located the side of track.

[0014] According to the utility model provides a kind of livestock and poultry inspection system, the track is equipped with electronic tag, the machine main body is equipped with label identifier, the label identifier is connected with the host computer, to control the inspection robot to stop under the condition that the label identifier reads the electronic tag.

[0015] The utility model provides an inspection robot, walking wheel is installed on the top of machine main body, and posture sensor is installed on machine main body, posture sensor detects the motion state of machine main body, host computer controls the walking state of walking wheel according to the information collected by posture sensor, changes the walking state of walking wheel, to avoid the left and right swing and derailment of inspection robot on track, simultaneously, by being provided with charging module in the side of walking direction of machine main body, so that charging equipment can be set on the side of track, to realize the annular inspection of inspection robot, the inspection robot of this embodiment can realize stable annular inspection, improves the inspection effect of inspection robot. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical scheme in the utility model or prior art, the following will be to the embodiment or prior art description needed to use the drawing a simple introduction, obviously, the following description in the drawing is some embodiments of the utility model, for those skilled in the art, without creative labor, according to these drawings, other drawings can also be obtained.

[0017] Figure 1 It is one of the three-dimensional structure schematic diagram of the inspection robot provided by the utility model.

[0018] Figure 2 It is the second three-dimensional structure schematic diagram of the inspection robot provided by the utility model.

[0019] Figure 3 Figure 3 is a three-dimensional structural schematic diagram of the inspection robot provided by the present application.

[0020] Reference signs:

[0021] 1, machine body; 2, walking wheel; 3, obstacle avoidance sensor; 4, display screen; 5, video collector; 6, label identifier; 11, charging module; 51, thermal imaging camera; 52, visible light camera; 53, 3D camera. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme of the present application will be described clearly and completely below in combination with the drawings in the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0023] The present application will be described in detail below in combination with Figures 1 to 3 , and the inspection robot and livestock and poultry inspection system provided by the embodiments of the present application will be described in detail through specific embodiments and application scenarios.

[0024] In a first aspect, as shown in Figure 1 , the present embodiment provides an inspection robot, comprising: a machine body 1, a walking wheel 2, a main control unit and a power supply, the walking wheel 2 is installed on the top of the machine body 1, a posture sensor is installed on the machine body 1, the main control unit controls the walking of the walking wheel 2 according to the information collected by the posture sensor, so that the inspection robot can walk above the object to be measured. The main control unit and the power supply are both installed in the machine body 1, a charging module is arranged on the side of the machine body 1, the charging module is electrically connected with the power supply, and the charging module can cooperate with the charging equipment located on the side of the walking direction of the machine body to perform wireless charging.

[0025] When the inspection robot inspects between the poultry houses, the walking wheel 2 abuts against the upper rail surface of the track, so as to hang the machine body 1 on the track, so that the inspection robot can walk above the object to be measured. Since the object to be measured is livestock and poultry, there is no shelter above the livestock and poultry house, which improves the inspection effect of the livestock and poultry.

[0026] When the walking wheel 2 travels along the track, due to the manufacturing error of the track, there may be unevenness, or there is a turning place on the track, or when the inspection robot travels too fast, it may cause the machine body 1 to sway left and right, and even cause the inspection robot to derail in severe cases.

[0027] The attitude sensor of the embodiment can detect the motion state of the machine body 1, and provides reference data for the walking of the machine body 1. Specifically, the attitude sensor can be an accelerometer, an inertial measurement unit, or a magnetometer.

[0028] The charging module of the embodiment is a wireless charging module. The wireless charging module is adopted in the embodiment, the charging module 11 is a charging plate, and the charging device arranged beside the track is in contact with the charging plate, so that the charging operation on the inspection robot can be realized.

[0029] In the conventional inspection robot, the charging module 11 is arranged at the rear side of the machine body 1, and the charging device is correspondingly arranged at the starting end of the track. If the inspection robot needs to be charged in the middle of the track, the inspection robot needs to be moved to the starting end for charging, which causes power waste and time consumption. However, in the inspection robot provided by the utility model, the charging module 11 is arranged at the side of the walking direction of the machine body 1, and the charging device can perform the charging operation on the machine body 1 from the side of the machine body 1. In the case that the track is arranged in a ring shape, the inspection robot can perform the cyclic inspection on the ring-shaped track for multiple times. The charging module 11 arranged at the side of the machine body 1 and the charging device arranged beside the track will not block the ring-shaped path of the inspection robot, and the effect of the livestock and poultry inspection is improved.

[0030] The inspection robot provided by the utility model is characterized in that the walking wheel 2 is installed on the top of the machine body 1, and the attitude sensor is arranged on the machine body 1. The attitude sensor detects the motion state of the machine body 1, the main control unit controls the walking state of the walking wheel 2 according to the information collected by the attitude sensor, and the inspection robot walks stably on the track. Meanwhile, the charging module 11 is arranged at the side of the walking direction of the machine body 1, so that the charging device can be arranged beside the track, and the cyclic inspection of the inspection robot is realized. The inspection robot of the embodiment can realize the stable cyclic inspection, and the inspection effect of the inspection robot is improved.

[0031] As shown in Figure 1 The walking wheel 2 has a plurality of walking wheels 2 arranged in a single row along the walking direction of the machine body 1.

[0032] The walking wheel 2 has a plurality of walking wheels 2 arranged in a single row along the walking direction of the machine body 1.

[0033] Specifically, the walking wheel 2 has two walking wheels 2 arranged along the walking direction of the machine body 1. Of course, the walking wheel 2 can also have three or four walking wheels.

[0034] Optionally, the attitude sensor is a six-axis gyroscope.

[0035] The six-axis gyroscope integrates a three-axis gyroscope and a three-axis accelerometer, and can measure the angular velocity, acceleration and inclination information of the machine body 1 in three axial directions, and timely feedback to the host computer, so as to adjust the moving direction and speed of the machine body 1, so as to keep it balanced, stable and not shaking.

[0036] In actual application, when the inspection robot walks on the track, the normal inclination range is 1°-2°, and if it is greater than 5°, it is considered that the inspection robot is stuck on the track and cannot walk normally. When the six-axis gyroscope detects that the inclination is too large, the host computer controls the walking wheel 2 to reduce the walking speed, or changes the walking direction of the walking wheel 2. The host computer can control the walking wheel 2 to retreat for a distance and then walk forward again to change the state of the too large inclination. When the speed and acceleration detected by the six-axis gyroscope exceed the preset value, the host computer controls the walking wheel 2 to reduce the walking speed and acceleration to ensure the safe walking of the inspection robot.

[0037] As shown in Figure 2 and Figure 3 , the front end and the rear end of the machine body 1 of the embodiment are both provided with an obstacle avoidance sensor 3, and the obstacle avoidance sensor 3 is electrically connected with the host computer.

[0038] The obstacle avoidance sensor 3 arranged at the front end of the machine body 1 is used to detect the obstacle in the advancing direction of the machine body 1, and the obstacle avoidance sensor 3 arranged at the rear end is used to detect the obstacle in the retreating direction of the machine body 1.

[0039] During the walking process of the machine body 1, the information of the detected obstacle is fed back to the host computer. The host computer controls the start-stop of the walking wheel 2 and the adjustment of the speed of the walking wheel 2 according to the information of the obstacle in combination with the walking speed of the machine body 1, so as to avoid collision with the obstacle.

[0040] Specifically, the obstacle avoidance sensor 3 can be a photoelectric sensor, a camera, an infrared distance measuring sensor or the like.

[0041] As shown in Figure 2 and Figure 3 , the obstacle avoidance sensor 3 of the embodiment is an ultrasonic radar.

[0042] The ultrasonic radar uses ultrasonic signals for distance measurement to realize obstacle detection. Since the working environment of the poultry house is relatively poor, there are sludge, water stains and light interference in the poultry house. The conventional contact sensor or photoelectric sensor is easily disturbed by environmental factors. The detection of the ultrasonic radar does not depend on the light source, and it can still work effectively in the dark or poor light poultry house. At the same time, the ultrasonic radar is not sensitive to electromagnetic field, and can work in the environment with dust and smoke, which is more suitable for working in the poultry house with dust and odor.

[0043] The embodiment sets the obstacle avoidance sensor 3 as an ultrasonic radar, ensures obstacle avoidance in a relatively harsh environment of the poultry house based on the characteristics that the ultrasonic radar is not sensitive to light and electromagnetic field, and further improves the walking safety of the inspection robot.

[0044] As shown in Figure 3 The robot body 1 of the embodiment is provided with a display screen 4, and the main controller is electrically connected with the display screen 4.

[0045] The display screen 4 can display the number, fault code, battery level and charging state of the inspection robot in real time. The staff can know the parameter information of the robot currently performing inspection in the poultry house through the number of the inspection robot. When the inspection robot fails, the staff can know the specific fault type through the fault code and can handle simple faults by using the instruction manual, so as to maintain the inspection robot on site.

[0046] Specifically, the display screen 4 of the embodiment is installed on the side of the robot body 1, and the charging device is located on the different side of the robot body 1. The height of the track in the poultry house is about 2 meters, and the staff standing on the ground can clearly observe the display content on the display screen 4.

[0047] As shown in Figure 1 and Figure 3 The inspection robot further comprises a video collector 5, the video collector 5 is located on the side of the robot body 1 away from the walking wheel 2, and the video collector 5 is electrically connected with the main controller.

[0048] The video collector 5 is installed at the bottom of the robot body 1, and the video collector 5 collects livestock and poultry images in real time during the process that the robot body 1 travels along the track and feeds back to the main controller. The main controller can transmit the livestock and poultry images to the upper computer in the monitoring room, and the staff can view the images collected by the video collector 5 through the screen of the upper computer.

[0049] As shown in Figure 3 The video collector 5 comprises one or more of a thermal imaging camera 51, a visible light camera 52 and a 3D camera 53.

[0050] The thermal imaging camera 51 can collect thermal images of livestock and poultry, so as to determine the body temperature of the livestock and poultry. The embodiment measures the body temperature of the livestock and poultry at a distance and non-contact manner through the thermal imaging camera 51, detects the health status of the livestock and poultry in time. Moreover, the thermal imaging camera 51 is not limited by the light condition, can clearly observe the livestock and poultry and perform body temperature monitoring at night or in bad weather, and is suitable for early detection of diseases and providing suitable growth environment for the livestock and poultry.

[0051] The visible light camera 52 can monitor the daily state of the livestock and poultry, and the monitoring video collected by the visible light camera 52 can be fed back to the upper computer in the monitoring room through the host computer. The staff in the monitoring room can observe the screen of the upper computer to determine the integrity and health status of the livestock and poultry.

[0052] The 3D camera 53 can capture the depth information of the livestock and poultry to obtain the three-dimensional information of the livestock and poultry, such as the body shape, so as to establish a three-dimensional model.

[0053] In this embodiment, only one of the thermal imaging camera 51, the visible light camera 52 and the 3D camera 53 can be provided, or multiple types can be provided at the same time, so that one or more of the three-dimensional image, the two-dimensional image and the thermal image of the livestock and poultry can be collected during the walking of the inspection robot, and the multi-dimensional image collection effect of the livestock and poultry is achieved.

[0054] In some embodiments, the inspection robot of the present embodiment further comprises a voice broadcaster. The voice broadcaster is electrically connected with the host computer.

[0055] The host computer can control the voice broadcaster to play various state information of the inspection robot, such as normal state, charging failure, abnormal power and motion abnormality, etc., to remind the staff to take corresponding measures. Optionally, the voice broadcaster and the display screen are located on the same side of the machine body 1.

[0056] In some embodiments, the inspection robot of the present embodiment further comprises a temperature collector. The temperature collector is electrically connected with the host computer.

[0057] The temperature collector is arranged in the interior of the machine body 1, and the temperature collector of the present embodiment comprises three temperature sensors, which are respectively used to monitor the real-time temperature of the host computer, the driving mechanism of the walking wheel and the video collector, and feed back the real-time temperature to the host computer. The host computer can determine whether the working temperature of the host computer, the driving mechanism of the walking wheel and the video collector is normal according to the collected temperature information.

[0058] In a second aspect, the embodiment provides a livestock and poultry inspection system, which comprises a charging station, a track and the above-mentioned inspection robot. The walking wheel 2 is slidably installed on the track, and the charging station is located beside the track.

[0059] Specifically, since the livestock and poultry inspection system comprises the inspection robot, the specific structure of the inspection robot is referred to the above-mentioned embodiments, and the livestock and poultry inspection system shown in the present embodiment comprises all the technical solutions of the above-mentioned embodiments, and therefore at least has all the beneficial effects obtained by all the technical solutions of the above-mentioned embodiments, which will not be described here in detail.

[0060] The track of the embodiment is arranged above the livestock and poultry house stall, the walking wheel 2 slides along the track, and the machine body 1 is driven to move along the track. The machine body 1 collects livestock and poultry information from above the livestock and poultry house stall, and there is no shelter above the livestock and poultry house stall, which is more conducive to the omnidirectional collection of livestock and poultry information by the machine body 1.

[0061] The charging station is located beside the track and can be matched with the charging module 11 located on the side of the walking direction of the machine body 1, so that the charging station charges the machine body 1 through the charging module 11. The charging station does not occupy the internal space of the track, and when the track is arranged in a ring shape, the walking wheel 2 can realize ring-shaped reciprocating sliding on the track to realize ring-shaped reciprocating inspection of the inspection robot.

[0062] As shown in Figure 2 Figure 3 The track of the embodiment is provided with an electronic tag, and the machine body 1 is provided with a tag identifier 6 connected with the main controller, so as to control the inspection robot to stop when the tag identifier 6 reads the electronic tag.

[0063] In one embodiment, the electronic tag of the embodiment corresponds to the positions of a plurality of stalls in the livestock and poultry house, and each stall includes at least one livestock and poultry. When the tag identifier 6 on the machine body 1 reads the electronic tag, the main controller controls the inspection robot to stop and collect the body temperature and image of the livestock and poultry in the livestock and poultry house.

[0064] In another embodiment, the electronic tag of the embodiment corresponds to a charging position, and when the tag identifier 6 on the machine body 1 reads the electronic tag, the main controller controls the inspection robot to stop beside the charging station, so that the charging station can charge the inspection robot.

[0065] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An inspection robot, characterized in that, The utility model relates to a kind of inspection robot, including: Machine body, walking wheel, main control unit and power supply, the walking wheel is installed on the top of the machine body, attitude sensor is installed on the machine body, the walking wheel is walked according to the information collected by the attitude sensor to control by the main control unit, so that the inspection robot can walk above the object to be measured;The main control unit and the power supply are installed in the machine body, and the side of the machine body is provided with charging module, the charging module is electrically connected with the power supply, and the charging module can be cooperated with the charging equipment located in the side of the walking direction of the machine body to carry out wireless charging.

2. The patrol robot according to claim 1, characterized in that, The walking wheel has a plurality of, and the plurality of walking wheels are arranged in single row along the walking direction of the machine body.

3. The patrol robot according to claim 1, wherein, The attitude sensor is six-axis gyroscope.

4. The patrol robot according to claim 1, wherein, The front end and the rear end of the machine body are both installed with obstacle avoidance sensor, and the obstacle avoidance sensor is electrically connected with the main control unit.

5. The patrol robot according to claim 4, wherein, The obstacle avoidance sensor is ultrasonic radar.

6. The inspection robot of claim 1, wherein, The machine body is installed with display screen, and the main control unit is electrically connected with the display screen.

7. The patrol robot of claim 1, wherein, It further includes video collector, and the video collector is located on the side of the machine body away from the walking wheel, and the video collector is electrically connected with the main control unit.

8. The patrol robot according to claim 7, characterized in that, The video collector includes one or more of thermal imaging camera, visible light camera and 3D camera.

9. A livestock inspection system, comprising: It includes charging station, track and the inspection robot as claimed in any one of claims 1 to 8, the walking wheel is slidably installed on the track, and the charging station is located on the side of the track.

10. The livestock inspection system of claim 9, wherein, Electronic tag is installed on the track, and the machine body is installed with label identifier, and the label identifier is connected with the main control unit, so as to control the inspection robot to stop when the label identifier reads the electronic tag.

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