Multifunctional unmanned robot

Abstract

The utility model relates to the technical field of intelligent machinery in the animal husbandry industry, and discloses a multifunctional unmanned robot, which is characterized in that a pushing device is arranged at the front end of a drive-by-wire chassis system, and a lifting guide rail device for realizing the action of the pushing device is arranged at the back of the pushing device; an unmanned navigation system, a body temperature monitoring device facing the front end and a temperature and humidity monitoring device are installed at the top end of the drive-by-wire chassis system, and ear tag recognition devices are symmetrically installed at the upper end of the drive-by-wire chassis system. A control panel and an automatic charging brush are mounted on an outer shell of the drive-by-wire chassis system, so that autonomous charging, automatic navigation and automatic material pushing in a specified breeding house can be realized, quantity checking is performed by identifying ear tags, animal body temperature is detected through a thermal image camera, and air quality and wind speed of the breeding house are detected through a temperature and humidity sensor; the whole process realizes unmanned and automatic operation, the number of floating personnel in a pasture is small, the material pushing work is timely, and the health and safety of animals are guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of intelligent machinery technology in the livestock industry, and in particular to a multifunctional unmanned robot. Background Technology

[0002] Currently, all work in the ranches is done manually, depending on the division of labor. Ruminant ranches mainly perform four tasks: First, the daily feeding of rations. Small and family ranches mostly use manual pushing of rations, while large and medium-sized ranches generally use self-made pushing boards mounted on electric vehicles or tractors, driven by humans, or use low-speed magnetic nail-guided pushing robots. Second, the daily inventory of animals. Most ranches manually count and record the number of animals. Third, animal temperature checks. Ranches only manually measure the temperature of animals and check their health status when they show signs of illness or other pathological problems. Fourth, air quality monitoring in the animal enclosures. Ranches rarely have equipment to monitor the air quality in the animals' living environment.

[0003] Both manual feeding and manually operated feeding equipment share the disadvantage of high staff turnover and uncontrollable employees, making it impossible to guarantee the timeliness of feeding work. Since farm staff are generally responsible for multiple tasks in the pens or are affected by temporary work arrangements, they often cannot feed the pens in a timely manner according to the work plan within the required time period. Especially in the hot and humid summer weather, if feeding is not done in time, the feed is very easy to deteriorate due to heat. If the animals continue to eat it, it will increase the risk of disease and affect the farm's efficiency.

[0004] Furthermore, manual material pushing is labor-intensive, requires a large number of personnel, and is inefficient. While driving material pushing equipment improves efficiency to some extent, it suffers from poor consistency, sometimes veering off course and requiring reversing and repeated pushing. Low-speed magnetic nail-guided material pushing robots are inefficient, slow in pushing speed, and have short range. Large ranches require a significant number of personnel for each position, leading to frequent staff turnover and a substantial impact on other tasks, severely affecting ranch profitability. Therefore, there is an urgent need for a multi-functional unmanned robot that can completely replace manual operation. Utility Model Content

[0005] This utility model discloses a multifunctional unmanned robot, which aims to solve the technical problems existing in the prior art.

[0006] The present invention adopts the following technical solution:

[0007] A multifunctional unmanned robot includes a wire-controlled chassis system and walking wheels installed at the bottom of the wire-controlled chassis system. A pushing device is installed at the front end of the wire-controlled chassis system. A lifting guide rail device for realizing the preset working actions of the pushing device is installed at the front end of the wire-controlled chassis system and on the back of the pushing device. An unmanned navigation system is installed on the central platform of the wire-controlled chassis system. Body temperature monitoring devices facing the front are installed on the central protrusion and on both sides of the unmanned navigation system. Temperature and humidity monitoring devices are installed on the outside of the body temperature monitoring devices. Ear tag recognition devices are symmetrically installed on both sides of the wire-controlled chassis system.

[0008] The wire-controlled chassis system includes an outer shell and an electric device installed in the inner cavity of the outer shell. The electric device includes a lithium battery, a ROS control system for intelligently controlling the movement of the walking wheels, and a control center for controlling the material pushing device, the lifting guide rail device, the unmanned navigation system, the ear tag recognition device, the body temperature monitoring device, and the temperature and humidity monitoring device to execute commands.

[0009] In some embodiments, the electric device further includes a walking motor and a parking system for controlling the walking wheels to drive the robot forward, backward, turn, stop suddenly, and park. The walking motor and the parking system are both controlled by the ROS control system, which is connected to the control center.

[0010] In some embodiments, the pushing device includes a pushing shovel, a wear-resistant plate installed on the side of the pushing shovel that contacts the ground, a cleaning roller brush installed at the rear of the pushing shovel, a roller brush drive motor that drives the cleaning roller brush to rotate, and baffles installed on both sides of the pushing shovel to protect the roller brush drive motor.

[0011] In some embodiments, the lifting guide rail device includes a lifting electric cylinder, a lifting frame, a track, and a rotary electric cylinder; the track is configured in two sets and is vertically fixed on the wire control chassis system; one side of the lifting frame is slidably sleeved on the outside of the track, and the other side is fixedly connected to the baffle; the lifting electric cylinder is fixed on the wire control chassis system and its output end is connected to the lifting frame; one end of the rotary electric cylinder is fixedly connected to the lifting frame, and its output end is fixedly connected to the pushing device.

[0012] In some embodiments, the autonomous navigation system is connected to the control center via a wire.

[0013] In some embodiments, the ear tag recognition device includes an ear tag recognition plate and an ear tag controller that controls the ear tag recognition plate to execute instructions. The ear tag recognition device is used to identify ear tags on animals within the enclosure. The ear tag controller is connected to the control center.

[0014] In some embodiments, the body temperature monitoring device includes a thermal imaging camera and a body temperature monitoring controller that controls the thermal imaging camera to execute commands, the body temperature monitoring controller being connected to the control center.

[0015] In some embodiments, the temperature and humidity monitoring device includes a temperature and humidity sensor and a temperature and humidity monitoring controller that controls the temperature and humidity sensor to execute instructions, and the temperature and humidity monitoring controller is connected to the control center.

[0016] In some embodiments, the wire-controlled chassis system includes a control panel and an automatic charging brush mounted at the rear end, and a manual charging port mounted on the side.

[0017] In some embodiments, the control center is wirelessly connected to a computer.

[0018] In some embodiments, the drive-by-wire chassis system is wirelessly connected to a computer. Beneficial effects

[0019] This utility model discloses a multifunctional unmanned robot, which has the following advantages compared with the prior art:

[0020] A multi-functional unmanned robot utilizes wheels mounted on the bottom of a drive-by-wire chassis system. A pushing device is installed at the front of the chassis system, and a lifting guide rail is installed on the back of the pushing device to achieve its preset working actions. An unmanned navigation system is mounted on a raised platform in the middle of the chassis system. Temperature monitoring devices facing forward are mounted on a central protrusion on both sides of the navigation system. Temperature and humidity monitoring devices are mounted on the outer sides of the temperature monitoring devices. Ear tag recognition devices are symmetrically mounted on both sides of the drive-by-wire chassis system. The system's outer casing is equipped with a control panel and an automatic charging brush, while the internal motor enables autonomous navigation. It can push feed to designated pens, conduct inventory checks by recognizing ear tags, detect animal body temperature using a thermal imaging camera, and monitor air quality and wind speed in the pens using temperature and humidity sensors. During operation, it automatically avoids obstacles, climbs slopes, stops on slopes, moves forward, backward, brakes, and moves diagonally. The entire process is unmanned and automated, completely overcoming the shortcomings of high staff turnover, uncontrollable employees, inability to guarantee the timeliness of feed pushing, and failure to promptly detect and address potential health risks to animals. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below, constituting a part of this utility model. The illustrative embodiments of this utility model and their descriptions explain this utility model and do not constitute an improper limitation of this utility model; in the drawings:

[0022] Figure 1 A three-dimensional structural schematic diagram of the multifunctional unmanned robot technical solution provided in the embodiments of this utility model. Figure 1 ;

[0023] Figure 2 The multifunctional unmanned driving robot provided in this embodiment of the utility model Figure 2 ;

[0024] Figure 3 for Figure 1 A-direction view.

[0025] In the picture:

[0026] 1. Control chassis system; 11. Outer shell; 111. Manual charging interface; 112. Control panel; 113. Automatic charging brush; 114. Boss; 12. Electric device; 121. Lithium battery; 122. ROS control system; 123. Walking motor; 124. Parking system; 13. Walking wheel; 3. Pushing device; 31. Pushing shovel; 311. Semi-circular shovel surface; 32. Wear-resistant plate; 33. Cleaning roller brush; 34. Baffle; 35. Roller brush drive motor; 4. Lifting guide rail device; 41. Lifting electric cylinder; 42. Lifting frame; 43. Rail; 44. Rotary electric cylinder; 5. Unmanned driving navigation system; 6. Ear tag recognition device; 6. Ear tag recognition plate; 62. Ear tag controller; 7. Body temperature monitoring device; 71. Thermal imaging camera; 72. Body temperature monitoring controller; 8. Temperature and humidity monitoring device; 81. Temperature and humidity sensor; 82. Temperature and humidity monitoring controller; 9. Wire; 10. Computer. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solution of this utility model will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. In the description of this utility model, it should be noted that the term "comprising" as used in the specification and claims is an open-ended term and should therefore be interpreted as "comprising but not limited to"; "a number" refers to more than two.

[0028] In the description of this utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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. Therefore, they should not be construed as limitations on this utility model.

[0029] Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0030] like Figures 1-3 As shown, the technical solution of this utility model is as follows:

[0031] This utility model discloses a multifunctional unmanned driving robot, including a wire-controlled chassis system 1 and walking wheels 13 installed at the bottom of the wire-controlled chassis system 1; a pushing device 3 is installed at the front end of the wire-controlled chassis system 1, and a lifting guide rail device 4 for realizing the preset working action of the pushing device 3 is installed on the back of the pushing device 3; an unmanned driving navigation system 5 is installed on the high platform in the middle of the wire-controlled chassis system 1; body temperature monitoring devices 7 facing the front are installed on the boss 114 and located on both sides of the unmanned driving navigation system 5; temperature and humidity monitoring devices 8 are installed on the outside of the body temperature monitoring devices 7; and ear tag recognition devices 6 are symmetrically installed on the wire-controlled chassis system 1 and located on both sides.

[0032] The wire-controlled chassis system 1 includes an outer shell 11 and an electric device 12 installed in the inner cavity of the outer shell 11. The electric device 12 includes a lithium battery 121, a ROS control system 122 for intelligently controlling the movement of the walking wheels 13, and a control center 125 for controlling the pusher device 3, the lifting guide rail device 4, the unmanned driving navigation system 5, the ear tag recognition device 6, the body temperature monitoring device 7, and the temperature and humidity monitoring device 8 to execute commands.

[0033] The wire-controlled chassis system 1 includes a lithium battery 121 and an ROS control system 122 that intelligently controls the movement of the walking wheels 13; the pushing device 3, the lifting guide rail device 4, the unmanned driving navigation system 5, the ear tag recognition device 6, the body temperature monitoring device 7, and the temperature and humidity monitoring device 8 are all electrically connected to the lithium battery 121, and the control center 125 controls and connects to the ROS control system 122.

[0034] like Figures 1-3 As shown, the preferred embodiment of this utility model is as follows:

[0035] A multi-functional unmanned robot includes a drive-by-wire chassis system 1 and wheels 13 mounted on the bottom of the drive-by-wire chassis system 1.

[0036] To reduce the energy consumption of the ranch and help it reduce carbon emissions, reduce costs and increase efficiency, the original fuel-powered equipment is replaced with clean electric equipment. The end of the wire-controlled chassis system 1 is equipped with a control panel 112 and an automatic charging brush 113. To prevent the system from failing to charge automatically in case of system failure, the wire-controlled chassis system 1 is also equipped with a manual charging interface 111. The manual charging interface 111 is located on one side of the outer shell 11 of the wire-controlled chassis system 1, and charging information is set on the control panel 112.

[0037] The wire-controlled chassis system 1 includes a housing 11 and an electric device 12 installed inside the housing 11. The electric device 12 includes a lithium battery 121, a ROS control system 122 for intelligently controlling the movement of the walking wheels 13, a walking motor 123 that controls the walking wheels 13 to drive the robot forward, backward, turn, stop suddenly, and park after receiving instructions, and a parking system 124. It also includes a control center 125. In this embodiment, the walking wheels 13 are selected with anti-slip tires. The walking motor 123 and the parking system 124 are both controlled by the ROS control system 122, and the ROS control system 122 is connected to the control center 125. The pushing device 3, the lifting guide rail device 4, the unmanned navigation system 5, the ear tag recognition device 6, the body temperature monitoring device 7, and the temperature and humidity monitoring device 8 are all electrically connected to the lithium battery 121 and are also controlled by the control center 125.

[0038] Before commencing work, the multi-functional unmanned robot must first store map information of each pen in the ranch. In manual mode, the operator controls the multi-functional unmanned robot to start from the charging standby position (not shown in the figure) and walk along the entire path of each pen along the work route. During the walk, the unmanned navigation system 5 on the top of the multi-functional unmanned robot scans objects on both sides of the road. The scanned data is transmitted to the computer 10 through the communication module. The computer 10 creates a real-world 3D map of the ranch route based on the scanned data and stores the map in the storage module of the computer 10. The computer 10 may include a mobile phone, tablet computer, etc.

[0039] Once the navigation route is set, the map is stored in the ROS control system 122 of the online chassis system 1. The software system in the ROS control system 122 also sets the working time, number of times, and work content for each enclosure.

[0040] The control center 125 transmits work instructions to the ROS control system 122. After receiving the specific work instructions or the sequential work instructions for the enclosures, the ROS control system 122 starts walking. Under the guidance of the information transmitted by the unmanned navigation system 5, the ROS control system 122 controls the walking motor 123 to drive the walking wheels 13 to move the robot forward, backward, turn, and stop suddenly. When parking is required, the parking system 124 controls the parking.

[0041] When the lithium battery 121 has insufficient power (below a preset value), the control center 125 transmits a charging command to the ROS control system 122. Under the guidance of the unmanned navigation system 5, the ROS control system 122 controls the walking motor 123 to drive the walking wheels 13 to move the robot forward to the charging pile (not shown in the figure), and automatically charges it through the automatic charging brush 113.

[0042] The control center 125 of the wire-controlled chassis system 1 is wirelessly connected to the computer 10. The computer 10 can receive data information from the enclosure and also obtain real-time location information of the drone.

[0043] The front end of the wire-controlled chassis system 1 is equipped with a feeding device 3, which is used to push or push the mixed rations in the pen horizontally or laterally and to flip them over, thereby improving the uniformity of animal feeding and reducing waste of the mixed rations.

[0044] The feeding device 3 includes a feeding shovel 31, a wear-resistant plate 32 installed on the side of the feeding shovel 31 in contact with the ground, a cleaning roller brush 33 installed at the rear of the feeding shovel 31, a roller brush drive motor 35 that drives the cleaning roller brush 33 to rotate, and baffles 34 installed on both sides of the feeding shovel 31 to protect the roller brush drive motor 35. In this embodiment, the feeding shovel 31 is provided with a concave semi-circular shovel surface 311, so that different kinds of feed can be turned over in the feeding shovel 31 and mixed evenly when the feeding shovel 31 pushes the feed. The cleaning roller brush 33 is used to clean up the feed that is missed by the feeding shovel 31. Driven by the roller brush drive motor 35, the cleaning roller brush 33 pushes the missed feed toward the feeding shovel 31, reducing the waste of mixed feed.

[0045] Guided by the information transmitted by the unmanned navigation system 5, the control center 125 controls the roller brush drive motor 35 to drive the cleaning roller brush 33 to rotate and clean.

[0046] A lifting guide rail device 4 is installed at the front end of the wire-controlled chassis system 1 and on the back of the pushing device 3 to realize the preset working actions of the pushing device 3. The lifting guide rail device 4 is used to realize the working actions of the pushing device 3 such as lifting, lowering, horizontal pushing or side pushing, and flipping. The lifting guide rail device 4 includes a lifting electric cylinder 41, a lifting frame 42, a track 43, and a rotary electric cylinder 44. The track 43 is configured in two sets and is vertically fixed on the wire-controlled chassis system 1. One side of the lifting frame 42 is slidably sleeved on the outside of the track 43, and the other side is fixedly connected to the baffle 34. The lifting electric cylinder 41 is fixed on the outer shell 11 of the wire-controlled chassis system 1 and its output end is connected to the lifting frame 42. One end of the rotary electric cylinder 44 is fixedly connected to the lifting frame 42, and its output end is fixedly connected to the pushing device 3. By rotating the rotary electric cylinder 44, the pushing device 3 is driven to push material from the side, that is, it can push material from both the front and the side. When the equipment is not in the material pushing operation state, the control center 125 controls the lifting guide rail device 4 to lift the material pushing device 3, reducing travel resistance and improving the equipment's obstacle-crossing ability. When the equipment is in the material pushing operation state, the material pushing device 3 is lowered to the ground under the control of the lifting guide rail device 4, and then the material pushing device 3 starts pushing again. That is, under the guidance of the information transmitted by the unmanned driving navigation system 5, the control center 125 controls the lifting electric cylinder 41 and the rotating electric cylinder 44 of the lifting guide rail device 4 to execute preset commands respectively.

[0047] An unmanned navigation system 5 is installed on the elevated platform in the middle of the drive-by-wire chassis system 1. The unmanned navigation system 5 is connected to the control center 125 via a wire 9.

[0048] The wire-controlled chassis system 1 has ear tag recognition devices 6 symmetrically installed on both sides of the middle part. The ear tag recognition devices 6 are used to identify the ear tags on the animals in the enclosure and to count the number of animals by detecting the ear tags. The ear tag recognition devices 6 include an ear tag recognition plate 61 and an ear tag controller 62 that controls the ear tag recognition plate 61 to execute instructions. The ear tag controller 62 is connected to the control center 125. After receiving instructions, it collects ear tags and stores the ear tag quantity information in the control center 125. The control center 125 transmits the information to the computer 10 for storage.

[0049] A body temperature monitoring device 7 facing forward is installed on the top of the wire-controlled chassis system 1 and on both sides of the unmanned navigation system 5. The body temperature monitoring device 7 is used to monitor the body temperature of animals in the enclosure and to judge the health status of animals by detecting the body temperature data. The body temperature monitoring device 7 includes a thermal imaging camera 71 and a body temperature monitoring controller 72 that controls the thermal imaging camera 71 to execute commands. The body temperature monitoring controller 72 is connected to the control center 125. After receiving the command, it collects the body temperature of the animals and stores the body temperature information in the control center 125. The control center 125 then transmits the information to the computer 10 for storage.

[0050] A temperature and humidity monitoring device 8 is installed on top of the wire-controlled chassis system 1 and outside the body temperature monitoring device 7. The temperature and humidity monitoring device 8 is used to detect the air environment inside the enclosure, detecting the air temperature, humidity, and ammonia content, thereby determining whether the air quality inside the enclosure meets the requirements. The temperature and humidity monitoring device 8 includes a temperature and humidity sensor 81 and a temperature and humidity monitoring controller 82 that controls the temperature and humidity sensor 81 to execute instructions. The temperature and humidity monitoring controller 82 is connected to the control center 125. After receiving instructions, it collects the specified temperature and humidity of the enclosure, stores the enclosure temperature and humidity information in the control center 125, and the control center 125 transmits the information to the computer 10.

[0051] The feeding device 3, the lifting guide rail device 4, the unmanned driving navigation system 5, the ear tag recognition device 6, the body temperature monitoring device 7, and the temperature and humidity monitoring device 8 are all electrically connected to the lithium battery 121.

[0052] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.

Claims

1. A multi-functional unmanned robot, characterized by: The system includes a drive-by-wire chassis system and wheels mounted on the bottom of the drive-by-wire chassis system. A material pushing device is installed at the front end of the drive-by-wire chassis system. A lifting guide rail device for realizing the preset working actions of the material pushing device is installed at the front end of the drive-by-wire chassis system and on the back of the material pushing device. An unmanned driving navigation system is installed on the high platform in the middle of the drive-by-wire chassis system. Body temperature monitoring devices facing the front are installed on the central boss and on both sides of the unmanned driving navigation system. Temperature and humidity monitoring devices are installed on the outside of the body temperature monitoring devices. Ear tag recognition devices are symmetrically installed on both sides of the drive-by-wire chassis system. The wire-controlled chassis system includes an outer shell and an electric device installed in the inner cavity of the outer shell. The electric device includes a lithium battery, a ROS control system for intelligently controlling the movement of the walking wheels, and a control center for controlling the material pushing device, the lifting guide rail device, the unmanned navigation system, the ear tag recognition device, the body temperature monitoring device, and the temperature and humidity monitoring device to execute commands.

2. The multi-functional unmanned robot according to claim 1, wherein: The electric device also includes a walking motor and a parking system that control the walking wheels to drive the robot forward, backward, turn, stop suddenly, and park. The walking motor and the parking system are both controlled by the ROS control system, which is connected to the control center.

3. The multi-functional unmanned robot according to claim 1, wherein: The pushing device includes a pushing shovel, a wear-resistant plate installed on the side of the pushing shovel that contacts the ground, a cleaning roller brush installed at the rear of the pushing shovel, a roller brush drive motor that drives the cleaning roller brush to rotate, and baffles installed on both sides of the pushing shovel to protect the roller brush drive motor.

4. The multi-functional unmanned robot according to claim 3, wherein: The lifting guide rail device includes a lifting electric cylinder, a lifting frame, a track, and a rotary electric cylinder; the track is configured in two sets and is vertically fixed on the wire control chassis system; one side of the lifting frame is slidably sleeved on the outside of the track, and the other side is fixedly connected to the baffle; the lifting electric cylinder is fixed on the wire control chassis system and its output end is connected to the lifting frame; one end of the rotary electric cylinder is fixedly connected to the lifting frame, and its output end is fixedly connected to the pushing device.

5. The multi-functional unmanned robot according to claim 1, wherein: The unmanned navigation system is connected to the control center via wires.

6. The multi-functional unmanned robot according to claim 1, wherein: The ear tag recognition device includes an ear tag recognition plate and an ear tag controller that controls the ear tag recognition plate to execute commands. The ear tag recognition device is used to identify ear tags on animals within the enclosure. The ear tag controller is connected to the control center.

7. The multi-functional unmanned robot according to claim 1, wherein: The body temperature monitoring device includes a thermal imaging camera and a body temperature monitoring controller that controls the thermal imaging camera to execute commands. The body temperature monitoring controller is connected to the control center.

8. The multi-functional unmanned robot according to claim 1, wherein: The temperature and humidity monitoring device includes a temperature and humidity sensor and a temperature and humidity monitoring controller that controls the temperature and humidity sensor to execute commands. The temperature and humidity monitoring controller is connected to the control center.

9. The multifunctional unmanned robot according to claim 1, characterized in that: The drive-by-wire chassis system includes a control panel and an automatic charging brush installed at the rear end, and a manual charging port is also installed on the side.

10. The multi-functional unmanned robot according to claim 1, wherein: The control center is wirelessly connected to the computer.

Images