Automatic egg picking robot

Abstract

The utility model discloses an automatic egg picking robot which comprises a walking mechanism, a mechanical arm, an egg picking mechanism, an egg picking mechanism, an egg picking mechanism and an egg picking mechanism. The picking clamp comprises a cleaning part and an egg picking part; the image recognition mechanism comprises a processor and an image collector, and the image collector is connected with the processor; wherein the egg picking component and the sweeping component are arranged at the mounting end part of the mechanical arm, and the image collector is arranged on the mechanical arm; the processor is configured to control the sweeping component and the egg picking component to act according to image information collected by the image collector. Full automation of the process of picking up the duck eggs laid by the flat-fed breeding ducks is achieved, the labor intensity of workers is remarkably reduced, the working efficiency is improved, meanwhile, it is guaranteed that the egg laying environment is quiet and neat, and continuous production of the breeding ducks is facilitated.

Description

Technical Field

[0001] This application belongs to the field of aquaculture equipment technology, and in particular relates to an automatic egg-collecting robot. Background Technology

[0002] Currently, with the continuous expansion of poultry farms, the demand for automation in poultry farming is increasing. Regarding the egg-laying characteristics of ducks, in their natural environment, ducks tend to choose concealed nesting sites that are difficult for predators to find (such as grassy areas, bushes, or watersides). This instinct extends to breeding ducks in farms; even when artificially raised, they will still seek similar safe environments to lay eggs. In farms, ducks are trained to develop regular egg-laying habits through methods such as fixed feeding and controlled lighting. For example, setting up fixed nesting locations on the ground allows ducks to gradually adapt to specific locations, thus developing the habit of laying eggs in their chosen nests. Furthermore, after laying eggs, ducks will cover them with rice husks or wood shavings laid in the nest. If the egg-laying environment in the nest undergoes significant changes (such as the rice husks or wood shavings being disturbed), it may cause the ducks anxiety and even stop laying eggs, exhibiting the physiological characteristic of "nest recognition." Due to the nest-recognizing and egg-laying characteristics of breeding ducks, it is impossible to adopt the same feeding methods as chickens to achieve automatic egg collection followed by manual egg collection. Manual egg collection requires frequent squatting and bending (note: a worker may squat and bend over more than 1000 times a day), resulting in high labor intensity. Chinese Patent Publication No. CN 216452652 U discloses a tracked intelligent egg-collecting vehicle based on visual SLAM, which can achieve automatic egg collection. However, this solution cannot collect eggs from nests located on the ground. Breeding ducks lay eggs in their nests and then cover them with bedding, making it easy to miss eggs. Therefore, designing a technology to automatically collect duck eggs to reduce labor intensity and improve collection efficiency is the technical problem this application aims to solve. Utility Model Content

[0003] This application provides an automatic egg-collecting robot that automatically picks up duck eggs to reduce the labor intensity of workers and improve collection efficiency.

[0004] To achieve the above technical objectives, this application adopts the following technical solution:

[0005] In one aspect, this application provides an automated egg-collecting robot, comprising:

[0006] A walking mechanism, on which a robotic arm is mounted;

[0007] A pickup fixture, comprising a cleaning component and an egg-collecting component;

[0008] An image recognition mechanism, comprising a processor and an image acquisition device, wherein the image acquisition device is connected to the processor;

[0009] The egg-collecting component and the cleaning component are mounted on the mounting end of the robotic arm, and the image acquisition device is mounted on the robotic arm.

[0010] The processor is configured to control the actions of the cleaning component and the egg-collecting component based on the image information acquired by the image acquisition device.

[0011] Compared with existing technologies, the beneficial effects of this application are as follows: By setting up an image recognition mechanism, the location of duck eggs in the laying nest can be automatically identified without manual searching; by setting up a cleaning component, the bedding material covering the duck eggs can be automatically cleaned and removed, and the bedding material in the laying nest can be restored to its original state after the duck eggs are picked up, so that the breeding ducks do not feel that the laying nest has been disturbed; this technology can also maintain a quiet and clean laying environment; by setting up an egg-picking component, duck eggs can be automatically removed from the laying nest, and the entire process requires no manual intervention; by setting up a walking mechanism, the equipment can move autonomously, expanding the working range of the equipment. Compared with existing technologies, this invention achieves full automation of the duck egg picking process, significantly reducing the labor intensity of workers, improving work efficiency, and ensuring a quiet and clean laying environment, which is conducive to the continuous production of breeding ducks.

[0012] In one embodiment of this application, a drive component is provided on the robotic arm;

[0013] The drive component is configured to drive the cleaning component to move and remove the padding material on the duck egg, thereby exposing the duck egg;

[0014] The drive component is configured to drive the cleaning component to restore the cleaned padding to its original state.

[0015] In one embodiment of this application, the cleaning component is rotatably mounted on the robotic arm, and the driving component is configured to drive the cleaning component to reciprocate.

[0016] In one embodiment of this application, the cleaning component is slidably disposed on the robotic arm, and the driving component is configured to drive the cleaning component to slide back and forth.

[0017] In one embodiment of this application, the cleaning component is a brush; or, the cleaning component is a scraper.

[0018] In one embodiment of this application, the egg-collecting component is a suction cup; or, the egg-collecting component is a gripper.

[0019] In one embodiment of this application, the end of the robotic arm is provided with a rotatable rotary table, and the rotary table forms the mounting end. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of an embodiment of the automatic egg-collecting robot of this application;

[0022] Figure 2 This is a reference diagram showing an embodiment of the automatic egg-collecting robot of this application in use;

[0023] Figure 3 This is a schematic diagram of an image recognition mechanism.

[0024] Explanation of reference numerals in the attached figures:

[0025] 1. Walking mechanism; 11. Robotic arm; 12. Storage container; 111. Rotary table;

[0026] 2. Pick-up clamp; 21. Cleaning component; 22. Egg pickup component;

[0027] 3. Image recognition mechanism; 31. Processor; 32. Image acquisition device. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] The following disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0030] Example 1, as Figures 1-3 As shown, this embodiment provides an automatic egg-collecting robot, including:

[0031] Walking mechanism 1, on which a robotic arm 11 is provided;

[0032] Pick-up clamp 2, which includes a cleaning component 21 and an egg-picking component 22;

[0033] Image recognition mechanism 3, which includes processor 31 and image acquisition device 32, wherein the image acquisition device 32 is connected to processor 31;

[0034] The egg-collecting component 22 and the cleaning component 21 are mounted on the mounting end of the robotic arm 11, and the image acquisition device 32 is mounted on the robotic arm 11.

[0035] The processor 31 is configured to control the operation of the cleaning component 21 and the egg-collecting component 22 based on the image information acquired by the image acquisition device 32.

[0036] Specifically, a support platform (unmarked) is provided on the upper part of the walking mechanism 1, and the base of the robotic arm 11 is fixedly installed on the support platform. The robotic arm 11 can adopt a multi-degree-of-freedom structure according to the usage requirements. The degree of freedom design of the robotic arm 11 is to meet the requirement that the picking gripper 2 can extend into the laying nest to pick up duck eggs, and there are no restrictions here.

[0037] A picking gripper 2 is installed on the end effector of the robotic arm 11. A cleaning component 21 is installed on the end effector of the robotic arm 11. The cleaning component 21 can clean the bedding material covering the duck eggs. An egg-collecting component 22 is also installed on the end effector of the robotic arm 11. The egg-collecting component 22 is used to grab or absorb duck eggs.

[0038] The image acquisition unit 32 in the image recognition mechanism 3 can acquire image information of the laying nest, and transmit the image information to the processor 31 for digital image processing to determine whether there are duck eggs in the laying nest.

[0039] After determining through digital image processing that there are duck eggs 200 in the nest 100, the processor 31 determines the coordinates of the duck eggs and controls the robotic arm 11 to move above them. The processor 31 then triggers the cleaning component 21, which is moved by the robotic arm 11 to the duck eggs to clean the bedding material (such as rice husks) covering the eggs and fully expose them. Then, the processor 31 triggers the egg-collecting component 22, which is moved by the robotic arm 11 to collect the eggs.

[0040] The physical manifestation of the traveling mechanism 1 can take various structural forms. For example, the traveling mechanism 1 can be an AGV vehicle, or it can adopt a tracked chassis structure. The tracked chassis structure includes track assemblies on both the left and right sides. Each track assembly includes a drive wheel, a driven wheel, and a track surrounding the drive wheel and the driven wheel. The drive wheel is driven to rotate by a motor, thereby driving the track to move and realizing the movement of the entire device. The specific physical manifestation of the traveling mechanism 1 can adopt a conventional structural configuration, which will not be limited or elaborated here.

[0041] The robotic arm 11 typically includes a base, an upper arm, a lower arm, a wrist, and an end effector. Servo motors are installed at each joint of the robotic arm 11 to drive the movement of each part. A pick-up gripper 2 is installed on the mounting end of the robotic arm 11, i.e., the end effector. The specific degrees of freedom design and structural configuration of the robotic arm 11 can adopt conventional structural configurations, which will not be limited or elaborated upon here.

[0042] The processor 31 can be a conventional computer used for image recognition, and the image acquisition device 32 can be a camera. The image acquisition device 32 is mounted on the forearm of the robotic arm 11, positioned so that it can clearly capture the working area of ​​the robotic arm 11. The image acquisition device 32 is connected to the processor 31 via a data cable, transmitting the acquired image information to the processor 31 for analysis and processing. The processor 31 performs digital image processing on the image information acquired by the image acquisition device 32 to analyze whether there are duck eggs in the nest. The specific process of digital image processing by the processor 31 can use conventional image processing techniques, which will not be limited or elaborated here.

[0043] In actual use, the ducks enter the laying nest to lay eggs. During the egg-laying process, the breeding ducks usually lay the eggs on the bedding. After laying the eggs, the breeding ducks will also cover the eggs with the bedding.

[0044] During the process of picking up duck eggs by the automatic egg-collecting robot, the walking mechanism 1 moves to the laying nest according to the movement path, and then the mechanical arm 11 adjusts the posture of the image acquisition device 32 to collect image information of the laying nest. The processor 31 performs digital image processing based on the image information, and when it is determined that there are duck eggs in the laying nest, the picking gripper 2 is activated to pick up the duck eggs in the laying nest.

[0045] In the case where the duck egg is covered with bedding material, the robotic arm 11 moves the cleaning component 21 above the duck egg to clean the bedding material on the duck egg, and then the egg is picked up by the egg-picking component 22.

[0046] In addition, to improve the accuracy of image acquisition, after the walking mechanism 1 moves to the laying nest, the robotic arm 11 can first drive the cleaning component 21 to move above the duck eggs, so that the cleaning component 21 can perform a pre-cleaning operation to remove the bedding material covering the duck eggs. Then, the image acquisition device 32 can acquire image information of the laying nest, and the processor 31 can more accurately determine whether there are duck eggs in the laying nest based on the image information, so as to reduce the occurrence of omissions due to misjudgment caused by duck eggs being completely covered by bedding material.

[0047] Furthermore, the robotic arm 11 is equipped with a drive component;

[0048] The drive component is configured to drive the cleaning component 21 to move to remove the bedding material on the duck eggs and expose the duck eggs.

[0049] The drive component is configured to drive the cleaning component 21 to move and clean up the removed padding material, restoring it to its original state.

[0050] Specifically, the drive component is connected to the cleaning component 21 through a transmission mechanism to drive the cleaning component 21 to move.

[0051] For example, the cleaning component 21 is rotatably mounted on the robotic arm 11, and the driving component is configured to drive the cleaning component 21 to reciprocate. Specifically, the cleaning component 21 is connected to the end effector of the robotic arm 11 via a rotating shaft, and the rotating shaft is connected to the output shaft of the driving component via a gear transmission mechanism. The driving component drives the cleaning component 21 to reciprocate around the rotating shaft, and the swing angle range and swing frequency can be adjusted according to actual usage requirements. The cleaning component 21 operates in a swinging manner. The cleaning component 21 is a brush, consisting of a handle and bristles. The handle is made of hard plastic material, or the bristles are made of soft nylon material. The handle of the brush is fixedly connected to the rotating shaft and reciprocates under the drive of the driving component, thereby cleaning and restoring the bedding material on the duck eggs. The driving component can be a conventional driver structure such as a motor.

[0052] Alternatively, the cleaning component 21 can be slidably mounted on the robotic arm 11, and the driving component is configured to drive the cleaning component 21 to reciprocate. Specifically, the cleaning component 21 is connected to the end effector of the robotic arm 11 via a slide rail, and a slider is provided on the slide rail, with the cleaning component 21 fixed on the slider. The driving component is a linear motor, mounted on the end effector of the robotic arm 11, and the output shaft of the linear motor is connected to the slider. The driving component drives the cleaning component 21 to reciprocate along the slide rail, and the sliding distance and frequency can be adjusted according to actual usage requirements. The cleaning component 21 operates by sliding, and can be a scraper made of soft materials such as silicone. The scraper is fixedly connected to the slider and reciprocates under the drive of the driving component, thereby cleaning and restoring the bedding on the duck eggs.

[0053] Furthermore, the physical representation of the egg-collecting component 22 can adopt a conventional structure capable of collecting eggs.

[0054] For example, the egg-collecting component 22 is a suction cup made of soft silicone material, connected to a vacuum pump via an air tube. The vacuum pump is mounted on the support platform of the walking mechanism 1, and the suction cup's adsorption and release are controlled by opening and closing a valve. The specific structural configuration and operation method of using a suction cup for egg collection can refer to existing suction cup egg-collecting configurations, and will not be limited or elaborated upon here.

[0055] Alternatively, the egg-collecting component 22 can be a gripper, consisting of two arc-shaped clamping plates. The inner sides of the clamping plates are covered with soft silicone material to prevent damage to the duck eggs during handling. The gripper is opened and closed by a cylinder mounted on the end effector of the robotic arm 11, which controls the opening and closing of the gripper by controlling the opening and closing of a valve. The specific structural configuration and operation method of using a gripper to collect eggs can refer to existing configurations for egg collection using grippers, and will not be limited or elaborated here.

[0056] Furthermore, the walking mechanism 1 is also provided with a storage container 12, which is configured to store the eggs picked up by the egg-collecting component 22.

[0057] Specifically, a storage container 12 is also provided on the walking mechanism 1. The storage container 12 can be a conventional egg tray or other structure for storing eggs. The storage container 12 is located within the working range of the robotic arm 11. After the duck eggs are picked up by the egg-picking component 22, they are placed into the storage container 12.

[0058] Furthermore, in order to facilitate switching between the cleaning component and the egg-collecting component at the working position, a rotatable rotary table 111 can be provided at the end of the robotic arm, and the rotary table 111 forms the mounting end.

[0059] Specifically, the cleaning component 21 and the egg-collecting component 22 can be installed together on the rotating table 111. The rotating table 111 can rotate as needed to switch the cleaning component 21 and the egg-collecting component 22 to the working position, thereby simplifying the overall structure.

[0060] Compared to existing automated egg-collecting technologies with mobile capabilities (such as CN114600797A and CN116746512A), existing poultry egg-collecting equipment often fails to accurately identify and collect eggs covered by bedding, as duck eggs are typically covered by bedding in the nest. Furthermore, existing equipment often does not restore the removed bedding after collecting the eggs. Since ducks have a nest-recognition habit, existing equipment can easily interfere with the ducks' egg-laying behavior during the collection process, affecting the egg production rate.

[0061] The automatic egg-collecting robot provided in this application is an automated picking device that can automatically identify the location of duck eggs, clean the bedding, accurately pick up duck eggs, and restore the bedding to its original state, thereby improving the efficiency of duck egg collection, reducing labor intensity, and minimizing interference with the ducks' egg-laying behavior.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic egg-collecting robot, characterized in that, include: A walking mechanism, on which a robotic arm is mounted; A pickup fixture, comprising a cleaning component and an egg-collecting component; An image recognition mechanism, comprising a processor and an image acquisition device, wherein the image acquisition device is connected to the processor; The egg-collecting component and the cleaning component are mounted on the mounting end of the robotic arm, and the image acquisition device is mounted on the robotic arm. The processor is configured to control the actions of the cleaning component and the egg-collecting component based on the image information acquired by the image acquisition device.

2. The automatic egg-collecting robot according to claim 1, characterized in that, The robotic arm is equipped with a drive component; The drive component is configured to drive the cleaning component to move and remove the bedding material covering the duck eggs to expose them; The drive component is configured to drive the cleaning component to restore the removed padding material to its original state.

3. The automatic egg-collecting robot according to claim 2, characterized in that, The cleaning component is rotatably mounted on the robotic arm, and the driving component is configured to drive the cleaning component to achieve reciprocating oscillation.

4. The automatic egg-collecting robot according to claim 2, characterized in that, The cleaning component is slidably mounted on the robotic arm, and the drive component is configured to drive the cleaning component to slide back and forth.

5. The automatic egg-collecting robot according to any one of claims 1-4, characterized in that, The cleaning component is a brush; or, the cleaning component is a scraper.

6. The automatic egg-collecting robot according to claim 1, characterized in that, The egg-collecting component is a suction cup; or, the egg-collecting component is a gripper.

7. The automatic egg-collecting robot according to claim 1, characterized in that, The robotic arm is provided with a rotatable rotary table at its end, and the rotary table forms the mounting end.

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