A sow inspection device

Abstract

This utility model discloses a sow inspection device, relating to the field of automated monitoring technology. A track-mounted machine is installed above the pigpen and can move bidirectionally along a track. One end of a lifting rod is connected to the track-mounted machine, and the other end is connected to a robotic arm, used to follow the track-mounted machine and to place the robotic arm at the data acquisition position via a telescopic operation. The robotic arm is connected to a visual sensing component and a backfat measuring component, used to move these components to the detection position. The visual sensing component is used to acquire images of sows in the pigpen; the backfat measuring component is used to measure the backfat of sows in the pigpen. Through the cooperation of the track-mounted machine, the lifting rod, and the robotic arm, the visual sensing component and the backfat measuring component can be moved to the appropriate detection position, thereby acquiring images more accurately and automating the measurement of sow backfat. This implementation method is convenient and fast, effectively reducing the difficulty of monitoring.

Description

Technical Field

[0001] This utility model relates to the field of automated monitoring technology, and in particular to a sow inspection device. Background Technology

[0002] In modern pig farms, the backfat thickness and estrus status of sows are important factors affecting breeding efficiency and farming profitability. Traditional monitoring methods rely on manual operation, which suffers from low monitoring efficiency, high subjectivity, and high labor costs. Furthermore, due to the limited space for movement, manual inspection of penned sows can easily cause stress and affect their health.

[0003] With the development of technology, automated monitoring equipment has been gradually applied to pig farms. Cameras are used to capture images of sows, and these images are analyzed to determine the sow's estrus status. However, cameras are generally positioned above the sow's body, making it difficult to accurately capture images of the sow's vagina, resulting in lower accuracy in estrus analysis. Furthermore, to measure the backfat thickness of sows, each sow is often placed individually on a cage scale, which is difficult to operate, especially when there are many sows.

[0004] It is evident that how to improve the accuracy of monitoring while reducing the difficulty of monitoring is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] The purpose of this utility model embodiment is to provide a sow inspection device that can improve the accuracy of monitoring while reducing the difficulty of monitoring.

[0006] To solve the above-mentioned technical problems, this utility model provides a sow inspection device, including a track machine 1, a lifting rod 2, a robotic arm 3, a visual sensing component 4, and a backfat measuring component 5; wherein, the track machine 1 is installed above the pigpen and can move bidirectionally along the track;

[0007] One end of the lifting rod 2 is connected to the track machine 1, and the other end is connected to the robotic arm 3. It is used to follow the movement of the track machine 1 and to place the robotic arm 3 at the collection position through the telescopic operation.

[0008] The robotic arm 3 is connected to the visual sensing component 4 and the back fat measuring component 5 respectively, and is used to move the visual sensing component 4 and the back fat measuring component 5 to the detection position.

[0009] Visual sensing component 4 is used to collect images of sows inside the pigsty;

[0010] Backfat measuring component 5 is used to measure the backfat of sows in the pigsty.

[0011] On one hand, the visual perception component 4 includes an infrared thermal imaging camera, a visible light camera, and a depth camera; among them, the infrared thermal imaging camera is used to acquire temperature distribution images of the sow's back and vagina; the visible light camera is used to acquire images of the sow's back and vagina; and the depth camera is used to locate the sow's position.

[0012] On one hand, the backfat measuring component 5 includes an oil applicator 51 for applying coupling agent to the back of the sow, a mechanical claw 52 for fixing the sow, and an ultrasonic backfat measuring instrument 53 for calculating the backfat thickness.

[0013] On one hand, the oil applicator 51 includes a porous oil outlet plate 511, an elastic scraper cleaning ring 512, and a waste liquid recovery component 513; wherein, the waste liquid recovery component 513 includes a guide channel and a collection box;

[0014] The surface of the porous oil outlet plate 511 is provided with evenly distributed oil outlet holes; the micro pump built into the oil applicator 51 sprays coupling agent outward in a metered manner through the oil outlet holes;

[0015] The elastic scraper cleaning ring 512 is distributed in a ring on the outer edge of the porous oil outlet plate 511. It is used to scrape off the coupling agent on the surface of the ultrasonic probe of the ultrasonic back fat measuring instrument 53 when the oiler 51 is rotated to the non-working position. The scraped coupling agent flows into the collection box along the guide channel of the waste liquid recovery component 513.

[0016] On the one hand, the ultrasonic probe of the ultrasonic backfat measuring instrument 53 is coated with a fluorinated nano-coating; and on the other hand, a fluororubber O-ring filled with inert gas is provided between the ultrasonic probe and the ultrasonic housing of the ultrasonic backfat measuring instrument 53.

[0017] On the one hand, the oiling device 51, the mechanical gripper 52, and the ultrasonic backfat measuring instrument 53 are installed at the end of the robotic arm 3 via the converter 6;

[0018] The converter 6 is used to rotate the oil applicator 51 to the working position and the ultrasonic backfat measuring instrument 53 to the non-working position; or to rotate the ultrasonic backfat measuring instrument 53 to the working position and the oil applicator 51 to the non-working position.

[0019] On the one hand, the oiling device 51, the mechanical gripper 52, and the ultrasonic backfat measuring instrument 53 are installed at the end of the robotic arm 3 through the parallel telescopic component 7;

[0020] The parallel telescopic component 7 includes multiple telescopic rods. The end of the first telescopic rod is connected to the oiler 51, the end of the second telescopic rod is connected to the mechanical claw 52, ​​and the end of the third telescopic rod is connected to the ultrasonic backfat measuring instrument 53. When the first telescopic rod is in the extended state, the third telescopic rod is in the retracted state; when the first telescopic rod is in the retracted state, the third telescopic rod is in the extended state.

[0021] On the one hand, it also includes a pneumatic buffer component 8 installed at the 3-axis joint of the robotic arm.

[0022] On the one hand, the air pressure buffer component 8 is a multi-layer corrugated airbag installed at the connection between the 5th and 6th axis joints of the robotic arm 3.

[0023] As can be seen from the above technical solution, the sow inspection equipment includes a track machine, a lifting rod, a robotic arm, a visual sensing component, and a backfat measuring component. The track machine is installed above the pigpen and can move bidirectionally along the track. One end of the lifting rod is connected to the track machine, and the other end is connected to the robotic arm, used to follow the track machine's movement and to place the robotic arm at the collection position through a telescopic operation. The robotic arm is connected to both the visual sensing component and the backfat measuring component, used to move them to the detection position. The visual sensing component is used to collect images of sows in the pigpen; the backfat measuring component is used to measure the backfat of sows in the pigpen. In this technical solution, through the cooperation of the track machine, the lifting rod, and the robotic arm, the visual sensing component and the backfat measuring component can be moved to the appropriate detection position, allowing the visual sensing component to more accurately collect images of the sow's back and vagina. Analyzing the collected images using current image analysis methods can determine the sow's estrus status. By moving the backfat measuring component to the appropriate detection position, the backfat measurement of sows can be completed automatically. This method is more convenient and faster, and effectively reduces the difficulty of monitoring. Attached Figure Description

[0024] To more clearly illustrate the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 A schematic diagram of the structure of a sow inspection device provided in this embodiment of the utility model;

[0026] Figure 2 A cross-sectional schematic diagram of an oil applicator provided in an embodiment of this utility model;

[0027] Figure 3 A schematic diagram of the structure of a converter provided in an embodiment of this utility model;

[0028] Figure 4 A schematic diagram of a parallel telescopic component provided in an embodiment of this utility model;

[0029] Figure 5 A schematic diagram of the structure of a pneumatic buffer component provided in an embodiment of this utility model;

[0030] Figure 6 A schematic diagram of the workflow of a sow inspection device provided in this embodiment of the utility model;

[0031] Track machine-1, lifting rod-2, robotic arm-3, vision sensing component-4, backfat measuring component-5, oil applicator-51, robotic gripper-52, ultrasonic backfat measuring instrument-53, multi-hole oil outlet plate-511, elastic scraper cleaning ring-512, waste liquid recovery component-513, converter-6, parallel telescopic component-7, air pressure buffer component-8. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0033] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] Next, we will describe in detail the sow inspection device provided in this embodiment of the present invention. Figure 1 A schematic diagram of a sow inspection device provided in this embodiment of the present invention includes a track machine 1, a lifting rod 2, a robotic arm 3, a visual sensing component 4, and a backfat measuring component 5; wherein, the track machine 1 is installed above the pigpen and can move bidirectionally along the track.

[0035] The track machine 1 can use a high-precision track to support the bidirectional movement of the sow inspection equipment above the pigpen. The track machine 1 can be made of aluminum alloy track and has a built-in sliding contact line for power supply.

[0036] One end of the lifting rod 2 is connected to the track machine 1, and the other end is connected to the robotic arm 3. It is used to follow the movement of the track machine 1 and to place the robotic arm 3 at the collection position through telescopic operation.

[0037] In practical applications, the lifting rod 2 can be an electric telescopic rod with a stroke of 0.5m to 2m. One end of the lifting rod 2 is connected to the chassis of the track machine 1, and the other end is connected to the robotic arm 3.

[0038] The robotic arm 3 is connected to the visual sensing component 4 and the backfat measuring component 5 respectively, and is used to move the visual sensing component 4 and the backfat measuring component 5 to the detection position; the visual sensing component 4 is used to collect images of sows in the pigsty; the backfat measuring component 5 is used to measure the backfat of sows in the pigsty.

[0039] The robotic arm 3 can be a six-degree-of-freedom robotic arm, connected to the track machine 1 via the lifting rod 2. A vision perception module 4 is integrated on the robotic arm 3, and a backfat measuring component 5 is integrated at the end of the robotic arm 3.

[0040] According to the detection requirements, the visual perception component 4 may include an infrared thermal imaging camera, a visible light camera, and a depth camera; among them, the infrared thermal imaging camera is used to acquire temperature distribution images of the sow's back and vagina; the visible light camera is used to acquire images of the sow's back and vagina; and the depth camera is used to locate the sow's position.

[0041] In this embodiment of the invention, in order to achieve automated control of the components in the sow inspection equipment and to analyze the estrus status of sows, an AI recognition module for image analysis and a main control unit module for controlling the operation of each component can be embedded in the track machine 1. The methods performed by the AI ​​recognition module and the main control unit module are conventional operations.

[0042] For the AI ​​recognition module, a deep learning algorithm can be used to build an artificial intelligence (AI) recognition system. This recognition system will receive image data captured by the visual perception component 4, and automatically analyze and recognize the image through a trained deep learning model to determine whether the sow is in estrus.

[0043] The main control unit module primarily handles data interaction, data processing, and command issuance between various components. First, it controls the movement of the track machine 1. Then, it issues a command to the lifting rod 2, allowing the robotic arm 3 to descend to a suitable height and approach the sow. The visual perception module 4 captures images, divided into two categories: back and vagina. The vaginal image is transmitted to the AI ​​recognition module for estrus detection, while the back image is transmitted to the depth camera in the visual perception module 4 for backfat measurement point localization. Finally, it controls the robotic arm 3 to move the backfat measuring component 5, bringing it close to the sow for backfat measurement.

[0044] The lifting mast 2 can receive instructions from the main control unit module to perform extension and retraction operations.

[0045] The robotic arm 3 can receive instructions from the main control unit module to move. Through the combination of six degrees of freedom, the robotic arm 3 can flexibly reach most positions in the area and try to get as close as possible to the sow's back to reduce the influence of ambient temperature, so that the visual perception module 4 can accurately acquire images of the back and vagina. After receiving the specific coordinates calculated by the main control unit module, the robotic arm 3 moves to the measurement point so that the backfat measuring component 5 can measure the backfat.

[0046] It should be noted that, Figure 1To more intuitively illustrate the connection relationships between the components, a combination of rectangles and circles is used to represent the visual perception module 4, and a triangle is used to represent the backfat measuring component 5. These representations do not represent the actual shapes of the visual perception module 4 and the backfat measuring component 5. In this embodiment of the invention, the actual shapes of the visual perception module 4 and the backfat measuring component 5 are not limited.

[0047] As can be seen from the above technical solution, the sow inspection equipment includes a track machine, a lifting rod, a robotic arm, a visual sensing component, and a backfat measuring component. The track machine is installed above the pigpen and can move bidirectionally along the track. One end of the lifting rod is connected to the track machine, and the other end is connected to the robotic arm, used to follow the track machine's movement and to place the robotic arm at the collection position through a telescopic operation. The robotic arm is connected to both the visual sensing component and the backfat measuring component, used to move them to the detection position. The visual sensing component is used to collect images of sows in the pigpen; the backfat measuring component is used to measure the backfat of sows in the pigpen. In this technical solution, through the cooperation of the track machine, the lifting rod, and the robotic arm, the visual sensing component and the backfat measuring component can be moved to the appropriate detection position, allowing the visual sensing component to more accurately collect images of the sow's back and vagina. Analyzing the collected images using current image analysis methods can determine the sow's estrus status. By moving the backfat measuring component to the appropriate detection position, the backfat measurement of sows can be completed automatically. This method is more convenient and faster, and effectively reduces the difficulty of monitoring.

[0048] In this embodiment of the utility model, the backfat measuring component 5 may include an oil applicator 51 for applying coupling agent to the back of the sow, a mechanical claw 52 for fixing the sow, and an ultrasonic backfat measuring instrument 53 for calculating the backfat thickness.

[0049] Traditional methods for automating backfat measurement in sows have the following problems:

[0050] Coupling agent contamination: Pig secretions, such as sebum, hair, and dirt, can contaminate the surface of the ultrasound probe, leading to measurement errors.

[0051] Mechanical interference: Traditional oiling devices may cause uneven oil film due to the movement of pig skin, which affects the penetration of ultrasonic waves.

[0052] Environmental interference: Damp pigsties and ammonia corrosion may cause probes to rust or signals to become unstable.

[0053] Therefore, in this embodiment of the invention, a coupling method of "rotary self-cleaning oil applicator + oleophobic coating probe + hermetically sealed device" is adopted to ensure long-term stability of ultrasonic measurement accuracy.

[0054] In a specific implementation, the oil applicator 51 may include a porous oil outlet plate 511, an elastic scraper cleaning ring 512, and a waste liquid recovery component 513; wherein, the waste liquid recovery component 513 includes a guide channel and a collection box.

[0055] Figure 2 This is a cross-sectional schematic diagram of an oil applicator provided in an embodiment of the present invention. The oil applicator 51 has a porous oil outlet plate 511 with evenly distributed oil outlet holes on its surface. The micro pump built into the oil applicator 51 sprays coupling agent outward through the oil outlet holes in a metered manner. The elastic scraper cleaning ring 512 is distributed in a ring around the outer edge of the porous oil outlet plate 511 and is used to scrape off the coupling agent on the surface of the porous oil outlet plate 511 when the oil applicator 51 is rotated to the non-working position. The scraped coupling agent flows into the collection box along the guide channel of the waste liquid recovery component 513.

[0056] The diameter of the oil outlet holes distributed on the surface of the porous oil outlet plate 511 can be set to 0.5 mm, and the coupling agent is sprayed quantitatively by a micro pump, for example, 0.2 mL of coupling agent is sprayed each time.

[0057] The flexible scraper cleaning ring 512 can be made of silicone or polyurethane. It automatically scrapes away residual coupling agent and dirt from the surface of the ultrasonic probe when the oiler 51 rotates to the non-working position.

[0058] The waste liquid recovery component 513 can collect the scraped waste liquid into the collection box along the guide channel, thus avoiding secondary pollution.

[0059] After the robotic arm 3 is positioned, the oil applicator 51 rotates to the working position, and the oil outlet of the porous oil outlet plate 511 sprays coupling agent to cover the sow's skin area (spiral path, covering diameter 3cm). The ultrasonic probe of the ultrasonic backfat measuring instrument 53 rotates to the working position to measure backfat. After the measurement is completed, the elastic scraper cleaning ring 512 can clean the surface of the ultrasonic probe and at the same time recover the coupling agent and dirt remaining on the probe surface.

[0060] The ultrasonic probe of the ultrasonic backfat measuring instrument 53 is coated with a fluorinated nano-coating, which causes the coupling agent to form microbeads instead of an oil film, reducing hair adhesion. The thickness of the fluorinated nano-coating can be 5-10 μm, without affecting the ultrasonic frequency (2-5 MHz).

[0061] Through simulated pigskin experiments, it was verified that the fluorinated nano-coating still maintains its oleophobicity after 10,000 rubs, thus effectively ensuring the anti-sticking properties of the ultrasonic probe of the ultrasonic backfat measuring instrument 53.

[0062] In this embodiment of the invention, the ultrasonic probe and ultrasonic housing of the ultrasonic backfat measuring instrument 53 adopt an airtight packaging structure to achieve corrosion protection.

[0063] In practical applications, a fluororubber O-ring filled with inert gas can be installed between the ultrasonic probe and the ultrasonic housing of the ultrasonic backfat measuring instrument 53.

[0064] Fluororubber O-rings are resistant to ammonia corrosion, and the internal filling with an inert gas prevents moisture intrusion. The inert gas can be nitrogen.

[0065] Considering the pH range of 3-11 in pigsty environments, the ultrasonic casing can be made of 316L stainless steel and anodized aluminum to better adapt to these conditions. A molecular sieve desiccant is embedded inside the casing to absorb residual moisture. The ultrasonic casing can be detachable for easy replacement of the molecular sieve desiccant.

[0066] By adopting a coupling method of "rotary self-cleaning oil applicator + oleophobic coating probe + hermetically sealed device", contamination can be effectively reduced and the long-term stability of ultrasonic measurement accuracy can be ensured.

[0067] In this embodiment of the invention, the position where the operation is performed on the sow can be referred to as the working position. When the oiling device 51 sprays coupling agent onto the sow's back, the oiling device 51 needs to be adjusted to the working position, at which time the ultrasonic backfat measuring instrument 53 is in the non-working position. After the coupling agent spraying is completed, the ultrasonic backfat measuring instrument 53 needs to be adjusted to the working position, at which time the oiling device 51 is in the non-working position.

[0068] To switch between the working positions of the oil applicator 51 and the ultrasonic backfat measuring instrument 53, the oil applicator 51, the mechanical gripper 52, and the ultrasonic backfat measuring instrument 53 can be installed at the end of the robotic arm 3 via the converter 6.

[0069] The converter 6 is used to rotate the oil applicator 51 to the working position and the ultrasonic backfat measuring instrument 53 to the non-working position; or to rotate the ultrasonic backfat measuring instrument 53 to the working position and the oil applicator 51 to the non-working position.

[0070] Figure 3 This is a schematic diagram of a converter provided in an embodiment of the present invention, whose structure is similar to that of a microscope objective lens converter. By connecting the oiling device 51, the mechanical gripper 52, and the ultrasonic backfat measuring instrument 53 to the converter 6, the desired component is rotated to its working position to complete the task. It should be noted that... Figure 3 The positions shown in this diagram are for illustrative purposes only and are not intended to limit the specific deployment locations of the three components: the oil applicator 51, the mechanical gripper 52, and the ultrasonic backfat measuring instrument 53. Figure 3 The shapes of the oiling device 51, the mechanical claw 52, ​​and the ultrasonic backfat measuring instrument 53 are only simplified illustrations and are not intended to limit the specific shapes of these three components.

[0071] The oil applicator 51 and the ultrasonic backfat measuring instrument 53 can be detachably installed. When other operations are required, the oil applicator 51 and the ultrasonic backfat measuring instrument 53 can be replaced with other parts. For example, in order to complete the back cleaning function of sows, they can be replaced with brushes or clips.

[0072] The objective lens turret is designed similarly to that of a microscope. The oil applicator 51, the robotic gripper 52, and the ultrasonic backfat measuring instrument 53 are connected to the turret 6. The other end of the turret 6 is connected to the end of the robotic arm 3. Through the turret 6, different components can be rotated to the working position according to operational requirements to complete dexterous and complex operations. At the same time, the components connected to the turret 6 are detachable, allowing for the replacement of different components to adapt to other testing needs.

[0073] In addition to using a converter 6 to switch the working positions of the oil applicator 51 and the ultrasonic backfat measuring instrument 53, a parallel telescopic component 7 can also be used to switch the working positions of the oil applicator 51 and the ultrasonic backfat measuring instrument 53.

[0074] The oil applicator 51, the mechanical gripper 52, and the ultrasonic backfat measuring instrument 53 can be installed at the end of the robotic arm 3 via a parallel telescopic component 7.

[0075] Figure 4 This is a schematic diagram of a parallel telescopic component provided in an embodiment of the present invention. The parallel telescopic component 7 includes multiple telescopic rods. Figure 4 The example uses three telescopic rods. The end of the first telescopic rod is connected to the oiler 51, the end of the second telescopic rod is connected to the mechanical claw 52, ​​and the end of the third telescopic rod is connected to the ultrasonic backfat measuring instrument 53. When the first telescopic rod is in the extended state, the third telescopic rod is in the retracted state; when the first telescopic rod is in the retracted state, the third telescopic rod is in the extended state.

[0076] By integrating different components at the end of the parallel telescopic component 7, only the component that needs to work can be extended while the other components remain stationary, effectively avoiding mutual interference between different components.

[0077] Considering that in practical applications, when the robotic arm 3 contacts the back of the sow, the instantaneous contact force may be greater than 2 Newtons (N), which may cause stress to the sow, a pneumatic buffer component 8 can be set at the joint of the robotic arm 3.

[0078] Figure 5 This is a schematic diagram of the structure of a pneumatic buffer component provided in an embodiment of the present invention. The pneumatic buffer component 8 can be a multi-layer corrugated airbag.

[0079] The pneumatic buffer component 8 can be a multi-layered corrugated airbag located at the connection between the 5th and 6th axis joints of the robotic arm 3.

[0080] Multi-layer corrugated airbags can be made of silicone and Kevlar fiber reinforced layers, thus resisting ammonia corrosion in pigsties.

[0081] The air pressure adjustment range of the air pressure buffer component 8 is 10-50 kPa, and the air pressure can be adjusted in real time via a micro air pump. The maximum deformation of the air pressure buffer component 8 is ±15 mm axially and ±5 mm radially. By adding the air pressure buffer component 8, the impact force on the sow can be reduced by 50% to 60%.

[0082] Figure 6 This is a schematic diagram illustrating the workflow of a sow inspection device provided in this embodiment of the invention. The track-mounted machine 1 moves along a preset track, and after positioning itself in the pigpen, the lifting rod 2 and the robotic arm 3 extend or retract as needed, adjusting the position and angle of each camera included in the visual sensing component 4 to monitor the sow. The infrared thermal imaging camera included in the visual sensing component 4 monitors the temperature of the sow's back and vulva in real time, while visible light captures images of the back and vagina. After receiving the corresponding images, the AI ​​recognition module 11 identifies the sow's condition, including whether she is in estrus. The depth camera included in the visual sensing component 4 acquires three-dimensional data and provides feedback positioning signals. The robotic arm 3 moves to the backfat detection point based on the positioning, allowing the backfat measuring component 5 to measure the backfat thickness.

[0083] Regarding the movement and positioning of the track-mounted robot 1: The sow inspection equipment moves along a preset track driven by a motor. The main control unit module 12 records the position of the sow inspection equipment through a track encoder, and combines this with the positioning signal triggered by tags preset on the track nodes to ensure that the sow inspection equipment correctly reaches the target pen. A position control algorithm is used to precisely control the movement speed and position of the sow inspection equipment to ensure the smoothness and efficiency of the inspection process. A depth camera performs an initial scan of the pen space, establishes a three-dimensional coordinate system, and corrects the initial pose of the robotic arm 3.

[0084] Regarding the movement of lifting rod 2 and robotic arm 3: Regarding the height adjustment of lifting rod 2, the coordinates of the sow in the three-dimensional coordinate system can be located according to the three-dimensional coordinate system established by the depth camera. Then, the depth camera collects the three-dimensional data of the sow. The main control unit module 12 calculates the required height of robotic arm 3 based on the data and sends the signal to lifting rod 2. Lifting rod 2 adjusts to the appropriate height electrically as required, and robotic arm 3 is placed at the acquisition position through the telescopic operation.

[0085] Based on the data collected by the depth camera, the main control unit module 12 calculates and determines the required height and approximate position of the robotic arm 3, for example, 30cm from the sow's back. A positioning signal is sent to the robotic arm 3, which moves to the required photographing position to prepare for the operation of the visual perception module 4. Then, based on the temperature readings of the sow taken by the infrared thermal imaging camera, the robotic arm 3 adjusts its height and position in real time to reduce the impact of ambient temperature on monitoring.

[0086] After the robotic arm 3 moves to the appropriate detection and imaging position, the infrared thermal imaging camera and the visible light camera begin to work, acquiring images of the sow's back and vulva, with a focus on the vulva and ear base. The acquired image data is then transmitted to the main control unit module 12. Based on the acquired infrared thermal and visible light images, and considering the needs of the AI ​​recognition module 11, the main control unit module 12 divides the acquired images into two main categories: back and vagina. The infrared and visible light images of the vagina are transmitted to the AI ​​recognition module 11, while the images of the back are used to calculate and locate backfat measurement points.

[0087] Sows in estrus typically exhibit the following symptoms: redness and swelling of the inner part of the vulva, elevated temperature, and the presence of mucus. Therefore, a deep learning algorithm is used for identification. When infrared thermometry shows that the temperature of the vulva area is >= 39 degrees Celsius and the corresponding visible light image detects the presence of mucus, it can be determined that the sow has entered estrus. The identification result is fed back to the main control unit module 12, and the feeder is notified to perform insemination as soon as possible to avoid missing the optimal insemination time.

[0088] The most commonly used backfat measurement point is P2, located 5 cm from the midline of the back, at one-third of the distance between the last rib and the hip tubercle (between the 3rd and 4th ribs from the bottom). This point reflects the main area of ​​body fat storage in the sow and is important for assessing its nutritional status. Based on the images classified by the main control unit module 12, the visible light image of the back is used to locate P2. A depth camera is used for calculation, and the three-dimensional coordinates are sent to the robotic arm 3. The robotic arm 3 moves to this location according to the positioning. After the depth camera is aligned, the coordinates of the rectangular area detected by the visible light camera are combined with the three-dimensional spatial coordinates obtained by the depth camera to calculate the P2 point. The robotic arm 3 moves according to the coordinates of this center point until it detects contact with the skin.

[0089] The ultrasonic probe of the ultrasonic backfat measuring instrument 5 at the end of the robotic arm 3 scans near the point in a spiral search mode to determine if the point is P2. Point P2 is the working position, also known as the working point. After determining the working point, the converter 6 first rotates the oil applicator 51 to the working point. Since ultrasonic waves cannot penetrate air and air bubbles, applying coupling agent to this area allows the ultrasonic probe to fully couple with the skin. Then, the converter 6 rotates the ultrasonic backfat measuring instrument 5 to the working point, bringing the ultrasonic probe into contact with the skin. The ultrasonic probe emits pulse signals and receives scattered echoes, calculating the backfat thickness based on the time-of-flight method. The calculation accuracy can reach 0.5mm. Finally, the measured data is sent to the main control unit module 12.

[0090] It should be noted that the AI ​​recognition module 11 and the main control unit module 12 can be encapsulated within the track machine 1. Figure 6 To more intuitively demonstrate the implementation process, the AI ​​recognition module 11 and the main control unit module 12 are displayed separately from the track machine 1.

[0091] If the sow moves violently when the robotic arm 3 contacts the skin, the depth camera dynamically corrects the positional deviation and re-attempts the operation. If the positioning fails three times consecutively, the task is terminated and an anomaly log is recorded. Additionally, if an image of the sow's vaginal area cannot be captured, the robotic gripper 52 moves near the sow's rump to try and find other angles to capture the vaginal area. Similarly, if three consecutive capture failures occur, the task is terminated and an anomaly log is recorded.

[0092] Data analysis algorithms such as machine learning or statistical analysis are used to process and analyze the monitoring data, generate a report on the health status of sows, and transmit the results to the feed system to formulate appropriate feed ratios.

[0093] Infrared thermal imaging and visible light are combined to determine estrus status, solving the problem of high false alarm rates associated with single sensors. A depth camera updates the robotic arm's path planning in real time, adapting to disturbances caused by sow activity.

[0094] The foregoing has provided a detailed description of a sow inspection device according to this utility model. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. It should be noted that those skilled in the art can make various improvements and modifications to this utility model without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this utility model.

Claims

1. A sow inspection device, characterized in that, It includes a track machine (1), a lifting rod (2), a robotic arm (3), a visual sensing component (4), and a backfat measuring component (5); wherein the track machine (1) is set above the pig pen and can move bidirectionally along the track; One end of the lifting rod (2) is connected to the track machine (1), and the other end is connected to the robotic arm (3). It is used to follow the track machine (1) and to place the robotic arm (3) at the collection position through telescopic operation. The robotic arm (3) is connected to the visual sensing component (4) and the back fat measuring component (5) respectively, and is used to move the visual sensing component (4) and the back fat measuring component (5) to the detection position. The visual sensing component (4) is used to collect images of sows in the pigsty; The backfat measuring component (5) is used to measure the backfat of sows in the pigsty.

2. The sow inspection device according to claim 1, characterized in that, The visual perception component (4) includes an infrared thermal imaging camera, a visible light camera, and a depth camera; wherein, the infrared thermal imaging camera is used to acquire temperature distribution images of the sow's back and vagina; the visible light camera is used to acquire images of the sow's back and vagina; and the depth camera is used to locate the sow's position.

3. The sow inspection device according to claim 1, characterized in that, The backfat measuring component (5) includes an oil applicator (51) for applying coupling agent to the back of the sow, a mechanical claw (52) for fixing the sow, and an ultrasonic backfat measuring instrument (53) for calculating the backfat thickness.

4. The sow inspection device according to claim 3, characterized in that, The oil applicator (51) includes a porous oil outlet plate (511), an elastic scraper cleaning ring (512), and a waste liquid recovery component (513); wherein the waste liquid recovery component (513) includes a guide channel and a collection box; The porous oil outlet plate (511) has uniformly distributed oil outlet holes on its surface; the micro pump built into the oil applicator (51) sprays coupling agent outward in a metered manner through the oil outlet holes. The elastic scraper cleaning ring (512) is distributed in a ring around the outer edge of the porous oil outlet plate (511) and is used to scrape off the coupling agent on the surface of the ultrasonic probe of the ultrasonic back fat measuring instrument (53) when the oiler (51) is rotated to the non-working position; the scraped coupling agent flows into the collection box along the guide channel of the waste liquid recovery component (513).

5. The sow inspection device according to claim 3, characterized in that, The ultrasonic probe of the ultrasonic backfat measuring instrument (53) is coated with a fluorinated nano-coating; a fluororubber O-ring filled with inert gas is provided between the ultrasonic probe and the ultrasonic housing of the ultrasonic backfat measuring instrument (53).

6. The sow inspection device according to claim 3, characterized in that, The oil applicator (51), the mechanical gripper (52), and the ultrasonic backfat measuring instrument (53) are mounted on the end of the robotic arm (3) via a converter (6); The converter (6) is used to rotate the oil applicator (51) to the working position and the ultrasonic backfat measuring instrument (53) to the non-working position; or to rotate the ultrasonic backfat measuring instrument (53) to the working position and the oil applicator (51) to the non-working position.

7. The sow inspection device according to claim 3, characterized in that, The oil applicator (51), the mechanical gripper (52), and the ultrasonic backfat measuring instrument (53) are mounted on the end of the robotic arm (3) via a parallel telescopic component (7); The parallel telescopic component (7) includes multiple telescopic rods. The end of the first telescopic rod is connected to the oiler (51), the end of the second telescopic rod is connected to the mechanical claw (52), and the end of the third telescopic rod is connected to the ultrasonic backfat measuring instrument (53). When the first telescopic rod is in the extended state, the third telescopic rod is in the retracted state. When the first telescopic rod is in the retracted state, the third telescopic rod is in the extended state.

8. The sow inspection device according to claim 1, characterized in that, It also includes a pneumatic buffer component (8) disposed at the joint of the robotic arm (3).

9. The sow inspection device according to claim 8, characterized in that, The pneumatic buffer component (8) is a multi-layer corrugated airbag located at the connection between the 5th and 6th axis joints of the robotic arm (3).

10. A sow inspection device, characterized in that, It includes a track machine (1), a lifting rod (2), a robotic arm (3), a visual perception component (4), and a backfat measuring component (5); the track machine (1) encapsulates an AI recognition module (11) and a main control unit module (12); the track machine (1) is set above the pig pen and can move bidirectionally along the track; The visual perception component (4) is connected to the AI ​​recognition module (11) and the main control unit module (12) respectively, and is used to transmit the collected images of sows in the pigsty to the AI ​​recognition module (11) and the main control unit module (12) so that the AI ​​recognition module (11) can identify the sow status and the main control unit module (12) can determine the collection location and the detection location. The lifting rod (2) is connected to the track machine (1), the robotic arm (3) and the main control unit module (12) respectively, and is used to follow the track machine (1) to move, and to place the robotic arm (3) to the collection position through the telescopic operation; The robotic arm (3) is connected to the visual sensing component (4) and the back fat measuring component (5) respectively, and is used to move the visual sensing component (4) and the back fat measuring component (5) to the detection position. The backfat measuring component (5) is used to measure the backfat of sows in the pigsty.

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