A health inspection robot for pigeon farming

Abstract

This utility model relates to the field of inspection robot technology, and discloses a health inspection robot for pigeon breeding. It includes an inspection vehicle, a main control box, a robotic arm, a lift, and a feeder replacement module. The main control box is fixedly installed on the upper part of the inspection vehicle, and the robotic arm is fixedly installed on the upper part of the main control box. A robotic claw is rotatably installed at the end joint of the robotic arm, and a vision sensor is fixedly installed on one side of the robotic claw. The lift is fixedly installed on the main control box near the robotic arm. The feeder replacement module is fixedly connected to the front of the lift. The feeder replacement module includes a main frame, within which multiple horizontal beams are fixedly installed, and two longitudinal beams are fixedly installed between adjacent horizontal beams. The main control box centrally manages the inspection vehicle, robotic arm, and vision sensor, enabling autonomous movement and inspection along the pigeon loft route. The vision sensor, using a preset recognition system, judges the health status of the pigeons and the hygiene of the feeder in real time, triggering a sick pigeon warning and a feeder replacement command when abnormalities occur.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, and in particular to a health inspection robot for pigeon breeding. Background Technology

[0002] Meat pigeon farming is an important supporting industry for specialty livestock and poultry farming and rural revitalization. Traditional farming relies heavily on manual labor and suffers from problems such as harsh working environment, high labor intensity, uneven feeding, missed detection of sick pigeons, untimely cleaning, and lack of data recording. It can no longer meet the needs of large-scale, standardized, and efficient farming. In current large-scale pigeon farming operations, pigeon house inspections and feed trough replacements are mostly done manually, cage by cage. This results in high labor intensity, low inspection coverage efficiency, and the risk of missing sick pigeons due to visual inspections and inconsistent standards for judging the hygiene of feed troughs. In addition, the replenishment and replacement of feed troughs in multi-layered pigeon cages requires frequent operations, posing certain safety hazards. Furthermore, frequent entry and exit of personnel from the pigeon house can easily introduce external pathogens. Utility Model Content

[0003] The purpose of this invention is to provide a health inspection robot for pigeon farming. The robot is equipped with a robotic arm and vision sensors on an inspection vehicle to autonomously inspect pigeon houses. It can also automatically replace feed troughs with a feed trough replacement module. The robot can monitor the health of the pigeon flock in real time and trigger early warnings, thereby reducing the workload of manual inspections and effectively solving the problems in the background technology.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows: A health inspection robot for pigeon farming includes an inspection vehicle, a main control box, a robotic arm, a lifter, and a feeder replacement module. The main control box is fixedly installed on the upper part of the inspection vehicle, and the robotic arm is fixedly installed on the upper part of the main control box. A robotic claw is rotatably installed at the end joint of the robotic arm, and a vision sensor is fixedly installed on one side of the robotic claw. The lifter is fixedly installed on the main control box near the robotic arm. The feeder replacement module is fixedly connected to the front side of the lifter. The feeder replacement module includes a main frame, in which multiple horizontal beams are fixedly installed laterally. Two longitudinal beams are fixedly installed between two adjacent horizontal beams. A guide rail is fixedly installed on the front side of each horizontal beam, and a support basket is movably installed on the guide rail. A storage basket is placed in the support basket. The main frame and the support basket are made of aluminum alloy, and the storage basket is made of high-density polyethylene, which reduces the load on the lifter and the inspection vehicle.

[0005] As a further optimization of this utility model, the inspection vehicle, robotic arm, robotic claw, and vision sensor are all electrically connected to the main control box via wires, thereby enabling the main control box to uniformly schedule the coordinated operation of each device.

[0006] As a further optimization of this utility model, the lifting device includes a column, a second motor is fixedly installed at the upper end of the column, the second motor is electrically connected to the main control box through a wire, a first lead screw is vertically rotatably installed inside the column, the upper end of the first lead screw is fixedly connected to the output shaft of the second motor via a coupling, a carrier frame is slidably connected inside the column, and the carrier frame is also threadedly connected to the first lead screw through an internal threaded sleeve, wherein multiple longitudinal beams are respectively fixedly connected to the carrier frame, thereby realizing the height adjustment of the carrier frame inside the column under the direction of rotation of the first lead screw controlled by the second motor, thereby realizing the height adjustment of different support baskets.

[0007] As a further optimization of this utility model, a bearing seat is fixedly installed on one side of each of the multiple vertically coaxial longitudinal beams. Two limit switches are symmetrically fixedly installed on each of the crossbeams, and the limit switches are electrically connected to the main control box via wires. The symmetrical limit switches are used to detect the two extreme positions of the horizontal movement of the support basket. A first motor is fixedly installed on each of the crossbeams at a position away from the bearing seat. The first motor is electrically connected to the main control box via wires. A second lead screw is fixedly installed at one end of the output shaft of the first motor via a coupling. The end of the second lead screw away from the first motor is rotatably connected to the corresponding bearing seat. Thus, the first motor drives the second lead screw to rotate, thereby providing a power source for the horizontal movement of the support basket in front of the crossbeam.

[0008] As a further optimization of this utility model, the guide rail includes a wheel frame, in which multiple lower support wheels are rotatably mounted, and in the wheel frame located above the lower support wheels, multiple upper support wheels are rotatably mounted. Multiple side support wheels are also rotatably mounted on the inner side of the wheel frame, with each side support wheel positioned between two adjacent lower support wheels. Multiple connecting columns are also fixedly mounted on the wheel frame located between the lower support wheels, upper support wheels, and side support wheels, with one end of each connecting column fixedly connected to the front side of the corresponding crossbeam. Thus, the lower support wheels, upper support wheels, and side support wheels together form a three-way rolling constraint, allowing the supporting basket to slide smoothly along the front side of the crossbeam.

[0009] As a further optimization of this utility model, a C-shaped beam is fixedly installed on the side of the support basket facing the crossbeam. The C-shaped beam passes through and is slidably connected to the corresponding wheel frame. Multiple lower support wheels are tactilely connected to the inner bottom surface of the C-shaped beam, multiple upper support wheels are tactilely connected to the inner top surface of the C-shaped beam, and multiple side support wheels are tactilely connected to the inner side surface of the C-shaped beam. This ensures that the support basket and the C-shaped beam maintain a horizontal posture and slide together. As a result, after the food trough in the storage basket of the current support basket has been replaced, the lower support basket can be exposed under the mechanical claw and lifted by the lifter, improving the efficiency of food trough replacement and reducing the number of times manual replenishment is required.

[0010] As a further optimization of this utility model, a fixing rod is fixedly installed on the C-shaped beam. The fixing rod is threadedly connected to the corresponding second lead screw through an internally threaded sleeve. When the second lead screw rotates in the internally threaded sleeve of the fixing rod, it can control the sliding direction of the C-shaped beam on the wheel frame.

[0011] Compared with the prior art, the present invention has the following beneficial effects: In this invention, a visual sensor collects data on the health status of pigeons and the hygiene of the feeding troughs. In conjunction with a lifting device, the first lead screw drives the carrier to adjust its height, thereby enabling multiple sets of crossbeams and guide rails to work together to support baskets and storage baskets. Driven by a second lead screw, the multi-layer feeding troughs are replaced in an orderly manner. This can replace manual inspection and feeding trough replacement, reduce the frequency of personnel entering the pigeon house, and improve the level of refined management in pigeon house breeding. Attached Figure Description

[0012] Figure 1 This is a first side view of the main structure of this utility model; Figure 2 This is a second side view of the main structure of this utility model; Figure 3 This is a schematic diagram of the lifting device structure of this utility model; Figure 4 This is a schematic diagram of the assembly structure of the guide rail and the support basket of this utility model; Figure 5 This is a schematic diagram of the guide rail structure of this utility model.

[0013] In the diagram: 1. Inspection vehicle; 2. Robotic arm; 3. Robotic claw; 4. Vision sensor; 5. Lifter; 6. Feed trough replacement module; 7. Main frame; 8. Longitudinal beam; 9. Crossbeam; 10. First motor; 11. Guide rail; 12. Support basket; 13. Storage basket; 14. Column; 15. Second motor; 16. First lead screw; 17. Carrier frame; 18. Shaft seat; 19. Limit switch; 20. Second lead screw; 21. Wheel frame; 22. Lower support wheel; 23. Upper support wheel; 24. Side support wheel; 25. Connecting column; 26. C-beam; 27. Fixing rod; 28. Main control box. Detailed Implementation

[0014] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0015] like Figures 1-5As shown, this utility model provides a health inspection robot for pigeon farming, including an inspection vehicle 1, a main control box 28, a robotic arm 2, a lifter 5, and a feeder replacement module 6. The main control box 28 is fixedly installed on the upper end of the inspection vehicle 1, the robotic arm 2 is fixedly installed on the upper end of the main control box 28, a robotic claw 3 is rotatably installed at the end joint of the robotic arm 2, a vision sensor 4 is fixedly installed on one side of the robotic claw 3, the lifter 5 is fixedly installed on the main control box 28 near the robotic arm 2, and the feeder replacement module 6 is fixedly connected to the front side of the lifter 5. The feeder replacement module 6 includes a main frame 7, multiple horizontal beams 9 are fixedly installed horizontally in the main frame 7, two longitudinal beams 8 are fixedly installed between two adjacent horizontal beams 9, a guide rail 11 is fixedly installed on the front side of each horizontal beam 9, a support basket 12 is movably installed on the guide rail 11, and a storage basket 13 is placed in the support basket 12.

[0016] Specifically: In this embodiment, the inspection vehicle 1 travels along a preset path in the pigeon house to the target cage. The main control box 28 serves as the control core, integrating an edge computing unit to uniformly schedule all devices. The inspection vehicle 1, the robotic arm 2, the robotic claw 3, and the vision sensor 4 are all electrically connected to the main control box 28 via wires, thus forming a complete electrical control loop to realize command issuance and signal feedback. During operation, the robotic arm 2 drives the robotic claw 3 and the vision sensor 4 to align with the pigeon cage from multiple angles and directions. The vision sensor 4 collects high-definition images of the pigeons' body shape, feathers, activity status, and the cleanliness of the feed trough in real time, and transmits the image data to the main control box 28. The built-in module of the main control box 28 judges the collected image information through a recognition model and outputs individual health scores and feed trough cleanliness judgment results. Once a sick pigeon or a dirty feed trough that needs to be replaced is identified, the main control box 28 immediately triggers an alarm and issues a feed trough replacement command.

[0017] In this embodiment, after the feeding trough replacement task is started, each storage basket 13 pre-stores a clean feeding trough box, and a reserved space is left in the storage basket 13 for initially storing a dirty feeding trough box. Then, the robotic arm 2 uses the robotic claw 3 to remove the dirty feeding trough box from the front of the pigeon coop and place it in the reserved space in its storage basket 13. The new feeding trough box in the storage basket 13 is then re-hung on the front of the pigeon coop, thus completing the replacement of the feeding trough box.

[0018] In this embodiment, when switching the storage basket 13, multiple sets of guide rails 11 are arranged in layers within the main frame 7 of the feed trough replacement module 6 via crossbeams 9 and longitudinal beams 8. Each of the multiple vertically coaxial longitudinal beams 8 has a bearing seat 18 fixedly installed on one side. Two limit switches 19 are symmetrically fixedly installed on each crossbeam 9, and the limit switches 19 are electrically connected to the main control box 28 via wires. A first motor 10 is fixedly installed on each crossbeam 9 at a position away from the bearing seat 18. The first motor 10 is electrically connected to the main control box 28 via wires. A second lead screw 20 is fixedly installed at one end of the output shaft of the first motor 10 via a coupling. The end of the second lead screw 20 away from the first motor 10 is rotatably connected to the corresponding bearing seat 18. The limit switches 19 are used for calibrating the bearing... The support basket 12 has two horizontal limit positions, enabling each layer to have independent driving and position detection capabilities. To ensure stable switching of the support basket 12, its guide rail 11 includes a wheel frame 21. Multiple lower support wheels 22 are rotatably installed inside the wheel frame 21. Multiple upper support wheels 23 are rotatably installed inside the wheel frame 21 above the lower support wheels 22. Multiple side support wheels 24 are also rotatably installed on the inner side of the wheel frame 21, with each side support wheel 24 located between two adjacent lower support wheels 22. Multiple connecting columns 25 are also fixedly installed on the wheel frame 21 between the lower support wheels 22, upper support wheels 23, and side support wheels 24. One end of the connecting column 25 is fixedly connected to the front side of the corresponding crossbeam 9, and the support basket 12 is fixed on the side facing the crossbeam 9. A C-shaped beam 26 is installed, which passes through and slides onto the corresponding wheel frame 21. The main control box 28 controls the start of the first motor 10 of the corresponding layer, driving the second lead screw 20 to rotate. A fixing rod 27 is fixedly installed on the C-shaped beam 26, and the fixing rod 27 is threadedly connected to the corresponding second lead screw 20 through an internally threaded sleeve. This allows the C-shaped beam 26 to slide smoothly along the wheel frame 21 via a helical transmission. During the sliding process, the lower support wheel 22, upper support wheel 23, and side support wheel 24 inside the wheel frame 21 roll into contact with the inner bottom surface, inner top surface, and inner side surface of the C-shaped beam 26, respectively, forming a three-way constraint. This ensures that the supporting basket 12 and storage basket 13 maintain a horizontal posture and move smoothly. After the upper storage basket 13 extends into position, the lifting mechanism is activated. When device 5 starts operating, the lifting device 5 includes a column 14, with a second motor 15 fixedly installed at the upper end of the column 14. The second motor 15 is electrically connected to the main control box 28 via a wire. A first lead screw 16 is vertically rotatably installed inside the column 14. The upper end of the first lead screw 16 is fixedly connected to the output shaft of the second motor 15 via a coupling. A carrier frame 17 is slidably connected inside the column 14, and the carrier frame 17 is also threadedly connected to the first lead screw 16 through an internal threaded sleeve. Multiple longitudinal beams 8 are fixedly connected to the carrier frame 17. Thus, the second motor 15 is controlled by the main control box 28 to drive the first lead screw 16 to rotate. Through the threaded engagement, the carrier frame 17 is vertically raised and lowered along the column 14, lifting the lower support basket 12 upwards, thus realizing the rapid replacement of multi-layer food troughs.

[0019] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A health inspection robot for pigeon farming, characterized in that: It includes an inspection vehicle (1), a main control box (28), a robotic arm (2), a lift (5), and a trough replacement module (6); The main control box (28) is fixedly installed on the upper end of the inspection vehicle (1), the robotic arm (2) is fixedly installed on the upper end of the main control box (28), the robotic arm (2) is rotatably installed with a robotic claw (3) at the end joint, and a vision sensor (4) is fixedly installed on one side of the robotic claw (3). The lifting device (5) is fixedly installed on the main control box (28) near the robotic arm (2); The feeding trough replacement module (6) is fixedly connected to the front side of the lifting device (5). The feeding trough replacement module (6) includes a main frame (7). Multiple crossbeams (9) are fixedly installed horizontally inside the main frame (7). Two longitudinal beams (8) are fixedly installed between two adjacent crossbeams (9). A guide rail (11) is fixedly installed on the front side of each crossbeam (9). A support basket (12) is movably installed on the guide rail (11). A storage basket (13) is placed inside the support basket (12).

2. The health inspection robot for pigeon breeding according to claim 1, characterized in that: The inspection vehicle (1), robotic arm (2), robotic claw (3), and vision sensor (4) are all electrically connected to the main control box (28) via wires.

3. The health inspection robot for pigeon farming according to claim 1, characterized in that: The lifting device (5) includes a column (14), a second motor (15) is fixedly installed at the upper end of the column (14), the second motor (15) is electrically connected to the main control box (28) through a wire, a first lead screw (16) is vertically rotatably installed inside the column (14), the upper end of the first lead screw (16) is fixedly connected to the output shaft of the second motor (15) through a coupling, a carrier (17) is slidably connected inside the column (14), and the carrier (17) is also threadedly connected to the first lead screw (16) through an internal threaded hole sleeve, wherein multiple longitudinal beams (8) are fixedly connected to the carrier (17) respectively.

4. The health inspection robot for pigeon farming according to claim 1, characterized in that: A shaft seat (18) is fixedly installed on one side of each of the multiple vertically coaxial longitudinal beams (8). Two limit switches (19) are symmetrically fixedly installed on each of the cross beams (9), and the limit switches (19) are electrically connected to the main control box (28) through wires. A first motor (10) is fixedly installed on each of the cross beams (9) at a position away from the shaft seat (18). The first motor (10) is electrically connected to the main control box (28) through wires. A second lead screw (20) is fixedly installed at one end of the output shaft of the first motor (10) through a coupling. The end of the second lead screw (20) away from the first motor (10) is rotatably connected in the corresponding shaft seat (18).

5. A health inspection robot for pigeon farming according to claim 4, characterized in that: The guide rail (11) includes a wheel frame (21), in which a plurality of lower support wheels (22) are rotatably mounted. In the wheel frame (21) located above the lower support wheels (22), a plurality of upper support wheels (23) are rotatably mounted. A plurality of side support wheels (24) are also rotatably mounted on the inner side of the wheel frame (21), and each side support wheel (24) is located between two adjacent lower support wheels (22). A plurality of connecting columns (25) are also fixedly mounted on the wheel frame (21) located between the lower support wheels (22), the upper support wheels (23) and the side support wheels (24), and one end of the connecting column (25) is fixedly connected to the front side of the corresponding crossbeam (9).

6. A health inspection robot for pigeon farming according to claim 5, characterized in that: A C-shaped beam (26) is fixedly installed on the side of the support basket (12) facing the crossbeam (9), and the C-shaped beam (26) passes through and is slidably connected to the corresponding wheel frame (21).

7. A health inspection robot for pigeon farming according to claim 6, characterized in that: A fixing rod (27) is fixedly installed on the C-shaped beam (26), and the fixing rod (27) is threadedly connected to the corresponding second lead screw (20) through an internally threaded sleeve.

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