Poultry house robot inspection device

Abstract

The utility model relates to a kind of poultry house robot inspection device, it is characterized by: including the robot and inspection channel along the inspection route is inspected, double-track drive mechanism is equipped in the robot base, the position of the turning or U-turn of inspection channel is provided with the flat plate for cooperating with track to facilitate the steering operation of double-track robot.The poultry house robot inspection device is reasonably designed, and it is conducive to the realization of efficient, stable turning or U-turn of robot.

Description

Technical Field

[0001] This utility model relates to inspection robot equipment, and in particular to a poultry house robot inspection device. Background Technology

[0002] Currently, large-scale automated poultry farms use inspection robots to patrol the poultry houses. These robots are equipped with lifting mechanisms and camera components to adapt to poultry houses of different heights. This makes the inspection robots have a relatively high center of gravity (compared to sweeping robots, etc.). Therefore, inspection robots are mostly used on relatively flat surfaces, usually concrete or painted floors. In multi-story poultry houses, there are not only conventional ground floors, but also elevated floors made of steel grating.

[0003] However, when the inspection robot needs to turn or make a U-turn, the differential action of the two drive wheels (i.e., different rotation speeds of the two drive wheels), especially for tracked robots, results in significant variations in the action and reaction forces between the two tracks and the ground or steel grating (more specifically, the different positions of the grating where the two tracks contact the ground lead to different reaction forces on the two sides of the inspection robot). This makes the inspection robot, with its high center of gravity, prone to swaying or even tipping over when turning or making a U-turn on the aforementioned surfaces, affecting the stable operation of the equipment. Furthermore, the tracks are prone to friction with the steel grating during turns or U-turns, affecting the service life of the tracks. The current solution is to lower the center of gravity of the inspection robot as much as possible (e.g., through a lowering and lifting mechanism) and reduce the speed during turns or U-turns, but this also affects the robot's inspection efficiency.

[0004] In addition, the poultry house environment where poultry inspection robots are used is dusty and humid, which can easily cause contaminants to accumulate on the charging plug or socket on its base, resulting in poor contact during charging. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of this utility model is to provide a poultry house robot inspection device. The poultry house robot inspection device is reasonably designed and is conducive to the robot to achieve efficient and stable turning or turning around.

[0006] This utility model discloses a poultry house robot inspection device, characterized in that: it includes a robot that inspects along an indicated route and an inspection channel, a dual-track drive mechanism is provided under the robot base, and a flat plate is provided at the turning or turning position of the inspection channel to work in conjunction with the tracks to facilitate the turning and running of the dual-track robot.

[0007] Preferably, the robot is equipped with an infrared or laser navigation module, a charging device, and a battery; a camera for capturing poultry survival information is installed on the lifting rod of the robot's base; and a pair of tracks and their drive mechanism are provided below the base.

[0008] Preferably, an infrared route guidance device is installed on the poultry house or cage on the side of the upper inspection channel.

[0009] Preferably, for inspection robots using magnetic track navigation, at the bends or U-turns in the inspection channel on concrete surfaces, the magnetic strips used for navigation are laid on the concrete surface and located below the flat plate; at the bends or U-turns in the inspection channel on steel grating surfaces, the magnetic strips used for navigation are placed on the flat plate, and a protective film is laid on the magnetic strips.

[0010] Preferably, the poultry house is equipped with several rows of poultry cages, and the inspection passage is located around the poultry cages.

[0011] Preferably, at least one elevated layer is provided along the height direction of the poultry cage, and the inspection channel is provided on the elevated layer, which is made of steel grating.

[0012] Preferably, the robot is provided with anti-collision strips on the front side of the tracks; the flat plate is a plastic plate, steel plate or ceramic tile.

[0013] Preferably, the charging device includes a charging socket housing mounted on a base. The front of the charging socket housing has two sets of through slots. The through slots are two independent and non-connected sets and are mounted on the charging socket housing for installing the positive and negative electrodes of the charging socket. The positive and negative electrodes of the charging socket are U-shaped strips with elastic openings. The U-shaped openings of the positive and negative electrodes of the charging socket face the through slots to facilitate the charging plug passing through the through slots and being inserted into the U-shaped slots of the electrodes.

[0014] Preferably, the U-shaped strip includes two side plates and an arc-shaped plate connecting the bottom of the two side plates. The two side plates have relatively inwardly protruding protrusions near the U-shaped opening. These protrusions can scrape off foreign objects from the surface of the charging plug when the charging plug is inserted into the U-shaped strip. The protrusions are inwardly convex arc transitions, and the minimum distance between the arc transitions on the two side plates is less than the width of the charging plug, so as to facilitate the scraping off of foreign objects from the surface of the charging plug.

[0015] Preferably, the U-shaped strip has a first protrusion at both ends in the length direction, the first protrusion having a flat section and a bent section, the side of the through groove has an arc-shaped recess, the flat section abuts in the arc-shaped recess, the arc-shaped recess has a first compression spring with its first end sleeved on the bent section, the cover plate is locked to the charging socket housing by screws, and the inner side of the cover plate abuts against the second end of the first compression spring.

[0016] Preferably, the U-shaped strip has a second protrusion on both sides of the middle portion, and the through groove has a rectangular recess on both sides of the middle portion for supporting the second protrusion; the cover plate has two strip holes, and the U-shaped strip has a stud and a threaded nut directly opposite the strip hole, and an electric wire is inserted into the strip hole to connect and fix it with the stud and nut.

[0017] This utility model of a poultry house robot inspection device features a flat plate (i.e., a flat plate) at the bends or U-turns in the inspection channel. When the robot with the dual-track drive mechanism enters the flat plate, the tracks on both sides move differentially. The contact area between the tracks on both sides and the flat plate is equal, and the reaction force of the flat plate on the tracks on both sides is equal, greatly reducing the swaying and ensuring stability when turning or turning. Furthermore, there is no need to lower the lifting mechanism or reduce the speed when turning or turning, ensuring inspection efficiency. In addition, the tracks can be used for turning on the steel grating, reducing track wear and increasing track service life. Attached Figure Description

[0018] Figure 1 This is a top view of one embodiment of a poultry house;

[0019] Figure 2 This is a top view of another embodiment of a poultry house;

[0020] Figure 3 This is a cross-sectional schematic diagram of a poultry house;

[0021] Figure 4 , 5 It is a stereoscopic view of the robot from two perspectives;

[0022] Figure 6 It is a stereoscopic view of the charging device from one perspective;

[0023] Figure 7 yes Figure 6 Exploded view;

[0024] Figure 8 This is a stereoscopic view of the charging device from another perspective;

[0025] Figure 9 yes Figure 8 Exploded view;

[0026] Figure 10 This is a partial 3D view of the U-shaped strip;

[0027] Figure 11 It is a 3D diagram showing the connection between the charging plug, the retractable column, and the charging box;

[0028] Figure 12 yes Figure 11 A cross-sectional perspective view;

[0029] Figure 13 This is a top view of the installation of a flat plate and magnetic strip in magnetic track navigation on a concrete surface.

[0030] Figure 14 This is a top view of the installation of a flat plate and magnetic strip in a magnetic track navigation system on a steel grating. Detailed Implementation

[0031] To make the above-mentioned features and advantages of this utility model more easily understood, specific embodiments are described below in conjunction with the accompanying drawings, but this utility model is not limited thereto.

[0032] This utility model of a poultry house robot inspection device includes a robot 1 that inspects along an indicated route 01 and an inspection channel 2. A dual-track drive mechanism 4 is provided under the robot's base 3. At the turning or U-turn position 5 of the inspection channel 2, a flat plate 6 is provided for working in contact with the tracks to facilitate the turning operation (including turning or U-turn) of the dual-track robot. The flat plate 6 can be a plastic plate, steel plate, ceramic tile plate or ceramic particle reinforced plate, etc. The shape of the flat plate 6 is rectangular, trapezoidal or circular, etc., preferably rectangular. The size of the rectangular plate is larger than the perimeter length and width of the robot, and the thickness can be 3-30 mm.

[0033] The poultry house is equipped with several rows of poultry cages 7 (each poultry cage 7 has multiple poultry rooms, not shown in the figure), and the inspection channel 2 is located around the poultry cages to form an inspection channel around the poultry cages; the aforementioned turning or turning point 5 can be the head and tail end of the inspection channel between adjacent poultry cages.

[0034] The inspection passage 2 may be located on a concrete or painted surface, or the inspection passage 2 may be located on an elevated layer 8 in the height direction of the poultry cage (at least one elevated layer is provided in the height direction of the poultry cage, and the elevated layer is made of steel grating).

[0035] The plate 6 can be attached to the inspection channel 2 by gluing, binding or screwing.

[0036] This application provides a flat plate (i.e., a flat plate with a smooth surface, but not limited to a completely flat surface) at the turning or U-turn positions of the inspection channel. When the robot with the dual-track drive mechanism drives onto the flat plate, the tracks on both sides move differentially. The contact area between the tracks on both sides and the flat plate is equal, and the reaction force of the flat plate on the tracks on both sides is equal, which greatly reduces the generation of swaying and helps to ensure the stability when turning or U-turning. Furthermore, there is no need to lower the lifting mechanism or reduce the speed when turning or U-turning, thus ensuring inspection efficiency.

[0037] The robot 1 is equipped with an infrared or laser navigation module 9 (i.e., laser navigation module or infrared navigation module) for guiding the robot 1 to travel along a route, a charging device B for charging, and a battery for storing electricity; a camera 12 for capturing poultry survival information (which is existing technology and will not be described in detail here) is installed on the lifting rod 11 of the robot's base 3; a pair of tracks and their drive mechanism (i.e., dual track drive mechanism 4) are provided under the base.

[0038] To facilitate the guidance of robot 1, an infrared route guidance device 13, such as an infrared LED, is installed on the poultry house or cage on the side of the inspection channel.

[0039] The laser navigation module is an existing technology, which uses a LiDAR-based navigation sensor to achieve precise navigation through the following process: 1. Transmitting and receiving laser pulses: The laser converts electrical pulses into light pulses, which are then emitted into the surrounding environment via a turntable. When the pulses encounter obstacles (such as equipment, walls, or terrain edges), they scatter, and some of the reflected light is captured by an optical receiver and converted back into electrical signals. 2. Distance and environmental calculation: Using the speed of light (known) and the time difference between the light pulse's transmission and reception, the distance between the robot and obstacles is calculated. Combined with the turntable's rotation angle, a 3D point cloud map of the environment is generated, containing information such as the location and shape of obstacles. 3. Navigation and obstacle avoidance: Based on the point cloud map, the robot uses algorithms to achieve real-time localization, autonomous path planning (such as an improved DWA algorithm), and dynamic obstacle avoidance, ensuring it travels along a pre-set route.

[0040] Infrared navigation modules are also an existing technology. They utilize the invisibility and resistance to visible light interference of infrared light to achieve navigation by detecting infrared markers or natural features in the environment. There are two common methods: Infrared beacon navigation, where an infrared emitter (such as an infrared LED, i.e., the infrared route guidance device 13) is preset in the inspection area. The infrared receiver on the robot captures the modulated signal and calculates its relative position to the beacon using triangulation to determine the route. Infrared SLAM navigation, where an infrared camera collects infrared images of the environment, extracts temperature differences or material reflection feature points (such as heat-generating parts of equipment, wall markings), and combines this with motion sensor data to build a map and achieve real-time positioning.

[0041] The aforementioned laser navigation module or infrared navigation module is prior art. Its mechanism is only briefly explained here. The laser navigation module or infrared navigation module is not the purpose of this application. This application only uses existing components to achieve the corresponding navigation function.

[0042] Another technology used to guide inspection robots along a predetermined route is magnetic track navigation. This involves placing magnetic strips 601 along the robot's path (i.e., the inspection channel, such as a concrete, painted, or steel grating surface). At turns or U-turns on the concrete surface, the magnetic strips for navigation are laid on the concrete surface and located beneath a flat surface (e.g., at bends or U-turns). Figure 13 (As shown); For the corners or U-turns in the inspection passage on the steel grating floor, the magnetic strips for navigation are placed on the flat plate (except at corners or U-turns, the magnetic strips are laid on the steel grating floor in other locations), and a protective film 602 (such as...) is laid on the magnetic strips. Figure 14 (As shown).

[0043] For a reasonable design, the robot is equipped with a collision protection strip 14 on the front side of the track. The collision protection strip 14 can be a rubber strip or the like, and a collision protection sensor can be installed on the collision protection strip 14.

[0044] The charging device B includes a charging socket housing B2 mounted on the front wall panel B0 of the base 3. The charging socket housing B2 has a mounting groove B1. The charging socket housing B2 is made of plastic or other non-conductive material. A cover plate B3 is provided in the mounting groove B1 on the back of the charging socket housing B2. The front of the charging socket housing B2 has two sets of through grooves B4 that are respectively connected to the mounting groove B1. The through grooves B4 have two independent and non-connected sets and are provided on the charging socket housing B2 for mounting the positive electrode and the negative electrode of the charging socket. The positive electrode and the negative electrode are U-shaped strips B5 with elastic openings. The U-shaped openings of the positive electrode and the negative electrode face the through grooves. The charging plug can pass through the through grooves B4 and be inserted into the U-shaped openings of the electrode.

[0045] In poultry farms, contaminants such as dust and wet particles can easily adhere to the charging plug, leading to poor contact during charging. This application addresses this issue by using a flexible U-shaped strip B5 to allow the inspection robot to move closer to the charging socket housing B2 and insert the charging plug. During insertion, the flexible U-shaped strip B5 can scrape away dirt covering the surface of the charging plug, thereby ensuring good contact during charging.

[0046] For a reasonable design, the U-shaped strip B5 includes two side plates B6 and an arc-shaped plate B7 connecting the bottom of the two side plates. The two side plates have relatively inward protrusions B8 near the U-shaped groove. When the charging plug is inserted into the U-shaped strip, the protrusions B8 can scrape off foreign objects from the surface of the charging plug. Because of the protrusions B8, the effect of scraping off dirt and foreign objects is better.

[0047] For a reasonable design, the aforementioned protrusions are inwardly curved. The minimum spacing between the curved transitions on the two side plates is less than the width of the charging plug, which facilitates the removal of foreign objects from the surface of the charging plug. The curved transition of the protrusions makes it easier for the charging plug B17 to be inserted into the U-shaped groove of the electrode plate. If sharp protrusions were used, they would easily generate electric arcs, affecting the service life and safety of the equipment components.

[0048] To achieve the installation and positioning of the U-shaped strip B5, the U-shaped strip B5 is provided with first protrusions B9 at both ends in the length direction. The first protrusions B9 have a flat section B10 and a bent section B11. The side of the through groove is provided with an arc-shaped recess B12. The flat section B10 abuts against the arc-shaped recess B12. The arc-shaped recess is provided with a first compression spring B13, the first end of which is sleeved on the bent section. The cover plate B3 is locked to the charging socket housing with screws. The inner side of the cover plate B3 abuts against the second end of the first compression spring B13. Through the pressure of the first compression spring, the U-shaped strip B5 and the charging socket housing can be kept relatively stable.

[0049] In addition, the two sides of the middle part of the above-mentioned U-shaped strip are provided with second protrusions B14, and the two sides of the middle part of the through groove are provided with rectangular recesses B15 for supporting the second protrusions. The second protrusions B14 can be formed by stamping a partial sheet on the U-shaped strip body. The second protrusions B14 are limited in the rectangular recesses B15. With the setting of the first protrusions B9 and the second protrusions B14, the installation of the U-shaped strip B5 is more stable and reliable.

[0050] The cover plate B3 has two strip holes B16. The U-shaped strip plate is provided with a stud B28 and a threaded nut at the position opposite to the strip holes. The wire is inserted into the strip hole to be connected and fixed with the stud and nut. The electrical connection between the wire and the U-shaped strip plate B5 is achieved by the locking of the stud and nut.

[0051] For a reasonable design, the charging plug B17 is mounted on the telescopic column B18, which is slidably connected to the charging box B19 (the charging box B19 is fixed at a certain position in the poultry house, and when the inspection robot moves, it can cause the charging socket housing B2 to push the charging plug B17 and the telescopic column B18 to move). The charging box or the telescopic column is provided with a trigger switch B20, which is in contact with the telescopic column or the charging box. When the telescopic column is pushed, the trigger switch is triggered to work, so that the trigger switch, which acts as a circuit switch, conducts the circuit. The trigger switch B20 can also be a position sensor. When the position of the charging box or the telescopic column moves relative to each other, the position sensor trigger circuit is activated (the activation of the trigger switch B20 or the position sensor trigger circuit is existing technology and will not be described in detail here).

[0052] The retractable column B18 extends from the charging box B19 and connects to the first side of the telescopic plate B29. The second side of the telescopic plate is fixedly connected to the first end of the guide sleeve B21. The guide sleeve B21 is fitted with a guide rod B22 fixed on the charging box. A second compression spring B23 is provided between the second end of the guide sleeve B21 and the top plate B24 fixed inside the charging box. The first end of the guide rod is fixed on the inner wall of the charging box, and the second end of the guide rod is fixed on the top plate B24. The two ends of the second compression spring B23 act between the top plate B24 and the telescopic plate B29. Through the action of the second compression spring B23, the telescopic plate B29 and the retractable column B18 can be positioned relative to each other in the initial position (the position where the circuit is not triggered). When the charging plug B17 and the retractable column B18 are pushed (by the inspection robot moving and pushing the charging socket housing B2 on it), the switch B20 is triggered to turn on the circuit.

[0053] The above description is only a preferred embodiment of the present utility model. All equivalent changes and modifications made within the scope of the patent application of the present utility model shall be covered by the present utility model.

Claims

1. A poultry house robot inspection device, characterized in that: It includes a robot that inspects along a designated route and an inspection channel. The robot's base is equipped with a dual-track drive mechanism, and flat plates are installed at the corners or turns of the inspection channel to work in conjunction with the tracks to facilitate the turning and running of the dual-track robot.

2. The poultry house robot inspection device according to claim 1, characterized in that: The robot is equipped with an infrared or laser navigation module, a charging device, and a battery; a camera for capturing poultry survival information is installed on the lifting rod of the robot's base; a pair of tracks and their drive mechanism are located below the base.

3. The poultry house robot inspection device according to claim 1, characterized in that: Infrared route guidance devices are installed on the poultry houses or cages on the side of the inspection passage.

4. The poultry house robot inspection device according to claim 1, characterized in that: For inspection robots using magnetic track navigation, at corners or U-turns in inspection channels on concrete floors, the magnetic strips used for navigation are laid on the concrete floor and located below the flat plate; at corners or U-turns in inspection channels on steel grating floors, the magnetic strips used for navigation are placed on the flat plate, and a protective film is laid on the magnetic strips.

5. The poultry house robot inspection device according to claim 1, 2, 3 or 4, characterized in that: The poultry house is equipped with several rows of poultry cages, and the inspection passage is located around the poultry cages.

6. The poultry house robot inspection device according to claim 1, 2, 3 or 4, characterized in that: At least one elevated layer is provided along the height of the poultry cage, and the inspection channel is provided on the elevated layer. The elevated layer is made of steel grating.

7. The poultry house robot inspection device according to claim 1, 2, 3 or 4, characterized in that: The robot is equipped with anti-collision strips on the front side of the tracks; the flat plate is made of plastic, steel, or ceramic.

8. The poultry house robot inspection device according to claim 2, characterized in that: The charging device includes a charging socket housing mounted on a base. The front of the charging socket housing has two sets of through slots, which are independent and not connected and are provided on the charging socket housing for installing the positive and negative electrodes of the charging socket. The positive and negative electrodes of the charging socket are U-shaped strips with elastic openings. The U-shaped openings of the positive and negative electrodes of the charging socket face the through slots to facilitate the charging plug passing through the through slots and being inserted into the U-shaped slots of the electrodes.

9. The poultry house robot inspection device according to claim 8, characterized in that: The U-shaped strip includes two side plates and an arc-shaped plate connecting the bottom of the two side plates. The two side plates have relatively inward protrusions near the U-shaped opening. These protrusions can scrape off foreign objects from the surface of the charging plug when the charging plug is inserted into the U-shaped strip. The protrusions are inwardly convex arc transitions. The minimum distance between the arc transitions on the two side plates is less than the width of the charging plug, so as to facilitate the scraping off of foreign objects from the surface of the charging plug.

10. The poultry house robot inspection device according to claim 9, characterized in that: The U-shaped strip has first protrusions at both ends along its length. The first protrusions have a flat section and a bent section. The side of the through groove has an arc-shaped recessed groove. The flat section abuts against the arc-shaped recessed groove. The arc-shaped recessed groove contains a first compression spring with its first end fitted onto the bent section. The cover plate is locked to the charging socket housing with screws. The inner side of the cover plate abuts against the second end of the first compression spring. The middle two sides of the U-shaped strip have second protrusions. The middle two sides of the through groove have rectangular recessed grooves for supporting the second protrusions. The cover plate has two strip-shaped holes. The U-shaped strip has studs and threaded nuts opposite the strip-shaped holes. Wires are inserted through the strip-shaped holes to connect and fix them to the studs and nuts.

Images