CN110053774A - Control method for larger animal cultivation epidemic disease acquisition early warning system - Google Patents
Control method for larger animal cultivation epidemic disease acquisition early warning system Download PDFInfo
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- CN110053774A CN110053774A CN201910411124.1A CN201910411124A CN110053774A CN 110053774 A CN110053774 A CN 110053774A CN 201910411124 A CN201910411124 A CN 201910411124A CN 110053774 A CN110053774 A CN 110053774A
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- germ
- test paper
- small drone
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- vaccine
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61D—VETERINARY INSTRUMENTS, IMPLEMENTS, TOOLS, OR METHODS
- A61D7/00—Devices or methods for introducing solid, liquid, or gaseous remedies or other materials into or onto the bodies of animals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/48—Biological material, e.g. blood, urine; Haemocytometers
- G01N33/50—Chemical analysis of biological material, e.g. blood, urine; Testing involving biospecific ligand binding methods; Immunological testing
- G01N33/53—Immunoassay; Biospecific binding assay; Materials therefor
- G01N33/569—Immunoassay; Biospecific binding assay; Materials therefor for microorganisms, e.g. protozoa, bacteria, viruses
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The present invention provides a kind of control method for larger animal cultivation epidemic disease acquisition early warning system, step 1) component coordinate system；Step 2 cooks up flight path；Step 3) smears a circle violet region as identification marking in the buttocks of each larger animal；Step 4) small drone carries Pathogen detection test paper；Step 5) small drone is cruised in field overhead；Step 6) small drone make a return voyage fall into Pathogen detection area obtain whether there is or not germ and germ types；If step 7), without germ, small drone flies into that the charging of unmanned plane position in storehouse is standby or the next target field of flying to carries out germ acquisition；If step 8) has germ, position is detected according to detection zone and judges germ type, data are stored, and be sent to control centre, while updating Pathogen detection test paper.Automation collection and the prevention and treatment to larger animal epidemic disease are realized using the system.
Description
Technical field
The present invention relates to a kind of animal epidemic treatment methods, specifically, relate to a kind of for larger animal cultivation epidemic disease
The control method of disease acquisition early warning system.
Background technique
It is all made of artificial mode in common small-sized farm and detects germ in air environment, and then implements epidemic disease
The injection of seedling.And for large-scale plant that raises, if needing to take a substantial amount of time and people also by the way of artificial
Power.In order to reduce the loss of manpower and material resources, then automatic tested for pathogens may be implemented and implements vaccine injection there is an urgent need to a kind of
System and device.
With being constantly progressive for society, people's living standard is continuously improved, also more focuses in terms of diet green and healthy.
Requirement for meat product is also increasingly stringenter.Meat product health whether, depend entirely on farm environment and
The prevention of Animal diseases.Any one link goes wrong in the two aspects, will all be difficult to realize safe and healthy production.
What domestic current small-sized farm used is all artificial detection germ and the mode vaccinated, for large size
Farm for, although there is substantial portion of farm to be provided with semi-automatic or full automatic cultivating system, this
A little systems are mostly accomplished that automatic charging, automatic mixing and animal wastes automatically clean.It is in terms of epidemic disease acquisition to adopt more
It is artificial detection, and prevents and treats vaccine accordingly as a result, injecting in turn according to detecting by artificial.Since animal is not
Stop walking about, the bad judgement in the region of injection, so few farms go to be equipped with phase in terms of automatic detection is with epidemic prevention and control
Equipment is closed, also few people go to study this technology, it may be said that this research is substantially at the blank phase.
In order to solve the above problems, people are seeking always a kind of ideal technical solution.
Summary of the invention
The purpose of the present invention is in view of the deficiencies of the prior art, thus provide a kind of design rationally, high degree of automation
A kind of control method for larger animal cultivation epidemic disease acquisition early warning system.
To achieve the goals above, the technical scheme adopted by the invention is that: one kind for larger animal cultivation epidemic disease adopt
Collect the control method of early warning system, comprising the following steps:
Step 1) processor host combines the position of 6 cameras and the image information of acquisition, the seat in the entire stable breeding region of component
Mark system；
The design drawing in step 2 combination step 1) and stable breeding region calibrates the coordinate position of each field, cooks up small
The flight path of type unmanned plane；
Step 3) smears a circle violet region in the buttocks of each larger animal, the identification marking as small drone；
Step 4) small drone carries several different types of Pathogen detection test paper, to obtain different classes of germ；
Step 5) small drone is flown to target field according to the pre-determined route that processor host delimited, and is cruised in field overhead
So that Pathogen detection test paper comes into full contact with the germ in field；
Step 6) small drone is maked a return voyage according to pre-determined route, falls into Pathogen detection area, detection position and Test paper position one
One is corresponding, and whether there is or not germ and germ types for acquisition；
If step 7), without germ, small drone flies into that the charging of unmanned plane position in storehouse is standby or the next target field of flying to carries out germ
Acquisition repeats step 2-6)；
If step 8) has germ, position is detected according to detection zone and judges germ type, data are stored, and is sent in control
The heart, while updating Pathogen detection test paper.
Described on base, step 9), if there is germ, processor host is mobile by corresponding vaccine storehouse by reciprocating mechanism
To vaccine position is taken, small drone takes vaccine by included injection mechanism；
Step 10) small drone is flown to target field according to the pre-determined route that processor host is planned, is known by violet region
It does not move object buttocks and close, is injected vaccine in animal body by injection mechanism；
Step 11) small drone is maked a return voyage, and is returned to the charging of unmanned plane position in storehouse, or next field that flies to after making a return voyage, is repeated step 2-
10).
Described on base, the Pathogen detection test paper is fixed by a paper placing machine structure and paper collecting mechanism, paper collecting mechanism with put paper
The intermediate spacing of mechanism is exposed so as to test paper, the update of paper collecting mechanism and paper placing machine structure cooperative achievement test paper exposed parts, step
In rapid 8, used test paper is uniformly taken in paper collecting mechanism and updated by processor host control paper collecting mechanism and the movement of paper placing machine structure
The test paper of exposed area.
Described on base, it further includes unmanned plane dispatching desk, and two unmanned plane positions in storehouse, institute are arranged on the unmanned plane dispatching desk
Germ test section, vaccine storehouse and processor host is stated to be arranged on unmanned plane dispatching desk.
Described, each Pathogen detection test paper arranged in rows on base, the Pathogen detection area on the unmanned plane dispatching desk are provided with
The detection position of same specification laid out in parallel, the Pathogen detection test paper detent and the detection position correspond.
Described on base, the injection mechanism is needle-less injection mechanism.
Described on base, the injection mechanism is flying needle syringe, and the transmitting terminal of the flying needle syringe is mounted on small-sized nothing
Man-machine bottom end, the trigger of transmitting terminal are electric-controlled switch, and the vaccine extracts area and is provided with minute hand cartridge clip.
The present invention has substantive distinguishing features outstanding and significant progress compared with the prior art, specifically, present invention benefit
With unmanned air vehicle technique, epidemic situation is detected and realizes automation by the test paper mode of combined vaccine detection, by flying needle injection or needle-less
Injection technique realizes the process of the automatic injection vaccine of larger animal, for larger animal cultivation, realizes epidemic disease detection
With the automation of prevention and treatment.
Detailed description of the invention
Fig. 1 is the distribution schematic diagram of each equipment in unmanned plane bottom end in the embodiment of the present invention 1.
Fig. 2 is the structural schematic diagram of unmanned plane dispatching desk in the embodiment of the present invention 1.
Fig. 3 and Fig. 4 is the structural schematic diagram in the embodiment of the present invention 2 under needle-less injection mechanism two states.
Fig. 5 is the structural schematic diagram in vaccine storehouse and trolley in the embodiment of the present invention 2.
Fig. 6 is the structural schematic diagram of acquisition device in the embodiment of the present invention 4.
Fig. 7 is the distribution schematic diagram of each equipment in unmanned plane bottom end in the embodiment of the present invention 2.
In figure: 1. small drone；2. acquisition device；3. camera；4. injection mechanism；5. unmanned plane dispatching desk；6. nothing
Man-machine position in storehouse；7. germ test section；8. vaccine extracts area；9. processor host；10. liquid storage area；11. vaccine import check valve；
12. vaccine Outlet check valves；13. needle-less injection mechanism；14. lead screw motor；15. drawing liquid injects pull rod；16. liquid suction pipe；
17. screw rod；18. the first push plate；19. trolley；20. vaccine storehouse；21. paper collecting mechanism；22. paper placing machine structure；23. test paper；24. second
Push plate；25. roll structure；26. reset spring.
Specific embodiment
Below by specific embodiment, technical scheme of the present invention will be described in further detail.
Embodiment 1
As depicted in figs. 1 and 2, larger animal cultivation epidemic disease acquisition early warning prevention and treatment robot system control method, it include with
Lower step:
Step 1) processor host combines the position of 6 cameras and the image information of acquisition, the seat in the entire stable breeding region of component
Mark system all by the way of one N of one column, and is laid out Founder, for establishing coordinate system due to the stable breeding of the larger animals such as cattle pen
For there is no difficulty；
The design drawing in step 2 combination step 1) and stable breeding region calibrates the coordinate position of each field, cooks up small
The flight path of type unmanned plane, the highway route design that usual flight path is walked along people, target point is in field overhead；
Step 3) smears a circle violet region in the buttocks of each larger animal, as the identification marking of small drone, mainly
Use when for vaccinating, if woth no need to can remove the step；
Several Pathogen detection test paper detents of step 4) small drone are installed with different types of test paper respectively, to obtain
Different classes of germ；
Step 5) small drone is flown to target field according to the pre-determined route that processor host delimited, and is cruised in field overhead
So that test paper comes into full contact with the germ in field；
Step 6) small drone is maked a return voyage according to pre-determined route, falls into Pathogen detection area, detection position and Test paper position one
One is corresponding, and whether there is or not germ and germ types for acquisition；
If step 7), without germ, small drone flies into that the charging of unmanned plane position in storehouse is standby or the next target field of flying to carries out germ
Acquisition repeats step 2-6)；
If step 8) has germ, position is detected according to detection zone and judges germ type, processor host passes through reciprocating mechanism
Corresponding vaccine storehouse is moved at interface position, small drone adjusts position, and the liquid suction pipe of injection mechanism is inserted into vaccine
In storehouse, start lead screw motor, extracts vaccine.
It should be noted that the interface position conduct identification mark of unmanned plane position in storehouse, Pathogen detection area, vaccine extraction area
Know, the camera of small drone can accurately drop at interface position by identifying its shape, to extract vaccine, be somebody's turn to do
Mark can improve precision due to being fixed position with pre-set program, in case interim identification is judged by accident；
Step 9) small drone is flown to target field according to the pre-determined route that processor host is planned, is identified by violet region
Animal buttocks is simultaneously close, is injected vaccine in animal body by injection mechanism；
Step 10) small drone is maked a return voyage, and is returned to the charging of unmanned plane position in storehouse, or next field that flies to after making a return voyage, is repeated step 2-
9).
Wherein, small drone, for touring in culturing area；
The acquisition device being mounted in the small drone, for acquiring the bacterium of target area, in the present embodiment, acquisition dress
It is set to test paper；
The camera being mounted in the small drone carries out image recognition for system for shooting image, specifically used
When, in larger animal, as ox hip on the coloured pattern of Coating tape, mark for being identified as small drone；
Unmanned plane dispatching desk, the unmanned plane dispatching desk include that two unmanned plane positions in storehouse, germ test section and vaccine extract area, place
Reason device host is mounted on the unmanned plane dispatching desk, charging, storage of the dispatching desk for unmanned plane, for acquiring the inspection of germ
Survey and classification and the access of vaccine.
Control system, the control system include the processor host and are mounted on target area quadrangle and middle position
At least six camera, the processor host connect the coordinate system for constructing target area at least six camera；Institute
Processor host and the small drone are stated by wireless network connection, demarcates it in conjunction with small drone acquired image
Coordinate simultaneously plans its walking path, and since the occasion of larger animal farm is special, animal is all in fixed field, each field one
Animal, usual head and tail portion are fixed, and are distributed very regular, in conjunction with camera and planning drawing, can be easy to
The coordinate system for constructing whole region.
The flight path of small drone is usually walked along main stem road, round-trip in target field after running to target field
Cruise is primary, then returns along former route, and principle is, can will be sick by modes such as breathing, excrement after cattle infected germ
Bacterium is discharged into air, and test paper is contacted with the germ in air, realizes the acquisition of germ.
In the process, test paper needs are classified, according to different types of germ, using the different classes of examination easily adsorbed
Paper.
The acquisition device includes several Pathogen detection test paper detents of laid out in parallel, the disease on the unmanned plane dispatching desk
Bacterium detection zone is provided with the detection position of same specification laid out in parallel, the Pathogen detection test paper detent and the detection position one
One is corresponding, by common germ simple classification, corresponds, different disease types is tested by different test paper, final to realize
The detection and classification of germ.The equipment such as detection solution or probe that every kind of germ has it to fix, by the one-to-one setting of test paper
In corresponding disease detection position, realize that single equipment detects single germ, accuracy is higher, also reduces detection difficulty.
Testing result can store, or be sent to remote control center, and staff is daily or per half a day checks one
It is secondary, vaccine then is taken from unmanned plane dispatching desk, hand injection is carried out to the animal of corresponding field.
Embodiment 2
As shown in fig. 7, the present embodiment the difference from embodiment 1 is that: it further includes the note being mounted in the small drone
Mechanism is penetrated, for carrying out vaccine injection to large-scale cultivated animals, realizes the automatic injection of vaccine.
As shown in Figure 3 and Figure 4, the injection mechanism includes that liquid storage area 10, vaccine import check valve 11, vaccine outlet are unidirectional
Valve 12, needle-less injection mechanism 13, lead screw motor 14 and drawing liquid inject pull rod 15, the drawing liquid injection pull rod 15 and liquid storage area
10, the cooperation of vaccine Outlet check valves 12 constitutes syringe construction, and the vaccine import check valve 11 is connected to liquid storage area 10 and drawing liquid
Pipe 16, the needle-less injection mechanism 13 are mounted on outside the vaccine Outlet check valves 12, the output of the lead screw motor 14
Axis drives a screw rod 17 rotation, and the distal end of the screw rod 17 is threadedly engaged with the first push plate 18 and the second push plate 24, and described first
There is certain stroke gap, and 18 outer end of the first push plate can abut the drawing liquid injection and draw between push plate 18 and the second push plate 24
The tail end of bar 15, the inner end of the second push plate 24 can abut the tail end of drawing liquid injection pull rod 15, and drawing liquid injects pull rod 15 and is equipped with lock
It positions the roll structure 25 set and the reset spring 26 to set back is infused drug in the way of needle-less injection mechanism
It penetrates to animal, more convenient, needle-less injection mechanism is the prior art.
Lead screw motor 14 drives screw rod 17 and the first push plate 18 and the second push plate 19 movement, the first push plate 18 and the second push plate
19 be substantially screw structure, and screw upper end is limited to orbital plane, to realize reciprocating motion, when distal movement, first
Push plate 18 pushes drawing liquid injection pull rod 15 to move, when drawing liquid injection pull rod 15 moves to distalmost end, since roll structure 25 is connect
The drawing liquid injection pull rod 15 of touching attenuates suddenly, and roll structure 25 is displaced under the effect of elasticity, blocks the change of drawing liquid injection pull rod 15
Path position can play the role of preventing it from resetting, and reset spring 26 is in tensional state at this time, and then lead screw motor 14 is anti-
Turn, 19 backhaul of the second push plate injects pull rod 15 to drawing liquid is abutted, and under the action of by pressure, roll structure 25 is moved out along inclined-plane
It is dynamic, variable diameter position is gradually disengaged, it is helped to be detached from the limit of roll structure 25, drawing liquid injects wink of the pull rod 15 by reset spring 26
Vaccine is hit under high pressure effect, realizes needle-less injection, wherein during distal movement, play suction by Shi Lali
With the effect to needle-less injection mechanism filling vaccine.
The part is the prior art, and more detailed content is documented in the " Needleless injection system for larger animal injection
Design and detection " paper in.
As shown in figure 5, the vaccine, which extracts area, is equipped with an interface and several vaccine storehouses, several vaccine storehouses are mounted on one
On controllable reciprocating mechanism, the processor host connects the reciprocating mechanism so as to by different vaccine storehouse faces
The vaccine extracts the interface position in area, which can be linear actuator or lead screw transmission mechanism or straight line trolley
Deng vaccine storehouse and Pathogen detection position being corresponded, which position detection goes out as a result, corresponding be moved to interface for vaccine storehouse
At position.
When small drone needs to extract vaccine, liquid suction pipe is put into the vaccine storehouse in interface, vaccine storehouse uses opening,
To facilitate the extraction of vaccine.
Embodiment 3
The present embodiment the difference from example 2 is that: the injection mechanism be flying needle syringe, the transmitting of the flying needle syringe
End is mounted on the bottom end of small drone, and the trigger of transmitting terminal is electric-controlled switch, and the vaccine extracts area and is provided with flying needle
Cartridge clip is injected by common animal flying needle injection system, and flying needle can extract area in vaccine and carry out clamping.
Embodiment 4
As shown in fig. 6, the present embodiment the difference from embodiment 1 is that: the Pathogen detection test paper pass through 22 He of a paper placing machine structure
Paper collecting mechanism 21 is fixed, and the intermediate spacing of paper collecting mechanism 21 and paper placing machine structure 22 is exposed so as to test paper 24, paper collecting mechanism 22 and
The update of 21 cooperative achievement test paper of paper placing machine structure, 24 exposed parts, the update of test paper 24 are led to by paper collecting mechanism and paper placing machine structure
Paper collecting mechanism is often set as active collection, putting paper is passively to put paper with damping, to achieve the purpose that coordination.
Collection motor control can be used in paper collecting mechanism, every time after acquisition, processor host controls collection motor work
Make, used test paper is involved in paper collecting mechanism.
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, it should be understood by those ordinary skilled in the art that: still
It can modify to a specific embodiment of the invention or some technical features can be equivalently replaced；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (7)
1. a kind of control method for larger animal cultivation epidemic disease acquisition early warning system, it is characterised in that: it includes following step
It is rapid:
Step 1) processor host combines the position of 6 cameras and the image information of acquisition, the seat in the entire stable breeding region of component
Mark system；
The design drawing in step 2 combination step 1) and stable breeding region calibrates the coordinate position of each field, cooks up small
The flight path of type unmanned plane；
Step 3) smears a circle violet region in the buttocks of each larger animal, the identification marking as small drone；
Step 4) small drone carries several different types of Pathogen detection test paper, to obtain different classes of germ；
Step 5) small drone is flown to target field according to the pre-determined route that processor host delimited, and is cruised in field overhead
So that Pathogen detection test paper comes into full contact with the germ in field；
Step 6) small drone is maked a return voyage according to pre-determined route, falls into Pathogen detection area, detection position and Test paper position one
One is corresponding, and whether there is or not germ and germ types for acquisition；
If step 7), without germ, small drone flies into that the charging of unmanned plane position in storehouse is standby or the next target field of flying to carries out germ
Acquisition repeats step 2-6)；
If step 8) has germ, position is detected according to detection zone and judges germ type, data are stored, and is sent in control
The heart, while updating Pathogen detection test paper.
2. the controlling party of the control method according to claim 1 for larger animal cultivation epidemic disease acquisition early warning system
Method, it is characterised in that:
Step 9), if there is germ, corresponding vaccine storehouse is moved to by reciprocating mechanism and takes vaccine position by processor host,
Small drone takes vaccine by included injection mechanism；
Step 10) small drone is flown to target field according to the pre-determined route that processor host is planned, is known by violet region
It does not move object buttocks and close, is injected vaccine in animal body by injection mechanism；
Step 11) small drone is maked a return voyage, and is returned to the charging of unmanned plane position in storehouse, or next field that flies to after making a return voyage, is repeated step 2-
10).
3. the control of the control method according to claim 1 or 2 for larger animal cultivation epidemic disease acquisition early warning system
Method, it is characterised in that: the Pathogen detection test paper is fixed by a paper placing machine structure and paper collecting mechanism, paper collecting mechanism and paper placing machine
The intermediate spacing of structure is exposed so as to test paper, the update of paper collecting mechanism and paper placing machine structure cooperative achievement test paper exposed parts, step 8
In, used test paper is uniformly taken in paper collecting mechanism and updated exposed by processor host control paper collecting mechanism and the movement of paper placing machine structure
The test paper in region.
4. the controlling party of the control method according to claim 3 for larger animal cultivation epidemic disease acquisition early warning system
Method, it is characterised in that:
It further includes unmanned plane dispatching desk, two unmanned plane positions in storehouse of setting on the unmanned plane dispatching desk, the germ test section,
Vaccine storehouse and processor host are arranged on unmanned plane dispatching desk.
5. the controlling party of the control method according to claim 4 for larger animal cultivation epidemic disease acquisition early warning system
Method, it is characterised in that: each Pathogen detection test paper arranged in rows, the Pathogen detection area on the unmanned plane dispatching desk are provided with equally
The detection position of specification laid out in parallel, the Pathogen detection test paper detent and the detection position correspond.
6. the controlling party of the control method according to claim 5 for larger animal cultivation epidemic disease acquisition early warning system
Method, it is characterised in that: the injection mechanism is needle-less injection mechanism.
7. the controlling party of the control method according to claim 5 for larger animal cultivation epidemic disease acquisition early warning system
Method, it is characterised in that: the injection mechanism is flying needle syringe, and the transmitting terminal of the flying needle syringe is mounted on small drone
Bottom end, the trigger of transmitting terminal is electric-controlled switch, and the vaccine extracts area and is provided with minute hand cartridge clip.
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| CN112161973A (en) * | 2020-08-31 | 2021-01-01 | 中国水利水电科学研究院 | Unmanned aerial vehicle-based rapid detection method for water pollution |
| CN112335224A (en) * | 2019-08-30 | 2021-02-05 | 深圳市大疆创新科技有限公司 | Image acquisition method and device for movable platform and storage medium |
| CN113390510A (en) * | 2020-03-11 | 2021-09-14 | 珠海六和节能投资有限公司 | Wild animal epidemic disease propagation early warning device based on unmanned aerial vehicle monitoring |
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