CN217236865U - Pig farm environment perception device based on robot technology - Google Patents
Pig farm environment perception device based on robot technology Download PDFInfo
- Publication number
- CN217236865U CN217236865U CN202220360782.XU CN202220360782U CN217236865U CN 217236865 U CN217236865 U CN 217236865U CN 202220360782 U CN202220360782 U CN 202220360782U CN 217236865 U CN217236865 U CN 217236865U
- Authority
- CN
- China
- Prior art keywords
- module
- base
- pig farm
- sensing device
- monitoring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a pig farm environment sensing device based on robot technology, which comprises a guide rail, a protective shell, a base, a walking module, a control module and a monitoring module; the walking module is arranged at the bottom of the guide rail in a hanging manner, the bottom of the walking module is provided with a base, the upper surface of the base is provided with a control module, and the lower surface of the base is provided with a monitoring module; the walking module responds to the control module and drives the base to move on the guide rail, and the monitoring module is used for detecting the environmental parameters of the pig farm and the target parameters of the live pigs. The utility model discloses a suspension type patrols and examines the robotechnology, carries on and to seal the pig farm environment sensing device that can open, has solved the multiple spot and has put in investment height, inefficiency to and high humidity in the plant, harmful gas erosion cause to patrol and examine and equip the lower scheduling problem of life.
Description
Technical Field
The utility model relates to a breeding robot technical field, concretely relates to pig farm environment perception device based on robotechnology.
Background
With the development of scale, intensification and industrialization of livestock and poultry breeding, the related technology and equipment for replacing manual operation by a machine are concerned. Under the development of artificial intelligence, semi-automatic and automatic equipment and intelligent equipment of computer information technology are combined to gradually move into a pig farm. The inspection robot can operate under severe and complex environmental conditions, has certain advantages, such as reducing the operation cost and difficulty of workers, adapting to high-strength inspection tasks, avoiding the discomfort possibly occurring when the workers are in livestock and poultry breeding polluted environments, and improving the operation efficiency.
In the current breeding work, a pig farm is usually patrolled manually, so that the pig breeding process cannot be continuously patrolled for 24 hours, and the growth states of the pig, such as body shape, temperature, action, weight and the like, cannot be known in detail. The prior art is mainly a distributed or fixed plant environment device, which mainly fixes various sensors in a certain facility for monitoring. The fixed mounting type intelligent pig farm monitoring system can only set a single point in one pig farm, cannot cover the whole area, and most of multi-point monitoring results in more investment equipment and higher price. The ground inspection robot mode requires the ground to be hard, and simultaneously, all pig farm facilities have the difference of vertical and horizontal staggering, slam navigation requirement is higher, and the investment is more expensive. The requirements for positioning requirements are relatively high. Meanwhile, the pig farm is inevitably dusty, the humidity is high, the dust is high, and the fixed sensor cannot represent the condition of the whole pig farm.
SUMMERY OF THE UTILITY MODEL
The utility model aims at the above-mentioned problem, provide a pig farm environment perception device based on robotechnology. The utility model discloses a suspension type patrols and examines the robotechnology, carries on and to seal the pig farm environment sensing device that can open, has solved the multiple spot and has put in investment height, inefficiency to and high humidity, harmful gas erosion cause in the plant to patrol and examine and equip the lower scheduling problem of life.
The technical scheme of the utility model is that:
the utility model provides a pig farm environment sensing device based on robot technology, which comprises a guide rail, a protective shell, a base, a walking module, a control module and a monitoring module; the walking module is arranged at the bottom of the guide rail in a hanging manner, the bottom of the walking module is provided with a base, the upper surface of the base is provided with a control module, and the lower surface of the base is provided with a monitoring module; the walking module responds to the control module and drives the base to move on the guide rail, and the monitoring module is used for detecting the environmental parameters of the pig farm and the target parameters of the live pigs.
Further, the guide rail comprises a rack and an I-shaped frame, the rack is mounted at the bottom of the I-shaped frame, and a rail wheel groove is formed in the upper surface of a transverse shaft at the bottom of the I-shaped frame.
Furthermore, the two sides of the protective shell are provided with arch openings, and the bottom of the protective shell is provided with a protective cover.
Furthermore, the walking module comprises a driving mechanism, the driving mechanism is arranged on the base and comprises a two-phase stepping motor, a direct current motor, a gear reduction box, two driving gears, a driven gear and a gear fixing frame; the gear reduction box is arranged at the output end of the two-phase stepping motor, the two-phase stepping motor and the direct current motor are both arranged at the outer side of the gear fixing frame, two same driving gears are arranged at the output ends of the two-phase stepping motor and the direct current motor in a meshed mode, and the driven gear is arranged on the gear fixing frame and meshed with the driving gears at the output ends of the two-phase stepping motor.
Further, the walking module still includes hangs the mechanism, it includes stainless steel support frame and rail wheel to hang the mechanism, the stainless steel support frame is two sets of, installs respectively at the front and back end at base top, the rail wheel is all equipped with to stainless steel support frame inner wall, the rail wheel can slide in the rail wheel inslot of guide rail.
Furthermore, the control module comprises a transformer, a transformer control box and a main control box, wherein the transformer control box is used for controlling the transformer to work; the main control box is electrically connected with the walking module and the control module.
Furthermore, the monitoring module comprises a thermal infrared imager, a color camera, an environment monitoring lifting device and a camera shooting pose adjusting mechanism, the camera shooting pose adjusting mechanism is installed at one end of the lower surface of the base, the color camera is installed at the bottom of the camera shooting pose adjusting mechanism and used for monitoring a pig farm in real time, the thermal infrared imager is installed at the other end of the lower surface of the base and used for temperature measurement and night vision, and the environment monitoring lifting device is installed in the middle of the lower surface of the base and can lift and measure environment parameters.
Further, environment monitoring elevating gear includes motor, support, lead screw, slider and gaseous and temperature and humidity sensor, the support mounting is in the middle part of base lower surface, motor and lead screw are installed on the support, the slider install on the lead screw, through motor drive lead screw, drive the slider and reciprocate, gaseous and temperature and humidity sensor install in the lateral wall of aforementioned slider for measure environmental parameter.
Further, the device still includes keeps away the barrier module, keep away the barrier module adopt inductance type proximity switch, install in the arch mouth department of protective housing both sides for detect the perception device and patrol and examine the barrier that the place ahead was met in the work, keep away the barrier module and be connected with the control module electricity.
The utility model has the advantages that:
the invention realizes the operation of the environment sensing system device under severe and complex pig farm environment conditions, and has the following advantages:
1. the operation cost and the difficulty of workers are reduced, the high-strength routing inspection task is adapted, the possible discomfort of the workers in the livestock and poultry breeding polluted environment is avoided, and the operation efficiency is improved.
2. The problems that a fixed installation type and ground inspection type pig farm intelligent monitoring system is more in investment equipment, relatively in price and the like are solved.
3. The problems that the environment of a pig farm is severe, dust, harmful gas and humidity are large, the inspection device is prone to severe corrosion damage, the service life is short and the like are solved.
4. The processing is convenient, the operation is simple, the use is convenient, and the cost is lower.
Other features and advantages of the present invention will be described in detail in the detailed description which follows.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout the exemplary embodiments of the present invention.
Fig. 1 is a schematic diagram of the internal structure of the environmental sensing system device of the present invention.
Fig. 2 is a schematic view of the overall structure of the environmental sensing system device of the present invention.
Fig. 3 is a schematic view of the guide rail structure of the present invention.
Fig. 4 is a schematic view of the protective shell structure of the present invention.
Fig. 5 is a schematic view of the driving mechanism of the present invention.
Fig. 6 is a schematic view of the suspension mechanism of the present invention.
Fig. 7 is the utility model discloses an environmental monitoring elevating gear schematic diagram.
In the figure: 1, a guide rail; 2, a protective shell; 3, a base; 4, a walking module; 5 a control module; 6, a monitoring module; 7, an obstacle avoidance module;
110 racks; 120 track wheel grooves; 130I-shaped frame;
210 an arcuate mouth; 220 a protective cover;
411 a two-phase stepping motor; a 412 DC motor; 413 a gear reduction box; 414 a drive gear; 415 a driven gear; 416 a gear mount; 421 stainless steel support frame; 422 rail wheels;
510 a transformer; 520 a transformer control box; 530 a main control box;
610 infrared thermal imager; 620 color camera; 630 an environment monitoring lifting device; 631 a motor; 632 a bracket; 633 lead screws; 634 slide block; 635 gas and temperature/humidity sensor; 640 camera pose adjusting mechanisms;
710 inductive proximity switch.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present invention have been illustrated in the accompanying drawings, it is to be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein.
A pig farm environment sensing device based on a robot technology comprises a guide rail 1, a protective shell 2, a base 3, a walking module 4, a control module 5 and a monitoring module 6; the walking module 4 is arranged at the bottom of the guide rail 1 in a hanging manner, the bottom of the walking module 4 is provided with a base 3, the upper surface of the base 3 is provided with a control module 5, and the lower surface of the base 3 is provided with a monitoring module 6; the walking module 4 responds to the control module 5 and drives the base 3 to move on the guide rail 1, and the monitoring module 6 is used for detecting the environmental parameters of the pig farm and the target parameters of the live pigs.
Further, the guide rail 1 includes a rack 110, a rail wheel groove 120, and an i-shaped frame 130, wherein the rack is mounted at the bottom of the i-shaped frame.
Further, the protective shell 2 includes an arch opening 210 and a protective cover 220. The arch openings 210 are formed in the left side and the right side of the protective shell, and the protective covers 220 are installed at the bottom of the protective shell.
Further, the traveling module 4 includes a driving mechanism 410, and the driving mechanism 410 includes a two-phase stepping motor 411, a dc motor 412, a gear reduction box 413, two driving gears 414, a driven gear 415, and a gear fixing frame 416. The gear reduction box 413 is arranged on the two-phase stepping motor 411; the two-phase stepping motor 411 and the direct current motor 412 are arranged on the outer side of the gear fixing frame 416, and the two-phase stepping motor 411 and the direct current motor 412 are externally meshed with two same driving gears 414 to play a role in increasing torque; the driven gear 415 is arranged on the gear fixing frame 416 and meshed with the upper driving gear 414; the driving mechanism 410 is mounted on the base 3.
Further, the walking module 4 further includes a suspension mechanism 420, and the suspension mechanism includes a stainless steel support frame 421 and a rail wheel 422. The stainless steel support frame 421 is installed on both sides of the base, and the rail wheels 422 are installed on the inner side of the stainless steel support frame 421.
Further, the control module 5 includes a transformer 510, a transformer control box 520, and a main control box 530, the transformer 510, the transformer control box 520, and the main control box 530 are installed on the base 3, and the transformer control box 520 is used to control the transformer 510 to work; the main control box 530 includes a walking module driver, a monitoring module controller, and an obstacle avoidance module controller.
Further, the monitoring module 6 includes a thermal infrared imager 610, a color camera 620, an environment monitoring lifting device 630, and a camera pose adjusting mechanism 640, the color camera 620 is used for monitoring, inspecting, managing, and alarming in real time, and the thermal infrared imager 610 is used for temperature measurement and night vision; the environment monitoring lifting device 630 comprises a motor 631, a bracket 632, a screw rod 633, a slider 634 and a gas and temperature and humidity sensor 635; the support 632 is installed on the base 3, the motor 631 and the lead screw 633 are installed on the support 632, the slide block 634 is installed with the lead screw 633, and the gas and temperature and humidity sensor 635 are installed on the slide block. The camera shooting pose adjusting mechanism 640 is arranged on the back of the base 3, and the color camera 620 and the thermal infrared imager 610 are arranged on the camera shooting pose adjusting mechanism 640.
Further, the obstacle avoidance module 7 includes an inductive proximity switch 710, and the inductive proximity switch 710 is installed at the arch openings on the left and right sides of the protective shell 2, and is used for detecting a front obstacle.
The utility model discloses the theory of operation as follows:
the guide rail 1 is a working rail which is installed on the top in a staggered manner according to the actual situation of a pig farm and is provided with an environment sensing system device; the environment sensing system device is erected in a track wheel groove of the guide rail 1 through eight track wheels 422; except the color camera 620 and the thermal infrared imager 610, all the other devices are installed in the protective shell 2, so that the environment of the pig farm is prevented from corroding the environment perception system device.
When the environment sensing system device starts to work, the monitoring module controller controls the color camera 620 to realize 24-hour detection, management and alarm of pig farm environment and the body shape, action and the like of pigs, sound and picture synchronous recording is realized, remote multi-terminal monitoring at any time is supported, the thermal infrared imager 610 is mainly used for temperature measurement and night vision of the pigs, production conditions, oestrus management and the like of the pigs are predicted and eliminated in advance, and data are sent to the control module 6 in real time for statistics and management of workers; the camera pose adjusting mechanism 640 is used for adjusting the angles of the cameras in the x direction, the y direction and the z direction.
When the environmental sensing system device needs to perform moving operation, a walking module driver in the main control box 530 drives the two-phase stepping motor 411 and the direct current motor 412 to drive the two driving gears 414 to rotate, and the gear reduction box 413 controls the two gears to have the same rotating speed; the driven gear 415 rotates along with the driving gear and is meshed with the rack 11 on the guide rail 1, so that the environment sensing system device travels on the guide rail 1; meanwhile, the rail wheel 422 rolls in the rail wheel groove 120 on the guide rail 1, thereby performing walking assistance and supporting functions.
When the environment sensing system device needs to detect the ambient gas and the temperature and humidity of the pig farm, the monitoring module controller controls the motor 631 to rotate, the lead screw 633 drives the sliding block 634 and the gas and temperature and humidity sensor 635 to move downwards, in the downward moving process, the gas and temperature and humidity sensor 635 push open the protective cover 220 mounted at the bottom of the protective shell 2, the gas and temperature and humidity sensor 635 are exposed in the air of the pig farm to start environment monitoring, after the environment monitoring is finished, the monitoring module controller controls the motor 631 to rotate, the lead screw 633 drives the sliding block 634 and the gas and temperature and humidity sensor 635 to move upwards, when the protective shell 2 is moved to the inside, the protective cover 220 automatically rebounds, efficient monitoring is achieved, and loss of the environment sensing system device is reduced.
When the environment sensing system device encounters an obstacle in front in the walking process, the inductive proximity switch 710 sends a signal to the control module 6, and the control module 6 sends a signal to the walking module driver to control the walking module to stop running; when the removal of the obstacle is detected, the inductive proximity switch 710 sends a signal to the control module 6 and the environmental awareness systems devices continue to operate.
While various embodiments of the present invention have been described above, the above description is intended to be illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (9)
1. A pig farm environment sensing device based on a robot technology is characterized by comprising a guide rail (1), a protective shell (2), a base (3), a walking module (4), a control module (5) and a monitoring module (6); the walking module (4) is installed at the bottom of the guide rail (1) in a hanging mode, a base (3) is arranged at the bottom of the walking module (4), a control module (5) is installed on the upper surface of the base (3), and a monitoring module (6) is installed on the lower surface of the base (3); the walking module (4) responds to the control module (5) to drive the base (3) to move on the guide rail (1), and the monitoring module (6) is used for detecting the environmental parameters of the pig farm and the target parameters of the live pigs.
2. The robot-based pig farm environment sensing device according to claim 1, characterized in that the guide rail (1) comprises a rack (110) and an I-shaped frame (130), the rack (110) is installed at the bottom of the I-shaped frame (130), and the upper surface of the transverse shaft at the bottom of the I-shaped frame (130) is provided with a track wheel groove (120).
3. The piggery environment sensing device based on the robot technology as claimed in claim 1, characterized in that two sides of the protective shell (2) are provided with arch-shaped openings (210), and the bottom is provided with a protective cover (220).
4. The robot-based pig farm environment sensing device according to claim 1, wherein the walking module (4) comprises a driving mechanism, the driving mechanism is arranged on the base (3) and comprises a two-phase stepping motor (411), a direct current motor (412), a gear reduction box (413), two driving gears (414), a driven gear (415) and a gear fixing frame (416); the gear reduction box (413) is installed at the output end of the two-phase stepping motor (411), the two-phase stepping motor (411) and the direct current motor (412) are installed on the outer side of the gear fixing frame (416), two identical driving gears (414) are installed at the output ends of the two-phase stepping motor (411) and the direct current motor (412) in a meshed mode, and the driven gear (415) is installed on the gear fixing frame (416) and meshed with the driving gear (414) at the output end of the two-phase stepping motor (411).
5. The piggery environment sensing device based on the robot technology as claimed in claim 2, wherein the walking module (4) further comprises a suspension mechanism, the suspension mechanism comprises stainless steel support frames (421) and rail wheels (422), the two groups of stainless steel support frames (421) are respectively installed at the front end and the rear end of the top of the base (3), the rail wheels (422) are installed on the inner walls of the stainless steel support frames (421), and the rail wheels (422) can slide in the rail wheel grooves (120) of the guide rail (1).
6. The robot-based pig farm environment sensing device according to claim 1, characterized in that the control module (5) comprises a transformer (510), a transformer control box (520) and a main control box (530), wherein the transformer control box (520) is used for controlling the operation of the transformer (510); the main control box (530) is electrically connected with the walking module (4) and the control module (5).
7. The robot-based pig farm environment sensing device according to claim 1, wherein the monitoring module (6) comprises a thermal infrared imager (610), a color camera (620), an environment monitoring lifting device (630) and a camera pose adjusting mechanism (640), the camera pose adjusting mechanism (640) is installed at one end of the lower surface of the base (3), the color camera (620) is installed at the bottom of the camera pose adjusting mechanism (640) and used for monitoring the pig farm in real time, the thermal infrared imager (610) is installed at the other end of the lower surface of the base (3) and used for temperature measurement and night vision, and the environment monitoring lifting device (630) is installed in the middle of the lower surface of the base (3) and can lift and measure environment parameters.
8. The environment sensing device for pig farms based on robotics according to claim 7, wherein the environment monitoring lifting device (630) comprises a motor (631), a bracket (632), a screw rod (633), a slider (634) and a gas and temperature and humidity sensor (635), the bracket (632) is installed at the middle of the lower surface of the base (3), the motor (631) and the screw rod (633) are installed on the bracket (632), the slider (634) is installed on the screw rod (633), the screw rod (633) is driven by the motor (631) to drive the slider (634) to move up and down, and the gas and temperature and humidity sensor (635) is installed on the side wall of the slider (634) to measure the environment parameters.
9. The pig farm environment sensing device based on the robot technology as claimed in claim 3, further comprising an obstacle avoidance module (7), wherein the obstacle avoidance module (7) adopts an inductive proximity switch (710), is installed at the positions of the arch openings (210) on the two sides of the protection shell (2) and is used for detecting obstacles which are encountered in front during inspection work of the sensing device, and the obstacle avoidance module (7) is electrically connected with the control module (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220360782.XU CN217236865U (en) | 2022-02-22 | 2022-02-22 | Pig farm environment perception device based on robot technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220360782.XU CN217236865U (en) | 2022-02-22 | 2022-02-22 | Pig farm environment perception device based on robot technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217236865U true CN217236865U (en) | 2022-08-19 |
Family
ID=82835067
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220360782.XU Active CN217236865U (en) | 2022-02-22 | 2022-02-22 | Pig farm environment perception device based on robot technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217236865U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116274064A (en) * | 2023-03-31 | 2023-06-23 | 黑龙江大学 | Multi-section type safety management method for college startup park |
-
2022
- 2022-02-22 CN CN202220360782.XU patent/CN217236865U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116274064A (en) * | 2023-03-31 | 2023-06-23 | 黑龙江大学 | Multi-section type safety management method for college startup park |
| CN116274064B (en) * | 2023-03-31 | 2024-04-23 | 黑龙江大学 | Multi-section type safety management method for college startup park |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN217236865U (en) | Pig farm environment perception device based on robot technology | |
| CN111300453A (en) | Intelligent inspection robot for comprehensive pipe rack | |
| CN109591906B (en) | Control system and control method for transmission tower climbing robot | |
| CN112975890A (en) | Intelligent inspection robot | |
| CN209682175U (en) | A kind of suspension type crusing robot and system | |
| CN111015735A (en) | Intelligent industrial inspection robot | |
| CN114043493A (en) | Inspection robot and inspection method for cage chicken house | |
| CN110244727A (en) | A kind of AGV system and its method based on two dimensional code location navigation | |
| CN109268657A (en) | A kind of transforming plant protecting device inspecting robot | |
| CN212486462U (en) | Photovoltaic module EL electroluminescence defect automatic check robot | |
| CN115213917A (en) | Intelligent monitoring robot for power grid operation | |
| CN208156457U (en) | Intelligent monitoring system is bred to beasts and birds facility based on machine vision | |
| CN117690306B (en) | Intelligent traffic signal lamp based on wireless remote control | |
| CN112140124A (en) | Laying hen health state inspection robot | |
| CN215789827U (en) | A hang rail formula and patrol and examine robot for power equipment | |
| CN110000816B (en) | Novel charging method for inspection robot | |
| CN208687927U (en) | A kind of intelligent building informationization ventilation device | |
| CN212887633U (en) | Transformer substation inspection robot | |
| CN219837789U (en) | Pig house rail-hanging inspection robot | |
| CN220044030U (en) | Rail-mounted type movement detection device | |
| CN219882514U (en) | Sheep hurdle inspection robot | |
| CN217843308U (en) | Intelligent automatic monitoring device | |
| CN221025898U (en) | Automatic inspection track robot system for pig farm | |
| CN218905417U (en) | Track traffic inspection system | |
| CN220840191U (en) | Building block type light-sensing line inspection robot for education |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |