CN112470946A - Navigation system and navigation method of dung cleaner - Google Patents

Navigation system and navigation method of dung cleaner Download PDF

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Publication number
CN112470946A
CN112470946A CN201911410954.9A CN201911410954A CN112470946A CN 112470946 A CN112470946 A CN 112470946A CN 201911410954 A CN201911410954 A CN 201911410954A CN 112470946 A CN112470946 A CN 112470946A
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China
Prior art keywords
magnetic
dung
cleaner
unit
water
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CN201911410954.9A
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Chinese (zh)
Inventor
王雪松
何晓龙
罗升
刘洲
吴迪
姚远
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Fengjiang Intelligent Shenzhen Co Ltd
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Fengjiang Intelligent Shenzhen Co Ltd
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Priority to CN201911410954.9A priority Critical patent/CN112470946A/en
Publication of CN112470946A publication Critical patent/CN112470946A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K1/00—Housing animals; Equipment therefor
    • A01K1/01—Removal of dung or urine, e.g. from stables
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K31/00—Housing birds
    • A01K31/04—Dropping-boards; Devices for removing excrement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Environmental Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Zoology (AREA)
  • Animal Husbandry (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • General Physics & Mathematics (AREA)
  • Birds (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Housing For Livestock And Birds (AREA)

Abstract

The invention discloses a dung cleaner navigation system and a navigation method thereof, wherein the dung cleaner navigation system is suitable for drawing a dung cleaner to move along a preset route in an operation area and comprises a plurality of magnetic drawing elements, a magnetic induction element and a control unit, wherein the magnetic drawing elements are arranged in the operation area and are positioned on the preset route, and the magnetic drawing elements can generate a magnetic signal; wherein magnetic induction element is set up in clear excrement machine, magnetic induction element can respond to magnetism traction element, and acquire the magnetic signal, wherein the control unit by communicably connect in clear excrement unit with magnetic induction element, the control unit basis magnetic signal control that magnetic induction element obtained clear excrement machine is in follow in the operation area predetermines the route and removes, is favorable to reducing manpower work load, saves the operating cost.

Description

Navigation system and navigation method of dung cleaner
Technical Field
The invention relates to a dung cleaner, in particular to a dung cleaner navigation system and a dung cleaner navigation method.
Background
With the improvement of economic level and life quality of people, the consumption of meat, eggs and various dairy products is increased year by year, so that the breeding industry is developed vigorously, and the traditional scattered breeding mode of households is gradually changed to a large-scale and high-quality breeding mode. As the scale of farms increases, the operating costs of farms also increase, with the human costs taking up a higher proportion. Various mechanical equipment suitable for the plant also gradually appears to reduce the workload of the staff and save the labor cost. However, many mechanical devices only help to reduce the working intensity of workers, and still cannot replace manual work, for example, a dung pushing machine.
In particular, the dung pushing machine is applied to various farms such as cattle farms, chicken farms, pig farms and the like, and is used for cleaning livestock dung in the farms, and preventing microorganisms, bacteria and the like in the dung from invading the livestock in the farms and even polluting surrounding water sources, air, soil and the like.
The existing dung pushing machine comprises a machine body and a dung pushing device, wherein the dung pushing device is installed in the front of the machine body, the machine body is provided with a cockpit, a worker drives the dung pushing machine to run in a farm, and then the dung pushing device collects dung on the ground in a predetermined area in the moving process. But the prior dung pushing machine still needs the operation of workers. And at whole clearance faecal in-process, the staff all need treat in the cockpit, drive push away the excrement machine and be in the clearance region, push away the excrement machine push away the excrement device and in clearance faecal process, remove the excrement and urine on ground through scraping or shovel ground faecal mode to remove it to predetermined region, the clearance in-process, the air in the clearance region is unusual bad smell, and the foul smell is smoked, causes staff's operational environment abominable.
Disclosure of Invention
An object of the present invention is to provide a guidance system of a dung cleaner and a guidance method thereof, wherein the guidance system of the dung cleaner guides a dung cleaner to perform dung cleaning operation along a preset route in an operation area, so as to replace manual operation, thereby saving labor cost.
Another object of the present invention is to provide a dung cleaner navigation system and a navigation method thereof, wherein the dung cleaner navigation system guides the dung cleaner to automatically perform dung cleaning operation along the preset route by means of magnetic navigation.
Another object of the present invention is to provide a dung cleaner navigation system and a navigation method thereof, wherein the dung cleaner navigation system includes a plurality of magnetic traction elements and a magnetic induction element, wherein the plurality of magnetic traction elements are disposed in the working area, the magnetic induction element is disposed in the dung cleaner, and the magnetic traction elements and the magnetic induction element interact with each other to guide the dung cleaner to move in the working area.
Another object of the present invention is to provide a dung cleaner navigation system and a navigation method thereof, wherein the magnetic traction element is arranged along the preset route, so that when the magnetic induction element interacts with the magnetic induction element, the dung cleaner performs dung cleaning operation along the preset route.
Another object of the present invention is to provide a dung cleaner navigation system and a navigation method thereof, wherein the magnetic traction element is implemented as a magnetic nail, and a plurality of magnetic nails are arranged in the operation area at intervals to guide the dung cleaner to travel along the distribution route of the magnetic nails.
Another object of the present invention is to provide a dung cleaner navigation system and a navigation method thereof, wherein the magnetic traction element extends from the working area to a charging and watering area, so that the dung cleaner can be tractively moved between the working area and the charging and watering area.
Another object of the present invention is to provide a navigation system of a sorter and a navigation method thereof, wherein the dung sorter can simultaneously perform charging and watering operations in the charging and watering area, so as to improve efficiency and reduce waiting time of the dung sorter.
According to an aspect of the present invention, there is further provided a dung cleaner navigation system adapted to pull a dung cleaner to move along a predetermined route in an operation area, the dung cleaner navigation system including:
a plurality of magnetic traction elements, wherein the magnetic traction elements are disposed within the work area and are positioned on the predetermined route, the magnetic traction elements being capable of generating a magnetic signal;
a magnetic induction element, wherein the magnetic induction element is arranged on the dung cleaner and can induce the magnetic traction element and acquire the magnetic signal; and
a control unit, wherein the control unit is communicably connected to the dung cleaning unit and the magnetic induction element, and the control unit controls the dung cleaning machine to move along the preset route in the operation area according to the magnetic signal acquired by the magnetic induction element.
According to one embodiment of the invention, the magnetic traction elements are arranged continuously within the working area.
According to one embodiment of the invention, the magnetic traction elements are arranged spaced apart from each other in the working area.
According to one embodiment of the invention, the magnetic traction element is a magnetic peg.
According to one embodiment of the invention, the magnetic traction element is a magnetic strip.
According to one embodiment of the present invention, the magnetic induction element is a magnetic sensor.
According to one embodiment of the invention, the magnetic induction element is mounted at the bottom of the dung cleaner.
According to one embodiment of the invention, the magnetic induction element is mounted at the side of the dung cleaner.
According to one embodiment of the invention, the magnetic traction element extends from a working area to a charging and watering area, and the magnetic traction element pulls the dung cleaning machine to move between the working area and the charging and watering area.
According to an embodiment of the present invention, the dung cleaner includes a body, a dung cleaning device and a charging device, wherein the dung cleaning device is mounted on the body, wherein the charging device includes a charging unit and an opening and closing unit, wherein the charging unit is electrically connected to the body and the dung cleaning device, the opening and closing unit is rotatably held below the charging unit, the opening and closing unit can be driven to switch from a closed state to an open state and expose the charging surface of the charging unit, and when an acting force for driving the opening and closing unit is weakened or cancelled, the opening and closing unit automatically switches from the open state to the closed state and shields the charging surface of the charging unit.
According to an embodiment of the present invention, the dung cleaner further includes a water tank, the water tank includes a water tank body and a protective cover, wherein the water tank body has a water storage cavity and a water filling opening communicated with the water storage cavity, the protective cover is rotatably mounted on the water tank body, the water tank body is disposed on the machine body, the protective cover can be driven to switch from a shielding state to an exposing state to expose the water filling opening of the water tank body, and after an acting force for driving the protective cover is removed or weakened, the protective cover automatically switches from the exposing state to the shielding state to shield the water filling opening of the water tank body.
According to another aspect of the invention, the invention further provides a navigation method of the dung cleaning machine navigation system, and the navigation method comprises the following steps:
(a) inducing a plurality of magnetic traction elements arranged in an operation area by a magnetic induction element arranged in a dung cleaner; and
(b) and dragging the dung cleaner to travel along a preset path.
According to an embodiment of the invention, in the method, the magnetic induction element obtains a magnetic signal of the magnetic traction element, and a control unit controls the dung cleaning machine to travel along the preset route according to the magnetic signal.
According to an embodiment of the invention, in the above method, the predetermined course is formed by a plurality of the magnetic traction elements spaced apart from each other.
According to one embodiment of the invention, in the above method, the predetermined path is formed by a plurality of the magnetic traction elements in series.
According to one embodiment of the invention, in the above method, the dung cleaning machine is drawn automatically between the working area and a watering charging area.
Drawings
FIG. 1 is a perspective diagrammatic view of a dung cleaner and a hydroelectric adapter in accordance with a preferred embodiment of the present invention.
Figure 2 is a schematic view of the dung cleaner and the hydroelectric adapter according to the above-described preferred embodiment of the present invention.
Fig. 3 is an exploded view schematically showing a water tank of the dung cleaner according to the above preferred embodiment of the present invention.
Fig. 4 is an exploded view schematically showing the structure of the part of the dung cleaner according to the above preferred embodiment of the present invention.
Figure 5 is an exploded view of the hydro-electrical adapter according to the above preferred embodiment of the present invention.
Fig. 6A is a schematic view of an exemplary embodiment of a dung cleaner navigation system according to the present invention.
Fig. 6B is a schematic view of a dung cleaner navigation system according to the above preferred embodiment of the present invention.
Fig. 6C is a schematic view of a dung cleaner navigation system according to the above preferred embodiment of the present invention.
Fig. 6D is a schematic view of an exemplary embodiment of a dung cleaner navigation system.
Fig. 6E is a schematic view of a dung cleaner navigation system according to the above preferred embodiment of the present invention.
Fig. 6F is a schematic view of a dung cleaner navigation system according to the above preferred embodiment of the present invention.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be constructed and operated in a particular orientation and thus are not to be considered limiting.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be constructed and operated in a particular orientation and thus are not to be considered limiting.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
Referring to fig. 1 to 6F of the specification, a dung cleaner navigation system 1000 according to a preferred embodiment of the present invention will be described in the following description, wherein the dung cleaner navigation system 1000 guides and guides a dung cleaner 1000 to perform dung cleaning operation along a preset route in an operation area of a farm by means of magnetic navigation, so as to replace manual operation, improve dung cleaning efficiency, and facilitate saving of labor cost.
Specifically, referring to fig. 6A to 6F, the dung cleaner navigation system 1000 includes a plurality of magnetic traction elements 1100 and a magnetic induction element 1200, wherein the magnetic traction elements 1100 are disposed in the operation area of the farm, the magnetic induction element 1200 is disposed in the dung cleaner 100, and the magnetic induction element 1200 and the magnetic traction elements 1100 interact with each other, so that the dung cleaner 100 automatically travels in the operation area and completes dung cleaning operation during traveling.
In a specific embodiment of the present invention, a plurality of the magnetic traction elements 1110 are spaced apart from each other in the work area, and the magnetic traction elements 1100 are located in the predetermined path, or the magnetic traction elements 1100 form the predetermined path. Each of the magnetic traction elements 1100 is capable of generating a magnetic signal, wherein the magnetic signal includes a magnetic field strength and a magnetic force strength. When the dung cleaner 100 is closer to the magnetic traction element 1100, the magnetic force of the magnetic traction element 1100 induced by the magnetic induction element 1200 is stronger, and when the dung cleaner 100 is farther from the magnetic traction element 1100, the magnetic force of the magnetic traction element 1100 induced by the magnetic induction element 1200 is weaker. The magnetic sensor 1200 senses the position of each of the magnetic pulling elements 1100 by acquiring the magnetic signal and generates a position information. So that the moving direction of the dung cleaning machine 100 can be determined according to the position information subsequently, and then the dung cleaning machine 100 can perform dung cleaning operation in the operation area of the farm along the preset route.
In this particular example of a dung cleaner navigation system 1000 according to the invention, the magnetic traction element 1100 is arranged on the ground of the farm. Specifically, a plurality of mounting holes are formed in the bottom surface of the farm, the mounting holes being located on the predetermined route, and the guide member 1100 is mounted in the mounting holes of the ground. The magnetic induction element 1200 is installed at the bottom of the dung cleaner 100 so as to sensitively induce the magnetic signal of the magnetic induction element 1200. It should be understood by those skilled in the art that the specific installation positions and installation manners of the magnetic pulling element 1100 and the magnetic induction element 1200 are only illustrative and should not be construed as limiting the content and scope of the dung cleaner navigation system 1000 and the navigation method thereof. For example, but not limited to, the magnetic traction element 1100 is disposed on the wall surface of the farm, and the magnetic induction element 1200 is mounted on the side of the dung cleaner 100, so as to reduce the possibility of contamination of the magnetic induction element 1200.
Further, a preset distance exists between the two magnetic traction elements 1100 which are spaced from each other, so as to ensure that the magnetic induction element 1200 arranged on the dung cleaner 100 can continuously induce the magnetic signal generated by the magnetic traction elements 1100. Preferably, the separation distance between two adjacent magnetic traction elements 1100 is less than or equal to 1 meter. It should be understood by those skilled in the art that the distance between the adjacent magnetic pulling elements 1100 is only an example and is not a limitation to the content and scope of the dung cleaner navigation system 1000 and the method thereof, and the specific distance between the adjacent magnetic pulling elements 1100 is not limited as long as the magnetic sensing element 1200 can continuously sense the magnetic signal generated by the magnetic pulling element 1100.
In other embodiments of the present invention, the magnetic pulling element 1100 is continuously disposed within the work area to ensure that the magnetic sensing element 1200 is capable of sensitively sensing the magnetic signal of the magnetic pulling element 1100.
The dung cleaner navigation system 1000 further includes a control unit 1300, wherein the control unit 1300 is communicably connected to the magnetic sensor 1200 and the dung cleaner 100, and the control unit 1300 obtains the position information generated by the magnetic sensor 1200 and controls the moving direction of the dung cleaner 100 according to the position information, so as to control the dung cleaner 100 to automatically move in the working area and perform dung cleaning operation. The specific connection method between the control unit 1300 and the magnetic induction element 1200 is not limited, and the control unit 1300 is communicably connected to the magnetic induction element 1200 by a wired connection or a wireless connection. The control unit 1300 may be implemented as, but not limited to, a control computer of the dung cleaner 100. In some embodiments of the present invention, the control unit 1300 directly obtains the magnetic signal of the magnetic traction element 1100 obtained by the magnetic induction element 1200, and controls the dung cleaner 100 to move along the preset path in the working area according to the magnetic signal.
Referring to fig. 6A to 6F, in a specific example of the present invention, the magnetic pulling element 1100 is implemented as a magnetic nail, and the magnetic induction element 1200 is implemented as a magnetic sensor, that is, the dung cleaner navigation system 1000 pulls the dung cleaner 100 to move according to the preset route in the working area and perform the dung cleaning operation by means of magnetic nail navigation.
In another specific example of the present invention, the magnetic drawing element 1100 is implemented as a magnetic strip, the magnetic strip is continuously laid on the working area to form the preset route, and the dung cleaner navigation system draws the dung cleaner 100 to move along the preset route in the working area by means of magnetic strip navigation and performs the dung cleaning operation. It should be understood by those skilled in the art that the specific embodiment of the magnetic traction element 1100 is provided by way of example only and is not intended to limit the scope and content of the dung cleaner navigation system 1000 of the present invention.
In one specific example of the dung cleaner navigation system 1000 of the present invention, the magnetic traction element 1100 extends from the working area to a charging and watering area of the farm so that the dung cleaner 100 can be tractively moved between the working area and the charging and watering area. When the dung cleaning machine 100 consumes the electric quantity and the water in the operation area, the dung cleaning machine 100 can automatically drive to the charging and water adding area from the operation area according to the preset route so as to finish the water adding and charging operation.
Further, charge and be equipped with a water and electricity adapter 200 in the water adding region, clear excrement machine 100 can add water and the operation of charging simultaneously through a water and electricity adapter 200 to save the activity duration, improve the operating efficiency, reduce clear excrement machine 100 waits for the time of operation.
Referring to fig. 1 and 2, the dung cleaner 100 includes a body 10, a dung cleaning device 20, a spraying device 30 and a charging device 40, wherein the dung cleaning device 20, the spraying device 30 and the charging device 40 are mounted on the body 40, the charging device 40 is electrically connected to the body 10, the dung cleaning device 20 and the spraying device 30, and the charging device 40 provides electric energy for driving the body 10, the dung cleaning device 20 and the spraying device 30 to operate. Specifically, in the moving process of the body 10, the manure cleaning device 20 collects the manure on the ground in a predetermined area, and the spraying device 30 sprays water mist towards the ground to wet the manure on the ground or wash the ground, so that the manure cleaning device 20 can rapidly clean the manure on the ground.
In this particular embodiment of the present invention, the dung cleaning device 20 of the dung cleaning machine 100 is arranged at the front part of the body 10, and during the advancing process of the body 10, the dung cleaning device 20 gathers the dung on the ground to a preset collecting area by means of scraping or shoveling, so as to facilitate the subsequent treatment of the dung. It should be understood by those skilled in the art that the specific embodiment of the dung cleaning device 20 is not limited.
Referring to fig. 1 and 2, the body 10 includes a frame 11, a walking unit 12, and a power unit 13, wherein the power unit 13 is electrically connected to the charging device 40, the walking unit 12 is drivably connected to the power unit 13, and the power unit 13 converts electric energy of the charging device 40 into mechanical energy to drive the walking unit 12 to move forward or backward.
In this embodiment of the present invention, the walking unit 12 comprises a universal wheel 121, a rear right wheel 122 and a rear left wheel 123, the power unit 13 comprises two motors, the rear right wheel 122 and the rear left wheel 123 are respectively connected with the two motors of the power unit 13 in a driving manner, and the two motors respectively drive the rear right wheel 122 and the rear left wheel 123 to rotate. In the process that the dung-cleaner 100 runs along the preset path, the rotating speed of the motor is controlled to enable a rotating speed difference to exist between the rear right wheel 122 and the rear left wheel 123, and therefore steering is achieved.
Further, the control unit 1130 of the dung-cleaner navigation system 1000 is communicably connected to the power unit 13, and controls the rotation speed of the rear right wheel 122 and the rear left wheel 123 by controlling the rotation speed of the motor, thereby achieving steering and controlling the running speed of the dung-cleaner 100.
Referring to fig. 1 and 2, the spraying apparatus 30 further includes at least one front spraying unit 31 and at least one rear spraying unit 32, wherein the front spraying unit 31 and the rear spraying unit 32 are respectively provided at the front and rear of the body 10. In the advancing process of the body 10, the front spraying unit 31 sprays water mist towards the front part of the body 10, so that excrement accumulated on the ground can be wetted, and the working efficiency and the cleaning rate of the excrement cleaning device 20 are improved. Or the front spraying unit 31 washes the ground and the excrement on the ground, the flowing liquid is more easily pushed by the excrement cleaning device 20, and the front spraying unit 31 and the excrement cleaning device 20 cooperate with each other to efficiently gather the excrement on the ground to a predetermined area. Further, the rear spraying unit 32 sprays water mist towards the rear part of the body 10, and the rear spraying unit 32 washes the bottom surface of the manure cleaning device 20 after cleaning, so that the ground of the farm is clean and sanitary. And, the front spraying unit 31 sprays and wets the ground and the excrement, which is beneficial to reducing the frictional resistance between the excrement cleaning device 20 and the ground, thereby reducing the noise generated in the excrement cleaning process and reducing the influence on the surrounding livestock.
It should be noted that the specific implementation of the front spraying unit 31 and the rear spraying unit 32 is not limited, for example, but not limited to, the front spraying unit 31 and the rear spraying unit 32 may be implemented as, but not limited to, an atomizer, a high pressure head, or the like. And, a specific number of the front spray units 31 and the rear spray units 32 is not limited, and in this specific embodiment of the present invention, the front spray units 31 and the rear spray units 32 are respectively implemented in two, two of the front spray units 31 are spaced apart at the front of the body 10, and two of the rear spray units 32 are spaced apart at the rear of the body 10. In other embodiments of the present invention, the front spray unit 31 and the rear spray unit 32 may also be implemented in three or more numbers. It will be understood by those skilled in the art that the specific embodiments and numbers of the front and rear spraying units 31 and 32 are only examples and should not be construed as limiting the contents and scope of the dung cleaner 100 and its spraying device 30.
In this specific example of the dung cleaner 100 according to the present invention, the water output of the rear spraying unit 32 of the spraying device 30, which is provided at the rear of the body 10, is less than the water output of the front spraying unit 31, which is provided at the front of the body 10. Specifically, the front spraying unit 31 has a large water amount, which is beneficial to wetting the feces accumulated on the ground or washing the uncleaned ground and the feces accumulated on the ground, so that the feces flow along with the water flow, and the feces on the ground can be rapidly cleared by the feces clearing device 20. The rear spraying unit 32 is located behind the dung cleaning device 20, i.e. the floor over which the rear spraying unit 32 passes has been cleaned by the front spraying unit 31 and the dung cleaning device 20. That is, the rear spray unit 32 cleans a floor surface passing by more than the front spray unit 31. In this way, the rear spraying unit 32 sprays less water than the front spraying unit 31 to wash the ground through which the dung cleaning device 20 passes, and further clean the residual dung on the ground. Through such mode, not only can ensure the clean health in ground, be favorable to using water wisely moreover, reduce the cost of raising on plant.
In this particular embodiment of the dung cleaner 100 according to the present invention, the spraying device 30 of the dung cleaner 100 further comprises a water tank 33 and a water control unit, wherein the water control unit is communicably connected to the water tank 33 and the front spraying unit 31, and the water control unit is communicably connected to the water tank 33 and the rear spraying unit 32, by means of which the water output of the front spraying unit 31 and the rear spraying unit 32 is controlled, respectively, to meet different usage requirements. The water tank 33 is provided at an upper portion of the body 10, has a large capacity, and can continuously supply water to the front spray unit 31 and the rear spray unit 32.
Referring to fig. 3, the water tank 33 further includes a tank body 333 and a protective cover 334, wherein the water tank 331 and the water filling port 332 are formed in the tank body 333, the protective cover 334 is rotatably mounted on the tank body 333, and the protective cover 334 can be driven to switch from a shielding state to an exposing state to expose the water storage cavity 331 of the tank body 333, so as to facilitate the water filling of the water tank 33 in time. After the acting force for driving the protective cover 334 is weakened or cancelled, the protective cover 334 automatically switches from the exposure state to the shielding state to shield the water filling port 332 of the water tank body 333, so as to prevent external pollutants from entering the water storage cavity 331 from the water filling port 332 and causing pipeline blockage after the water tank 33 finishes water filling.
Specifically, referring to fig. 3, the water tank 33 further includes a rotary post 335 and a mounting plate 336, wherein the mounting plate 336 has a movable through hole 336, the mounting plate 336 is fixed to the tank body 333, the mounting plate 336 is located at a side of the filler 332, the rotary post 335 is rotatably mounted to the movable through hole 3360 of the mounting plate 336, and the rotary post 335 is fixed to the protective cover 334 of the water tank 33. When the protective cover 334 rotates to be located above the filler 332 and covers the filler 332, the protective cover 334 is in the covered state. When the protective cover 334 is rotated away from the filler 332 and exposes the filler 332, the protective cover 334 is in the exposed state.
Referring to fig. 3, the water tank 33 further includes an elastic restoring member 337 and a pushing post 338, wherein the elastic restoring member 337 includes a holding portion 3371 and a restoring portion 3372 integrally extended outward from the holding portion 3371, the pushing post 338 is extended outward from the mounting plate 336, the holding portion 3371 of the elastic restoring member 337 is mounted to the rotating post 335, and the restoring portion 3372 of the elastic restoring member 337 is held at one side of the pushing post 338.
The restoring portion 3372 of the elastic restoring member 337 has elasticity. When the protective cover 334 in the shielding state is drivingly switched to the exposing state, the rotating post 335 and the protective cover 334 are driven to rotate, the retaining portion 3371 of the elastic resetting member 337 rotates along with the rotating post 335, and the resetting portion 3372 of the elastic resetting member 337 is blocked by the pushing post 338 to deform. When the force driving the protective cover 334 and the rotation post 335 is removed or weakened, the elastic force of the reset portion 3372 of the elastic reset piece 337 tending to restore the original position drives the rotation post 335 to rotate in the opposite direction, and the protective cover 334 in the exposed state is automatically switched to the shielding state.
In a preferred embodiment of the present invention, the elastic restoring member 337 is implemented as a torsion spring. It should be understood by those skilled in the art that the embodiment of the elastic restoring member 337 is merely illustrative and should not be construed as limiting the specific contents and scope of the dung cleaner 100 according to the present invention.
Referring to fig. 3, the water tank 33 further includes a blocking member 339, wherein the blocking member 339 includes a first blocking portion 3391, a second blocking portion 3392, and a maintaining portion 3393, the first blocking portion 3391 and the second blocking portion 3392 respectively extend outward from the maintaining portion 3393 at intervals, and a rotation region 3390 is formed between the first blocking portion 3391, the second blocking portion 3392, and the maintaining portion 3393. The maintaining portion 3393 of the blocking portion 339 is fixed to the rotating post 335, the pushing post 338 and the restoring portion 3372 of the elastic restoring member 337 are held in the rotating region 3390, and the pushing post 338 is located between the restoring portion 3372 of the elastic restoring member 337 and the first blocking portion 3391.
When the protective cover 334 is switched from the shielding state to the exposing state, the first blocking portion 3391 of the blocking member 339 is far away from the pushing column 338, the second blocking portion 3392 is close to the pushing column 338, and when the second blocking portion 3392 is close to the pushing column 338, the angle that the protective cover 334 allows to rotate is maximized. When the protective cover 334 reversely rotates under the elastic force of the reset portion 3372 of the elastic reset member 337, the first blocking portion 3391 enters the push post 338, the second blocking portion 3392 is away from the push post 338, and when the first blocking portion 3391 is close to the push post 338, the protective cover 334 automatically stops rotating.
In this embodiment of the present invention, the stopping member 339 is implemented as two corner pieces, two corner pieces are mounted on the rotating post 335 in a stacked manner, the corner pieces are fixed by a snap spring to prevent the corner pieces from rotating axially, and the pushing post 338 is held between the two corner pieces to define the initial position and the maximum rotation angle of the pushing post 338. It should be understood by those skilled in the art that the specific embodiment of the blocking member 339 is merely exemplary and should not be construed as limiting the content and scope of the dung cleaner 100 of the present invention.
The rotation post 335 has a fitting groove, and the holding portion 3371 of the elastic restoring member 337 and the maintaining portion 3393 of the blocking member 339 are disposed in the fitting groove of the rotation post 335.
In this particular embodiment of the dung cleaner 100 according to the invention, the water control unit comprises a first water control unit and a second water control unit, wherein the first water control unit and the second water control unit are arranged at the bottom of the body 10, the first water control unit is communicably connected to the water tank 33 and the front spraying unit 31, and the second water control unit is communicably connected to the water tank 33 and the rear spraying unit 32. The first water control unit controls the flow of water stored in the water tank 33 into the front spray unit 31 and the second water control unit controls the flow of water stored in the water tank into the rear spray unit 32. Further, the water flow passing through the first water control unit is pressurized by the first water control unit and then reaches the front spraying unit 31, and the front spraying unit 31 atomizes the water flow and then sprays the atomized water flow out to wash the ground and the excrement on the ground; the process the rivers of second water control unit are by reach behind the second water control unit pressure boost the rear portion sprays unit 32, the rear portion sprays the unit 32 and spouts behind the rivers atomizing, process the rivers of second water control unit reach the rear portion sprays unit 32, the rear portion sprays the unit 32 and spouts behind the rivers atomizing, with right the bottom surface of clear excrement device 20 process washes.
The water tank 33 has a water storage chamber 331 and a water filling port 332 communicating with the water storage chamber 331, the first water control unit has a first water inlet and a first water outlet, the front spray unit 31 has a first spray inlet and a first spray outlet communicating with the first spray inlet, the second water control unit has a second water inlet and a second water outlet, and the rear spray unit 32 has a second spray inlet and a second spray outlet 322 communicating with the second spray inlet.
The spraying device 30 further comprises two connecting pipes, the connecting pipes are provided with a water diversion channel, the water diversion channel of one of the connecting pipes is respectively communicated with the water storage cavity 331 of the water tank 33 and the first water inlet 3421 of the first water control unit 2, and the other connecting pipe is respectively communicated with the water storage cavity 331 of the water tank 33 and the second water inlet of the second water control unit. When the first water inlet of the first water control unit is communicated with the first water outlet, the water in the water storage cavity 331 of the water tank 33 passes through the communication pipeline of the connecting pipe, the first water inlet of the first water control unit, the first water outlet and the first spraying inlet of the front spraying unit 31 in sequence and then is sprayed out from the first spraying outlet. When the second water inlet of the second water control unit is communicated with the second water outlet, the water in the water storage cavity 331 of the water tank 33 passes through the communication pipe of the connection pipe, the second water inlet of the second water control unit, the second water outlet 3422 and the second spraying inlet of the rear spraying unit 32 in sequence, and then is sprayed out from the second spraying outlet.
In this particular embodiment of the dung cleaner 100 according to the present invention, the first and second water control units may be implemented as water pumps, and the particular type of the first and second water control units is not limited, for example, but not limited thereto, the first and second water control units may be implemented as centrifugal pumps. The flow rate of water sprayed from the front spray unit 31 and the rear spray unit 32 is controlled by the first water control unit and the second water control unit, respectively.
It should be understood by those skilled in the art that the amount of water flow sprayed from the front spray unit 31 and the amount of water flow sprayed from the rear spray unit 32 are not limited. Preferably, the first water control unit and the second water control unit are controlled to enable the water flow rate sprayed by the front spraying unit 31 to be larger than the water flow rate sprayed by the rear spraying unit 32, so that water is saved, and the operation cost of the farm is reduced. Alternatively, the water flow rate sprayed from the rear spray unit 32 may be implemented to be greater than the water flow rate sprayed from the front spray unit 31. For example, when more feces still remain on the floor where the feces cleaning device 20 passes, the rear spraying unit 32 is controlled to spray a larger water flow to effectively clean the floor.
Further, the specific manner of controlling the front spray unit 31 and the rear spray unit 32 by the first water control unit and the second water control unit is not limited. In a specific example of the present invention, by controlling performance parameters such as motor power or head of the first and second water control units, water flow through the first and second water control units, and thus water flow from the front and rear spray units 31 and 32, may be controlled. For example, but not limited to, the first and second water control units are implemented as water pumps having different models.
Preferably, the water control unit of the spraying device 30 of the dung cleaner 100 further comprises a regulator, wherein the regulator is connected to the first water control unit and the second water control unit, by means of which the operating state and operating parameters of the first water control unit and the second water control unit can be regulated, thereby controlling the water flow speed and water flow rate through the first water control unit and the second water control unit. That is, in some examples of the invention, the first and second water control units may be implemented as the same model of water pump, and the operating parameters of the water pump are allowed to be adjusted. For example, but not limited to, the regulator may vary the power of the first and second water control units by adjusting the input voltage, thereby adjusting the water flow rate of the front and rear spray units 31 and 32.
Preferably, the water control unit of the spraying device 30 of the dung cleaning machine 100 further comprises a liquid level sensor, the liquid level sensor is arranged at the bottom of the water tank 33, the liquid level sensor extends from the bottom of the water tank 33 to the inside of the water storage cavity 331, and the liquid level sensor can measure the liquid depth in the water storage cavity 331 of the water tank 33 so as to accurately grasp the water amount in the water storage cavity 331 of the water tank 33. When the water level in the water storage cavity 331 is lower than a preset low water level, the dung cleaner 100 supplies water in time, so as to ensure that the water tank 33 can supply sufficient water for the front spraying unit 31 and the rear spraying unit 32 of the spraying device 30, and ensure that the front spraying unit 31 and the rear spraying unit 32 can continuously spray water mist to the ground in the operation process of the dung cleaner 20.
In a specific example of the present invention, the dung cleaner 100 further includes a control device, the control device is communicably connected to the dung cleaner 20 and the body 10, when the water level of the water in the water storage chamber 331 of the water tank 33 of the spraying device 30 of the dung cleaner 100 is lower than the preset low water level, the control device controls the dung cleaner 20 to stop working, and the control device controls the body 10 to automatically return to the water adding position for water adding operation. When the liquid level sensor detects that the water amount in the water storage cavity 331 of the water tank 33 reaches a preset high water level, the excrement cleaning machine 100 can return to the operation area again to clean the excrement on the ground. In another specific example of the present invention, the dung cleaner 100 further comprises a prompting device, which is communicably connected to the liquid level sensor, and when the water level of the water in the water storage cavity 331 of the water tank 33 is lower than the preset low water level, the prompting device sends a prompting signal, such as but not limited to sound or light, to prompt a user to operate the dung cleaner 100 to return to a water adding position and to add water to the water tank 33 of the spraying device 30 in time. That is, the dung cleaner 100 may be implemented as an automatic operation, or may be operated by means of manual control. The specific embodiment of the dung cleaner 100 is only an example and should not be construed as limiting the scope and content of the dung cleaner 100 and its spraying device 30 according to the present invention.
It is worth mentioning that in this specific example of the dung cleaner 100 according to the present invention, after the front and rear spraying units 31, 32 of the spraying device 30 of the dung cleaner 100 consume the water in the water tank 33, the water is added to the water tank 33 by the hydroelectric adapter 200. Meanwhile, the charging device 40 of the dung cleaner 100 can replenish electric quantity while the water tank 33 of the spraying device 30 adds water. That is to say, clear excrement machine 100 can add water and charge simultaneously, is favorable to practicing thrift clear excrement machine 100 waits for the time of operation, improves the operating efficiency.
Referring to fig. 4 to 6F, specifically, the charging device 40 includes a charging unit 410 and an opening and closing unit 420, the opening and closing unit 420 has a receiving space 4201, and the opening and closing unit 420 is rotatably held below the charging unit 410. The opening and closing unit 420 can be switched between an open state and a closed state, so that the charging unit 410 can be accommodated in the accommodating space 4201 of the opening and closing unit 420, which is beneficial for protecting the charging unit 410.
Specifically, the charging unit 410 has a charging surface 411, and the charging unit 410 is replenished with electricity by electrically connecting the charging surface of the charging unit 410 to the hydro-electrical adapter 300. When the opening and closing unit 420 is in an open state, the charging surface 411 of the charging unit 410 is exposed, and the charging unit 410 can be electrically connected to the external power supply to obtain power compensation; when the opening and closing unit 420 is in the closed state, the opening and closing unit 420 covers the charging unit 410, the opening and closing unit 420 covers the charging surface 411 of the charging unit 410, and the opening and closing unit 420 covers the charging surface 411 of the charging unit 410, so that after the charging operation is completed, the charging unit 410 can be hidden in the accommodating space 4201 of the opening and closing unit 420. By the mode, the charging unit 410 can be charged timely, the charging surface 411 of the charging unit 410 is prevented from being polluted by pollutants such as excrement in the external environment, and the risk that the charging unit 410 is short-circuited is reduced.
In a specific embodiment of the present invention, the charging unit 410 of the charging device 40 protrudes from the frame 11 of the vehicle body 10, and the charging unit 410 is mounted to the frame 11 of the vehicle body 10 with the charging surface 411 facing downward so as to be quickly electrically connected to the hydro-electric adapter 200 later.
It should be noted that the specific type of the charging unit 410 is not limited, and in a specific example of the present invention, the charging unit 410 is implemented as a 48V lithium battery, which has a large battery capacity and a high endurance, and can support the long-time operation of the dung cleaner 100. It should be understood by those skilled in the art that the specific embodiment of the charging unit 410 is only an example and should not be construed as limiting the content and scope of the dung cleaner 100 and the charging device 40 according to the present invention.
Referring to fig. 6A to 6F, the hydro-electric adapter 200 includes a driving board 210 and a power supply unit 220, wherein the power supply unit 220 has a power supply surface 221, and the power supply unit 22 is mounted to the driving board 210 in such a manner that the power supply surface 221 protrudes from the surface of the driving board 210. In the process that the dung pushing machine 100 backs up towards the hydroelectric adapter 220, the driving plate 210 can drive the opening and closing unit 420 of the charging device 40 of the dung cleaning machine 100 to be switched from the closed state to the open state, and the charging surface 411 of the charging unit 410 is exposed, so that the charging surface 411 can be electrically connected to an external power supply. When the dung pushing machine 100 is far away from the hydroelectric adapter 200, the opening and closing unit 420 of the charging device 40 of the dung cleaning machine 100 is automatically switched from the opening state to the closing state so as to shield the charging surface 411, thereby avoiding the short circuit of the charging unit 410 caused by the pollution of the charging surface 411.
Referring to fig. 5 to 6F, the hydro-electric adaptor 200 further includes a water feed pipe 230, the water feed pipe 230 being installed to the driving plate 210, the water feed pipe 230 being capable of driving the protective cover 334 of the water tank 33 of the spraying device 30 of the dung cleaner 100 to be shifted from the shielding state to the exposing state during the process in which the dung pushing machine 100 is retreated toward the hydro-electric adaptor 220. When the excrement cleaning machine 100 is far away from the hydroelectric adapter 200 and moves the back, the protective cover 334 of the water tank 33 of the spraying device 30 of the excrement cleaning machine 100 can be automatically switched from the exposure state to the shielding state so as to shield the water filling port 332 of the water tank body 333 from the external pollutants entering the water storage cavity 331 of the water tank body 333.
Further, referring to fig. 6A to 6E, the water feeding pipe 230 includes a fixed pipe 231, an extension pipe 232, and a driving pipe 233, wherein the fixed pipe 231 is fixed to the mounting portion 212 of the driving plate 210, the fixed pipe 231 is held above the mounting portion 212, the extension pipe 232 extends from the fixed pipe 231 toward the driving portion 211 of the driving plate 210, and the driving pipe 233 extends downward from the extension pipe 232, so that the water feeding pipe 230 forms a crutch shape. The fixed pipe 231 is allowed to be communicated with an external water source, and the fixed pipe 231, the extension pipe 232, and the driving pipe 233 are communicated with each other.
The height of the lower surface of the driving pipe 233 from the ground is greater than the height of the filler port of the water tank 33 but less than the height of the upper surface of the protective cover 334 of the water tank 33 from the ground. In the process that the dung cleaner 100 backs up towards the hydroelectric adapter 200, after the protective cover 334 of the water tank 33 contacts the driving pipe 233, the dung cleaner 100 continues to back up, the driving pipe 233 of the water adding pipe 230 drives the protective cover 334 to rotate relative to the water tank body 333 to expose the water adding port 332, and after the driving pipe 233 of the water adding pipe 230 is communicated with the water adding port 332, the water adding pipe 230 can add water to the water tank 33.
After the dung cleaner 100 travels in a direction away from the hydroelectric adapter 200, the driving force of the driving pipe 233 of the water feeding pipe 230 on the protective cover 334 of the water tank 33 is gradually weakened or even disappears, and the protective cover 334 is automatically switched from the exposing state to the shielding state to shield the water feeding port 332.
Preferably, the hydro-electrical adapter 200 further comprises at least one blocking member 240, wherein the blocking member 240 comprises a fixing portion 241 and a blocking portion 242, and the blocking portion 242 integrally extends upward from an edge of the fixing portion 241. The fixing portion 241 is fixed to the mounting portion 212 of the driving plate 210, and the fixing portion 241 and the stopper 240 protrude from the first side surface 2121 and the second side surface 2122 of the mounting portion 212 of the driving plate 210. The blocking member 240 is located between the power supply unit 220 and the water feeding pipe 230, and after the power supply surface 411 of the power supply unit 410 of the power supply device 40 of the dung cleaning machine 100 and the water feeding port 332 of the water tank 33 respectively correspond to the power supply surface 221 of the power supply unit 222 of the hydroelectric adapter 200 and the driving pipe 233 of the water feeding pipe 230, the blocking member 240 prevents the dung pushing machine 100 from continuing to back up.
In this specific example of the dung cleaner 100 according to the present invention, the position of the driving plate 210 of the hydro-electric adapter 200 can be adjusted during the process that the dung cleaner 100 backs up towards the hydro-electric adapter 200, so that the power supply surface 221 of the power supply unit 222 of the hydro-electric adapter 200 and the driving pipe 233 of the water feeding pipe 230 can respectively correspond to the power supply surface 411 of the power supply unit 410 of the power supply device 40 of the dung cleaner 100 and the water feeding port 332 of the water tank 33, so as to ensure that the dung cleaner 100 can normally perform charging and water feeding operations.
Specifically, the hydro-electric adaptor 200 further includes an adjusting unit 250, wherein the adjusting unit 250 includes a fixing member 251, a guide bar 252, a left spring 253, and a right spring 254, wherein the fixing member 251 includes a fixing plate 2511 and a left fixing block 2512 and a right fixing block 2513, wherein the left fixing block 2512 and the right fixing block 2513 are respectively disposed at intervals at one side of the fixing plate 2511, and a movable space is formed between the fixing plate 2511, the left fixing block 2512, and the right fixing block 2513. Both ends of the guide bar 252 are fixed to the left fixing block 2512 and the right fixing block 2513, respectively, and the driving plate 210, the left spring 253, and the right spring 254 are movably mounted to the guide bar 252, respectively.
Further, the driving plate 210 includes an assembly tube 213, wherein the assembly tube 213 has an assembly passage 2131, and the guide rod 252 sequentially passes through the left spring 253, the assembly tube 213, and the right spring 254. That is, the left spring 253 is movably held between the left fixing block 2512 and the assembling tube 213, and the right spring 254 is movably held between the right fixing block 2513 and the assembling tube 213. The fitting tube 213 presses the left spring 253 leftward when the driving plate 210 is drivingly moved leftward, and presses the right spring 254 rightward when the driving plate 210 is drivingly moved rightward. When the force for driving the driving plate 210 to move is removed, the driving plate 210 is restored to the initial position under the action of the elastic force generated by the left spring 253 or the right spring 254.
The dung cleaner 100 further comprises a guide assembly 50, wherein the guide assembly 50 comprises a left guide post 51 and a right guide post 52, and the left guide post 51 and the right guide post 52 are respectively arranged at intervals on two sides of the rear portion of the frame 11 of the machine body 10.
A distance between the left guide post 51 and the right guide post 52 is identical to a distance between the first side surface 2121 and the second side surface 2122 of the mounting portion 212 of the driving plate 210. When the dung cleaner 100 moves back towards the hydroelectric adapter 200, the left guide post 51 and the right guide post 52 can be attached to the first side 2121 and the second side 2122 of the mounting part 212, and drive the driving plate 210 to move relative to the guide rod 252, so as to ensure that the power supply surface 211 of the power supply unit 210 and the driving pipe 233 of the water filling pipe 230 which are mounted on the driving plate 210 can be opposite to the charging surface 411 of the charging unit 410 and the water filling port 332 of the water tank 33.
It is worth mentioning that in this specific example of the dung cleaner 100 according to the present invention, the driving plate 210 and the water feeding pipe 230 of the hydroelectric adapter 200 can drive the opening and closing device 420 of the charging device 40 of the dung cleaner 100 to be maintained in the open state, and the protective cover 334 of the water tank 33 is maintained in the exposed state, so as to allow the water feeding operation of the water tank 33 while the charging unit 410 is supplied with electric power.
Referring to fig. 4, the opening and closing unit 420 includes at least one movable member 421 and at least one connecting member 422, wherein the movable member 422 is mounted on the connecting member 422, the connecting member 422 is rotatably mounted on the frame 11 of the body 10, and the movable member 421 can rotate relative to the charging unit 410 via the connecting member 422, so that the opening and closing unit 420 can be switched between the open state and the closed state to expose or shield the charging surface 411 of the charging unit 410.
Referring to fig. 4, the connection assembly 422 of the opening and closing unit 420 includes a fitting member 4221 and a rotation member 4222, wherein the fitting member 4221 has a rotation through hole 42210, one end of the rotation member 422 is fixed to the movable member 421, and the rotation member 422 is rotatably installed at the rotation through hole 42210 of the fitting member 4221. The fitting 4221 is fixed to the frame 11 of the body 10, and the fitting 4221 is held at one side of the charging unit 410. When the movable member 421 is located below the charging surface 411 of the battery unit 410, the movable member 421 covers the charging surface 411, the opening and closing unit 420 is in the closed state, and when the movable member 421 is driven to rotate and is away from the charging surface 411 of the charging unit 410, the charging surface 411 is exposed, and the opening and closing unit 420 is in the open state.
Referring to fig. 4, the connecting assembly 422 further includes a resilient member 4223 and a driving post 4224, wherein the resilient member 4223 includes a connecting portion 42231 and a resilient portion 42232. The driving column 4224 extends outward from the fitting 4221, the coupling portion 42231 of the elastic member 4223 is mounted to the rotation member 4222, and the elastic portion 42232 is held at one side of the driving column 4224.
The elastic portion 42232 of the elastic member 4223 has elasticity. During the process that the movable element 4222 of the opening and closing unit 420 is driven to rotate, the rotating element 4222 rotates relative to the assembly 4221, the connecting part 42231 of the elastic element 4223 rotates along with the rotating element 4222 to convert from the closed state to the open state, the elastic part 42232 is blocked by the driving column 4224, and the driving column 4224 drives the elastic part 42232 to deform. When the driving force applied to the movable element 4222 is reduced or cancelled, the elastic force of the elastic element 4223 tending to restore the initial position drives the rotary element 4222 and the movable element 421 to rotate reversely, so as to automatically switch from the open state to the closed state.
The specific type of the elastic member 4223 is not limited. Preferably, the elastic member 4223 is implemented as a torsion spring. It should be understood by those skilled in the art that the specific embodiment of the elastic member 4223 is only an example and should not be construed as limiting the content and scope of the dung cleaner 100 according to the present invention.
Referring to fig. 4, in an embodiment of the dung cleaner 100 of the present invention, the connecting assembly 422 of the opening and closing unit 420 further includes a stopper 4225, wherein the stopper 4225 is mounted to the assembly 4222. The limiting member 4225 has a limiting region 42250, the driving column 4224 is retained in the limiting region 42250 of the limiting member 4225, and the limiting member 4225 is used for limiting the initial position and the maximum rotation angle of the driving member 4224 and the rotating member 4222.
The position-limiting member 4225 of the connecting assembly 422 includes a first position-limiting portion 42251, a second position-limiting portion 42252 and a mounting portion 42253, wherein the first position-limiting portion 42251 and the second position-limiting portion 42252 respectively extend outward from an edge of the mounting portion 42253 at intervals, so as to form the position-limiting region 42250 among the first position-limiting portion 42251, the mounting portion 42253 and the second position-limiting portion 42252. The fitting portion 42253 of the stopper 4225 is mounted to the rotary member 4222, and the drive column 4224 is held between the first stopper portion 42251 and the second stopper portion 42252. Further, the driving column 4224 is located between the elastic portion 42231 and the first stopper portion 42251 of the elastic member 4223.
When the opening and closing unit 420 is driven to switch from the closed state to the open state, the first position-limiting portion 42251 of the position-limiting member 4225 moves away from the driving column 4224, the second position-limiting portion 42252 moves close to the driving column 4224, and when the second position-limiting portion 42252 is close to the driving column 4224, the angle of rotation allowed by the movable member 421 reaches the maximum. When the movable member 421 rotates in the opposite direction under the elastic force of the elastic portion 42232 of the elastic member 4223, the first position-limiting portion 42251 of the position-limiting member 4225 moves toward the driving column 4224, the second position-limiting portion 42252 moves away from the driving column 4224, and when the first position-limiting portion 42251 is attached to the driving column 4224, the driving column 4224 prevents the rotary member 4222 from moving further, so that the movable member 421 automatically stops rotating.
In one embodiment of the present invention, the position-limiting member 4225 is implemented as two corner pieces, two of the corner pieces are mounted on the rotating member 4222 in a stacked manner, the corner pieces are fixed by a snap spring to prevent the corner pieces from rotating axially, the driving post 4224 is held between the two corner pieces, and the initial position and the maximum rotation angle of the movable member 421 are defined by the corner pieces. It should be understood by those skilled in the art that the embodiment of the position limiter 4225 is only an example and should not be construed as limiting the content and scope of the dung cleaner 100 according to the present invention.
The rotation member 4222 has an assembly groove, and the coupling portion 42231 of the elastic member 4223 and the assembly portion 42253 of the stopper 4225 are disposed in the assembly groove of the rotation member 4222.
Referring to fig. 4, the movable member 421 includes a shielding portion 4211 and a surrounding portion 4212 integrally extending upward from an edge of the shielding portion 4211, and forms an accommodating chamber 4213 and an opening 4214 communicating with the accommodating chamber 4213 between the shielding portion 4211 and the surrounding portion 4212. The charging unit 410 can enter the accommodation cavity 4213 of the movable member 421 from the opening 4214.
The shield 4211 has a mounting end 42111 and a free end 42112 opposite the mounting end 42111, the mounting end 42111 being mounted to the rotator 4222. When the free end 42112 of the movable member 421 shielding the charging surface 411 receives an external acting force, the movable member 421 can rotate relative to the body 10 and expose the charging surface 411 of the charging unit 410, and when the external acting force received by the free end 42112 of the movable member 421 is cancelled or reduced, the movable member 421 automatically restores to an initial position under the elastic force action of the elastic member 4223 of the connecting member 422 and shields the charging surface 411 of the charging unit 10. Preferably, the free end 42112 of the movable member 421 has an arc-shaped end surface so that the movable member 421 is rapidly driven and rotated.
Preferably, the assembling end 42111 of the movable member 421 and the rotating member 4222 are respectively provided with through holes corresponding to each other, the assembling end 42111 of the movable member 421 and the rotating member 4222 are mounted on the through holes of the movable member 421 and the rotating member 4222, and the assembling end 421 of the movable member 421 is fixed on the rotating member 4222 by nuts. Preferably, the movable member 421 is welded to the rotating member 4222. Preferably, the movable member 421 and the rotating member 4222 are of an integral structure. It should be understood by those skilled in the art that the embodiments of the movable member 421 and the rotating member 4222 are only illustrative and should not be construed as limiting the content and scope of the dung cleaner 100 and the charging device 40 thereof.
Referring to fig. 6A to 6E, further, the driving plate 210 includes a driving portion 211 and a mounting portion 212 integrally extending from the driving portion 211, wherein the driving portion 211 has a first driving side 2111 and a second driving side 2112, the mounting portion 212 has a first side 2121 and a second side 2122, the first driving side 2111 and the second driving side 2112 extend obliquely from the first side 2121 and the second side 2122 of the mounting portion 212, respectively, and a predetermined angle is formed between the first driving side 2111 and the second driving side 2112, that is, a cross-sectional area of the driving portion 211 gradually increases from an end of the driving portion 211 toward the mounting portion 212. So that the movable member 421 of the opening and closing unit 420 rotates in a direction moving along the extending direction of the first driving side 2111 and the second driving side 2112 of the driving portion 211.
In a specific example of the present invention, the specific number of the movable members 421 is implemented as two. The two movable members 421 are mounted in parallel to the frame 11 of the body 10 in such a manner that the mounting ends 421 of the movable members 421 approach each other, and when the edges of the two movable members 421 abut, the free ends 4212 of the movable members 421 approach each other, and the movable members 421 keep parallel, the openings 4214 and the accommodation cavities 4213 of the two movable members 421 communicate with each other, so as to form the accommodation space 4201. The movable member 421 is covered on the movable member 421, the shielding portion 4211 of the movable member 421 shields the charging surface 411 of the charging unit 410, and the surrounding portion 4212 of the movable member 421 shields the peripheral side of the charging unit 410. At this time, the charging unit 410 is hidden in the accommodating space 4201 of the opening and closing unit 420, and the opening and closing unit 420 is in the closed state.
After the side surfaces of the two movable members 421 of the opening and closing unit 420 of the charging device 40 respectively contact the first driving side surface 2111 and the second driving side surface 2112 of the driving portion 211, the dung cleaner 100 continuously moves back, the first driving side surface 2111 and the second driving side surface 2112 of the driving portion 211 push the two movable members 421 to respectively rotate clockwise and counterclockwise relative to the machine body 10, the two movable members 421 move back along the first driving side surface 2111 and the second driving side surface 2112 of the driving portion 211, the free ends 4212 of the two movable members 421 are away from each other, an included angle between the two movable members 421 is increased, and the charging surface 411 of the charging unit 410 is exposed. When the charging surface 411 of the charging unit 410 is facing the power supply surface 221 of the power supply unit 220, the charging surface 411 of the charging unit 410 can be electrically connected to the power supply surface 221 of the power supply unit 220 of the hydro-electric adapter 200, thereby obtaining the replenishment of the amount of electricity.
When the charging device 40 of the dung cleaner 100 charges and finishes, the dung cleaner 100 is along the preset path and travels forwards in a way of being far away from the hydroelectric adapter 200, the two movable pieces 421 automatically rotate in opposite directions respectively, the two movable pieces 421 move forwards along the first driving side 2111 and the second driving side 2112 of the driving portion 211, the two movable pieces 421 have free ends 4212 which are close to each other, and the included angle between the two movable pieces 421 is reduced. When the movable member 421 is away from the first driving side 2111 and the second driving side 2112 of the driving portion 211, the acting force of the first driving side 2111 and the second driving side 2112 on the movable member 421 is completely cancelled, the movable member 421 returns to the initial position, the movable member 421 is attached to each other, and the movable member 421 shields the charging surface 411 of the charging unit 410.
In other examples of the present invention, the number of the movable member 421 and the connecting member 422 of the opening and closing unit 421 of the charging device 40 of the dung pushing machine 100 may also be one, one movable member 421 may be rotatably retained below the charging surface 411 of the charging unit 410, and the charging surface 411 of the charging unit 410 may be shielded or exposed by driving the movable member 421 to rotate clockwise or counterclockwise. It should be understood by those skilled in the art that the specific embodiment of the opening and closing unit 420 is only an example and should not be construed as limiting the content and scope of the dung cleaner 100 and the charging device 40 according to the present invention.
According to another aspect of the present invention, the present invention further provides a navigation method of the dung-cleaner navigation system 100, wherein the navigation method comprises the following steps:
(a) inducing a plurality of magnetic traction elements 1100 disposed in an operation area by a magnetic induction element 1200 disposed in a dung cleaner 100;
(b) the dung cleaner 100 is drawn to travel along a predetermined path.
Specifically, in the above method, the magnetic sensor 1200 generates a position information according to a magnetic signal generated by the magnetic sensor 1200, and a control unit 1300 controls the dung cleaner 100 to travel along the predetermined path according to the position information. That is, the control unit 1300 can control the moving direction and the moving speed of the dung cleaner 100 according to the magnetic signal acquired by the magnetic induction element 1200.
In an embodiment of the present invention, in the above method, further comprising the step of: the predetermined path is formed by a plurality of the magnetic traction elements 1200 spaced apart from each other.
In an embodiment of the present invention, in the above method, further comprising the step of: the predetermined path is formed by a plurality of the magnetic traction elements 1200 in series.
It will be appreciated by persons skilled in the art that the above embodiments are only examples, wherein features of different embodiments may be combined with each other to obtain embodiments which are easily conceivable in accordance with the disclosure of the invention, but which are not explicitly indicated in the drawings.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.

Claims (16)

1. The utility model provides a clear excrement machine navigation, is applicable to and pulls clear excrement machine and remove along a preset route in an operation area, its characterized in that clear excrement machine navigation includes:
a plurality of magnetic traction elements, wherein the magnetic traction elements are disposed within the work area and are positioned on the predetermined route, the magnetic traction elements being capable of generating a magnetic signal;
a magnetic induction element, wherein the magnetic induction element is arranged on the dung cleaner and can induce the magnetic traction element and acquire the magnetic signal; and
a control unit, wherein the control unit is communicably connected to the dung cleaning unit and the magnetic induction element, and the control unit controls the dung cleaning machine to move along the preset route in the operation area according to the magnetic signal acquired by the magnetic induction element.
2. A dung cleaner navigation system according to claim 1, wherein the magnetic traction element is continuously disposed within the work area.
3. A dung cleaner navigation system according to claim 1, wherein the magnetic traction elements are arranged spaced apart from each other in the working area.
4. A dung-cleaner navigation system according to claim 2, wherein the magnetic traction element is a magnetic peg.
5. A dung-cleaner navigation system according to claim 3, wherein the magnetic traction element is a magnetic strip.
6. A dung cleaner navigation system according to claim 1, wherein the magnetic induction element is a magnetic sensor.
7. A dung cleaner navigation system according to claim 6, wherein the magnetic induction element is mounted at the bottom of the dung cleaner.
8. A dung cleaner navigation system according to claim 6, wherein the magnetic induction element is mounted to a side of the dung cleaner.
9. The dung cleaner navigation system of any one of claims 1-8, wherein the magnetic traction element extends from an operating area to a charging watering area, the magnetic traction element drawing the dung cleaner to move between the operating area and the charging watering area.
10. A dung cleaner navigation system according to claim 9, wherein the dung cleaner includes a body, a dung cleaner and a charging device, wherein the dung cleaner is mounted to the body, wherein the charging device includes a charging unit and an opening and closing unit, wherein the charging unit is electrically connected to the body and the dung cleaner, the opening and closing unit is rotatably held below the charging unit, the opening and closing unit is capable of being driven to switch from a closed state to an open state and expose the charging surface of the charging unit, and when an acting force driving the opening and closing unit is weakened or cancelled, the opening and closing unit automatically switches from the open state to the closed state and shields the charging surface of the charging unit.
11. A navigation system of a dung cleaner according to claim 10, wherein the dung cleaner further includes a water tank including a tank body and a protective cover, wherein the tank body has a water storage chamber and a water inlet communicating with the water storage chamber, the protective cover is rotatably mounted to the tank body, the tank body is disposed in the body, the protective cover is capable of being driven to switch from a shielding state to an exposing state to expose the water inlet of the tank body, and the protective cover automatically switches from the exposing state to the shielding state to shield the water inlet of the tank body after an action force for driving the protective cover is removed or weakened.
12. A navigation method of a dung cleaner navigation system is characterized by comprising the following steps:
(a) inducing a plurality of magnetic traction elements arranged in an operation area by a magnetic induction element arranged in a dung cleaner; and
(b) and dragging the dung cleaner to travel along a preset path.
13. A navigation method according to claim 12, wherein in said method, said magnetic induction element obtains a magnetic signal of said magnetic traction element, and a control unit controls said dung cleaning machine to travel along said predetermined route according to said magnetic signal.
14. A navigation method as set forth in claim 13 wherein said predetermined course is formed by a plurality of said magnetic traction elements spaced from one another in said method.
15. A navigation method as set forth in claim 13 wherein said predetermined path is formed by a plurality of said magnetic traction elements in series in said method.
16. A navigation method according to any one of claims 12 to 15, wherein in said method said dung cleaning machine is towed automatically to move between said working area and a watering charging area.
CN201911410954.9A 2019-12-31 2019-12-31 Navigation system and navigation method of dung cleaner Pending CN112470946A (en)

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