CN114055469B - Electronic control type leaky floor cleaning and disinfecting robot system, method, medium and terminal - Google Patents

Electronic control type leaky floor cleaning and disinfecting robot system, method, medium and terminal Download PDF

Info

Publication number
CN114055469B
CN114055469B CN202111362561.2A CN202111362561A CN114055469B CN 114055469 B CN114055469 B CN 114055469B CN 202111362561 A CN202111362561 A CN 202111362561A CN 114055469 B CN114055469 B CN 114055469B
Authority
CN
China
Prior art keywords
cleaning
robot
pressure water
control
disinfecting
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
Application number
CN202111362561.2A
Other languages
Chinese (zh)
Other versions
CN114055469A (en
Inventor
谢秋菊
张子涵
于海明
张凯
李东宇
包军
刘洪贵
秦伟秦
冯耀峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Northeast Agricultural University
Original Assignee
Northeast Agricultural University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Northeast Agricultural University filed Critical Northeast Agricultural University
Priority to CN202111362561.2A priority Critical patent/CN114055469B/en
Publication of CN114055469A publication Critical patent/CN114055469A/en
Application granted granted Critical
Publication of CN114055469B publication Critical patent/CN114055469B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
    • A61L2/18—Liquid substances or solutions comprising solids or dissolved gases
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/24—Apparatus using programmed or automatic operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/26—Accessories or devices or components used for biocidal treatment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/065—Multi-track vehicles, i.e. more than two tracks
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
    • A61L2202/10—Apparatus features
    • A61L2202/14—Means for controlling sterilisation processes, data processing, presentation and storage means, e.g. sensors, controllers, programs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
    • A61L2202/10—Apparatus features
    • A61L2202/15—Biocide distribution means, e.g. nozzles, pumps, manifolds, fans, baffles, sprayers

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Epidemiology (AREA)
  • Chemical & Material Sciences (AREA)
  • General Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Cleaning In General (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Abstract

The invention belongs to the technical fields of robots, automatic control, internet of things, wireless communication and farm cleaning and disinfection, and discloses an electric control type floor cleaning and disinfection robot system, a method, a medium and a terminal, wherein the electric control type floor cleaning and disinfection robot system with a horizontal rotating steel brush consists of a robot control platform and a cleaning and disinfection system with a horizontal rotating steel brush; the robot control platform consists of a crawler-type running device, a power supply system, a control system and an image feedback system; the cleaning and disinfecting system with the horizontal rotary steel brush consists of a horizontal steel brush cleaning system, a high-pressure water gun cleaning and disinfecting system and a control system. The invention can not only regularly finish the conventional cleaning and disinfection and the intelligent fixed-point cleaning and disinfection of the pigsty environment, but also can enter into the manure pit to clean and disinfect the leaky floor. The system can not only clean and disinfect the pigsty environment, but also clean and disinfect other livestock and poultry environments.

Description

Electronic control type leaky floor cleaning and disinfecting robot system, method, medium and terminal
Technical Field
The invention belongs to the technical fields of robots, automatic control, internet of things, wireless communication and farm cleaning and disinfection, and particularly relates to an electric control type leaky floor cleaning and disinfection robot system with a horizontal rotary steel brush, a method, a medium and a terminal.
Background
In recent years, along with the improvement of the living standard of people, the demands of people for live pig products are increased year by year, and the development progress of live pig cultivation to scale, intensification and modernization is accelerated. Along with the continuous increase of the market scale of live pig products and the continuous expansion of the circulation range, the prevention and control of live pig breeding epidemic diseases also tend to be complicated, especially some viral infectious diseases, once the live pig breeding epidemic diseases occur in a farm, the live pig breeding epidemic diseases are difficult to control, a large number of live pigs are often killed, and the live pigs are seriously lost in the farm. In addition, if the pigs died of illness are not treated and disinfected in time, viruses can be transmitted to other healthy pigs, and unnecessary losses are caused. Therefore, in production, stable production benefits are obtained, the ground soil, the excrement, the sewage, the fur, facility equipment and dead pig carcasses of the pig house must be thoroughly disinfected periodically, and a scientific disinfection method is adopted to kill pathogenic microorganisms with infectious agents scattered in the external environment, cut off the transmission path, prevent epidemic diseases from continuously spreading and ensure healthy and stable development of the breeding industry.
In modern pig farms, a leaky floor is usually laid on a manure pit to keep the interior of the pit clean and sanitary, improve the environmental conditions and reduce the manual cleaning workload. However, the cleaning and the disinfection of the leaky floor are very difficult, especially the leaky floor facing the excrement and urine ditch surface cannot be cleaned and disinfected at all without special machinery. If the leaky floor is not cleaned for a long time, a large amount of excrement and urine are hardened on the surface of the leaky floor, a large amount of viruses and bacteria are bred, and living environment of live pigs and epidemic prevention and control are seriously affected.
At present, most pig houses are still cleaned and disinfected manually, and the cleaning and disinfecting mode is time-consuming, labor-consuming, low in efficiency and high in production cost, and workers are in a severe environment with high humidity and harmful gases such as ammonia and hydrogen sulfide for a long time, so that the workers are seriously injured in mind and body. Therefore, there is a need to design a new leaky floor cleaning and disinfecting robot system.
Through the above analysis, the problems and defects existing in the prior art are as follows: the existing method for manually cleaning and disinfecting the pigsty is time-consuming, labor-consuming, low in efficiency and high in production cost, and workers are in a severe environment with high humidity and harmful gases such as ammonia gas, hydrogen sulfide and the like for a long time, so that the workers are seriously injured in mind and body; the cleaning and disinfection of the leaky floor is very difficult, especially the leaky floor facing the excrement and urine ditch surface cannot be cleaned and disinfected at all without special machinery. If the leaky floor is not cleaned for a long time, a large amount of excrement and urine are hardened on the surface of the leaky floor, a large amount of viruses and bacteria are bred, and living environment of live pigs and epidemic prevention and control are seriously affected.
The difficulty of solving the problems and the defects is as follows: (1) The excrement and urine stain which are hardened on the leaky floor can be loosened without the help of the action of mechanical friction force; (2) Only part of loose feces and urine stain falls off from the leaky floor under the action of mechanical friction force, and the loose feces and urine stain is difficult to clean without a high-pressure water gun; (3) Because the space in the excrement and urine ditch is narrow, the cleaning and disinfection work can not be completed only by manpower; (4) The pig house has high humidity and high concentration of harmful gases such as ammonia and hydrogen sulfide, and ventilation cannot be performed particularly in spring and winter, and the pig house has higher humidity and high concentration of harmful gases such as ammonia and hydrogen sulfide.
The meaning of solving the problems and the defects is as follows: the electronic control type floor cleaning and disinfecting robot system with the horizontal rotary steel brush can improve the working efficiency, reduce the production cost, ensure the physical and psychological health of staff, can conveniently clean and disinfect the floor with the floor facing the excrement and urine ditch, and achieves the aim of cleaning under the combined action of mechanical friction force and a high-pressure water gun.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an electric control type leaky floor cleaning and disinfecting robot system with a horizontal rotary steel brush, a method, a medium and a terminal, and particularly relates to an electric control type leaky floor cleaning and disinfecting robot system with a horizontal rotary steel brush and a control method thereof, which are suitable for a live pig farm.
The invention discloses an electric control type leaky floor cleaning and disinfecting robot system with a horizontal rotating steel brush, which consists of a robot control platform and a cleaning and disinfecting system with the horizontal rotating steel brush.
The robot control platform consists of a crawler-type running device, a power supply system, a platform control system and an image return system; when the robot control platform works, the platform control system controls the robot control platform to move forwards, backwards and turn left and right, the image feedback system monitors the working environment of the robot control platform in real time and wirelessly transmits the working environment to the display monitoring system, and an operator can grasp the working condition of the robot control platform in real time and adjust the working condition in time according to the image transmitted by the image feedback system, so that the robot control platform can maintain a correct working state;
the cleaning and disinfecting system with the horizontal rotary steel brush consists of a horizontal steel brush cleaning system, a high-pressure water gun cleaning and disinfecting system and a cleaning and disinfecting control system; when in cleaning, according to the actual working requirement, the lifting system in the horizontal steel brush cleaning system is controlled by the cleaning and disinfecting control system to move up and down, so that the cleaning assembly is kept at a proper working position; meanwhile, the cleaning and disinfecting control system controls the horizontal steel wire brush in the horizontal steel brush cleaning system to rotate anticlockwise or clockwise so as to finish the cleaning work of the steel wire brush; the cleaning and sterilizing control system also adjusts a mechanical arm in the high-pressure water gun cleaning and sterilizing system in real time, so that the height, the angle, the left-right swing amplitude and the frequency of the high-pressure spray head are kept in a proper working state, and pig manure stains remained on a leaky floor after the cleaning assembly is cleaned; during disinfection, the cleaning and disinfecting control system controls the mechanical arm in the high-pressure water gun cleaning and disinfecting system, so that the height, the angle, the left-right swing amplitude and the frequency of the high-pressure spray head are kept in normal working states, and the leaky floor is disinfected.
Further, the automatically controlled formula leak floor cleaning and disinfecting robot system with horizontal rotation steel brush still includes water pump motor assembly, driving motor, belt pulley, receipts pipe support, high-pressure water pipe, lead screw base, trapezoidal lead screw, transmission shaft, right angle commutator, track robot, arm, high-pressure shower nozzle, lower support base, horizontal steel brush, servo motor, crawler-type running gear, support column, supporting beam and upper backup pad.
Further, the robot control platform includes:
(1) Robot walking device
The robot walking device is crawler-type and consists of a driving wheel, a speed reducer, a driving motor, a thrust wheel, a guide wheel, a riding wheel, a tensioning device, a buffer spring, a walking mechanism and a crawler; the crawler belt is made of high-quality rubber embedded with Kevlar fibers, the width of the crawler belt is 200mm, and the center distance is 850mm; the driving motor is a 48V direct current brushless motor; the driving wheel is made of medium carbon steel, namely No. 40 steel, and is connected with the speed reducer for providing driving force for the robot to walk; the function of the supporting belt wheel is to drag the crawler belt, prevent the crawler belt from sagging too much, reduce the jolt phenomenon of the crawler belt in the motion, and prevent the crawler belt from sliding sideways; the number of the riding wheels on one side of the walking device is 2, and the walking device consists of a solid rubber rim and a steel wheel disc; the tensioning device is used for realizing the tensioning function of the crawler belt; the buffer spring is used for matching with the tensioning device to realize the elastic tensioning function of the crawler belt; the guide wheels are used for guiding the crawler belt to revolve correctly, so as to prevent deviation and derailment; the guide wheel is formed by processing medium carbon steel; the supporting wheels are used for supporting the weight of the robot, and the crawler belt advances along the wheels; the number of the thrust wheels on one side of the running gear is 5, and the running gear is formed by processing a polyoxymethylene POM material; the travelling mechanism comprises a crawler chassis body, and is a driving wheel, a speed reducer, a driving motor, a supporting wheel, a guide wheel, a supporting wheel, a tensioning device and a buffer spring carrier platform, so that the guide wheel and the supporting wheel are convenient to fix and install; the walking device is made of stainless steel materials.
(2) Platform control system
The control system realizes wireless and motion control of the robot by using a remote control mode and consists of a wireless control system, a motion control system and a control center.
(3) Image return system
The image return system is a system for real-time monitoring by taking a mobile phone as terminal display equipment, and comprises a camera, a wireless module and a terminal display; and the camera acquires data and transmits the data through the wireless module, and finally the data are displayed on a terminal display of the mobile phone.
(4) Power supply system
The robot power supply system consists of 1 block of 48v lithium battery, 1 block of 24v lithium battery, a cooling system, other accessories and the like; wherein the 48v lithium battery is used for providing electric energy for the robot walking device; the 24v lithium battery is used for providing electric energy for the image return system, the mechanical arm driving motor and the cleaning and disinfecting system.
Further, the platform control system includes:
1) Wireless control system
The wireless control system consists of a data detection center, a Hadoop cloud platform and a mobile client; the data monitoring center is used for storing real-time state data of the robot into the server and sending a control instruction to the robot; the Hadoop cloud platform is used for calculating robot data parameters; the mobile client is used for monitoring and controlling the robot in real time.
2) Motion control system
The motion control system consists of a motion control module, a brushless motor and other auxiliary components; the brushless motor is connected with the motion control module and used for realizing speed closed-loop control, and the motion control module is connected with the control center; when the robot is in operation, the remote wireless control is used for sending out an instruction, the control center receives an instruction transmission signal to the motion control module, and the motion control module controls the motor to work, so that the control of the motion of the robot is realized.
3) Control center
The control center adopts a DSP TMS320F2812 microprocessor as a controller and is used for acquiring instructions sent by the cloud platform and realizing various control functions through an I/O port.
Further, the cleaning and disinfecting system with a horizontally rotating steel brush includes:
(1) Horizontal steel brush cleaning system
The horizontal steel brush cleaning system consists of a cleaning assembly, a lifting system and other accessory accessories; the cleaning assembly consists of 4 horizontal steel wire brushes, 4 servo motors, 3 lower support bases, 1 upper support plate, 1 support beam and 6 support columns; the diameter of the horizontal steel wire brush is 360mm, the thickness of the horizontal steel wire brush is 100mm, and the axial distance between every two adjacent steel wire brushes is 380mm; the lower support base and the upper support plate are both formed by processing stainless steel with the thickness of 5 mm; the supporting beam is formed by processing a stainless steel pipe with the thickness of 40 multiplied by 100 multiplied by 2 mm; the support column is formed by processing a stainless steel pipe with the diameter of 25.4mm and the thickness of 2 mm; the servo motor is a 24v direct current brushless waterproof motor; the lifting system consists of a T-shaped threaded lifter, a speed reduction transmission system and other accessory accessories; the T-shaped threaded lifter consists of 2 screw bases and 2 trapezoidal screws; the speed reduction transmission system consists of 3 transmission shafts, 1 right-angle commutator, 1 servo motor and other accessories; the lifting system is used for realizing up-and-down movement of the cleaning and disinfecting system and meeting the cleaning and disinfecting requirements.
(2) Cleaning and sterilizing system for high-pressure water gun
The high-pressure water gun cleaning system consists of a water pump motor assembly, a high-pressure water pipe storage system and a high-pressure water gun injection system and is used for completing independent cleaning and independent disinfection or completing cleaning and disinfection of a leaky floor by matching with a horizontal steel brush cleaning system; the water pump motor assembly consists of a high-pressure water pump, a driving motor and accessories and is used for providing high-pressure water for the high-pressure water gun cleaning system, and the high-pressure water pump can provide water pressure of 15Mpa at most; the high-pressure water pipe storage system consists of a driving motor, a belt pulley, a belt, a high-pressure water pipe, a storage shielding spoke and a storage pipe winding shaft, and is used for orderly, regularly and automatically winding the high-pressure water pipe on the storage pipe winding shaft or automatically releasing the high-pressure water pipe when the cleaning and disinfecting robot system works, so that the cleaning and disinfecting robot system is ensured to work; the high-pressure water gun spraying system consists of a high-pressure spray head, a mechanical arm and a high-pressure water pipe and is used for realizing fixed-point cleaning and disinfection under the drive of the mechanical arm and completing the cleaning work of a leaky floor by means of left-right swing and matching with a horizontal steel brush cleaning system.
(3) Cleaning and sterilizing control system
The device consists of a water pump motor assembly control module, a high-pressure water pipe storage system motor control module, a high-pressure water gun injection system motor control module, a lifting system motor control module, a horizontal steel brush cleaning assembly motor control module, a wireless transmission receiving control module, a control display screen/mobile phone and a software system, and is used for controlling the water pump motor assembly, the high-pressure water pipe storage system, the high-pressure water gun injection system, the lifting system and the horizontal steel brush cleaning assembly through wireless remote operation of the display screen/mobile phone.
Another object of the present invention is to provide a control method of an electronically controlled leaky floor cleaning and sterilizing robot system with a horizontal rotary steel brush, to which the electronically controlled leaky floor cleaning and sterilizing robot system with a horizontal rotary steel brush is applied, comprising the steps of:
step one, a cleaning process: when the robot works forwards, the robot control platform is started by the mobile client, so that the robot control platform walks forwards along the central line of the excrement and urine ditch;
step two, a disinfection process: after the robot finishes cleaning the dirt such as the pig manure on the leaky floor, the robot control platform is controlled by the mobile client to walk backwards along the central line of the manure pit.
Further, in the first step, the cleaning process includes:
when the robot works forwards, the robot control platform is started by the mobile client, so that the robot control platform walks forwards along the central line of the excrement and urine ditch; meanwhile, the electric valve of the water tank is opened by controlling the display screen/the mobile phone, the electric valve of the disinfection liquid medicine tank is closed, the water pump motor assembly is started, the pressure regulating valve on the high-pressure water pump is regulated, high-pressure water meeting the working requirement is provided for the high-pressure water gun injection system, and the pressure regulating range is 0-15 Mpa; the driving motor in the high-pressure water pipe storage system is started by controlling the display screen/mobile phone, the storage pipe winding shaft is driven to rotate by the belt pulley and the belt, so that the high-pressure water pipe wound on the storage pipe winding shaft is loosened, and the high-pressure water pipe slides forwards along the central line of the excrement and urine ditch along with the robot control platform under the action of the traction force of the robot control platform; the servo motor in the lifting system is started by controlling the display screen/mobile phone, and the trapezoidal screw rod is driven to move up and down by the right-angle reverser and the transmission shaft, so that the horizontal steel wire brush in the cleaning assembly stays at the optimal working position; the servo motor in the cleaning assembly is started by controlling the display screen/the mobile phone to drive the horizontal steel wire brush to rotate, so that stains such as pig manure attached to the bottom of the leaky floor are loosened and shed under the action of friction force; the motor in the mechanical arm is started by controlling the display screen/the mobile phone, so that the mechanical arm is adjusted to a proper height, the high-pressure spray head is driven to swing left and right, and loose and residual spots such as pig manure attached to the bottom surface of the leaky floor under the action of the horizontal steel wire brush are washed, so that the aim of cleaning is fulfilled; the cleaning work of the leaky floor is completed through the operation, so that the aim of cleaning is fulfilled; after the leaky floor is cleaned, the whole working system is restored to the initial working state by moving the client, so that the preparation work is prepared for the next step of leaky floor disinfection.
In the second step, the disinfection process includes:
after the robot finishes cleaning the dirt such as the pig manure on the leaky floor, the robot control platform is controlled by the mobile client to walk backwards along the central line of the manure pit. Meanwhile, the electric valve of the water tank is closed by controlling the display screen/the mobile phone, the electric valve of the disinfection liquid medicine tank is opened, the water pump motor assembly is started, the pressure regulating valve on the high-pressure water pump is regulated, and high-pressure liquid medicine meeting the working requirement is provided for the high-pressure water gun injection system; the driving motor in the high-pressure water pipe storage system is started through controlling the display screen/mobile phone, the storage pipe winding shaft is driven to rotate through the belt pulley and the belt, the high-pressure water pipe is wound on the storage pipe winding shaft, and the winding speed of the high-pressure water pipe wound on the storage pipe winding shaft is adapted to the running speed of the robot control platform through adjusting the rotating speed of the driving motor; the motor in the mechanical arm is started by controlling the display screen/the mobile phone, so that the mechanical arm is adjusted to a proper height, the high-pressure spray head is driven to swing left and right, and the disinfectant sprayed from the high-pressure spray head is uniformly sprayed on the surface of the cleaned leaky floor without dead angles, thereby completing the disinfection work of the leaky floor.
It is a further object of the present invention to provide a computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of:
(1) The cleaning process comprises the following steps: when the robot works forwards, the robot control platform is started by the mobile client, so that the robot control platform walks forwards along the central line of the excrement and urine ditch; meanwhile, the electric valve of the water tank is opened by controlling the display screen/the mobile phone, the electric valve of the disinfection liquid medicine tank is closed, the water pump motor assembly is started, the pressure regulating valve on the high-pressure water pump is regulated, high-pressure water meeting the working requirement is provided for the high-pressure water gun injection system, and the pressure regulating range is 0-15 Mpa; the driving motor in the high-pressure water pipe storage system is started by controlling the display screen/mobile phone, the storage pipe winding shaft is driven to rotate by the belt pulley and the belt, so that the high-pressure water pipe wound on the storage pipe winding shaft is loosened, and the high-pressure water pipe slides forwards along the central line of the excrement and urine ditch along with the robot control platform under the action of the traction force of the robot control platform; the servo motor in the lifting system is started by controlling the display screen/mobile phone, and the trapezoidal screw rod is driven to move up and down by the right-angle reverser and the transmission shaft, so that the horizontal steel wire brush in the cleaning assembly stays at the optimal working position; the servo motor in the cleaning assembly is started by controlling the display screen/the mobile phone to drive the horizontal steel wire brush to rotate, so that stains such as pig manure attached to the bottom of the leaky floor are loosened and shed under the action of friction force; the motor in the mechanical arm is started by controlling the display screen/the mobile phone, so that the mechanical arm is adjusted to a proper height, the high-pressure spray head is driven to swing left and right, and loose and residual spots such as pig manure attached to the bottom surface of the leaky floor under the action of the horizontal steel wire brush are washed, so that the aim of cleaning is fulfilled; the cleaning work of the leaky floor is completed through the operation, so that the aim of cleaning is fulfilled; after the leaky floor is cleaned, the whole working system is restored to the initial working state by moving the client, so that the preparation work is prepared for the next step of leaky floor disinfection.
(2) And (3) a disinfection process: after the robot finishes cleaning the dirt such as the pig manure on the leaky floor, the robot control platform is controlled by the mobile client to walk backwards along the central line of the manure pit. Meanwhile, the electric valve of the water tank is closed by controlling the display screen/the mobile phone, the electric valve of the disinfection liquid medicine tank is opened, the water pump motor assembly is started, the pressure regulating valve on the high-pressure water pump is regulated, and high-pressure liquid medicine meeting the working requirement is provided for the high-pressure water gun injection system; the driving motor in the high-pressure water pipe storage system is started through controlling the display screen/mobile phone, the storage pipe winding shaft is driven to rotate through the belt pulley and the belt, the high-pressure water pipe is wound on the storage pipe winding shaft, and the winding speed of the high-pressure water pipe wound on the storage pipe winding shaft is adapted to the running speed of the robot control platform through adjusting the rotating speed of the driving motor; the motor in the mechanical arm is started by controlling the display screen/the mobile phone, so that the mechanical arm is adjusted to a proper height, the high-pressure spray head is driven to swing left and right, and the disinfectant sprayed from the high-pressure spray head is uniformly sprayed on the surface of the cleaned leaky floor without dead angles, thereby completing the disinfection work of the leaky floor.
Another object of the present invention is to provide a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
(1) The cleaning process comprises the following steps: when the robot works forwards, the robot control platform is started by the mobile client, so that the robot control platform walks forwards along the central line of the excrement and urine ditch; meanwhile, the electric valve of the water tank is opened by controlling the display screen/the mobile phone, the electric valve of the disinfection liquid medicine tank is closed, the water pump motor assembly is started, the pressure regulating valve on the high-pressure water pump is regulated, high-pressure water meeting the working requirement is provided for the high-pressure water gun injection system, and the pressure regulating range is 0-15 Mpa; the driving motor in the high-pressure water pipe storage system is started by controlling the display screen/mobile phone, the storage pipe winding shaft is driven to rotate by the belt pulley and the belt, so that the high-pressure water pipe wound on the storage pipe winding shaft is loosened, and the high-pressure water pipe slides forwards along the central line of the excrement and urine ditch along with the robot control platform under the action of the traction force of the robot control platform; the servo motor in the lifting system is started by controlling the display screen/mobile phone, and the trapezoidal screw rod is driven to move up and down by the right-angle reverser and the transmission shaft, so that the horizontal steel wire brush in the cleaning assembly stays at the optimal working position; the servo motor in the cleaning assembly is started by controlling the display screen/the mobile phone to drive the horizontal steel wire brush to rotate, so that stains such as pig manure attached to the bottom of the leaky floor are loosened and shed under the action of friction force; the motor in the mechanical arm is started by controlling the display screen/the mobile phone, so that the mechanical arm is adjusted to a proper height, the high-pressure spray head is driven to swing left and right, and loose and residual spots such as pig manure attached to the bottom surface of the leaky floor under the action of the horizontal steel wire brush are washed, so that the aim of cleaning is fulfilled; the cleaning work of the leaky floor is completed through the operation, so that the aim of cleaning is fulfilled; after the leaky floor is cleaned, the whole working system is restored to the initial working state by moving the client, so that the preparation work is prepared for the next step of leaky floor disinfection.
(2) And (3) a disinfection process: after the robot finishes cleaning the dirt such as the pig manure on the leaky floor, the robot control platform is controlled by the mobile client to walk backwards along the central line of the manure pit. Meanwhile, the electric valve of the water tank is closed by controlling the display screen/the mobile phone, the electric valve of the disinfection liquid medicine tank is opened, the water pump motor assembly is started, the pressure regulating valve on the high-pressure water pump is regulated, and high-pressure liquid medicine meeting the working requirement is provided for the high-pressure water gun injection system; the driving motor in the high-pressure water pipe storage system is started through controlling the display screen/mobile phone, the storage pipe winding shaft is driven to rotate through the belt pulley and the belt, the high-pressure water pipe is wound on the storage pipe winding shaft, and the winding speed of the high-pressure water pipe wound on the storage pipe winding shaft is adapted to the running speed of the robot control platform through adjusting the rotating speed of the driving motor; the motor in the mechanical arm is started by controlling the display screen/the mobile phone, so that the mechanical arm is adjusted to a proper height, the high-pressure spray head is driven to swing left and right, and the disinfectant sprayed from the high-pressure spray head is uniformly sprayed on the surface of the cleaned leaky floor without dead angles, thereby completing the disinfection work of the leaky floor.
Another object of the present invention is to provide an information data processing terminal for implementing the electronically controlled leaky floor cleaning and disinfecting robot system with a horizontally rotating steel brush.
By combining all the technical schemes, the invention has the advantages and positive effects that: the invention develops an electric control type pig house leaky floor cleaning and disinfecting robot system with a horizontal rotary steel brush, which is suitable for pig house environments, especially for cleaning and disinfecting the leaky floor, by utilizing the technologies of artificial intelligence, sensors, automatic control, 5G communication, machining and the like. The robot not only can regularly finish the conventional cleaning and disinfection and the intelligent fixed-point cleaning and disinfection of the pigsty environment, but also can enter the excrement and urine ditch to clean and disinfect the leaky floor. The system can not only clean and disinfect the pigsty environment, but also clean and disinfect other livestock and poultry environments.
The invention provides an electric control type pig house leaky floor cleaning and disinfecting robot system with a horizontal rotary steel brush, which is characterized by comprising the following steps:
(1) One machine is multipurpose. The pig house leaky floor cleaning and disinfecting robot system has the functions of independently cleaning, independently disinfecting, and finishing the cleaning and disinfecting of the leaky floor by being matched with the horizontal steel brush cleaning system, and the like, can not only finish the cleaning and disinfecting work of the leaky floor and the opposite bottom surface of a pig manure urine ditch, but also finish the cleaning, the disinfecting work of the ground and the disinfecting work of the space of other livestock houses.
(2) The work which cannot be completed by manpower is completed. Because the space in the pig manure pit is narrow and the concentration of harmful gases such as ammonia, hydrogen sulfide, carbon dioxide and the like is high, uncomfortable cleaners enter the manure pit to work. The system can go deep into the pig manure pit through manual remote control to finish cleaning and disinfection work.
(3) Can avoid viral infectious diseases.
(4) Can protect the physical and mental health of the cleaner. The humidity in the cultivation house is high, and the cultivation house contains various harmful gases such as ammonia, hydrogen sulfide, carbon dioxide and the like, so that cleaners work in such severe environments and serious injuries to the bodies and the mind of the cleaners are required. By using the system, cleaning workers do not need to enter the breeding house, and the cleaning and disinfecting work can be completed through remote control outside the house.
(5) The working efficiency is improved, and the working cost is reduced. By manually cleaning a 2500-head pigsty, one person needs to work for 4-5 days. The robot system can be used for cleaning in about 1 day, which saves 3-4 days compared with manual cleaning, greatly improves the working efficiency and reduces the working cost.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a control method of an electronically controlled leaky floor cleaning and disinfecting robot system with a horizontally rotating steel brush, provided by an embodiment of the invention.
FIG. 2 is a schematic diagram of an electronically controlled leaky floor cleaning and sanitizing robot system with a horizontally rotating steel brush, provided in an embodiment of the invention;
in the figure: 1. a water pump motor assembly; 2. a driving motor; 3. a belt pulley; 4. collecting a pipe rack; 5. a high pressure water pipe; 6. a screw base; 7. a trapezoidal screw; 8. a transmission shaft; 9. a right angle commutator; 10. a track robot; 11. a mechanical arm; 12. a high pressure nozzle; 13. a lower support base; 14. a horizontal wire brush; 15. a servo motor; 16. a servo motor; 17. a crawler-type walking device; 18. a support column; 19. a support beam; 20. and an upper support plate.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Aiming at the problems existing in the prior art, the invention provides an electric control type leaky floor cleaning and disinfecting robot system with a horizontal rotary steel brush, and the invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the control method of the electronically controlled leaky floor cleaning and disinfecting robot system with a horizontal rotary steel brush provided by the embodiment of the invention comprises the following steps:
s101, cleaning: when the robot works forwards, the robot control platform is started by the mobile client, so that the robot control platform walks forwards along the central line of the excrement and urine ditch;
s102, a disinfection process: after the robot finishes cleaning the dirt such as the pig manure on the leaky floor, the robot control platform is controlled by the mobile client to walk backwards along the central line of the manure pit.
The technical scheme of the invention is further described below with reference to specific embodiments.
1. The invention develops an electric control type pig house leaky floor cleaning and disinfecting robot system with a horizontal rotary steel brush, which is suitable for pig house environments, especially for cleaning and disinfecting the leaky floor, by utilizing the technologies of artificial intelligence, sensors, automatic control, 5G communication, machining and the like. The robot not only can regularly finish the conventional cleaning and disinfection and the intelligent fixed-point cleaning and disinfection of the pigsty environment, but also can enter the excrement and urine ditch to clean and disinfect the leaky floor. The system can not only clean and disinfect the pigsty environment, but also clean and disinfect other livestock and poultry environments.
2. Scheme for the production of a semiconductor device
Integral structure
The electric control type pig house leaky floor cleaning and sterilizing robot system with the horizontal rotary steel brush mainly comprises a robot control platform and a cleaning and sterilizing system with the horizontal rotary steel brush, and the specific structure is shown in figure 2.
In the electronically controlled pig house leaky floor cleaning and disinfecting robot system with horizontal rotary steel brushes of fig. 2, 1. A water pump motor assembly; 2. a driving motor; 3. a belt pulley 4, a pipe frame is collected; 5. a high pressure water pipe; 6. a screw base; 7. a trapezoidal screw; 8. a transmission shaft; 9. a right angle commutator; 10. a track robot; 11. a mechanical arm; 12. a high pressure nozzle; 13. a lower support base; 14. a horizontal wire brush; 15. a servo motor; 16. a servo motor; 17. a crawler-type walking device; 18. a support column; 19. a support beam; 20. and an upper support plate.
1. Robot control platform
The robot control platform mainly comprises a crawler-type running gear 17, a power supply system, a platform control system, an image feedback system and the like.
(1) Robot walking device
The crawler-type running gear 17 is crawler-type, mainly comprises drive wheel, reduction gear, driving motor, thrust wheel, leading wheel, riding wheel, overspeed device tensioner, buffer spring, running gear and track etc. owing to the track has advantages such as turning radius is little, focus is low, coefficient of adhesion is big, makes the robot have good resistance to turning and downhill stability, can realize turning in less space, has increased the commonality of robot. The crawler belt is made of high-quality rubber embedded with Kevlar fibers, the width of the crawler belt is 200mm, and the center distance is 850mm. The driving motor is a 48V DC brushless motor. The driving wheel is made of medium carbon steel (No. 40 steel), and is mainly connected with a speed reducer to provide driving force for robot walking. The function of the riding wheel is to drag the crawler belt, prevent the crawler belt from sagging too much, reduce the jolt phenomenon of the crawler belt in the motion, and prevent the crawler belt from sliding sideways. The number of riding wheels on one side of the walking device is 2, and the walking device mainly comprises a solid rubber rim and a steel wheel disc. The main function of the tensioning device is to realize the tensioning function of the crawler belt and prevent the belt from falling. The buffer spring has the main function of matching with the tensioning device to realize the elastic tensioning function of the crawler belt. The guide wheel is used for guiding the crawler belt to revolve correctly, so that the deviation and the derailment can be prevented, and the height of the center of the guide wheel from the ground is favorable for lowering the center of gravity. The guide wheel is formed by processing medium carbon steel (No. 40 steel). The main function of the thrust wheel is to support the weight of the robot and allow the crawler to advance along the wheels. The number and arrangement of the thrust wheels are favorable for uniform distribution of the ground pressure of the crawler belt, and the number of the thrust wheels on one side of the running gear is 5, and the running gear is mainly formed by processing a Polyoxymethylene (POM) material. The running mechanism mainly comprises a crawler chassis body, and is a driving wheel, a speed reducer, a driving motor, a supporting wheel, a guide wheel, a supporting wheel, a tensioning device and a buffer spring carrier platform, so that the fixing and the installation of the guide wheel, the supporting wheel and the like are facilitated. The walking device is mainly made of stainless steel materials.
(2) Platform control system
The robot is mainly used for realizing wireless and motion control of the robot by a remote control mode, and comprises a wireless control system, a motion control system and a control center.
1) Wireless control system
The wireless control system consists of a data detection center, a Hadoop cloud platform and a mobile client. The main function of the data monitoring center is to store real-time state data of the robot into a server and send control instructions to the robot at the same time; the Hadoop cloud platform is mainly used for calculating robot data parameters; the mobile client monitors and controls the robot in real time.
2) Motion control system
The motion control system mainly comprises a motion control module, a brushless motor and other auxiliary components. The brushless motor is connected with the motion control module to realize speed closed-loop control, and the motion control module is connected with the control center. When the robot is in operation, the remote wireless control is used for sending out an instruction, the control center receives an instruction transmission signal to the motion control module, and the motion control module controls the motor to work, so that the control of the motion of the robot is realized.
3) Control center
The control center adopts a DSP TMS320F2812 microprocessor as a controller, can acquire instructions sent by the cloud platform, and realizes various control functions through an I/O port.
(3) Image return system
The image feedback system is a system for real-time monitoring by taking a mobile phone as a terminal display device. The image feedback system mainly comprises a camera, a wireless module and a terminal display. The camera collects data and transmits the data through the wireless module, and finally the data are displayed on a terminal display of the mobile phone.
(4) Power supply system
The robot power supply system mainly comprises 1 block of 48v lithium battery, 1 block of 24v lithium battery, a cooling system, other accessories and the like. The 48v lithium battery provides electric energy for the robot walking device; the 24v lithium battery provides electric energy for the image return system, the mechanical arm driving motor and the cleaning and disinfecting system.
2. Cleaning and disinfecting system with horizontal rotary steel brush
The cleaning and disinfecting system with the horizontal rotary steel brush mainly comprises a horizontal steel brush cleaning system, a high-pressure water gun cleaning and disinfecting system and a control system.
(1) Horizontal steel brush cleaning system
The horizontal steel brush cleaning system mainly comprises a cleaning assembly, a lifting system, other accessory accessories and the like. The cleaning assembly mainly comprises 4 horizontal steel wire brushes 14, 4 servo motors 15, 3 lower support bases 13, 1 upper support plate 20, 1 support beam 19 and 6 support columns 18. Wherein the diameter of the horizontal wire brush is 360mm, the thickness is 100mm, and the axial distance between the adjacent wire brushes is 380mm; the lower support base 13 and the upper support plate 20 are both processed by stainless steel with the thickness of 5 mm; the support beam 19 is formed by processing a stainless steel pipe with the diameter of 40 multiplied by 100 multiplied by 2 mm; the support column 18 is formed by processing a stainless steel tube with the diameter of 25.4mm and the thickness of 2 mm; the servo motor 15 is a 24v DC brushless waterproof motor. The lifting system mainly comprises a T-shaped threaded lifter, a speed reduction transmission system and other accessory accessories, wherein the T-shaped threaded lifter mainly comprises 2 screw bases 6, 2 trapezoidal screws 7 and the like; the speed reducing transmission system mainly comprises 3 transmission shafts 8, 1 right-angle commutator 9, 1 servo motor 16, other accessories and the like. The lifting system mainly realizes the up-and-down movement of the cleaning and disinfecting system and meets the cleaning and disinfecting requirements.
(2) Cleaning and sterilizing system for high-pressure water gun
The high-pressure water gun cleaning system mainly comprises a water pump motor assembly 1, a high-pressure water pipe storage system, a high-pressure water gun injection system and the like, and can be used for independently cleaning, independently disinfecting or matching with a horizontal steel brush cleaning system to finish cleaning and disinfecting the leaky floor. The water pump motor assembly 1 mainly comprises a high-pressure water pump, a driving motor and accessories, and provides high-pressure water for a high-pressure water gun cleaning system, wherein the high-pressure water pump can provide water pressure of 15Mpa at most; the high-pressure water pipe storage system mainly comprises a driving motor 2, a belt pulley 3, a belt, a high-pressure water pipe 5, storage shielding spokes, a storage pipe winding shaft and the like, and when the cleaning and disinfecting robot system works, the high-pressure water pipe can be orderly, orderly and automatically wound on the storage pipe winding shaft or automatically released, so that the cleaning and disinfecting robot system can work; the high-pressure water gun spraying system mainly comprises a high-pressure spray head 12, a mechanical arm 11, a high-pressure water pipe 5 and the like, and the high-pressure spray head can swing left and right to complete the cleaning work of a leaky floor in cooperation with a horizontal steel brush cleaning system besides realizing fixed-point cleaning and disinfection under the driving of the mechanical arm.
(3) Cleaning and sterilizing control system
The system mainly comprises a water pump motor assembly control module, a high-pressure water pipe storage system motor control module, a high-pressure water gun injection system motor control module, a lifting system motor control module, a horizontal steel brush cleaning assembly motor control module, a wireless transmission and reception control module, a control display screen/mobile phone, a software system and the like, and the control of the water pump motor assembly, the high-pressure water pipe storage system, the high-pressure water gun injection system, the lifting system and the horizontal steel brush cleaning assembly is completed through wireless remote operation of the display screen/mobile phone.
(II) working procedure
1. Cleaning process
When the robot works forwards, the robot control platform is started by the mobile client, so that the robot control platform walks forwards along the central line of the excrement and urine ditch. Meanwhile, the electric valve of the water tank is opened by controlling the display screen/the mobile phone, the electric valve of the disinfection liquid medicine tank is closed, the water pump motor assembly 1 is started, the pressure regulating valve on the high-pressure water pump is regulated, high-pressure water meeting the working requirement is provided for the high-pressure water gun injection system, and the pressure regulating range is 0-15 Mpa; the driving motor 2 in the high-pressure water pipe containing system is started by controlling the display screen/mobile phone, the containing pipe winding shaft is driven to rotate by the belt pulley 3 and the belt, so that the high-pressure water pipe 5 wound on the containing pipe winding shaft is loosened, and the high-pressure water pipe 5 slides forwards along the center line of the excrement and urine ditch along with the robot control platform under the action of the traction force of the robot control platform; the servo motor 16 in the lifting system is started by controlling the display screen/mobile phone, and the trapezoidal screw rod 7 is driven to move up and down by the right-angle reverser 9 and the transmission shaft 8, so that the horizontal steel wire brush 14 in the cleaning assembly stays at the optimal working position; the servo motor 15 in the cleaning assembly is started by controlling the display screen/mobile phone to drive the horizontal steel wire brush 14 to rotate, so that stains such as pig manure attached to the bottom of the leaky floor are loosened and shed under the action of friction force; the motor in the mechanical arm 11 is started by controlling the display screen/mobile phone, so that the mechanical arm is adjusted to a proper height, the high-pressure spray head 12 is driven to swing left and right, and loose and residual spots such as pig manure attached to the bottom surface of the leaky floor under the action of the horizontal steel wire brush are washed, so that the aim of cleaning is fulfilled. Through the operation, the cleaning work of the leaky floor is completed, and the aim of cleaning is fulfilled. After the leaky floor is cleaned, the whole working system is restored to the initial working state by moving the client, so that the preparation work is prepared for the next step of leaky floor disinfection.
2. Disinfection process
After the robot finishes cleaning the dirt such as the pig manure on the leaky floor, the robot control platform is controlled by the mobile client to walk backwards along the central line of the manure pit. Meanwhile, the electric valve of the water tank is closed by controlling the display screen/the mobile phone, the electric valve of the disinfection liquid medicine tank is opened, the water pump motor assembly 1 is started, the pressure regulating valve on the high-pressure water pump is regulated, and high-pressure liquid medicine meeting the working requirement is provided for the high-pressure water gun injection system; the driving motor 2 in the high-pressure water pipe containing system is started through controlling the display screen/mobile phone, the containing pipe winding shaft is driven to rotate through the belt pulley 3 and the belt, the high-pressure water pipe 5 is wound on the containing pipe winding shaft, and the winding speed of the high-pressure water pipe 5 wound on the containing pipe winding shaft is adapted to the running speed of the robot control platform through adjusting the rotating speed of the driving motor 2; the motor in the mechanical arm 11 is started by controlling the display screen/the mobile phone, so that the mechanical arm is adjusted to a proper height, the high-pressure spray head 12 is driven to swing left and right, and the disinfectant sprayed from the high-pressure spray head 12 is uniformly sprayed on the surface of the cleaned leaky floor without dead angles, thereby completing the disinfection work of the leaky floor.
The positive effects of the invention are further described below in connection with the characteristics of an electronically controlled pig house leaky floor cleaning and disinfecting robot system with a horizontally rotating steel brush.
1. One machine is multipurpose. The pig house leaky floor cleaning and disinfecting robot system has the functions of independently cleaning, independently disinfecting, and finishing the cleaning and disinfecting of the leaky floor by being matched with the horizontal steel brush cleaning system, and the like, can not only finish the cleaning and disinfecting work of the leaky floor and the opposite bottom surface of a pig manure urine ditch, but also finish the cleaning, the disinfecting work of the ground and the disinfecting work of the space of other livestock houses.
2. The work which cannot be completed by manpower is completed. Because the space in the pig manure pit is narrow and the concentration of harmful gases such as ammonia, hydrogen sulfide, carbon dioxide and the like is high, uncomfortable cleaners enter the manure pit to work. The system can go deep into the pig manure pit through manual remote control to finish cleaning and disinfection work.
3. Can avoid viral infectious diseases.
4. Can protect the physical and mental health of the cleaner. The humidity in the cultivation house is high, and the cultivation house contains various harmful gases such as ammonia, hydrogen sulfide, carbon dioxide and the like, so that cleaners work in such severe environments and serious injuries to the bodies and the mind of the cleaners are required. By using the system, cleaning workers do not need to enter the breeding house, and the cleaning and disinfecting work can be completed through remote control outside the house.
5. The working efficiency is improved, and the working cost is reduced. By manually cleaning a 2500-head pigsty, one person needs to work for 4-5 days. The robot system can be used for cleaning in about 1 day, which saves 3-4 days compared with manual cleaning, greatly improves the working efficiency and reduces the working cost.
In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front," "rear," "head," "tail," and the like are used as an orientation or positional relationship based on that shown in the drawings, merely to facilitate description of the invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When used in whole or in part, is implemented in the form of a computer program product comprising one or more computer instructions. When loaded or executed on a computer, produces a flow or function in accordance with embodiments of the present invention, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), etc.
The foregoing is merely illustrative of specific embodiments of the present invention, and the scope of the invention is not limited thereto, but any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present invention will be apparent to those skilled in the art within the scope of the present invention.

Claims (6)

1. The electric control type floor cleaning and disinfecting robot system with the horizontal rotating steel brush is characterized by comprising a robot control platform and a cleaning and disinfecting system with the horizontal rotating steel brush;
the robot control platform consists of a robot running device, a power supply system, a platform control system and an image feedback system; when the robot control platform works, the platform control system controls the robot control platform to move forwards, backwards and turn left and right, the image feedback system monitors the working environment of the robot control platform in real time and wirelessly transmits the working environment to the display monitoring system, and an operator can grasp the working condition of the robot control platform in real time and adjust the working condition in time according to the image transmitted by the image feedback system, so that the robot control platform can maintain a correct working state;
The cleaning and disinfecting system with the horizontal rotary steel brush consists of a horizontal steel brush cleaning system, a high-pressure water gun cleaning and disinfecting system and a cleaning and disinfecting control system; when in cleaning, according to the actual working requirement, the lifting system in the horizontal steel brush cleaning system is controlled by the cleaning and disinfecting control system to move up and down, so that the cleaning assembly is kept at a proper working position; meanwhile, the cleaning and disinfecting control system controls the horizontal steel wire brush in the horizontal steel brush cleaning system to rotate anticlockwise or clockwise so as to finish the cleaning work of the steel wire brush; the cleaning and sterilizing control system also adjusts a mechanical arm in the high-pressure water gun cleaning and sterilizing system in real time, so that the height, the angle, the left-right swing amplitude and the frequency of the high-pressure spray head are kept in a proper working state, and the cleaning assembly cleans pig manure stains remained on a leaky floor; during disinfection, the cleaning and disinfecting control system controls the mechanical arm in the high-pressure water gun cleaning and disinfecting system to keep the height, angle, left-right swing amplitude and frequency of the high-pressure spray head in a normal working state, so as to disinfect the leaky floor;
the electric control type floor cleaning and disinfecting robot system with the horizontal rotary steel brush further comprises a water pump motor assembly, a driving motor, a belt pulley, a pipe collecting rack, a high-pressure water pipe, a screw rod base, a trapezoidal screw rod, a transmission shaft, a right-angle reverser, a crawler-type travelling device, a mechanical arm, a high-pressure spray head, a lower support base, a horizontal steel brush, a servo motor, a crawler-type travelling device, a support column, a support beam and an upper support plate;
The robot control platform includes:
(1) Robot walking device
The robot running gear is a crawler running gear, which consists of a driving wheel, a speed reducer, a driving motor, a thrust wheel, a guide wheel, a riding wheel, a tensioning device, a buffer spring, a running mechanism and a crawler; the crawler belt is made of high-quality rubber embedded with Kevlar fibers, the width of the crawler belt is 200mm, and the center distance is 850mm; the driving motor is a 48V direct current brushless motor; the driving wheel is made of medium carbon steel, namely No. 40 steel, and is connected with the speed reducer for providing driving force for the robot to walk; the function of the supporting belt wheel is to drag the crawler belt, prevent the crawler belt from sagging too much, reduce the jolt phenomenon of the crawler belt in the motion, and prevent the crawler belt from sliding sideways; the number of the riding wheels on one side of the walking device is 2, and the walking device consists of a solid rubber rim and a steel wheel disc; the tensioning device is used for realizing the tensioning function of the crawler belt; the buffer spring is used for matching with the tensioning device to realize the elastic tensioning function of the crawler belt; the guide wheels are used for guiding the crawler belt to revolve correctly, so as to prevent deviation and derailment; the guide wheel is formed by processing medium carbon steel; the supporting wheels are used for supporting the weight of the robot, and the crawler belt advances along the wheels; the number of the thrust wheels on one side of the running gear is 5, and the running gear is formed by processing a polyoxymethylene POM material; the travelling mechanism comprises a crawler chassis body, and is a driving wheel, a speed reducer, a driving motor, a supporting wheel, a guide wheel, a supporting wheel, a tensioning device and a buffer spring carrier platform, so that the guide wheel and the supporting wheel are convenient to fix and install; the travelling mechanism is made of stainless steel materials;
(2) Platform control system
The wireless and motion control of the robot is realized by using a remote control mode, and the robot comprises a wireless control system, a motion control system and a control center;
(3) Image return system
The image return system is a system for real-time monitoring by taking a mobile phone as terminal display equipment, and comprises a camera, a wireless module and a terminal display; the camera acquires data and transmits the data through the wireless module, and finally the data are displayed on a terminal display of the mobile phone;
(4) Power supply system
The robot power supply system consists of 1 block of 48v lithium battery, 1 block of 24v lithium battery, a cooling system and other accessories; wherein the 48v lithium battery is used for providing electric energy for the robot walking device; the 24v lithium battery is used for providing electric energy for the image return system, the mechanical arm driving motor and the cleaning and disinfecting system;
the platform control system comprises:
1) Wireless control system
The wireless control system consists of a data detection center, a Hadoop cloud platform and a mobile client; the data monitoring center is used for storing real-time state data of the robot into the server and sending a control instruction to the robot; the Hadoop cloud platform is used for calculating robot data parameters; the mobile client is used for monitoring and controlling the robot in real time;
2) Motion control system
The motion control system consists of a motion control module, a brushless motor and other auxiliary components; the brushless motor is connected with the motion control module and is used for realizing speed closed-loop control, and the motion control module is connected with the control center; when the robot is in operation, a command is sent out through remote wireless control, a control center receives a command transmission signal to a motion control module, and the motion control module controls a motor to work, so that the motion of the robot is controlled;
3) Control center
The control center adopts a DSP TMS320F2812 microprocessor as a controller, and is used for acquiring instructions sent by the cloud platform and realizing various control functions through an I/O port;
the cleaning and disinfecting system with a horizontally rotating steel brush comprises:
(1) Horizontal steel brush cleaning system
The horizontal steel brush cleaning system consists of a cleaning assembly, a lifting system and other accessory accessories; the cleaning assembly consists of 4 horizontal steel wire brushes, 4 servo motors, 3 lower support bases, 1 upper support plate, 1 support beam and 6 support columns; the diameter of the horizontal steel wire brush is 360mm, the thickness of the horizontal steel wire brush is 100mm, and the axial distance between every two adjacent steel wire brushes is 380mm; the lower support base and the upper support plate are both formed by processing stainless steel with the thickness of 5 mm; the supporting beam is formed by processing a stainless steel pipe with the thickness of 40 multiplied by 100 multiplied by 2 mm; the support column is formed by processing a stainless steel pipe with the diameter of 25.4mm and the thickness of 2 mm; the servo motor is a 24v direct current brushless waterproof motor; the lifting system consists of a ladder-shaped thread lifter, a speed reduction transmission system and other accessory accessories; the ladder-shaped thread lifter consists of 2 screw bases and 2 ladder-shaped screws; the speed reduction transmission system consists of 3 transmission shafts, 1 right-angle commutator, 1 servo motor and other accessories; the lifting system is used for realizing up-and-down movement of the horizontal steel brush cleaning system;
(2) Cleaning and sterilizing system for high-pressure water gun
The high-pressure water gun cleaning system consists of a water pump motor assembly, a high-pressure water pipe storage system and a high-pressure water gun injection system and is used for completing independent cleaning and independent disinfection or completing cleaning and disinfection of a leaky floor by matching with a horizontal steel brush cleaning system; the water pump motor assembly consists of a high-pressure water pump, a driving motor and accessories and is used for providing high-pressure water for the high-pressure water gun cleaning system, and the high-pressure water pump can provide water pressure of 15Mpa at most; the high-pressure water pipe storage system consists of a driving motor, a belt pulley, a belt, a high-pressure water pipe, a storage shielding spoke and a storage pipe winding shaft, and is used for orderly, regularly and automatically winding the high-pressure water pipe on the storage pipe winding shaft or automatically releasing the high-pressure water pipe when the cleaning and disinfecting robot system works, so that the cleaning and disinfecting robot system is ensured to work; the high-pressure water gun spraying system consists of a high-pressure spray head, a mechanical arm and a high-pressure water pipe, and is used for realizing fixed-point cleaning and disinfection under the drive of the mechanical arm and completing the cleaning work of a leaky floor by swinging left and right and matching with a horizontal steel brush cleaning system;
(3) Cleaning and sterilizing control system
The system comprises a water pump assembly motor control module, a high-pressure water pipe storage system motor control module, a high-pressure water gun injection system motor control module, a lifting system motor control module, a horizontal steel brush cleaning assembly motor control module, a wireless transmission receiving control module, a control mobile phone and a software system, and is used for controlling the water pump motor assembly, the high-pressure water pipe storage system, the high-pressure water gun injection system, the lifting system and the horizontal steel brush cleaning assembly through a wireless remote operation mobile phone.
2. A method of controlling an electronically controlled leaky floor cleaning and sanitizing robot system with a horizontally rotating steel brush, employing an electronically controlled leaky floor cleaning and sanitizing robot system with a horizontally rotating steel brush as claimed in claim 1, said method comprising the steps of:
step one, a cleaning process: when the robot works forwards, the robot control platform is started by the mobile client, so that the robot control platform walks forwards along the central line of the excrement and urine ditch;
step two, a disinfection process: after the robot finishes cleaning the pig manure on the leaky floor, the mobile client controls the robot control platform to walk backwards along the central line of the manure pit.
3. The method of controlling an electronically controlled leaky floor cleaning and sanitizing robot system with a horizontally rotatable steel brush as claimed in claim 2, wherein in step one, said cleaning process includes:
when the robot works forwards, the robot control platform is started by the mobile client, so that the robot control platform walks forwards along the central line of the excrement and urine ditch; meanwhile, the water tank electric valve is opened by controlling the mobile phone, the disinfection liquid medicine tank electric valve is closed, the water pump motor assembly is started, the pressure regulating valve on the high-pressure water pump is regulated, high-pressure water meeting the working requirement is provided for the high-pressure water gun injection system, and the pressure regulating range is 0-15 mpa; the driving motor in the high-pressure water pipe accommodating system is started by controlling the mobile phone, the belt pulley and the belt are used for driving the accommodating pipe winding shaft to rotate, so that the high-pressure water pipe wound on the accommodating pipe winding shaft is loosened, and the high-pressure water pipe slides forwards along the center line of the excrement and urine ditch along with the robot control platform under the action of the traction force of the robot control platform; the servo motor in the lifting system is started by controlling the mobile phone, and the ladder-shaped lead screw is driven to move up and down by the right-angle reverser and the transmission shaft, so that the horizontal steel wire brush in the cleaning assembly stays at the optimal working position; the servo motor in the cleaning assembly is started by controlling the mobile phone to drive the horizontal steel wire brush to rotate, so that pig manure stains attached to the bottom of the leaky floor are loosened and shed under the action of friction force; the motor in the mechanical arm is started by controlling the mobile phone, so that the mechanical arm is adjusted to a proper height, the high-pressure spray head is driven to swing left and right, and pig manure stains which are loosened under the action of the horizontal steel wire brush and are left and attached to the bottom surface of the leaky floor are washed, so that the aim of cleaning is fulfilled; the cleaning work of the leaky floor is completed through the operation, so that the aim of cleaning is fulfilled; after the cleaning of the leaky floor is finished, the whole working system is restored to an initial working state by moving the client, so that the preparation work is prepared for the next step of the disinfection of the leaky floor;
In the second step, the disinfection process includes:
after the robot finishes cleaning the pig manure on the leaky floor, the mobile client controls the robot control platform to walk backwards along the central line of the manure pit; meanwhile, the water tank electric valve is closed by controlling the mobile phone, the disinfection liquid medicine tank electric valve is opened, the water pump motor assembly is started, the pressure regulating valve on the high-pressure water pump is regulated, and high-pressure liquid medicine meeting the working requirement is provided for the high-pressure water gun injection system; the driving motor in the high-pressure water pipe containing system is started through controlling the mobile phone, the containing pipe winding shaft is driven to rotate through the belt pulley and the belt, the high-pressure water pipe is wound on the containing pipe winding shaft, and the winding speed of the high-pressure water pipe wound on the containing pipe winding shaft is adapted to the running speed of the robot control platform through adjusting the rotating speed of the driving motor; the motor in the mechanical arm is started by controlling the mobile phone, so that the mechanical arm is adjusted to a proper height, the high-pressure spray head is driven to swing left and right, and the disinfectant sprayed from the high-pressure spray head is uniformly sprayed on the surface of the cleaned leaky floor without dead angles, so that the disinfection work of the leaky floor is completed.
4. A computer device, characterized in that the computer device comprises a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to carry out the control method as claimed in claim 3.
5. A computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the control method of the electronically controlled leaky floor cleaning and disinfecting robot system with horizontally rotating steel brush as claimed in any one of claims 2-3.
6. An information data processing terminal, characterized in that the information data processing terminal is used for realizing the functions of the electric control type leaky floor cleaning and disinfecting robot system with the horizontal rotary steel brush as claimed in claim 1.
CN202111362561.2A 2021-11-17 2021-11-17 Electronic control type leaky floor cleaning and disinfecting robot system, method, medium and terminal Active CN114055469B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111362561.2A CN114055469B (en) 2021-11-17 2021-11-17 Electronic control type leaky floor cleaning and disinfecting robot system, method, medium and terminal

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111362561.2A CN114055469B (en) 2021-11-17 2021-11-17 Electronic control type leaky floor cleaning and disinfecting robot system, method, medium and terminal

Publications (2)

Publication Number Publication Date
CN114055469A CN114055469A (en) 2022-02-18
CN114055469B true CN114055469B (en) 2023-11-14

Family

ID=80273261

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111362561.2A Active CN114055469B (en) 2021-11-17 2021-11-17 Electronic control type leaky floor cleaning and disinfecting robot system, method, medium and terminal

Country Status (1)

Country Link
CN (1) CN114055469B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114451311B (en) * 2022-02-22 2022-10-28 东北农业大学 Mechanical friction and hydraulic coupling type intelligent cleaning and disinfecting robot and system for leaky floor of pigsty

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1923467A (en) * 2006-09-22 2007-03-07 湖南大学 Underwater intelligent purification robot for large-scale condensing plant
CN102009046A (en) * 2010-10-15 2011-04-13 湖南大学 Intelligent mobile cleaning robot
CN103286108A (en) * 2013-05-16 2013-09-11 泰安泰山工程机械股份有限公司 Cleaning device for air supply pipelines
CN104858166A (en) * 2015-04-28 2015-08-26 国家电网公司 Emergency control system and method of live-washing robot for low-altitude insulator
CN206913934U (en) * 2017-06-26 2018-01-23 南京拜克医疗科技实业有限公司 A kind of medical film printer being moved easily
CN109248874A (en) * 2018-10-27 2019-01-22 贵州从江七香润泽农业发展有限公司 A kind of Congjiang perfume (or spice) pig cultivation pig house washing device
CN110142265A (en) * 2019-06-27 2019-08-20 陕西中建建乐智能机器人有限公司 A kind of wireless pipe cleaning robot
CN111297275A (en) * 2020-03-25 2020-06-19 上海电力大学 Multifunctional cleaning robot for washing and killing floor
CN111389793A (en) * 2020-06-08 2020-07-10 湖南翰坤实业有限公司 Enclose shelves cleaning robot
CN111468455A (en) * 2020-04-21 2020-07-31 鞍山极致创新科技有限公司 Pig farm excrement way cleaning robot
CN112352684A (en) * 2020-11-10 2021-02-12 济源市畜产品质量监测检验中心 Ground cleaning equipment for livestock breeding
WO2021165389A1 (en) * 2020-02-21 2021-08-26 Siemens Aktiengesellschaft Disinfection robot and disinfection robot control system

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10099735B2 (en) * 2016-11-01 2018-10-16 Cnh Industrial America Llc System and method for monitoring track tension for a track assembly of a work vehicle

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1923467A (en) * 2006-09-22 2007-03-07 湖南大学 Underwater intelligent purification robot for large-scale condensing plant
CN102009046A (en) * 2010-10-15 2011-04-13 湖南大学 Intelligent mobile cleaning robot
CN103286108A (en) * 2013-05-16 2013-09-11 泰安泰山工程机械股份有限公司 Cleaning device for air supply pipelines
CN104858166A (en) * 2015-04-28 2015-08-26 国家电网公司 Emergency control system and method of live-washing robot for low-altitude insulator
CN206913934U (en) * 2017-06-26 2018-01-23 南京拜克医疗科技实业有限公司 A kind of medical film printer being moved easily
CN109248874A (en) * 2018-10-27 2019-01-22 贵州从江七香润泽农业发展有限公司 A kind of Congjiang perfume (or spice) pig cultivation pig house washing device
CN110142265A (en) * 2019-06-27 2019-08-20 陕西中建建乐智能机器人有限公司 A kind of wireless pipe cleaning robot
WO2021165389A1 (en) * 2020-02-21 2021-08-26 Siemens Aktiengesellschaft Disinfection robot and disinfection robot control system
CN111297275A (en) * 2020-03-25 2020-06-19 上海电力大学 Multifunctional cleaning robot for washing and killing floor
CN111468455A (en) * 2020-04-21 2020-07-31 鞍山极致创新科技有限公司 Pig farm excrement way cleaning robot
CN111389793A (en) * 2020-06-08 2020-07-10 湖南翰坤实业有限公司 Enclose shelves cleaning robot
CN112352684A (en) * 2020-11-10 2021-02-12 济源市畜产品质量监测检验中心 Ground cleaning equipment for livestock breeding

Also Published As

Publication number Publication date
CN114055469A (en) 2022-02-18

Similar Documents

Publication Publication Date Title
CN114055469B (en) Electronic control type leaky floor cleaning and disinfecting robot system, method, medium and terminal
CN110496238B (en) Indoor disinfection cleaning trolley for hospital
KR101368090B1 (en) Operating method conveyance device for a spraying agricultural chemical
CN212880285U (en) Multi-angle disinfectant water spraying device for livestock disinfection
CN206227349U (en) A kind of automatic manure-cleaning band of the special energy cleaning and sterilizing of automatic breeding
CN111905127A (en) Self-walking type deep ultraviolet (UVC LED) poultry house sterilization and disinfection trolley
CN110547225B (en) A clear excrement collection egg device of birds house for poultry is bred
CN114451311B (en) Mechanical friction and hydraulic coupling type intelligent cleaning and disinfecting robot and system for leaky floor of pigsty
CN215961325U (en) Automatic epidemic prevention robot for pig farm
CN105210891A (en) Excrement device scraped by a kind of double excrement groove pig house
CN215269961U (en) Cleaning robot of plant
CN110150166B (en) Experimental animals cage for medical teaching
CN212593204U (en) Intelligent management unmanned spraying device
CN210900831U (en) Movable pigsty
CN112167079A (en) Full-automatic livestock breeding feeding device and method
CN209808427U (en) Automatic special hook for endoscopic thyroid surgery
CN220917810U (en) Animal epidemic disease prevention and control is with device that kills
CN108577700B (en) A belt cleaning device for pig house
CN216146970U (en) Quick cleaning device for animal husbandry breeding room
CN216500129U (en) Disinfection treatment device is bred to partridge
CN218420486U (en) Sterilizing device
CN216396840U (en) Agricultural spraying equipment
CN115089057B (en) Self-adaptive obstacle avoidance double-arm cleaning robot for livestock and poultry houses and operation method
CN220479494U (en) Livestock-raising apparatus cleaning and sterilizing device
CN218195151U (en) Intelligence pouity dwelling place management is with pouity dwelling place robot of patrolling and examining

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant