CN216701303U - A robot for rinsing pig - Google Patents

Abstract

The utility model discloses a robot for washing pigs, which comprises a main body, wherein the main body comprises a control module, a moving module, a washing module, an identification module and a drying module, the control module is used for controlling the working state of the robot, the moving module is used for receiving control information of the control module to move the robot, the identification module is used for identifying the position of the pigs in a pigsty, the drying module is arranged at the front end of the main body and is used for drying the pigs in the pigsty, the washing module comprises a spraying structure, a water pump and a water tank, the spraying structure is rotatably arranged at the front end of the main body, the water tank and the water pump are arranged in the main body, and the water tank is communicated with the spraying structure through the water pump. According to the washing and drying robot, the washing module and the drying module are arranged on the robot, so that the washing and drying robot can wash and dry pigs in a pigsty, and the practicability is high; rotate through spraying the structure and spray, the scope of spraying is big, improves work efficiency.

Description

A robot for rinsing pig

Technical Field

The utility model relates to the technical field of intelligent robots, in particular to a robot for washing pigs.

Background

With the popularization of the pig raising industry and the improvement of the modern pig raising technology, more and more technologies are applied to the technical field of raising, and the raising work of farmers becomes increasingly heavy while the raising amount of the farmers is increased, wherein the pig raising work is most strenuous and troublesome especially when the pigs are bathed. The traditional method for bathing the pigs is to directly spray the pigs through a fixedly arranged water pipe, and the pigs are living things, can move and are easy to move to places without water, so that the problem of incomplete washing can be solved; or to drive the pigs to a special device for washing, which is time-consuming and labor-intensive.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems, the utility model discloses a robot for washing pigs, which is provided with a washing module and a drying module, so that the washing and drying of pigs in a pigsty are realized, and the practicability is high; rotate through spraying the structure and spray, the scope of spraying is big, improves work efficiency. The specific technical scheme is as follows:

the utility model provides a robot for washing pig, includes the main part, the main part includes control module, removal module, washes module, identification module and drying module, control module is used for controlling robot's operating condition, removal module is used for receiving control module's control information and removes robot, identification module is arranged in the position that the pig of discernment pigsty was located, drying module sets up the front end at the main part for the pig to the pigsty is dried, wash the module including spraying structure, water pump and water tank, it rotationally sets up the front end portion at the main part to spray the structure, water tank and water pump setting are in the main part, the water tank passes through the water pump and sprays the structure and be linked together.

Compared with the prior art, the robot is a mobile robot, pigs in a farm can be washed by one robot, and cost is reduced; the pigs do not need to be driven out of the pigsty, and the labor cost is reduced. Be equipped with on the robot and wash module and stoving module, can wash the pig of pigsty and dry again after, prevent that the pig is sick because of being washed, the practicality is high. Rotate through spraying the structure and spray, the scope of spraying is big, improves work efficiency

Furthermore, the spraying structure comprises a water gun head, a rotating disc and a rotating motor, the water gun head is arranged on the rotating disc, and the rotating disc is rotatably arranged at the front end of the top of the main body through the rotating motor.

Furthermore, the spray gun head is a shower type spray gun head, and a plurality of water outlet holes are formed in the water outlet of the shower type spray gun head. Spray through gondola water faucet formula spray gun head, improve the clean scope of robot.

Furthermore, the water gun head is connected with the rotary table through a lifting device, and the water gun head can move up and down through the lifting device. The water gun head is moved up and down through the lifting device, and the cleaning range of the robot is improved.

Further, the drying module comprises a fan and a heating sheet, an air channel is arranged at the front end of the main body, the fan and the heating sheet are arranged in the air channel, and the heating sheet is located at the front end of the fan.

Furthermore, air inlet holes communicated with the air duct are formed in two sides of the main body and are located at the rear end of the fan.

Further, the heating plate comprises three heating strips, the heating strips are arranged at the front end of the air duct from top to bottom, and the heating strips are arranged at equal intervals.

Furthermore, a water level detection module is arranged in the water tank and arranged at the bottom of the water tank. The water level in the water tank is detected through the water level detection module, and after the water in the water tank is used, effective supplement can be carried out, so that the practicability is high.

Further, the identification module comprises a camera, and the camera is used for acquiring images, so that the control module identifies the pigs by adopting a target detection method of the classifier. The camera is used for acquiring images to identify, the accuracy is high, the state of the pigs in the current pigsty can be uploaded, and the practicability is high.

Further, the moving module comprises a driving wheel, a steering wheel and a driving motor.

Drawings

FIG. 1 is a schematic front view of a pig washing robot according to an embodiment of the present invention;

fig. 2 is a schematic side view of a robot for washing pigs according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application.

Referring to fig. 1 to 2, a robot for washing pigs comprises a main body 1, wherein the main body 1 comprises a control module, a moving module, a washing module, an identification module 2 and a drying module, the control module is used for controlling the working state of the robot, the moving module is used for receiving control information of the control module to move the robot, the identification module 2 is used for identifying the position of a pig in a pigsty, the drying module is arranged at the front end of the main body 1 and used for drying the pig in the pigsty, the washing module comprises a spraying structure, a water pump 3 and a water tank 4, the spraying structure is rotatably arranged at the front end of the main body 1, the water tank 4 and the water pump 3 are arranged in the main body 1, and the water tank 4 is communicated with the spraying structure through the water pump 3. Compared with the prior art, the robot is a mobile robot, pigs in a farm can be washed by one robot, and cost is reduced; the pigs do not need to be driven out of the pigsty, and the labor cost is reduced. Be equipped with on the robot and wash module and stoving module, can wash the pig of pigsty and dry again after, prevent that the pig is sick because of being washed, the practicality is high. Rotate through spraying the structure and spray, the scope of spraying is big, improves work efficiency

As one example, the spraying structure includes a lance head 5, a rotating disk 6 and a rotating motor, the lance head 5 is arranged on the rotating disk 6, the number of the lance heads 5 is not limited, and may be 1, 2, 3, and the like, and the emission directions of the lance heads 5 may be parallel, or may form an acute angle, a right angle, an obtuse angle, and the like. The turntable 6 is rotatably provided at the top front end of the main body 1 by a rotation motor. The water gun head 5 is a shower type water gun head 5, and a plurality of water outlet holes are formed in the water outlet of the shower type water gun head 5. Spray through gondola water faucet formula squirt head 5, improve the clean scope of robot. The water gun head 5 is connected with the rotary table 6 through the lifting device 7, the water gun head 5 can move up and down through the lifting device 7, and the lifting device 7 can be a common mechanical telescopic structure. The lifting device 7 enables the water gun head 5 to move up and down, and the cleaning range of the robot is improved. The water pump 3 can be a booster pump, and the spraying range of the water gun head 5 is improved.

As one embodiment, the drying module includes a fan 8 and a heating plate 9, an air duct is provided at the front end of the main body 1, the fan 8 and the heating plate 9 are disposed in the air duct, and the heating plate 9 is located at the front end of the fan 8. And air inlet holes 10 communicated with the air channel are formed in two sides of the main body 1, and the air inlet holes 10 are positioned at the rear end of the fan 8. The heating sheet 9 comprises three heating strips, small holes can be added on the heating strips to improve the air flow, the number of the heating strips can be changed according to actual requirements, the heating strips can also be replaced by a heating net, the heating strips are arranged at the front end of the air duct from top to bottom, and the heating strips are arranged at equal intervals.

As one embodiment, a water level detection module 11 is disposed in the water tank 4, and the water level detection module 11 is disposed at the bottom of the water tank 4. Detect the water level in water tank 4 through water level detection module 11, after the water of water tank 4 is used, can effectively supply, the practicality is strong. A water level detection module 11 may be further added to the top of the water tank 4 to detect whether the water tank 4 is filled with water, thereby preventing the water in the water tank 4 from overflowing. An infrared temperature measuring device can also be adopted to detect the orientation of the pigs in the pigsty. The moving module comprises a driving wheel, a steering wheel and a driving motor. It is also possible to replace the drive wheels and the steering wheels with tracks. The heating module can be arranged in the water tank 4 and comprises a heater and a thermometer, water in the water tank 4 is heated through the heating module to obtain water with required temperature, and when the robot is used in winter, hot water does not need to be additionally injected into the robot.

As one of the embodiments, the identification module 2 includes a camera, and the camera is configured to acquire an image, so that the control module identifies the pig by using a target detection method of a classifier. The camera is used for acquiring images to identify, the accuracy is high, the state of the pigs in the current pigsty can be uploaded, and the practicability is high. The pig is identified by adopting a target detection method of a classifier, and the method is divided into three parts: region selection → feature extraction → classifier; firstly, selecting some candidate regions on a given image, then extracting features of the regions, and finally classifying by using a trained classifier; and selecting the area, wherein one step is to position the position of the target. Since the target may appear anywhere in the image and the size and aspect ratio of the target are uncertain, the whole image is initially traversed by adopting the sliding window strategy, and different scales and different aspect ratios need to be set. Although this exhaustive strategy contains all possible positions of the target, the disadvantages are also evident: too high in temporal complexity, too many redundant windows are generated, which also seriously affects the speed and performance of subsequent feature extraction and classification. (in fact, due to the problem of time complexity, the aspect ratio of the sliding window is generally set to be a fixed value, so that a good area cannot be obtained even if the sliding window traverses the multi-class object detection with a large aspect ratio fluctuation). Feature extraction is not easy to design a robust feature due to factors such as morphological diversity, illumination variation diversity, background diversity of the target. However, the accuracy of classification is directly affected by the quality of the extracted features. (the common features used at this stage are SIFT, HOG, etc.). The classifier mainly comprises SVM, Adaboost and the like. The position of the pigs in the pigsty can be detected by adopting an infrared temperature measuring device, an ultrasonic detection device and the like.

The working process of the robot is as follows: the robot receives a working instruction, before arriving at a pigsty through methods such as robot path navigation, images in a plurality of pigsties are obtained through the recognition device and are sent to the control module, the control module recognizes the pigs by adopting a target detection method of a classifier, the position of the pigs in the pigsty is judged, then the rotating disc 6 is controlled to rotate, the lifting device 7 lifts the water gun head 5 to enable the spraying direction of the water gun head 5 to be aligned with the pigs in the pigsty, then the water pump 3 is controlled to work, clear water is pumped out from the water tank 4 to wash the pigs, and the position of the pigs is recognized in real time through the recognition device, so that the spraying direction of the water gun head 5 is adjusted through the rotating disc 6 and the lifting device 7. After the pig in the pigsty is washed, the fan 8 and the heating sheet 9 are controlled to work to dry the pig, and when the weather is hot, the fan 8 can be controlled to work only, and the heating sheet 9 is not controlled to work, so that the energy is saved. A heating module can be arranged in the water tank 4, the robot can independently heat water in the water tank 4, and pigs can be washed in winter. The robot can also control the spraying direction of the water gun head 5 through the rotating disc 6 and the lifting device 7 to perform covering spraying on the pigsty. After the pig in one pigsty is washed by the robot, the robot can move to another pigsty to wash the pig in the pigsty.

The features of the above embodiments may be arbitrarily combined, and for the sake of brevity, all possible combinations of the above embodiments are not described, but should be considered as within the scope of the present specification as long as there is no contradiction between the combinations of the features.

The above embodiments only show some embodiments of the present invention, which are described in detail and specific, but not to be construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application.

Claims (10)

1. The utility model provides a robot for washing pig, includes the main part, its characterized in that, the main part includes control module, removal module, washes module, identification module and stoving module, control module is used for control robot's operating condition, the removal module is used for receiving control module's control information and removes the robot, identification module is arranged in the position that the pig of discernment pigsty was located, stoving module sets up the front end at the main part for the pig to the pigsty is dried, wash the module including spraying structure, water pump and water tank, it rotationally sets up the front end portion at the main part to spray the structure, water tank and water pump setting are in the main part, the water tank is linked together through water pump and spraying structure.

2. The robot for washing pigs according to claim 1, wherein the spraying structure comprises a water gun head, a rotating disc and a rotating motor, the water gun head is arranged on the rotating disc, and the rotating disc is rotatably arranged at the front end of the top of the main body through the rotating motor.

3. The robot for washing pigs according to claim 2, wherein the water gun head is a shower water gun head, and the water outlet of the shower water gun head is provided with a plurality of water outlet holes.

4. A robot for washing pigs according to claim 2, characterized in that the lance head is connected to the turntable by a lifting device, and the lance head can be moved up and down by the lifting device.

5. The robot for washing pigs according to claim 1, wherein the drying module comprises a fan and a heating plate, the front end of the main body is provided with an air duct, the fan and the heating plate are disposed in the air duct, and the heating plate is located at the front end of the fan.

6. The robot for washing pigs according to claim 5, wherein air inlet holes communicated with the air duct are formed at both sides of the main body, and the air inlet holes are located at the rear end of the fan.

7. The robot for washing pigs according to claim 5, wherein the heating plate comprises three heating strips, the heating strips are arranged at the front end of the air duct from top to bottom, and the heating strips are arranged at equal distances.

8. The robot for washing pigs according to claim 1, wherein a water level detection module is provided in the water tank, the water level detection module being provided at the bottom of the water tank.

9. The robot for washing pigs of claim 1, wherein said identification module comprises a camera for acquiring images.

10. The robot for washing pigs of claim 1, wherein said moving module comprises driving wheels, steering wheels and driving motors.

Images