CN218471183U - Excrement cleaning robot capable of automatically planning walking route - Google Patents
Excrement cleaning robot capable of automatically planning walking route Download PDFInfo
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- CN218471183U CN218471183U CN202222885650.1U CN202222885650U CN218471183U CN 218471183 U CN218471183 U CN 218471183U CN 202222885650 U CN202222885650 U CN 202222885650U CN 218471183 U CN218471183 U CN 218471183U
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Abstract
The utility model discloses a dung cleaning robot for automatically planning a walking route, which comprises a moving vehicle body, a dung cleaning mechanism and a control system; the excrement cleaning mechanism is arranged at the tail part of the moving vehicle body in the advancing direction and comprises a push shovel, a bidirectional buffering hinge and an electric push rod, the push shovel is movably connected with the moving vehicle body through the bidirectional buffering hinge, and the electric push rod is used for driving the push shovel to lift; the control system includes a sensor module and a controller. The utility model discloses can realize that intelligence keeps away the barrier, can not cause any influence or injury to the pig at clear excrement in-process.
Description
Technical Field
The utility model relates to an agricultural intelligent equipment technical field, concretely relates to clear excrement robot of independently planning walking route.
Background
In the process of environmental protection, forbidden breeding and removal in recent years, small-sized farmers quit the industry in large quantities, large-sized breeding enterprises run out of the circle continuously, the industry capacity is concentrated to the large-sized farmers, the concentration of the live pig industry is improved, and the large-scale, intensive and intelligent development of the live pig breeding industry is promoted. For the live pig manure or sick or dead pigs in large-scale farms, if the treatment, the manure removal and the disinfection are not timely carried out, viruses can be infected to other healthy live pigs, and larger loss is caused to farmers. And the labor intensity is high and the operation environment is poor by only depending on manual or simple semi-automatic equipment, so that the excrement in the pigsty is difficult to clean in time, the opportunity of the propagation and the propagation of bacterial microorganisms is increased, and the health of the live pigs is influenced.
The pigsty is filled with a large amount of bacteria-carrying droplets, pathogenic aerosol and other substances, which are the sources of a large amount of swine diseases. However, in the actual sanitary and clean process of the pigsty, the requirements of the manual work for the fence patrol and the disinfection on the professional degree of field personnel and veterinarians are high, the instability and the time delay of work such as patrol and disinfection can be caused by the difference of manual judgment and operation, and the patrol condition cannot be timely and accurately fed back, so that the breeding efficiency and the quality are influenced, and the stable and comprehensive disinfection work for pigs is not convenient.
The patent specification with the publication number of CN109997704A discloses a pig house manure cleaning robot, including robot, moving mechanism, actuating mechanism, navigation and control mechanism, moving mechanism includes drive assembly and omniwheel, moving mechanism quantity is four, and along robot bottom surface circumferencial direction evenly distributed and omniwheel be the splayed and arrange, actuating mechanism includes lift driving motor, lifting unit, flexible subassembly, brush yoke, flexible brush hair and swing subassembly, navigation includes a plurality of sensors, a plurality of sensors all with robot fixed connection, control mechanism includes remote control antenna, motor drive, battery and PLC control module. This scheme can only realize clear excrement function, and the function is single, can not realize intelligence and keep away the barrier, can not detect live pig's health status simultaneously.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a clear excrement robot of autonomic planning walking route can realize that intelligence keeps away the barrier, can not cause any influence or injury to the pig at clear excrement in-process.
A dung cleaning robot capable of automatically planning a walking route comprises a moving vehicle body, a dung cleaning mechanism and a control system; the excrement cleaning mechanism is arranged at the front part of the advancing direction of the moving vehicle body and comprises a push shovel, a bidirectional buffering hinge and an electric push rod, the push shovel is movably connected with the moving vehicle body through the bidirectional buffering hinge, and the electric push rod is used for driving the push shovel to lift; the control system includes:
the sensor module comprises a laser radar sensor and an ultrasonic sensor, the laser radar sensor is used for scanning the environment terrain and transmitting the environment terrain to the controller, and the ultrasonic sensor is used for detecting obstacles, identifying the distance of the obstacles and transmitting the distance to the controller; the laser radar sensor is arranged in front of the top of the moving vehicle body, and the ultrasonic sensors are arranged on two sides of the moving vehicle body;
and the controller plans the walking path of the robot according to the environmental information transmitted by the sensor module, determines the stop position when the robot system breaks down and monitors the working position in real time.
This scheme passes through laser radar sensor and ultrasonic sensor real-time scanning environment topography, surveys the barrier, discernment barrier distance to transmit environmental information to controller, the controller plans the walking route of robot according to the environmental information that sensor module transmitted, thereby realizes that the intelligence keeps away the barrier, can not cause any influence or injury to the pig at the clear excrement in-process.
Preferably, the bottom of the push shovel is provided with a rubber baffle.
This scheme, the subaerial excrement and urine of thorough clearance is ensured to the bottom and the pig house ground contact of rubber baffle.
Preferably, the movable vehicle body comprises a vehicle frame, a driving wheel and a driven wheel are arranged on the front side and the rear side of the vehicle frame respectively, the driving wheel and the driven wheel are in transmission connection through a crawler, and a driving motor for driving the driving wheel to move and a storage battery for supplying power to the driving motor are arranged in the vehicle frame.
This scheme, the tracked vehicle is small, the focus is lower relatively, has certain shock-absorbing function, and the nimble narrow passageway of shuttling in the swinery inside, and self heavily be difficult to by live pig hunch turn over or destroy.
Preferably, the control system further comprises a charging module, wherein the charging module comprises a charging access device arranged at the tail part of the mobile vehicle body and electrically connected with the charging pile, a charging detection device used for detecting the access state of the charging access device and the charging pile, and an electric quantity detection module used for detecting the residual electric quantity of the storage battery.
Preferably, the top of the mobile vehicle body is further provided with a disinfection device, the disinfection device comprises:
the atomizing chamber is fixed at the top of the movable vehicle body, and a diffusion hole is formed in the middle upper part of the side wall of the atomizing chamber;
the liquid medicine barrel is arranged at the bottom of the atomizing chamber;
the ultrasonic atomizer is arranged in the middle of the atomizing chamber;
the liquid pump is used for pumping the liquid medicine in the liquid medicine barrel to the ultrasonic atomizer for atomization;
and the control circuit board is in communication connection with the controller so as to control the ultrasonic atomizer and the liquid pump to work.
Preferably, the inspection device is arranged at the top of the mobile vehicle body and comprises a data acquisition unit and an image return unit; the data acquisition unit adopts a four-in-one sensor integrated by a temperature and humidity sensor, an illumination sensor, an ammonia sensor and a carbon dioxide sensor; the image return unit comprises a camera and an infrared thermometer.
Preferably, a music playing component is arranged at the front part of the movable vehicle body.
The pig has very sensitive auditory sense, and when the pig is caught, the sound suggests the pig that the pig can move forward along the intention of people. The proper music is played, so that the avoidance of the live pigs is reminded, the live pigs get pleasure from the music, and the healthy growth of the live pigs is facilitated.
The utility model has the advantages that:
the utility model discloses not only can regard as clear excrement disinfection platform in the pig house for life, can also regard as the work platform of pig house internal environment information acquisition, data monitoring, environment regulation and control, environmental monitoring, data acquisition and regulation and control for the live pig health status provides the evaluation foundation and guarantee.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of another embodiment of the present invention;
fig. 3 is a bottom view of the present invention;
fig. 4 is a side view of the present invention;
fig. 5 is a cross-sectional view of a disinfection device.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.
As shown in fig. 1-4, a dung cleaning robot capable of planning a walking route autonomously comprises a moving vehicle body 100, a dung cleaning mechanism 200 and a control system.
The movable vehicle body 100 comprises a vehicle frame 1, wherein the front side and the rear side of the vehicle frame 1 are respectively provided with a driving wheel 2 and a driven wheel 3, and the driving wheel 2 and the driven wheel 3 are in transmission connection through a crawler belt 4; the frame 1 is internally provided with symmetrically distributed driving motors 5, the driving motors 5 provide power for the corresponding driving wheels 2, specifically, the driving motors 5 are in transmission connection with the driving wheels 2 through driving shafts, one end of each driving shaft is connected with the output end of the driving motor 5, and the other end of each driving shaft extends to the outer surfaces of two sides of the frame 1 and is connected with the driving wheels 2; the frame 1 is also internally provided with a storage battery 6 for supplying power to the driving motor 5; the movable vehicle body 100 is provided with a corresponding charging port 101.
The control system comprises a sensor module 7, a controller 8 (dual-display VGA/4 core processor) and a charging module 9; the sensor module 7 and the charging module 9 are both connected with the controller 8.
The sensor module 7 comprises a laser radar sensor 71 and an ultrasonic sensor 72, and both the laser radar sensor 71 and the ultrasonic sensor 72 are connected with the controller 8; the laser radar sensor 71 has a function of scanning the environmental terrain and transmitting the environmental terrain to the controller 8, and the ultrasonic sensor 72 has a function of detecting an obstacle, recognizing the distance to the obstacle, and transmitting the distance to the controller 8; the controller 8 can plan the walking path of the robot according to the environmental information, determine the stop position when the robot system breaks down and monitor the working position in real time; the laser radar sensors 71 are specifically arranged in front of the top of the frame 1, and the number of the ultrasonic sensors 72 is four, and the four ultrasonic sensors are respectively arranged on the front side and the rear side of the frame 1.
The charging module 9 comprises a charging access device (CNRD-48V/50A), a charging detection device (50A) and an electric quantity detection module (coulometer IGK-KL 02); the charging access device is arranged at the tail part of the frame 1 and is used for being electrically connected with the charging pile 300; the charging detection device is used for detecting the access state of the charging access device and the charging pile 300; the electric quantity detection module is used for detecting the residual electric quantity of the storage battery 6; the charging detection device and the electric quantity detection module are both in communication connection with the controller 8.
The control system also comprises a suspension alarm, an abnormal emergency stop alarm and an electric quantity alarm; the controller is respectively in communication connection with the suspension alarm, the abnormal emergency stop alarm and the electric quantity alarm.
The dung cleaning mechanism 200 is arranged at the front part of the advancing direction of the frame 1 and comprises a push shovel 11, a bidirectional buffer hinge 12 and an electric push rod 13, wherein the push shovel 11 is movably connected with the frame 1 through the bidirectional buffer hinge 12, and the electric push rod 13 is used for driving the push shovel 11 to lift; the electric push rod 1 is in communication connection with the controller 8.
In this embodiment, the bottom of the push shovel 11 is provided with a rubber baffle 14, and the bottom of the rubber baffle 14 is in contact with the ground of the pigsty, so that the excrement on the ground can be thoroughly cleaned.
In this embodiment, the tail of the frame 1 is provided with the music playing component 102, so that the auditory sense of the pig is very sensitive, and when the pig is caught up, the sound suggests the pig that the pig can move forward along the intention of people. Playing appropriate music, not only reminding the live pigs to avoid, but also enabling the live pigs to obtain pleasure from the live pigs, and being beneficial to the healthy growth of the live pigs.
The top of the frame 1 is further provided with a sterilizing device 400, as shown in fig. 5, the sterilizing device 400 comprises an atomizing chamber 15, a liquid medicine barrel 16, an ultrasonic atomizer 17, a liquid pump 18 and a control circuit board 19; the atomization chamber 15 is fixed at the top of the frame 1, and a diffusion hole 151 is arranged at the middle upper part of the side wall of the atomization chamber 15; the liquid medicine barrel 16 is arranged at the bottom of the atomizing chamber 15, and the ultrasonic atomizer 17 and the control circuit board 19 are arranged in the middle of the atomizing chamber 15; the liquid pump 18 is used for pumping the liquid medicine in the liquid medicine barrel 16 to the ultrasonic atomizer 17 for atomization, specifically, the liquid medicine barrel 16 is communicated with a liquid inlet of the liquid pump 18, and a liquid outlet of the liquid pump 18 is connected with the ultrasonic atomizer 17; the control circuit board 19 is in communication connection with the controller 8 and performs protection processing to control the operation of the ultrasonic atomizer 17 and the liquid pump 18.
The ultrasonic atomizer 17 releases a large amount of negative ions in the atomization process, and the negative ions and smoke, dust and the like floating in the air generate electrostatic reaction to precipitate the negative ions, and meanwhile, harmful substances such as formaldehyde, carbon monoxide, bacteria and the like can be effectively removed, so that the air of the piggery is purified, and the occurrence of diseases is reduced; wherein the spray generated by the ultrasonic atomizer 17 sprays the disinfection spray into the ambient air through the diffusion holes 151 of the atomizing chamber 15.
The inspection device 500 is arranged at the top of the atomization chamber 15 and comprises a data acquisition unit 20, an image return unit and a control module assembly (RS 485 signal output, standard Modbus-RTU protocol); the data acquisition unit 20 adopts a four-in-one sensor integrated by a temperature and humidity sensor, an illumination sensor, an ammonia sensor and a carbon dioxide sensor; the control module assembly is used for transmitting the information acquired by the data acquisition unit 20 and the image return unit to the digital pig farm management and control platform; the digital pig farm management and control platform is used for storing and analyzing various information and regulating and controlling the operation and the operation of the whole system; specifically, the temperature, the humidity and the illuminance, and the concentrations of ammonia and carbon dioxide collected by a temperature and humidity sensor, a light sensor, an ammonia sensor and a carbon dioxide sensor are transmitted to a digital pig farm management and control platform through a control module assembly, so that the parameters are monitored and regulated in real time; the image return unit comprises a camera 21 and an infrared thermometer 22; the camera 21 is used for obtaining image information of a live pig, the infrared thermometer 22 is used for obtaining temperature information of the live pig, the control module assembly receives the image information and the temperature information, judges health conditions of the live pig according to the image information and the temperature information, transmits the health conditions to the digital pig farm management and control platform for real-time monitoring and early warning, and meanwhile the control module assembly carries out vision-assisted navigation according to the position of a push shovel in a received image.
The utility model discloses according to the environmental information in the pig house to the route is cleaned in the planning, and control removes the automobile body and walks along the route of cleaning of planning, because clear excrement mechanism locates and removes the rear side on automobile body orientation ground, then when removing the automobile body walking, the clear excrement device of accessible scrapes the excrement on ground to the small opening floor of pig house on dirty, and drops in the excrement hole below. Meanwhile, when the movable vehicle body walks and pushes manure, the concentration of ammonia gas in the pigsty is high, and the disinfection device sprays disinfection spray into the air so as to achieve the aim of air disinfection; the data acquisition unit transmits the environmental temperature, humidity and illuminance acquired by the sensor and the concentrations of ammonia gas and carbon dioxide to a digital pig farm management and control platform through a control module assembly, so that the real-time environmental monitoring of the parameters is realized; the image feedback unit transmits the image information and the temperature information of the live pigs back to the digital pig farm management and control platform in real time, and the control module assembly judges the health condition of the live pigs according to the image information and the temperature information.
It should be noted that the present invention does not relate to the improvement of the controller and the related module circuits, and all the existing products on the market can be used, and the circuit connection therebetween can be performed by referring to the related description.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (7)
1. A dung cleaning robot capable of automatically planning a walking route is characterized by comprising a moving vehicle body, a dung cleaning mechanism and a control system; the excrement cleaning mechanism is arranged in the front of the moving vehicle body in the advancing direction and comprises a push shovel, a bidirectional buffering hinge and an electric push rod, the push shovel is movably connected with the moving vehicle body through the bidirectional buffering hinge, and the electric push rod is used for driving the push shovel to lift; the control system includes:
the sensor module comprises a laser radar sensor and an ultrasonic sensor, the laser radar sensor is used for scanning the environment terrain and transmitting the environment terrain to the controller, and the ultrasonic sensor is used for detecting obstacles, identifying the distance of the obstacles and transmitting the distance to the controller; the laser radar sensor is arranged in front of the top of the moving vehicle body, and the ultrasonic sensors are arranged on two sides of the moving vehicle body;
and the controller plans the walking path of the robot according to the environmental information transmitted by the sensor module, determines the stop position when the robot system breaks down and monitors the working position in real time.
2. A dung-cleaning robot for an autonomously planned walking path according to claim 1, characterised in that the bottom of the pushing shovel is provided with a rubber barrier.
3. A robot for automatically planning walking path according to claim 1, wherein the movable vehicle body comprises a frame, the frame is provided with a driving wheel and a driven wheel at the front and back sides, the driving wheel and the driven wheel are connected by a track in a transmission manner, and the frame is internally provided with a driving motor for driving the driving wheel to move and a storage battery for supplying power to the driving motor.
4. The robot for clearing dung of the autonomous planned walking route according to claim 3, wherein the control system further includes a charging module, the charging module includes a charging access device disposed at a front portion of the movable vehicle body and electrically connected to a charging pile, a charging detection device for detecting an access state of the charging access device to the charging pile, and a power detection module for detecting a remaining power of the storage battery.
5. A dung-cleaning robot for an autonomously planned walking path according to claim 1, wherein a disinfection device is further provided at the top of the moving vehicle body, the disinfection device comprising:
the atomizing chamber is fixed at the top of the movable vehicle body, and a diffusion hole is formed in the middle upper part of the side wall of the atomizing chamber;
the liquid medicine barrel is arranged at the bottom of the atomizing chamber;
the ultrasonic atomizer is arranged in the middle of the atomizing chamber;
the liquid pump is used for pumping the liquid medicine in the liquid medicine barrel to the ultrasonic atomizer for atomization;
and the control circuit board is in communication connection with the controller so as to control the work of the ultrasonic atomizer and the liquid pump.
6. A dung cleaning robot for automatically planning a walking route according to claim 1, further comprising an inspection device arranged at the top of the movable vehicle body, wherein the inspection device comprises a data acquisition unit and an image return unit; the data acquisition unit adopts a four-in-one sensor integrated by a temperature and humidity sensor, an illumination sensor, an ammonia sensor and a carbon dioxide sensor; the image return unit comprises a camera and an infrared thermometer.
7. The robot for automatically planning a walking route according to claim 1, wherein a music playing component is disposed at the tail of the moving vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222885650.1U CN218471183U (en) | 2022-10-31 | 2022-10-31 | Excrement cleaning robot capable of automatically planning walking route |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222885650.1U CN218471183U (en) | 2022-10-31 | 2022-10-31 | Excrement cleaning robot capable of automatically planning walking route |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218471183U true CN218471183U (en) | 2023-02-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222885650.1U Active CN218471183U (en) | 2022-10-31 | 2022-10-31 | Excrement cleaning robot capable of automatically planning walking route |
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|---|---|
| CN (1) | CN218471183U (en) |
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2022
- 2022-10-31 CN CN202222885650.1U patent/CN218471183U/en active Active
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