CN106006084B - Method and system for storing and transporting animal carcasses - Google Patents
Method and system for storing and transporting animal carcasses Download PDFInfo
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- CN106006084B CN106006084B CN201610522814.0A CN201610522814A CN106006084B CN 106006084 B CN106006084 B CN 106006084B CN 201610522814 A CN201610522814 A CN 201610522814A CN 106006084 B CN106006084 B CN 106006084B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a method for storing and transporting animal carcasses and a system for realizing the method.
Description
Technical Field
The invention relates to the field of storage, in particular to a method and a system for storing and transporting animal carcasses.
Background
In various farms, the death of individual animals is a common phenomenon due to the large number of animals raised. Such abnormally dead farmed animals are generally died by illness. The carcasses of the farmed animals which die of illness must be properly disposed of in time, otherwise, a lot of germs can be bred and infected. For dead bodies of these dead animals, especially large animals such as cattle and sheep, it is safe to handle them by concentrated carbonization in a treatment center. Because the processing center is not widely distributed, all kinds of farms generally store the corpses of dead animals to the transfer station after simply packaging the corpses, and uniformly send the corpses to the processing center after accumulating a certain number of the corpses in the transfer station, so that the transportation cost can be reduced.
At present, the work of storing and carrying the animal carcasses in the transfer station is manually finished. Because each farm is relatively simple and easy to package the animal carcasses, the carriers can easily contact the animal carcasses carrying a large amount of germs in the carrying process, and great potential safety hazards exist.
Disclosure of Invention
The invention aims to solve the technical problem that in the prior art, the work of storing and carrying the animal carcass in the animal carcass transfer station is manually finished, and carrying workers can easily contact the animal carcass carrying a large amount of germs in the carrying process, so that great potential safety hazards exist.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a method of storing and transporting animal carcasses, comprising the steps of:
1) The control center distributes empty boxes for the new animal carcasses, and sends the material level IDs and the carrying routes of the empty boxes to the mobile carrying robot;
2) The mobile carrying robot carries the empty material boxes with corresponding material positions in the refrigerator to the automatic box loading unit according to the carrying route;
3) The automatic boxing unit is used for loading animal carcasses in the designated area into an empty box;
4) The control center distributes material level for a full material box filled with animal carcasses and sends the ID codes of the material level and the carrying route to the mobile carrying robot through a wireless network;
5) The mobile carrying robot carries the full material box filled with the animal carcasses to a corresponding material level in the refrigerator according to the carrying route, and the refrigerator stores the empty material box and the full material box;
6) After the transfer vehicle container is in place, the control center distributes the material level for an empty material box in the transfer vehicle container, and the control center sends the material level ID and the carrying route to the mobile carrying robot;
7) The mobile carrying robot carries the empty material box in the transfer trolley container to a corresponding material level in the refrigerator according to the carrying route;
8) The control center distributes full material boxes for empty material positions in the transfer trolley container, and sends the position ID of the full material boxes in the refrigerator and the carrying route to the mobile carrying robot;
9) And the mobile carrying robot carries the full material box in the refrigerator to the empty material position of the transfer trolley container according to the carrying route.
Further, in the step 3), the automatic packing unit collects the weight of the animal carcass and sends the collection result to the control center.
Further, in the step 5) and the step 9), the mobile transfer robot returns to the charging point for charging by itself after completing the transfer task.
The invention also provides a system for storing and transporting the animal carcasses, which comprises a control center, an automatic container loading unit, a transfer trolley container, a refrigerator, a mobile transfer robot and a plurality of radio frequency tags; the automatic boxing unit is used for boxing the animal carcasses at the designated positions; the transfer vehicle container is used for transporting a material box filled with animal carcasses, and a plurality of material positions are arranged in the transfer vehicle container; the refrigerator is used for storing the material box and is a self-opening refrigerator; the mobile transfer robot is responsible for the bin transportation between the refrigerator and the automatic box loading unit and between the refrigerator and the transfer trolley container, the mobile transfer robot is in communication connection with the control center, and the mobile transfer robot executes a transfer task according to a task instruction of the control center; the radio frequency tags are arranged on the material level in the transfer trolley container and the refrigerator, the radio frequency tags are also arranged on the movement route of the mobile transfer robot, and the position information of the radio frequency tags is recorded in each radio frequency tag; the mobile carrying robot is provided with a radio frequency reader, the mobile carrying robot automatically reads a radio frequency tag which can be read by the mobile carrying robot in the moving process, and the mobile carrying robot feeds back the position information stored in the radio frequency tag to the control center as the position information of the mobile carrying robot; the control center controls the opening and closing of the automatic container loading unit and the door of the refrigerator cabinet and sets a carrying route of the mobile carrying robot, an electronic map of a transfer station is stored in the control center, and the control center records and changes the idle or full state of each material level in the transfer trolley container and the refrigerator according to each carrying action of the mobile carrying robot.
Further, automatic vanning unit includes lifting machine skeleton, motor and hopper, and the hopper is used for depositing the spoil, and the below of lifting machine skeleton is used for placing the workbin, and motor drive hopper moves on the lifting machine skeleton, and the hopper moves and takes place the slope and empty the spoil to the workbin with it after to the end of lifting machine skeleton.
Further, the automatic packing unit further comprises an electronic scale, the electronic scale is installed at the bottom of the hopper, and the electronic scale measures the weight of the animal carcasses in the hopper and transmits the measured information to the control center.
Further, remove transfer robot includes control system, radio frequency reader, chassis car, U type fork and lifter, and control system is used for reading information in the radio frequency label with control center communication and control chassis car and lifter, the radio frequency reader, installs the lifter on the chassis car, installs U type fork on the lifter, U type fork is used for lifting the workbin.
Further, be provided with temperature sensor in the freezer, temperature sensor measures the temperature in the freezer and transmits measurement information to control center.
Further, the system for storing and transporting the animal carcasses also comprises a display unit, and the control center displays the stored weight information of the animal carcasses and the temperature information in the refrigerator through the display unit.
Further, the system for storing and transporting animal carcasses also includes a sterilization and ventilation unit that periodically sterilizes and ventilates all areas within the system.
Has the advantages that: (1) The invention provides a method and a system for storing and transporting animal carcasses, wherein the method and the system automatically package the animal carcasses into a material box by using an automatic box filling unit, and a mobile carrying robot realizes the transportation of the material box between the automatic box filling unit and a refrigerator as well as between the refrigerator and a transfer trolley container, so that the animal carcasses are stored and transported in the whole transfer station without manual participation, and the risk of infecting carriers by the animal carcasses is avoided. (2) The automatic box filling unit measures the weight of the animal carcass and transmits the measurement result to the control center, and the control center records the weight of all the animal carcasses entering the transfer station, so that later-stage query is facilitated. (3) The temperature sensor is arranged in the refrigerator, measures the temperature in the refrigerator and transmits the measured information to the control center, and the control center displays the temperature in the refrigerator on the display unit in real time, so that managers can conveniently and visually know the running state of the transfer station. (4) The system for storing and transporting the animal carcasses also comprises a disinfection and ventilation unit, and the disinfection and ventilation unit is used for regularly disinfecting and ventilating all areas in the system, so that the safety and the sanitation of the animal carcass transfer station are improved.
Drawings
FIG. 1 is a schematic view of an animal carcass storage and transport system according to example 1.
Fig. 2 is a schematic structural view of an automatic casing device of the carcass storage and transportation system according to the embodiment 1.
Fig. 3 is a schematic view showing the structure of a transfer car container of the carcass storage and transportation system according to embodiment 1.
Fig. 4 is a schematic cross-sectional view of a transfer car container of the carcass storage and transportation system of example 1.
Fig. 5 is a schematic structural view of a mobile transfer robot of the carcass storage and transportation system according to embodiment 1.
Wherein: 1. a control center; 2. a transfer robot; 21. a chassis truck; 22. a U-shaped fork; 23. a lifting rod; 3. a freezer; 4. an automatic packing unit; 41. a hoist frame; 42. a motor; 43. a hopper; 5. a transfer car container; 51. lifting the tail plate; 6. and a sterilizing and ventilating unit.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Example 1
As shown in fig. 1, the carcass storage and transportation system of the present embodiment includes a control center 1, an automatic loading unit 4, a transfer car container 5, a refrigerator 3, a mobile transfer robot 2, a plurality of rf tags, a display unit, and a sterilization and ventilation unit.
The structure of the automatic boxing unit 4 is shown in fig. 2, the automatic boxing unit 4 comprises a lifting machine framework 41, a motor 42, a hopper 43 and an electronic scale, the hopper 43 is used for storing animal carcasses, a bin is arranged below the lifting machine framework 41, the motor 42 drives the hopper 43 to move on the lifting machine framework 41, and the hopper 43 moves to the tail end of the lifting machine framework 41, inclines and dumps the animal carcasses in the hopper to the bin. An electronic scale is installed at the bottom of the hopper 43, and the electronic scale measures the weight of the carcass in the hopper 43 and transmits the measurement information to the control center 1.
The structure of the transfer vehicle container 5 is as shown in fig. 3 and 4, the transfer vehicle container 5 is mounted on a transfer vehicle for transporting a hopper filled with animal bodies, and a lifting tail plate 51 is provided at an entrance of the transfer vehicle container 5, and the lifting tail plate 51 can lift the mobile transfer robot 2 so that it can enter the transfer vehicle container 5. A plurality of material positions are arranged in the transfer trolley container 5, and each material position is provided with a radio frequency tag; the radio frequency tag is internally stored with address information of material levels corresponding to the tag, when the mobile carrying robot 2 passes through each material level, the information in the radio frequency tag is automatically read and fed back to the control center, and the radio frequency tag helps the mobile carrying robot 2 to position itself.
The refrigerator 3 is used for storing a material box, and the refrigerator 3 is a self-opening refrigerator 3; the refrigerator 3 is like a transfer trolley container 5, a plurality of material levels are arranged in the refrigerator 3, and each material level is provided with a radio frequency tag; the radio frequency tag stores address information of the material level corresponding to the tag. A temperature sensor is also arranged in the refrigerator 3, and the temperature sensor measures the temperature in the refrigerator 3 and transmits the measurement information to the control center 1.
As shown in fig. 5, the mobile transfer robot 2 is responsible for the bin transportation between the refrigerator 3 and the automatic loading unit 4 and between the refrigerator 3 and the transfer car container 5, the mobile transfer robot 2 is in communication connection with the control center 1, and the mobile transfer robot 2 executes a transfer task according to a task instruction of the control center 1; the mobile carrying robot 2 comprises a control system, a radio frequency reader, a chassis 21, a U-shaped fork 22 and a lifting rod 23, wherein the control system is used for communicating with the control center 1 and controlling the chassis 21 and the lifting rod 23, the radio frequency reader is used for reading information in a radio frequency tag, the lifting rod 23 is installed on the chassis 21, the U-shaped fork 22 is installed on the lifting rod 23, and the U-shaped fork 22 is used for lifting a material box.
The radio frequency tags are arranged on the material levels in the transfer trolley container 5 and the refrigerator 3, and are also arranged on the movement route of the mobile carrying robot 2, and the position information of each radio frequency tag is recorded in each radio frequency tag; the mobile carrying robot 2 is provided with a radio frequency reader, the mobile carrying robot 2 automatically reads a radio frequency tag which can be read by the mobile carrying robot in the moving process, and the mobile carrying robot 2 feeds back position information stored in the radio frequency tag to the control center 1 as the position information of the mobile carrying robot.
The control center 1 controls the opening and closing of the automatic container loading unit 4 and the opening and closing of the door of the freezer 3, a carrying route of the mobile carrying robot 2 is formulated, an electronic map of a transfer station is stored in the control center 1, and the control center 1 records and changes the idle or full state of each material level in the transfer trolley container 5 and the freezer 3 according to each carrying action of the mobile carrying robot 2.
The display unit is used for displaying the stored weight information of the animal carcass and the temperature information in the refrigerator 3.
The sterilization and ventilation unit 6 periodically sterilizes and ventilates the entire area within the system.
The basic workflow of the carcass storage and transportation system of this embodiment is:
1) Dead animal carcasses are automatically transported to a hopper 43 of an automatic boxing unit 4 of a transfer station by each farm or other units, and then a warehousing trigger is pressed and electrically connected with the control center 1; while an electronic scale installed at the bottom of the hopper 43 measures the weight of the carcass in the hopper 43 and transmits the measured value to the control center 1;
2) The control center 1 allocates an empty box for the new animal carcass after the warehouse entry trigger is pressed, and the control center 1 sends the material level ID and the carrying route of the empty box to the mobile carrying robot 2;
3) The mobile carrying robot 2 carries the empty box with the corresponding material level in the refrigerator 3 to the lower part of the automatic box loading unit 4 according to the carrying route;
4) The motor 42 of the automatic boxing unit 4 is started under the action of the control center 1, the motor 42 drives the hopper 43 to move along the elevator framework 41 through a chain, the hopper 43 can incline after moving to the top, and the animal carcasses in the hopper 43 automatically fall into an empty box below the automatic boxing unit 4 at the moment.
5) The control center 1 distributes material level for a full material box filled with animal carcasses and sends the ID codes of the material level and a carrying route to the mobile carrying robot 2 through a wireless network;
6) The mobile carrying robot 2 carries the full material box with the animal carcasses to the corresponding material level in the refrigerator 3 according to the carrying route, and the refrigerator 3 stores the empty material box and the full material box; after the transportation is finished, the mobile transportation robot 2 automatically returns to a charging point for self-charging;
7) After the transfer trolley 5 is in place, a driver presses the delivery trigger; the control center 1 distributes material level for empty material boxes in the transfer trolley 5, and the control center 1 sends the material level ID and the carrying route to the mobile carrying robot 2;
8) The mobile carrying robot 2 carries the empty material boxes in the transfer trolley 5 to corresponding material positions in the refrigerator 3 according to the carrying route;
9) The control center 1 distributes full material boxes for empty material positions in the transfer trolley 5, and the control center 1 sends the position ID of the full material boxes in the refrigerator 3 and a carrying route to the mobile carrying robot 2;
10 The mobile transfer robot 2 transfers the full boxes in the refrigerator 3 to the empty positions of the transfer trolley 5 according to the transfer route.
Although the embodiments of the present invention have been described in the specification, these embodiments are merely provided as a hint, and should not limit the scope of the present invention. Various omissions, substitutions, and changes may be made without departing from the spirit of the invention and are intended to be within the scope of the invention.
Claims (5)
1. An animal carcass storage and transport system, characterized by: the system comprises a control center (1), an automatic box loading unit (4), a transfer trolley container (5), a refrigerator (3), a mobile carrying robot (2) and a plurality of radio frequency tags;
the automatic boxing unit (4) is used for boxing the animal carcasses at the designated positions;
the transfer trolley container (5) is used for transporting a feed box filled with animal carcasses, and a plurality of material positions are arranged in the transfer trolley container (5);
the refrigerator (3) is used for storing a material box, and the refrigerator (3) is a self-opening refrigerator (3);
the mobile carrying robot (2) is responsible for the bin transportation between the refrigerator (3) and the automatic loading unit (4) and between the refrigerator (3) and the transfer trolley container (5), the mobile carrying robot (2) is in communication connection with the control center (1), and the mobile carrying robot (2) executes a carrying task according to a task instruction of the control center (1);
the radio frequency tags are arranged on the material levels in the transfer trolley container (5) and the refrigerator (3), the radio frequency tags are also arranged on the movement route of the mobile carrying robot (2), and the position information of the radio frequency tags is recorded in each radio frequency tag; the mobile carrying robot (2) is provided with a radio frequency reader, the mobile carrying robot (2) automatically reads a radio frequency tag which can be read by the mobile carrying robot in the moving process, and the mobile carrying robot (2) feeds back position information stored in the radio frequency tag to the control center (1) as the position information of the mobile carrying robot;
the control center (1) controls the opening and closing of the automatic container loading unit (4) and the opening and closing of a cabinet door of the refrigerator (3) and formulates a carrying route of the mobile carrying robot (2), an electronic map of a transfer station is stored in the control center (1), and the control center (1) records and changes the idle or full state of each material level in the transfer vehicle container (5) and the refrigerator (3) according to each carrying action of the mobile carrying robot (2);
the automatic boxing unit (4) comprises a lifting machine framework (41), a motor (42) and a hopper (43), wherein the hopper (43) is used for storing animal carcasses, a material box is arranged below the lifting machine framework (41), the motor (42) drives the hopper (43) to move on the lifting machine framework (41), and the hopper (43) inclines after moving to the tail end of the lifting machine framework (41) and dumps the animal carcasses in the hopper to the material box;
remove transfer robot (2) including control system, radio frequency reader, chassis car (21), U type fork (22) and lifter (23), control system is used for with control center (1) communication and control chassis car (21) and lifter (23), and the radio frequency reader is used for reading the information in the radio frequency label, installs lifter (23) on chassis car (21), installs U type fork (22) on lifter (23), and U type fork (22) are used for lifting the workbin.
2. A carcass storage and transport system according to claim 1, wherein: the automatic packing unit (4) further comprises an electronic scale, the electronic scale is installed at the bottom of the hopper (43), and the electronic scale measures the weight of the animal carcasses in the hopper (43) and transmits measurement information to the control center (1).
3. A carcass storage and transport system according to claim 2, wherein: be provided with temperature sensor in freezer (3), temperature sensor measures the temperature in freezer (3) and transmits measurement information to control center (1).
4. A carcass storage and transport system according to claim 3, wherein: the control center (1) displays the stored weight information of the animal carcasses and the temperature information in the refrigerator (3) through the display unit.
5. An animal carcass storage and transport system according to claim 4, wherein: and the system also comprises a disinfection and ventilation unit (6), wherein the disinfection and ventilation unit (6) is used for carrying out periodical disinfection and ventilation on all areas in the system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610522814.0A CN106006084B (en) | 2016-07-04 | 2016-07-04 | Method and system for storing and transporting animal carcasses |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610522814.0A CN106006084B (en) | 2016-07-04 | 2016-07-04 | Method and system for storing and transporting animal carcasses |
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| CN106006084A CN106006084A (en) | 2016-10-12 |
| CN106006084B true CN106006084B (en) | 2023-03-24 |
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| CN108263824A (en) * | 2016-12-30 | 2018-07-10 | 杭州时迈环境科技股份有限公司 | Automatic livestock spoil rail transfer device |
| CN107009373A (en) * | 2017-04-06 | 2017-08-04 | 南京三宝弘正视觉科技有限公司 | A kind of solitary's supervisory-controlled robot and system |
| CN111325383A (en) * | 2017-07-28 | 2020-06-23 | 株式会社日立制作所 | Distribution plan generation method, device and system for distribution vehicle |
| CN113666091A (en) * | 2021-08-06 | 2021-11-19 | 苏州长城开发科技有限公司 | Automatic material connection system and connection method |
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| JP3303513B2 (en) * | 1994-03-31 | 2002-07-22 | 石川島播磨重工業株式会社 | Operation allocation control method for automatic guided vehicles |
| DE19526131C2 (en) * | 1995-07-18 | 1999-08-19 | Pyttel | Method and device for the semi-automatic picking of different articles from an orderly warehouse and for loading the same |
| DE19723571C1 (en) * | 1997-06-05 | 1998-10-29 | Nordischer Maschinenbau | Shackle device for holding poultry carcasses |
| JP2006062846A (en) * | 2004-08-27 | 2006-03-09 | Murata Mach Ltd | Transfer device |
| CN202124265U (en) * | 2011-06-27 | 2012-01-25 | 王黎明 | Full-automatic AGV (automatic guided vehicle) laser guiding vehicle |
| WO2014055716A1 (en) * | 2012-10-04 | 2014-04-10 | Amazon Technologies, Inc. | Filling an order at an inventory pier |
| CN202967332U (en) * | 2012-12-05 | 2013-06-05 | 成都海科机械设备制造有限公司 | Bucket-type elevator |
| CN103971220B (en) * | 2014-05-21 | 2018-04-20 | 上海第二工业大学 | A kind of harmful influence intelligent warehouse management system |
| CN105173773B (en) * | 2014-06-03 | 2017-12-19 | 王同建 | A kind of track type container packaging system and method |
| CN104229421B (en) * | 2014-06-18 | 2016-07-13 | 深圳市宏钺智能科技有限公司 | A kind of active and standby hopper automatic seamless is plugged into method |
| CN204802487U (en) * | 2015-07-03 | 2015-11-25 | 浙江工业职业技术学院 | Free activity gets cargo aircraft |
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