CN106822957A - A kind of pig house intelligence spray robot and its long-range control method - Google Patents
A kind of pig house intelligence spray robot and its long-range control method Download PDFInfo
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- CN106822957A CN106822957A CN201510888077.1A CN201510888077A CN106822957A CN 106822957 A CN106822957 A CN 106822957A CN 201510888077 A CN201510888077 A CN 201510888077A CN 106822957 A CN106822957 A CN 106822957A
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- 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
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- 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
- A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
- A61L2/22—Phase substances, e.g. smokes, aerosols or sprayed or atomised substances
-
- 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
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- 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
- A61L2202/20—Targets to be treated
- A61L2202/25—Rooms in buildings, passenger compartments
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
A kind of pig house intelligence spray robot and its long-range control method, the intelligent hog house disinfection robot include：Telecontrol equipment, including electric chassis and road wheel and electric steering mechanism on the electric chassis；Medicine liquid spray device, on the electric chassis, including medicine storing drum, Machinery Diaphragm Pump, chemical spraying mechanism and mechanical arm, the chemical spraying mechanism is connected with the medicine storing drum and the Machinery Diaphragm Pump respectively, and the chemical spraying mechanism is arranged on the mechanical arm；Control device, including the controller and remote wireless controller for interconnecting, the controller are arranged on the electric chassis, and the telecontrol equipment and the medicine liquid spray device are connected with the controller respectively.The invention also discloses the long-range control method of the intelligent hog house disinfection robot.
Description
Technical field
The present invention relates to a kind of Agricultural Robot and its control method, particularly a kind of pig house intelligence spraying machine
Device people and its long-range control method.
Background technology
It is to cultivate the most important thing in work that good breeding environment is kept in livestock and poultry cultivation room, especially indoor
Pig-breeding to pig house environment requirement it is more harsh, well-ventilated, the environment of clean hygiene contribute to live pig into
Grow and prevent germ from growing.To keep clean pig house environment, raiser periodically can carry out cleaning and disappear to pig house
Malicious operation, by sterilization, can eliminate pathogen, prevent the generation of infectious disease and pestilence.This can make
Pig reduces ill probability, the economic loss of pig farmer is reduced or retrieve, also for consumer provides high quality pork.
Due in indoor pig house space layout, narrow space between corridor, to prevent viral transmission, major part is taken
Powder-spreading and sterilizing, is carried out after being diluted in proportion with chemical disinfection medicament to the place such as the wall of pig house four and ground, feed trough
Sprinkling.Spray disinfectant work is more based on artificial due to the restriction by factors such as spaces.Use artificial sterilization
Can bring about problems, artificial first operation is limited and manual physical by the flusher that can be loaded
Limitation, sterilization operation efficiency is low, and labour intensity is big, and secondly the inconsistency of artificial spray operation action is caused
The sterilization of pig house can not reach homogenization, and the too high medicament for crossing low concentration can not all reach good sterilization effect
Really so that disinfection is had a greatly reduced quality, additionally, personnel frequently pass in and out pig house, there is people and animals' cross-infection
Hidden danger, increased the probability of pestilence outburst, and along with the scarcity of manual labor, chemical agent is deposited to human body
In more or less injury, aquaculture cost is caused to step up, culture benefit is substantially reduced.
The content of the invention
The technical problems to be solved by the invention are directed to the above mentioned problem of prior art, there is provided a kind of pig house intelligence
Can be sprayed robot and its long-range control method.
To achieve these goals, the invention provides a kind of intelligent hog house disinfection robot, wherein, including：
Telecontrol equipment, including electric chassis and road wheel and electric steering gear on the electric chassis
Structure；
Medicine liquid spray device, on the electric chassis, including medicine storing drum, Machinery Diaphragm Pump, spray
Mechanism and mechanical arm, the chemical spraying mechanism are connected with the medicine storing drum and the Machinery Diaphragm Pump respectively, described
Chemical spraying mechanism is arranged on the mechanical arm；
Control device, including the controller and remote wireless controller for interconnecting, the controller are arranged on
On the electric chassis, the telecontrol equipment and the medicine liquid spray device are connected with the controller respectively.
Above-mentioned intelligent hog house disinfection robot, wherein, also include：
Obstacle detecting device, for entering row distance detection to electric chassis periphery barrier to ensure safety
Walking, the obstacle detecting device includes laser range sensor and multiple optoelectronic switches, the laser ranging
Sensor is arranged on the front end of the electric chassis, and the multiple optoelectronic switch is separately positioned on the electronic bottom
The edge of disk, the laser range sensor and the multiple optoelectronic switch respectively with the controller
Connection.
Above-mentioned intelligent hog house disinfection robot, wherein, the electric steering mechanism includes：
Front-wheel steer axle, installed in the front end of the electric chassis；
Shaft gear is turned to, on the front-wheel steer axle；
Steering motor, is arranged on the front-wheel steer axle by motor fixing frame；
Motor gear, is connected with the steering motor and is engaged with the steering shaft gear；
Electromagnetic clutch, for the switching for realizing automatically controlling and controlling manually, the steering motor passes through institute
Electromagnetic clutch is stated to be connected with the motor gear.
Above-mentioned intelligent hog house disinfection robot, wherein, it is described turn to shaft gear with diameter greater than the motor
The diameter of gear, the steering angle a of the front-wheel steer axle1With the steering motor steering angle a2Between
Corresponding relation be：
a1=a2×i
Wherein, i is the gear ratio for turning to shaft gear and motor gear.
Above-mentioned intelligent hog house disinfection robot, wherein, the electric chassis are three-wheel rear wheel drive structure, including
Frame and a front-wheel and two trailing wheels in the frame, before the front-wheel is arranged on the frame
End lower section, described two trailing wheels are symmetricly set on the frame rear end lower section, are set between described two trailing wheels
There is travel driving motor, the travel driving motor is connected with described two trailing wheels respectively.
Above-mentioned intelligent hog house disinfection robot, wherein, the mechanical arm includes：
Pillar, is connected in the frame and with the controller；
First swing arm, one end of first swing arm is connected by first connecting portion with the pillar；
Second swing arm, is connected by second connecting portion with the other end of first swing arm；
Wherein, the first connecting portion and second connecting portion include rotating part and pitching portion, the rotation respectively
Portion be used for realize first swing arm relative to the pillar axes rotation or second swing arm relative to
The rotation of the first swing arm axis, the pitching portion is used to change the axis and the branch of first swing arm
The folder between the axis of angle or second swing arm and the axis of first swing arm between the axis of post
Angle.
Above-mentioned intelligent hog house disinfection robot, wherein, the chemical spraying mechanism includes spray pipeline and shower nozzle,
The spray pipeline is arranged on second swing arm, and the shower nozzle is arranged on the end of the spray pipeline.
Above-mentioned intelligent hog house disinfection robot, wherein, it is provided with anti-overflow safety valve on the spray pipeline
And magnetic valve, for preventing, hydraulic pressure is too high to damage the spray pipeline, the electromagnetism to the anti-overflow safety valve
Valve is used to realize the start and stop of automatically controlled sprinkling action.
Above-mentioned intelligent hog house disinfection robot, wherein, the controller and the remote wireless controller with
ZigBee communication modes are connected.
In order to above-mentioned purpose is better achieved, present invention also offers the remote of above-mentioned intelligent hog house disinfection robot
Process control method, wherein, comprise the following steps：
S100, preparation operation, including the liquid to be sprayed will be prepared and reprinted to the drug storage of medicine liquid spray device
In bucket, and the intelligent hog house disinfection robot is connected into power supply；
S200, startup controller and electric chassis, including start remote wireless controller, by the control
Device starts motor steering mechanism and travel driving motor；
S300, mechanical arm is started by the controller move to sprinkling position, and control chemical spraying mechanism by pre-
Provisioning request sprays；
S400, spray is completed, and manipulating the controller by the remote wireless controller closes the spray
Mechanism, motor steering mechanism and travel driving motor.
The technical effects of the invention are that：
Compared with existing pig house powder-spreading and sterilizing mode, the present invention replaces manual work with intelligence spray robot,
Using the intelligent robot of wheeled construction by operating personnel's remote wireless controlled, can make raiser reduce it is artificial into
This, makes operating personnel away from contacting danger with medicament, while the possibility of infectious disease people and animals' cross-infection is reduced,
And due to mechanical work uniformity it is strong the characteristics of, hog house disinfection can be made to spray medicament more uniform, dose point
Cloth is more reasonable, substantially increases the operating efficiency of hog house disinfection, it is ensured that good Disinfection Effect, is solution
Certainly hog house disinfection operation and protection operating personnel safety problem provide effective approach.
Below in conjunction with the drawings and specific embodiments, the present invention will be described in detail, but not as to of the invention
Limit.
Brief description of the drawings
Fig. 1 is the structural representation of one embodiment of the invention；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the electric steering mechanism schematic diagram of one embodiment of the invention；
Fig. 4 is the control unit interface distribution schematic diagram of one embodiment of the invention；
Fig. 5 is the first connecting portion schematic diagram of one embodiment of the invention；
Fig. 6 is the control method flow chart of one embodiment of the invention.
Wherein, reference
1 telecontrol equipment
11 electric chassis
111 frames
112 travel driving motors
12 road wheels
121 front-wheels
122 trailing wheels
13 electric steering mechanisms
131 front-wheel steer axles
132 turn to shaft gear
133 steering motors
134 motor gears
135 electromagnetic clutch
136 motor fixing frames
2 medicine liquid spray devices
21 medicine storing drums
22 Machinery Diaphragm Pumps
23 chemical spraying mechanisms
231 spray pipelines
232 shower nozzles
233 safety valves
234 magnetic valves
24 mechanical arms
241 pillars
242 first swing arms
243 second swing arms
244 first connecting portions
245 second connecting portions
246 rotating parts
247 pitching portions
3 control devices
31 controllers
32 guidance panels
4 obstacle detecting devices
41 laser range sensors
42 optoelectronic switches
Specific embodiment
Structural principle of the invention and operation principle are described in detail below in conjunction with the accompanying drawings：
It is the structural representation of one embodiment of the invention referring to Fig. 1 and Fig. 2, Fig. 1, Fig. 2 bows for Fig. 1's
View.Intelligent hog house disinfection robot of the invention, including：
Telecontrol equipment 1, including electric chassis 11 and the road wheel on the electric chassis 11 12
And electric steering mechanism 13, wherein, the electric chassis 11 are the ground-engaging element of robot, preferably three
Wheel rear wheel drive structure, including frame 111 and three road wheels 12 in the frame 111, one
Front-wheel 121 and two trailing wheels 122, the front-wheel 121 are arranged on the front end of the frame 111 lower section, two
Trailing wheel 122 is symmetricly set on the rear end of the frame 111 lower section, and the slab construction of three-wheel support is for carrying
Space is bigger for ability, and heavy burden ability is stronger, is conducive to improving the flexibility of automatic steering control, described
Travel driving motor 112, preferably 48V direct current torque motors are provided between two trailing wheels 122, it is described
Travel driving motor 112 is connected with described two trailing wheels 122 respectively；The electric chassis 11 use rear-guard
Mode, its driving force compares forerunner, and trailing wheel 122 drives and is more beneficial for complex road condition of climbing and deal with.Institute
Electric chassis 11 are stated preferably using 48V direct current torque motors as the power source of walking, with moment of torsion large volume
Small the characteristics of, being combined with battery pack can also realize long time continuous working.
Medicine liquid spray device 2, on the electric chassis 11, including medicine storing drum 21, mechanical diaphragm
Pump 22, chemical spraying mechanism 23 and mechanical arm 24, the Machinery Diaphragm Pump 22 as sprinkling power source,
Sufficient hydraulic pressure is kept during sprinkling can make the liquid lift atomizing effect long for spraying good.It is described machinery every
Membrane pump 22 adjusts the adjustment being capable of achieving to hydraulic pressure by driver.Disinfectant is as chemical agent to carrying
Device has certain corrosivity, for the long-term use for ensureing the medicine storing drum 21 preferably uses PE materials.
The chemical spraying mechanism 23 is connected with the medicine storing drum 21 and the Machinery Diaphragm Pump 22 respectively, the spray
Mechanism 23 is arranged on the mechanical arm 24, wherein, the mechanical arm 24 includes：Pillar 241, peace
It is connected in the frame 111 and with the controller 31；First swing arm 242, first swing arm
242 one end is connected by first connecting portion 244 with the pillar 241；Second swing arm 243, by
Two connecting portions 245 are connected with the other end of first swing arm 242；Wherein, the first connecting portion 244
Include rotating part 246 and pitching portion 247 respectively with second connecting portion 245, the rotating part 246 is used for real
Existing first swing arm 242 is relative relative to the rotation of the axis of the pillar 241 or second swing arm 243
In the rotation of the axis of the first swing arm 242, the pitching portion 247 is used to change first swing arm 242
Axis and the axis of the pillar 241 between angle or second swing arm 243 axis and described
Angle between the axis of one swing arm 242 (referring to Fig. 5).The mechanical arm 24 moves essence with multinode
It is determined that position, realizes intelligent bionic mechanical movement, the mechanical arm 24 is connected by first connecting portion 244, second
Socket part 245 etc. is done more physical exercises node connection, and each movement node is driven with motor and is capable of achieving wide-angle one direction and transports
Dynamic, wherein action node includes the rotating part 246 and the pitching portion 247, thus multinode combination can
The range of movement of the mechanical arm 24 is set to cover certain solid space.The movement node of mechanical arm 24 can be by limit
Bit switch, as reference by location, both ensure that the range of movement of node with photoelectric sensor, anti-further through position
Feedback has accurately controlled movement angle.
Wherein, the chemical spraying mechanism 23 includes spray pipeline 231 and shower nozzle 232, the spray pipeline 231
On second swing arm 243, the shower nozzle 232 is arranged on the end of the spray pipeline 231,
The interface of the shower nozzle 232 can flexibly change the adjustment type of shower nozzle 232 according to demand using general-purpose interface, described
Spray pipeline 231 is preferably using the connection of high pressure resistant flexible pipe for the action of cooperative mechanical arm 24.Wherein, institute
State and be provided with anti-overflow safety valve 233 and magnetic valve 234, the anti-overflow safety valve on spray pipeline 231
233 are used to prevent the hydraulic pressure too high damage spray pipeline 231, and overflow liquid is recycled into the medicine storing drum
In 21, the magnetic valve 234 is used to realize the start and stop of automatically controlled sprinkling action.
Control device 3, including interconnect controller 31 and remote wireless controller (not shown),
The controller 31 realizes brainpower insufflation robot controlled in wireless, the controller with remote wireless controller
31 are arranged on the electric chassis 11, for receiving control command and being instructed to each part sending action,
The telecontrol equipment 1 and the medicine liquid spray device 2 are connected with the controller 31 respectively.Long distance wireless
Controller is the control device combined with rocking arm and button, mainly by manipulating rocking arm with button to movement controller
31 sending action orders.Wherein described controller 31 is combined by with each component motor driver, is driven each
Part presses manipulation request and performs action.Action command is related to the walking forward-reverse of the electric chassis 11 to turn to,
Medicine liquid spray start and stop and medicine liquid spray direction etc..Wherein, the controller 31 and the remote wireless control
Device is preferably connected with ZigBee communication modes, and the wireless communication mode data transmission bauds using ZigBee is fast
Speed, real-time is more preferable between can making manipulation and performing, and reduces maloperation.The remote wireless controller passes through
Collection rocking arm and button change information recognize corresponding action command, then with data mode by ZigBee's
Communication modes in a wireless form send order, receive the controller 31.Referring to Fig. 4, Fig. 4 is
The control unit interface distribution schematic diagram of one embodiment of the invention.
In the present embodiment, above-mentioned intelligent hog house disinfection robot may also include：Obstacle detecting device 4, uses
In row distance detection is entered to the periphery barrier of the electric chassis 11 to ensure safe walking, the obstacle is examined
Surveying device 4 includes laser range sensor 41 and multiple optoelectronic switches 42, the laser range sensor 41
Installed in the front end of the electric chassis 11, the multiple optoelectronic switch 42 is separately positioned on the electronic bottom
The edge of disk 11, the laser range sensor 41 and the multiple optoelectronic switch 42 respectively with
The controller 31 is connected.By the laser range sensor 41 between periphery barrier and chassis away from
From detection, form the walking of electric chassis 11 and keep in obscurity foundation, it is ensured that robot is in the course of the work to low coverage
Make corresponding avoidance in time from barrier, it is to avoid unnecessary collision.
Referring to Fig. 3, Fig. 3 is the electric steering mechanism schematic diagram of one embodiment of the invention.The electric powered steering
Mechanism 13 includes：Front-wheel steer axle 131, installed in the front end of the electric chassis 11；Turn to shaft gear
132, on the front-wheel steer axle 131；Steering motor 133, preferably servo torque motor,
Can be arranged on the front-wheel steer axle 131 by motor fixing frame 136；Motor gear 134, it is and described
Steering motor 133 is connected and engaged with the steering shaft gear 132；Electromagnetic clutch 135, for realizing
The switching for automatically controlling and controlling manually, disconnects the electromagnetic clutch 135 when manual steering is needed, when
Just the electromagnetic clutch 135 is combined when need to automatically control, the steering motor 133 passes through the electromagnetism
Clutch 135 is connected with the motor gear 134.The electric steering mechanism 13 is by servo torque motor
As power is driven, combined with the front-wheel steer axle 131 by engaged gears, realized the accurate control of corner
System, combination controlling method realizes the accurate steering of robot ambulation.When the controller 31 and servo force
When being controlled to adjust in a pulsed fashion between the servo-driver of torque motor, can rotate servo force torque motor accurate
To per once, and servomotor set decelerator also can reach good response speed, will not make electronic bottom
The walking of disk 11 is dilatory when turning to, and causes turning radius excessive.
The gear that is engaged between the steering motor 133 and the front-wheel steer axle 131 is advised using different size
Lattice, connect in the way of the motor gear 134 drives the steering shaft gear 132, can so make described
The driving force lifting of steering motor 133.Wherein, it is described turn to shaft gear 132 with diameter greater than the electricity
The diameter of machine gear 134, the steering angle a of the front-wheel steer axle 1311With the steering motor 133
Steering angle a2Between corresponding relation be：
a1=a2×i
Wherein, i is the gear ratio for turning to shaft gear 132 and motor gear 134.
It can be seen that, when gear ratio i increases, the anglec of rotation of steering motor 133 will increase and turn to afterwards electric
The rotating cycle of machine gear 134 increases, and tooth has been reduced by when the rotating cycle of the motor gear 134 increases
The error formed because gap is present between wheel.
Referring to Fig. 6, Fig. 6 is the control method flow chart of one embodiment of the invention.Present invention also offers upper
The long-range control method of the intelligent hog house disinfection robot for stating, wherein, comprise the following steps：
Step S100, preparation operation, including the liquid to be sprayed will be prepared and reprinted to medicine liquid spray device 2
Medicine storing drum 21 in, and by the intelligent hog house disinfection robot connection power supply；
The thimerosal that will have been diluted is fitted into medicine storing drum 21, wipes to be scattered around medicine storing drum 21 and liquid and seals
The lid of medicine storing drum 21 prevents from liquid from rocking during exercise spilling；
Step S200, startup controller 31 and electric chassis 11, including start remote wireless controller, lead to
Cross the controller 31 and start motor steering mechanism and travel driving motor 112；
Specifically may include：Start controller 31, each motor driver and mechanical diaphragm pump controller, will control
Press, auto-steering button is pressed by button for walking enable in guidance panel 32 on device processed 31, will be long-range
Wireless controller is placed in starting state, you can complete the preparation before disinfecting car starts；
Step S300, mechanical arm 24 is started by the controller 31 move to sprinkling position, and control
Chemical spraying mechanism 23 sprays by pre-provisioning request；
After the completion of preparation, the movable mechanical arm 24 of the right side rocking arm of controller 31 is shaken by shower nozzle 232
Move to and suitably spray position.The Left button of controller 31 is used to control electric chassis 11 to walk, and upper key is to add
Fast button, press for a long time or during crawl state when the button is in, and electric chassis 11 are in acceleration mode
Untill most high speed.Lower key is retard button, press for a long time or during crawl when the button is in, electronic
Chassis 11 is in deceleration regime untill stopping.The pine when electric chassis 11 are in acceleration or deceleration state
Button is opened, electric chassis 11 will keep current vehicle speed.Right and left key is the diversion order button of electric chassis 11,
When crawl or for a long time triggering, front-wheel steer axle 131 is in corresponding rotation state, until corner is maximum.Control
Lower end button is corresponded to respectively in device processed 31：Reversing button, after pressing coordinate crawl acceleration or deceleration button and
Directionkeys can realize that speed change is moveed backward；Brake button, can be by electric chassis 11 moment stop motion after pressing；
Sprinkling button, presses the opening liquid of sprinkling button medicine liquid spray magnetic valve 234 and is sprayed through shower nozzle 232.
Step S400, spray are completed, and manipulating the controller 31 by the remote wireless controller closes
The chemical spraying mechanism 23, electric steering mechanism 13 and travel driving motor 112.
Each snap fit operation in work, you can make intelligent hog house disinfection robot enter working condition, work as intelligence
Energy hog house disinfection robot gives a warning close to obstacle detecting device during barrier 4, and automatic by electric chassis
11 slow down, and at this moment operating personnel depart from operation, and electric chassis 11 are moved from trend barrier opposite direction, when
Barrier disappears away from warning after electric chassis 11, operating personnel's interventional procedure.
Pig house intelligence spray robot of the invention, the electric chassis are the rows of pig house intelligence spray robot
Part is walked, using three-wheel walking manner, is driven by direct current torque motor, electric direction varying device is made by torque motor
It is power, combination controlling method realizes the accurate steering of pig house intelligence spray robot ambulation, intelligent machine
Arm is accurately positioned with multinode motion, realizes intelligent bionic mechanical movement；Medicine liquid spray device by medicine storing drum,
The parts such as Machinery Diaphragm Pump, chemical spraying mechanism and mechanical arm are constituted, and each part be combined with each other and realizes that constant pressure is sprayed,
Controller realizes the coordinating and unifying of remote wireless controlled and local action, obstacle detection with remote wireless controller
Device is detected to peripheral obstacle during pig house intelligently spray robot automatically walk, realized
Path Recognition and safe avoidance.
Certainly, the present invention can also have other various embodiments, in the feelings without departing substantially from spirit of the invention and its essence
Under condition, those of ordinary skill in the art work as can make various corresponding changes and deformation according to the present invention, but
These corresponding changes and deformation should all belong to the protection domain of appended claims of the invention.
Claims (10)
1. a kind of intelligent hog house disinfection robot, it is characterised in that including：
Telecontrol equipment, including electric chassis and road wheel and electric steering gear on the electric chassis
Structure；
Medicine liquid spray device, on the electric chassis, including medicine storing drum, Machinery Diaphragm Pump, spray
Mechanism and mechanical arm, the chemical spraying mechanism are connected with the medicine storing drum and the Machinery Diaphragm Pump respectively, described
Chemical spraying mechanism is arranged on the mechanical arm；
Control device, including the controller and remote wireless controller for interconnecting, the controller are arranged on
On the electric chassis, the telecontrol equipment and the medicine liquid spray device are connected with the controller respectively.
2. intelligence hog house disinfection robot as claimed in claim 1, it is characterised in that also include：
Obstacle detecting device, for entering row distance detection to electric chassis periphery barrier to ensure safety
Walking, the obstacle detecting device includes laser range sensor and multiple optoelectronic switches, the laser ranging
Sensor is arranged on the front end of the electric chassis, and the multiple optoelectronic switch is separately positioned on the electronic bottom
The edge of disk, the laser range sensor and the multiple optoelectronic switch respectively with the controller
Connection.
3. intelligence hog house disinfection robot as claimed in claim 1 or 2, it is characterised in that the electricity
Dynamic steering mechanism includes：
Front-wheel steer axle, installed in the front end of the electric chassis；
Shaft gear is turned to, on the front-wheel steer axle；
Steering motor, is arranged on the front-wheel steer axle by motor fixing frame；
Motor gear, is connected with the steering motor and is engaged with the steering shaft gear；
Electromagnetic clutch, for the switching for realizing automatically controlling and controlling manually, the steering motor passes through institute
Electromagnetic clutch is stated to be connected with the motor gear.
4. intelligence hog house disinfection robot as claimed in claim 3, it is characterised in that the steering spindle
The diameter with diameter greater than the motor gear of gear, the steering angle a of the front-wheel steer axle1With it is described
Steering motor steering angle a2Between corresponding relation be：
a1=a2×i
Wherein, i is the gear ratio for turning to shaft gear and motor gear.
5. intelligence hog house disinfection robot as claimed in claim 1, it is characterised in that the electronic bottom
Disk is three-wheel rear wheel drive structure, including frame and a front-wheel and two trailing wheels in the frame, institute
State front-wheel and be arranged on the frame front end lower section, described two trailing wheels are symmetricly set under the frame rear end
Side, is provided with travel driving motor between described two trailing wheels, the travel driving motor is respectively with described two
Individual trailing wheel connection.
6. intelligence hog house disinfection robot as claimed in claim 1, it is characterised in that the mechanical arm
Including：
Pillar, is connected in the frame and with the controller；
First swing arm, one end of first swing arm is connected by first connecting portion with the pillar；
Second swing arm, is connected by second connecting portion with the other end of first swing arm；
Wherein, the first connecting portion and second connecting portion include rotating part and pitching portion, the rotation respectively
Portion be used for realize first swing arm relative to the pillar axes rotation or second swing arm relative to
The rotation of the first swing arm axis, the pitching portion is used to change the axis and the branch of first swing arm
The folder between the axis of angle or second swing arm and the axis of first swing arm between the axis of post
Angle.
7. intelligence hog house disinfection robot as claimed in claim 6, it is characterised in that the spraying machine
Structure includes spray pipeline and shower nozzle, and the spray pipeline is arranged on second swing arm, and the shower nozzle is installed
In the end of the spray pipeline.
8. intelligence hog house disinfection robot as claimed in claim 7, it is characterised in that the medicine spraying tube
Anti-overflow safety valve and magnetic valve are provided with road, the anti-overflow safety valve is used to prevent the too high damage of hydraulic pressure
The spray pipeline, the magnetic valve is used to realize the start and stop of automatically controlled sprinkling action.
9. intelligence hog house disinfection robot as claimed in claim 1, it is characterised in that the controller
It is connected with ZigBee communication modes with the remote wireless controller.
10. a kind of intelligent hog house disinfection robot to described in any one of the claims 1-9 is remote
Process control method, it is characterised in that comprise the following steps：
S100, preparation operation, including the liquid to be sprayed will be prepared and reprinted to the drug storage of medicine liquid spray device
In bucket, and the intelligent hog house disinfection robot is connected into power supply；
S200, startup controller and electric chassis, including start remote wireless controller, by the control
Device starts motor steering mechanism and travel driving motor；
S300, mechanical arm is started by the controller move to sprinkling position, and control chemical spraying mechanism by pre-
Provisioning request sprays；
S400, spray are completed, and manipulating the controller by the remote wireless controller closes the spray
Mechanism, motor steering mechanism and travel driving motor.
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| CN201510888077.1A CN106822957A (en) | 2015-12-07 | 2015-12-07 | A kind of pig house intelligence spray robot and its long-range control method |
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| CN111558068A (en) * | 2020-04-07 | 2020-08-21 | 深圳市优必选科技股份有限公司 | Epidemic prevention robot |
| CN111956850A (en) * | 2020-08-21 | 2020-11-20 | 苏州华圣恩智能科技有限公司 | Low-temperature plasma intelligent disinfection and sterilization robot and control method thereof |
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| WO2021165389A1 (en) * | 2020-02-21 | 2021-08-26 | Siemens Aktiengesellschaft | Disinfection robot and disinfection robot control system |
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| CN111246892A (en) * | 2018-03-02 | 2020-06-05 | 松下知识产权经营株式会社 | Purification method, purification device, and purification system |
| CN109411069A (en) * | 2018-11-19 | 2019-03-01 | 佛山市第人民医院（中山大学附属佛山医院） | Intelligent sickbed unit management system and method |
| WO2021165389A1 (en) * | 2020-02-21 | 2021-08-26 | Siemens Aktiengesellschaft | Disinfection robot and disinfection robot control system |
| CN111558068A (en) * | 2020-04-07 | 2020-08-21 | 深圳市优必选科技股份有限公司 | Epidemic prevention robot |
| CN111558068B (en) * | 2020-04-07 | 2021-08-27 | 深圳市优必选科技股份有限公司 | Epidemic prevention robot |
| EP4134036A4 (en) * | 2020-04-10 | 2024-07-17 | Kawasaki Heavy Ind Ltd | Medical assistance robot and medical robot system |
| IT202000017977A1 (en) * | 2020-07-24 | 2022-01-24 | Michele Zaccagnino | DEVICE FOR SANITATION OF ENVIRONMENTS |
| CN111956850A (en) * | 2020-08-21 | 2020-11-20 | 苏州华圣恩智能科技有限公司 | Low-temperature plasma intelligent disinfection and sterilization robot and control method thereof |
| CN112190741A (en) * | 2020-09-23 | 2021-01-08 | 闫山 | Hospital corridor sterilizing machine free of head dropping and dead angle returning |
| KR20220048513A (en) * | 2020-10-12 | 2022-04-20 | 한국철도기술연구원 | Automatic mobile sterilizer |
| KR102510156B1 (en) | 2020-10-12 | 2023-03-16 | 한국철도기술연구원 | Automatic mobile sterilizer |
| CN112088863A (en) * | 2020-10-30 | 2020-12-18 | 济南大学 | Plant protection machine is with spouting medicine device |
| CN112370559A (en) * | 2020-11-27 | 2021-02-19 | 安徽省农业科学院蚕桑研究所 | Automatic disinfection robot for silkworm rearing room |
| CN112370559B (en) * | 2020-11-27 | 2022-09-13 | 安徽省农业科学院蚕桑研究所 | Automatic disinfection robot for silkworm rearing room |
| CN113117116A (en) * | 2021-04-26 | 2021-07-16 | 上海锵玫人工智能科技有限公司 | Outdoor killing robot and killing control method thereof |
| CN113274525A (en) * | 2021-04-30 | 2021-08-20 | 马国英 | Intelligent automatic monitoring and sterilizing device for household pet residence |
| CN113509577A (en) * | 2021-05-19 | 2021-10-19 | 长江师范学院 | Arm for disinfection and special trolley for environmental disinfection |
| CN113798251A (en) * | 2021-10-18 | 2021-12-17 | 河南牧原智能科技有限公司 | Cleaning robot and control system for cleaning robot |
| CN114013499A (en) * | 2021-10-29 | 2022-02-08 | 北京汽车研究总院有限公司 | Transverse control system and method for unmanned formula racing car and vehicle |
| CN113975438A (en) * | 2021-11-17 | 2022-01-28 | 珠海一微半导体股份有限公司 | Toilet disinfection device and disinfection method |
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Application publication date: 20170613 |