CN106891343A - A kind of sweeping robot and cleaning method - Google Patents
A kind of sweeping robot and cleaning method Download PDFInfo
- Publication number
- CN106891343A CN106891343A CN201710088964.XA CN201710088964A CN106891343A CN 106891343 A CN106891343 A CN 106891343A CN 201710088964 A CN201710088964 A CN 201710088964A CN 106891343 A CN106891343 A CN 106891343A
- Authority
- CN
- China
- Prior art keywords
- cleaned
- sweeping robot
- telescoping mechanism
- robot
- swingle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 35
- 238000010408 sweeping Methods 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 238000010926 purge Methods 0.000 claims abstract description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 28
- 238000012544 monitoring process Methods 0.000 claims description 9
- 230000000007 visual effect Effects 0.000 claims description 7
- 230000009467 reduction Effects 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 241000282887 Suidae Species 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K1/00—Housing animals; Equipment therefor
- A01K1/01—Removal of dung or urine, e.g. from stables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Zoology (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention provides a kind of sweeping robot and cleaning method, wherein robot includes base, the base includes housing, the housing lower end is provided with universal wheel, side is provided with grip device, opposite side is provided with sensing element, inner side is provided with electric cabinet, the electric cabinet is connected with a battery, the housing upper end is provided with swingle, the swingle is connected with a telescoping mechanism, an electric cylinders are provided between the telescoping mechanism and the swingle, the telescoping mechanism is connected with high-pressure nozzle, shower nozzle rotary combined device is provided between the telescoping mechanism and the high-pressure nozzle, robot of the present invention can realize treating the automatic cleaning of purging zone, it is particularly suitable for the automatic cleaning to plants such as pigsties.
Description
Technical field
The present invention relates to a kind of New type automatic cleaning equipment, and in particular to a kind of sweeping robot and cleaning method, enter
One step, is related to the sweeping robot to the automatic cleaning of the plants such as pigsty.
Background technology
The present invention is applied to cultivation field.With the industrialization of livestock-raising, livestock-raising is towards large-scale factory's mould
Formula develops.And scale is increasing, wherein the cleaning for cultivating occupies an important link in numerous work.
The cultivation station-service automatic rinser device people such as pigsty filthy for environment replaces artificial cleaning to be following trend.
The content of the invention
In order to solve the above technical problems, the invention provides a kind of sweeping robot and cleaning method, it is possible to achieve to pig
The automatic cleaning of Quan Deng plants.
The invention provides a kind of sweeping robot, including base, the base includes housing, and the housing lower end is provided with
Universal wheel, side is provided with grip device, and opposite side is provided with sensing element, and inner side is provided with electric cabinet, and the electric cabinet is connected with one
Battery, the housing upper end is provided with swingle, and the swingle is connected with a telescoping mechanism, the telescoping mechanism and the rotation
An electric cylinders are provided between bar, the telescoping mechanism is connected with high-pressure nozzle, is set between the telescoping mechanism and the high-pressure nozzle
There is shower nozzle rotary combined device.
Above-mentioned robot, wherein, the swingle lower end is provided with rotary power unit, and the housing is additionally provided with a high pressure
Water dispenser.
Above-mentioned robot, wherein, the sensing element includes visual identity sensor, position sensor, orientation sensing
Device, the visual identity sensor, position sensor, alignment sensor are connected with the electric cabinet.
Above-mentioned robot, wherein, the grip device inner side is provided with a rotating cylinder, and water inlet pipe is wound with the rotating cylinder,
The water inlet pipe is connected with the high-pressure nozzle.
Above-mentioned robot, wherein, the telescoping mechanism is provided with the first expansion link and the second expansion link, and described first stretches
Bar is connected with second expansion link.
Above-mentioned robot, wherein, it is provided with the first motor between the shower nozzle rotary combined device and the telescoping mechanism
And swinging reduction motor.
Above-mentioned robot, wherein, water pipe installation is provided between the shower nozzle rotary combined device and the high-pressure nozzle
Plate.
A kind of another side of the invention, cleaning method of sweeping robot, comprises the following steps：
It is determined that track route in region to be cleaned and uploading to controller；
Purging zone is treated based on above-mentioned track route to be cleaned, then cleaned by sensor element real-time monitoring
Information and upper end are to controller；
Controller receives above-mentioned cleaning information and is analyzed, and then the result according to analysis assigns instruction to universal wheel
Continue to treat purging zone with high-pressure nozzle and cleaned and finished until region to be cleaned cleans.
Above-mentioned method, wherein, it is described purging zone is treated based on above-mentioned track route to be cleaned, then by sensing
Simultaneously upper end is in the step of controller for the information that device part real-time monitoring is cleaned, and the information that the monitoring is cleaned is clean including what is cleaned
Net situation, the positional information of high-pressure nozzle and the distance between robot body and other barriers information.
The present invention has advantages below：
1st, the present invention can realize treating the automatic cleaning of purging zone, be particularly suitable for the automatic clear of the plants such as pigsty
Wash.
Brief description of the drawings
By the detailed description made to non-limiting example with reference to the following drawings of reading, the present invention and its feature, outward
Shape and advantage will become more apparent upon.Identical mark indicates identical part in whole accompanying drawings.Not deliberately proportionally
Draw accompanying drawing, it is preferred that emphasis is purport of the invention is shown.
A kind of dimensional structure diagram of sweeping robot that Fig. 1 is provided for the present invention.
A kind of side structure schematic view of sweeping robot that Fig. 2 is provided for the present invention.
Specific embodiment
In the following description, a large amount of concrete details are given to provide more thorough understanding of the invention.So
And, it is obvious to the skilled person that the present invention can be able to without one or more of these details
Implement.In other examples, in order to avoid obscuring with the present invention, do not enter for some technical characteristics well known in the art
Row description.
In order to thoroughly understand the present invention, detailed step and detailed structure will be proposed in following description, so as to
Explaination technical scheme.Presently preferred embodiments of the present invention is described in detail as follows, but in addition to these detailed descriptions, this
Invention can also have other embodiment.
Shown in reference picture 1- Fig. 2, the invention provides a kind of sweeping robot, including base 1, base 1 includes housing 2,
The lower end of housing 2 is provided with universal wheel 3, and side is provided with grip device 4, and opposite side is provided with sensing element 5, and inner side is provided with electric cabinet 6, electricity
Control case 6 is connected with a battery 7, and the upper end of housing 2 is provided with swingle 8, and swingle 8 is connected with a telescoping mechanism 9, telescoping mechanism 9 with
An electric cylinders 10 are provided between swingle 8, telescoping mechanism 9 is connected with high-pressure nozzle 11, is set between telescoping mechanism 9 and high-pressure nozzle 11
There is shower nozzle rotary combined device 12.
The course of work of the invention is：Height has been planned according to the size and specification of plant's pigsty etc. by technical staff first
The track route of shower nozzle 11 being pressed, and is saved in the controller of electric cabinet 6, called during to use.When equipment is needed to use,
Equipment is put into the side of pigsty, connects water pipe and mix up the position of universal wheel 3, call preprepared program press startup by
Button, automatic rinser device people will walk according to the path planned along pigsty, reach electric cylinders 10 after specifying cleaning positions and lift
Then high-pressure nozzle 11 is rotated to specified location by swing arm telescoping mechanism 9 by swingle 8, and then swing arm telescoping mechanism 9 passes through
Electric cylinders drive expansion link to stretch out specified length, and then controller control high pressure water dispenser is opened, and starts conveying high-pressure water to high pressure spray
First 11 pairs of pig houses are cleaned.Shower nozzle rotary combined device 12 starts rotation water pipe and drives high-pressure nozzle 11 to shower nozzle peripheral part
Cleaned.Then high-pressure nozzle 11 is cleaned according to programme-control to pig house, and after a pig house has been cleaned, robot is each
Individual part returns to initial position, and robot starts automatically walk, is then cleaned to next cleaning positions, to whole
Pig house cleaning is complete, and equipment can finally be automatically stopped initial position.The substantial amounts of manpower that sweeping robot of the invention is saved,
And the pig house for cleaning more is cleaned.
In a preferred but unrestricted embodiment of the invention, the lower end of swingle 8 is provided with rotary power unit 13, housing 2
It is additionally provided with a high pressure water dispenser 14, that is to say, that control high pressure water dispenser to open by controller, start conveying high-pressure water to high pressure spray
Head is cleaned to pig house, and rotary power unit 13 is to provide rotary power to swingle 8.
In a preferred but unrestricted embodiment of the invention, sensing element 5 includes visual identity sensor, position sensing
Device, alignment sensor, visual identity sensor, position sensor, alignment sensor are connected with electric cabinet 6, and it is right to can be used for
The visual scanning of purging zone, it is determined that the cleaning situation of purging zone, and position sensing, alignment sensor can be used for
The positioning of the posture of robot, can reach optimal cleaning state.
In a preferred but unrestricted embodiment of the invention, the inner side of grip device 4 is provided with a rotating cylinder 15, is twined on rotating cylinder 15
Water inlet pipe 16 is wound with, water inlet pipe 16 is connected with high-pressure nozzle 11, can provide the water inlet of robot.
In a preferred but unrestricted embodiment of the invention, it is flexible that telescoping mechanism 9 is provided with the first expansion link 17 and second
Bar 18, the first expansion link 17 is connected with the second expansion link 18, that is to say, that drive the first expansion link 17 to be stretched with second by electric cylinders
Contracting bar 18 stretches out specified length, it is possible to achieve preferably clean effect, and robot can be made more flexible when cleaning.
In a preferred but unrestricted embodiment of the invention, set between shower nozzle rotary combined device 12 and telescoping mechanism 9
There are the first motor 19 and swinging reduction motor 20, further preferably, set between shower nozzle rotary combined device 12 and high-pressure nozzle 11
There is water pipe installing plate 21, it is possible to achieve the first motor 19 starts, drive hydraulic giant swinging reduction motor 20 to put water pipe installing plate 21
Certain angle is moved, then controller control high pressure water dispenser is opened, start conveying high-pressure water is carried out clearly to high-pressure nozzle to pig house
Wash.
A kind of another side of the invention, cleaning method of sweeping robot, comprises the following steps：
Step S1：It is determined that track route in region to be cleaned and uploading to controller；By technical staff according to
The size and specification of plant's pigsty etc. have planned the track route of high-pressure nozzle, and are saved in the controller of electric cabinet, with
Called when just using.
Step S2：Purging zone is treated based on above-mentioned track route to be cleaned, then supervised in real time by sensor element
The information and upper end that clean are surveyed to controller, wherein the information for monitoring cleaning includes the clean situation, the position of high-pressure nozzle that clean
The distance between confidence breath and robot body and other barriers information, it is possible to achieve to the clean feelings of purging zone
Condition is monitored, and according to monitoring cleaning situation, in real time the attitude to robot be adjusted, for example, ought be a certain
Region has been cleaned after finishing, and by monitoring, if not meeting the requirement for pre-setting, readjusts the attitude of robot,
Again clean, until reaching default requirement.
Step S3：Controller receives above-mentioned cleaning information and is analyzed, and then the result according to analysis assigns instruction
Continue to treat purging zone to universal wheel and high-pressure nozzle and cleaned and finished until region to be cleaned cleans.Specific process
For：Equipment is put into the side of pigsty, connects water pipe and mix up universal wheel position, call preprepared program press startup by
Button, automatic rinser device people will walk according to the path planned along pigsty, reach electric cylinders after specifying cleaning positions and lift pendulum
Then high-pressure nozzle is rotated to specified location by arm telescoping mechanism by rotary power part, and then swing arm telescoping mechanism is by electricity
Cylinder drives expansion link to stretch out specified length, and electric motor starting drives hydraulic giant swing reductor water pipe installing plate is swung certain angle
Degree, then controller control high pressure water dispenser opening, starts conveying high-pressure water pig house is cleaned to high-pressure nozzle.Shower nozzle rotates
Combination starts rotation water pipe and drives high-pressure nozzle to clean shower nozzle peripheral part.Then high-pressure nozzle is according to programme-control pair
Pig house is cleaned, and after a pig house has been cleaned, robot various pieces return to initial position, and robot starts automatic row
Walk, then cleaned to next cleaning positions, to arriving that the cleaning of whole pig house is complete, equipment can finally be automatically stopped first
Beginning position.
One presented below is specifically applied embodiments of the invention.
Embodiment 1：In Anhui plant, in the plant, pig amount is 2000 or so, 2014 every year within 2014
Before in the case of normal cultivation, pigsty is cleaned by artificial mode every year, cultivating the feelings of 2000 first-born pigs
, it is necessary to the staff of matching is full-time for pigsty is cleaned for 5 people under condition, cleaning of the invention is used within 2015/2016 year
Robot, it is only necessary to which a robot of the invention can just complete 5 workloads of people, and can save the use of 2T daily
Water, is contrasted by robotic vision scanning system with the picture of artificial cleaning, after being cleaned by robot, can be with
Reach more preferable cleaning effect.
Presently preferred embodiments of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, wherein the equipment and structure that do not describe in detail to the greatest extent are construed as giving reality with the common mode in this area
Apply；Any those of ordinary skill in the art, in the case where technical solution of the present invention ambit is not departed from, all using the disclosure above
Methods and techniques content make many possible variations and modification to technical solution of the present invention, or be revised as equivalent variations etc.
Effect embodiment, this has no effect on substance of the invention.Therefore, every content without departing from technical solution of the present invention, foundation
Technical spirit of the invention still falls within the present invention to any simple modification, equivalent variation and modification made for any of the above embodiments
In the range of technical scheme protection.
Claims (9)
1. a kind of sweeping robot, it is characterised in that including base, the base includes housing, and the housing lower end is provided with ten thousand
To wheel, side is provided with grip device, and opposite side is provided with sensing element, and inner side is provided with electric cabinet, and the electric cabinet is connected with an electricity
Pond, the housing upper end is provided with swingle, and the swingle is connected with a telescoping mechanism, the telescoping mechanism and the swingle
Between be provided with an electric cylinders, the telescoping mechanism is connected with high-pressure nozzle, is provided between the telescoping mechanism and the high-pressure nozzle
Shower nozzle rotary combined device.
2. a kind of sweeping robot as claimed in claim 1, it is characterised in that the swingle lower end is provided with rotary power dress
Put, the housing is additionally provided with a high pressure water dispenser.
3. a kind of sweeping robot as claimed in claim 1, it is characterised in that the sensing element includes visual identity sensing
Device, position sensor, alignment sensor, the visual identity sensor, position sensor, alignment sensor are automatically controlled with described
Case is connected.
4. a kind of sweeping robot as claimed in claim 1, it is characterised in that the grip device inner side is provided with a rotating cylinder,
Water inlet pipe is wound with the rotating cylinder, the water inlet pipe is connected with the high-pressure nozzle.
5. a kind of sweeping robot as described in claim any one of 1-4, it is characterised in that the telescoping mechanism is provided with first
Expansion link and the second expansion link, first expansion link are connected with second expansion link.
6. a kind of sweeping robot as claimed in claim 5, it is characterised in that the shower nozzle rotary combined device is stretched with described
The first motor and swinging reduction motor are provided between contracting mechanism.
7. a kind of sweeping robot as claimed in claim 4, it is characterised in that the shower nozzle rotary combined device and the height
Water pipe installing plate is provided between pressure shower nozzle.
8. a kind of cleaning method of sweeping robot, it is characterised in that comprise the following steps：
It is determined that track route in region to be cleaned and uploading to controller；
Purging zone is treated based on above-mentioned track route to be cleaned, the information for then being cleaned by sensor element real-time monitoring
And upper end is to controller；
Controller receives above-mentioned cleaning information and is analyzed, and then the result according to analysis assigns instruction to universal wheel and height
Pressure shower nozzle continues to treat purging zone and is cleaned and finished until region to be cleaned cleans.
9. a kind of cleaning method of sweeping robot as claimed in claim 8, it is characterised in that described based on above-mentioned walking road
Line is treated purging zone and is cleaned, the step of the information for then being cleaned by sensor element real-time monitoring and upper end to controller
In rapid, the information that the monitoring is cleaned include the clean situation, the positional information of high-pressure nozzle and the robot body that clean with
The distance between other barriers information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710088964.XA CN106891343A (en) | 2017-02-20 | 2017-02-20 | A kind of sweeping robot and cleaning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710088964.XA CN106891343A (en) | 2017-02-20 | 2017-02-20 | A kind of sweeping robot and cleaning method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106891343A true CN106891343A (en) | 2017-06-27 |
Family
ID=59185629
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710088964.XA Pending CN106891343A (en) | 2017-02-20 | 2017-02-20 | A kind of sweeping robot and cleaning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106891343A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108393903A (en) * | 2018-05-18 | 2018-08-14 | 王栓林 | Intelligent hog house disinfection cleaning robot |
| CN109089903A (en) * | 2018-08-07 | 2018-12-28 | 连云开 | A kind of cleaning device of pig house |
| CN109089893A (en) * | 2018-08-07 | 2018-12-28 | 连云开 | A kind of pig house with cleaning device |
| CN110000145A (en) * | 2019-05-13 | 2019-07-12 | 北京佳沃天河智能科技有限公司 | A kind of pig house is interior to be automatically positioned cleaning robot and cleaning method |
| CN110216686A (en) * | 2019-03-29 | 2019-09-10 | 北京新联铁集团股份有限公司 | Bogie cleaning robot and system |
| CN110476821A (en) * | 2019-08-23 | 2019-11-22 | 广州叶鱼农业生态科技发展有限公司 | A kind of cleaning robot |
| 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 |
| CN114206105A (en) * | 2019-08-13 | 2022-03-18 | 利拉伐控股有限公司 | Method and arrangement for barn cleaning |
-
2017
- 2017-02-20 CN CN201710088964.XA patent/CN106891343A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108393903A (en) * | 2018-05-18 | 2018-08-14 | 王栓林 | Intelligent hog house disinfection cleaning robot |
| CN109089903A (en) * | 2018-08-07 | 2018-12-28 | 连云开 | A kind of cleaning device of pig house |
| CN109089893A (en) * | 2018-08-07 | 2018-12-28 | 连云开 | A kind of pig house with cleaning device |
| CN110216686A (en) * | 2019-03-29 | 2019-09-10 | 北京新联铁集团股份有限公司 | Bogie cleaning robot and system |
| CN110000145A (en) * | 2019-05-13 | 2019-07-12 | 北京佳沃天河智能科技有限公司 | A kind of pig house is interior to be automatically positioned cleaning robot and cleaning method |
| CN114206105A (en) * | 2019-08-13 | 2022-03-18 | 利拉伐控股有限公司 | Method and arrangement for barn cleaning |
| CN110476821A (en) * | 2019-08-23 | 2019-11-22 | 广州叶鱼农业生态科技发展有限公司 | A kind of cleaning robot |
| 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 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170627 |