CN107624653A - The box-like pig house of smart group and dung collection system - Google Patents
The box-like pig house of smart group and dung collection system Download PDFInfo
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- CN107624653A CN107624653A CN201710873501.4A CN201710873501A CN107624653A CN 107624653 A CN107624653 A CN 107624653A CN 201710873501 A CN201710873501 A CN 201710873501A CN 107624653 A CN107624653 A CN 107624653A
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Abstract
The application provides a kind of box-like pig house of smart group and dung collection system, including Intelligent fence, intelligent cleaning up excrement robot and flushing charging device；Including fence, crib, slurry gutte, master station, flushing charging device and intelligent cleaning up excrement robot.The system at any time can shift excrement in slurry gutte onto, avoid the disease brought by excrement accumulation and the excrement that is carried during cleaning up excrement of cleaning up excrement robot to pig.Excrement is pushed away by cleaning up excrement robot to be fallen in slurry gutte and is transported to by the belt conveyor in slurry gutte in recovery pond, so as to easily discharge excrement, multiple public slurry guttes of pigsty, facilitates excrement centralized recovery to handle.
Description
Technical field
The invention belongs to cultivation equipment field, relates generally to a kind of box-like pig house of smart group and dung collection system.
Background technology
The feeding manner of China's pig industry gradually develops to scale, intensive artificial house at present.Relative to other
Animal husbandry colony house, requirement of the pig house to sanitation and hygiene are higher.Traditional pig house structure is most to use brick mix structure, construction period
Long, sanitary condition is poor in pig house, is susceptible to suffer from various diseases, and the labour put into for cleaning excrement needs and time are more, because
This is badly in need of a kind of box-like pig house of smart group and a kind of dung collection system solves the problems, such as pig house sanitary condition, cleaning up excrement, excrement recovery
Problem.
The content of the invention
It is an object of the invention to provide a kind of box-like pig house of smart group and dung collection system, it is intended to solves prior art
It is middle to reclaim the problem of pig manure is cumbersome.
The present invention adopts the technical scheme that：
A kind of box-like pig house of smart group and dung collection system, it is characterised in that：Including Intelligent fence, intelligent cleaning up excrement machine
People and flushing charging device；
The structure of the Intelligent fence is：Including fence, crib, slurry gutte, it is provided with the column at fence both ends red
Outside line；A virtual wall is formed between the infrared ray and infrared ray, the fence is formed with defecation close to the ground of solid wall side
Ditch, the slurry gutte are provided with belt conveyor, and the end of belt conveyor is provided with recovery pond, and lattice are stamped on the slurry gutte top
Grid；
Fence is outer to be placed with flushing charging device, including developing room, master station, flush pipe perpendicular to the side of slurry gutte
Road, wireless charger, leak grid and air-dry machine, the developing room of this programme are cuboid, the bottom middle of the developing room
One wireless charger is installed, the developing room bottom of the wireless charger surrounding is formed with leak grid；Pacify in the antetheca of the developing room
Fill an overhead door, the upper end installation air-dry machine of overhead door, the air outlet alignment wireless charger position of the air-dry machine, except being provided with
Outside the developing room antetheca of overhead door and air-dry machine, flushing pipe corresponding with leak grating position is respectively mounted on other three walls,
The multiple nozzles of installation are uniformly spaced in flushing pipe side wall；A master station is equipped with the top of the flushing charging device, the master station
Receive the operation that Wi-Fi communications pass through switch amount output control developing room；
The intelligent cleaning up excrement robot, including housing, walking mechanism, shoveling mechanism, booster body, drive control module,
Communication module, transmitting module, sensor group and battery pack, walking mechanism drive robot to be moved to assigned direction, push away production machine
Structure pushes the piggery feces in front of robot, when excrement is more, starts increase mechanism, increases the friction on robot and ground
Power, robot is continued to move along, excrement is pushed, sensor group can help robot to identify run into barrier
Species, it is pig or excrement, assist people identification, walks and avoid, allows the robot to according to set route implementation
Cleaning up excrement.
Moreover, the walking mechanism includes；Left stepper motor, right stepper motor, two driving wheels and a universal wheel,
The stepper motor specular of left and right two is arranged on the left and right sides at rear portion in housing, and each stepper motor is co-axially mounted a driving
Wheel, driving wheel half are located at hull outside, and half is located at enclosure interior, the lower housing portion installation 10,000 on front side of two driving wheels
To wheel, universal wheel and two driving wheels form triangle, complete the support and walking to robot housing.
Moreover, the shoveling mechanism includes：Two shoveling shovel wall electric rotating machines, shoveling connection wall and shoveling, two push away
Shovel shovel wall electric rotating machine is symmetrically mounted on middle part in housing, and each shoveling shovel wall electric rotating machine drives a shoveling connection wall respectively,
Two shoveling connection wall ends are fixedly mounted with a shoveling jointly, and shoveling connection wall is located in the shoveling connection wall trench of housing outer surface, when
When shoveling is horizontal positioned, the height of shoveling connection wall is not higher than housing upper surface, and described to push away production be arc, is easy to push away more excrement
Just.
Moreover, the booster body includes four booster fans, four booster fans are uniformly arranged on the outside four of housing
Week, the both sides of shoveling, each blower fan that increases have a protection shell, top installation catch net.
Moreover, the drive control module is arranged on middle part in housing, control machine people institute is installed on drive control module
The various control circuits needed, action command is sent to walking mechanism, shoveling mechanism, booster body.
Moreover, the communication module is arranged on housing upper back, there is enclosing cover protection in outside, and communication module is used for and master control
Device is directly sent and reception signal, while connects battery pack, and information about power is sent into main controller in real time.
Moreover, the transmitting module is arranged in the housing at battery pack rear portion, for receiving the signal of sensor group, issue
Communication module, main controller receives to react after signal is transmitted to communication module after dynamic action signal again, and communication module is transmitted to drive again
Dynamic control module instruction, drive control mould send action command to walking mechanism, shoveling mechanism, booster body again.
Moreover, the sensor group includes：Electronic gyroscope sensor：Robot identification direction is helped, is ensured predetermined
Route is walked, and is ensured locus, will not be tilted or topple over, and is controlled installed in the top of driven pulley, or integrated installation in driving
On molding block；
Life detection sensor：For perceiving pig movable in pig house, when in robot traveling process, running into barrier
When, heartbeat is perceived, then regards the barrier as pig, implements retrogressing and hides action, integrated installation drive control module in housing
On；
Pyroelectric infrared sensor：Whether for judging object (excrement) and being life entity, pig manure has temperature, but
It is no heartbeat, it can be determined that be pig manure, shoveling falls shovel, pushed.Pyroelectric infrared sensor is arranged on a left side for robot housing
The front side of the right side two；
Doppler radar：Position and the speed of related movement of moving target are detected, judges pig, integrated installation is in drive control
In module；
Hall sensor：For detecting virtual wall and carrying out stroke correction, so as to judge the working range of robot.
Moreover, the box-like pig house of smart group and dung collection system, it is characterised in that：The cleaning up excrement robot and main controller
Control planning includes master control bench control system, cleaning up excrement robot own control systems and two Wi-Fi positioning and communicating modules,
Master control bench control system and cleaning up excrement robot own control systems directly pass through signal transmission, two Wi-Fi positioning and communicating modules
Realize the real-time positioning of cleaning up excrement robot；
The master station system forms：Main controller connects power management module, switching value output module, Wi-Fi respectively
Communication module, GPRS are wireless conveyor module and bluetooth module, main controller gather the information of power management module, and by power supply pipe
Reason module sends instructions, and power management module connection wireless charger, is instructed to wireless charger, while net supplies electricity to whole power supply pipe
Module for power supply is managed, then is powered to whole controller.Main controller gathers the information of Wi-Fi communication modules, and Wi-Fi communication modules are real
Existing master station mutually passes with the Wi-Fi communication modules of cleaning up excrement robot own control systems and two Wi-Fi positioning and communicatings modules
Signal, realize the interaction of two systems.GPRS is wireless, and conveyor module connects user terminal, practical mutual with the information of user terminal
Logical, bluetooth module is used to be connected with the bluetooth module of cleaning up excrement robot own control systems, mutually transmits signal；
Cleaning up excrement robot own control systems include：Wi-Fi communication modules, drive control module, transmitting module with
And bluetooth module, transmitting module give Wi-Fi communication module transmission of sensor signals, Wi-Fi communication modules are to drive control module
Signal is transmitted, Wi-Fi communication modules and the Wi-Fi communication modules of master control bench control system are connected with each other, and mutually transmit signal,
Wi-Fi communication modules receive the information from battery management module；The bluetooth module phase of bluetooth module and master control bench control system
Connection, mutually transmit signal and instruction；
The transmitting module collection life detection sensor, ultrasonic sensor, infrared heat release sensor, Doppler's thunder
Reach, the signal of gravity sensor, electronic gyroscope, Hall sensor, speed probe, Wi-Fi communications are issued after collection compiling
Module；
The drive control module is to left stepper motor, right stepper motor, shoveling production motor, shoveling electric rotating machine, increasing
Pressure fan transmits signal；
The battery management module receives the information from charge coil module, and charge coil module receives and comes from master station
The wireless charger signal of system, robot is prompted to charge in time.
The advantages and positive effects of the present invention：
The system at any time can shift excrement in slurry gutte onto, avoid because excrement is accumulated and cleaning up excrement robot is in cleaning up excrement
During the disease brought to pig of the excrement that carries.Excrement is pushed away by cleaning up excrement robot and falls in slurry gutte and pass through slurry gutte
Interior belt conveyor is transported in recovery pond, and so as to easily discharge excrement, multiple public slurry guttes of pigsty are convenient
The processing of excrement centralized recovery.
The system can actively find excrement, be cleaned in time, ensure the cleaning of pig house, ensure cultivation health.The machine
Device people can identify life entity by multiple sensors, ensure that pig preserves from, ensure the intelligent of robot.Every trade can be entered
Journey is planned, ensures that robot walks in the range of fence, cleaning up excrement；With automatic identification electricity, the energy in the case of not enough power supply
Enough active charges, ensure that electricity is sufficient, automatic charging can ensure operating efficiency.The system adds increase blower fan, energy first
It is enough effectively to prevent robot from being skidded on the bottom plate of humidity, improve cleaning ability.
Brief description of the drawings
Fig. 1 is the structural representation of pig house of the present invention.
Fig. 2 is the structural representation of cleaning charging device.
Fig. 3 is the structural scheme of mechanism of robot.
Fig. 4 is control system schematic diagram of the present invention.
Embodiment
Below by specific embodiment, the invention will be further described, and following examples are descriptive, is not limit
Qualitatively, it is impossible to which protection scope of the present invention is limited with this.
A kind of box-like pig house of smart group and dung collection system, it is characterised in that：Including Intelligent fence, intelligent cleaning up excrement machine
People and flushing charging device；Intelligent robot cleaning up excrement in fence, then go flusher to carry out charging flushing, then go again
Cleaning up excrement, according to setting program, circulation work successively.
The structure of the Intelligent fence is：Include upper rail, lower horizontal stroke including fence 1-4, crib, slurry gutte 1-2, the fence
Column, perpendicular column, column and infrared transmitting device (being hidden in inside fence)；Described upper rail, bottom rail and some perpendicular columns
It is fixedly connected；Described upper rail and the both ends of bottom rail are connected with column；Described bottom rail is hollow structure；The fence
Enclosed on the 1-3 of ground and be separated to form multiple separate spaces, and each fence is fitted with fence gate, is enclosing fence surrounding
Infrared transmitting device is provided with column；A virtual wall is formed between the infrared ray and infrared ray, the fence is close to real
The ground of body wall 1-1 sides is formed with slurry gutte, and the slurry gutte is provided with belt conveyor 1-6, and the end of belt conveyor is provided with
Recovery pond, and grid 1-5 is stamped on the slurry gutte top, is prevented robot from falling into slurry gutte and is facilitated people to lead on slurry gutte
OK, crib is mounted with the forward ground of corresponding slurry gutte position, the crib is placed in fence.
Fence is outer to be placed with flushing charging device, including developing room 2-2, master station perpendicular to the side of slurry gutte
2-1, flushing pipe 2-3, wireless charger 2-8, leak grid 2-11 and air-dry machine 2-6, the developing room of this programme is rectangular
A wireless charger is installed in body, the bottom middle of the developing room, and the developing room bottom of the wireless charger surrounding is formed with leak
Grid, the height of the leak grid are less than wireless charger, beneficial to timely draining-off sewage when rinsing, leak grid connection draining
Mouthful, finally flow into slurry gutte；One overhead door 2-5, the upper end installation air-dry machine of overhead door, the wind are installed in the antetheca of the developing room
The air outlet alignment wireless charger position of dry machine, in addition to the developing room antetheca of overhead door and air-dry machine is installed, other three
Flushing pipe corresponding with leak grating position is respectively mounted on wall, the flushing pipe is interconnected, flushing pipe connection
Water inlet pipe, and high-pressure hydraulic pump of the water inlet pipe installation with magnetic valve, the flushing pipe side wall are uniformly spaced the multiple nozzles of installation
2-4, the water jet alignment wireless charger position of the nozzle.
In order to preferably rinse, installed in developing room corner and slide column 2-12, installation and upper end on the slip column
The parallel slip flushing pipe 2-7 of described flushing pipe, one motor 2-13 is installed rinsing indoor top, pulls rinse up and down
Pipeline, the slip flushing pipe side wall are uniformly spaced the multiple nozzles of installation, and the water jet alignment wireless charger position of the nozzle
Put, preferably comprehensively rinse the robot being placed on wireless charger.
Flushing pipe connects high-pressure hydraulic pump with flushing pipe is slided by water inlet pipe 2-9.
A master station is equipped with the top of developing room, the master station receives Wi-Fi communications and rushed by switch amount output control
The operation of chamber wash.
Originally the course of work of charging device is washed：
First, after master station receives the signal to be charged from robot electric quantity deficiency needs by Wi-Fi communication modules,
Send signal and recall robot, when robot is reached near master station, overhead door is opened, and robot enters developing room and reached wirelessly
Charger upper end, is fully engaged against with wireless charger, and at the same time, master station control magnetic valve starts high-pressure hydraulic pump, to bath
Pipe water and conical nozzle start to be rinsed robot, after flushing continues 3 minutes, stop rinsing, make robot static
Drain 5 minutes, be then turned on air-dry machine, carrying out entirety to wireless charger and robot air-dries, and air-dries after continuing 20 minutes, main
Control platform and open charging signals, robot is charged on wireless charger, after robot is fully charged, returns to workspace and enter
Row work.
The structure of the intelligent cleaning up excrement robot is：Including patty housing 1, walking mechanism, shoveling mechanism, supercharger
Structure, drive control module 12, communication module 2, transmitting module 3, sensor group and battery pack 14, communication module receive control letter
Number, walking mechanism drives robot to be moved to assigned direction, and Tui Chan mechanisms push the piggery feces in front of robot, work as excrement
When more, start booster body, increase the frictional force on robot and ground, continue to move along robot, excrement is pushed,
Sensor group can help robot to identify the species of run into barrier, be pig or excrement, and assist people identifies, OK
Walk and avoid, allow the robot to implement cleaning up excrement, said mechanism and component concrete structure and function according to set route
It is described as follows：
Cleaning up excrement robot housing design is patty by the present invention, and radius 0.5-1.5m, other assemblies are according to robot shell
The size of body adapts to set size, in order to prevent the housing accident collision of cleaning up excrement robot from causing the destruction to housing shell,
The anticollision overcoat (not shown) of housing overcoat one, shell are made up of silica gel, plastics or rubber, have deformability, be easy to
Remove and change.
The walking mechanism includes；Left stepper motor 6, right stepper motor, two driving wheels 7 and a universal wheel 15,
The stepper motor specular of left and right two is arranged on the left and right sides at rear portion in housing, and each stepper motor is co-axially mounted a driving
Wheel, driving wheel half are located at hull outside, and half is located at enclosure interior, the lower housing portion installation 10,000 on front side of two driving wheels
To wheel, universal wheel and two driving wheels form triangle, complete the support and walking to robot housing.Left stepper motor and
Right stepper motor receives the signal from drive control module respectively, can individual operation, can also run-in synchronism, each according to letter
Number instruction completion rotates and reverse, realize robot advance, it is any turn to and retreat, realize cleaning up excrement and hide function.
The shoveling mechanism includes：Two shoveling shovel wall electric rotating machines 8, shoveling connection wall 10 and shoveling 13, two push away
Shovel shovel wall electric rotating machine is symmetrically mounted on middle part in housing, and each shoveling shovel wall electric rotating machine drives a shoveling connection wall respectively,
Two shoveling connection wall ends are fixedly mounted with a shoveling jointly.Shoveling connection wall is located in the shoveling connection wall trench of housing outer surface, when
When shoveling is horizontal positioned, the height of shoveling connection wall is not higher than housing upper surface.It is described push away production be arc, be easy to push away more excrement
Just.Two shoveling shovel wall electric rotating machines receive the signal from drive control module jointly, are synchronized with the movement, realize the whereabouts for pushing away production
And rise, when push away production be in off position when, shoveling connection wall is horizontally disposed, and shoveling lower surface does not contact with ground, greatly
The general distance for having 10cm or so, when shoveling receives whereabouts signal work, 5 ° or so of the rotation in detail of shoveling connection wall, shoveling with
Ground contacts, and when machine advances, shoveling pushes excrement, realizes the function of cleaning up excrement.
The booster body includes four booster fans 11, and four booster fans are uniformly arranged on the outside surrounding of housing,
The both sides of shoveling are distributed in, each booster fan that increases has a protection shell 4, top installation catch net 5, for preventing
The debris that falls influences fan rotation, booster fan receive from drive control mould drive control module block signal, work as machine
People promotes excrement forward in traveling process, and resistance is more than frictional force between wheel ground and stepper motor caused by skidding has rotation to believe
Number, but when there is no displacement signal, judge to start supercharging increase blower fan, it is during supercharging increase blower fan rotation, air is vertical upwards
Discharge can produce thrust vertically downward, the reaction force of air fan be instantly increased robot driving wheel and driven pulley with
The frictional force on ground, and then increase the laterally driven power of equipment, ensure the normal work of equipment.The drive control module installation
Various control circuits needed for control machine people are installed, to walking mechanism, shoveling machine in the middle part of in housing, on drive control module
Structure, booster body send action command.
The communication module is arranged on housing upper back, and there is enclosing cover protection in outside, and communication module is used for straight with main controller
Sending and receiving go out and reception signal, while connect battery pack, and information about power is sent into main controller in real time, in order to avoid the few electricity of battery pack or nothing
Electricity.
The battery pack is arranged on middle part in housing, and battery pack is used to need the component of electricity consumption or unit to supply to whole robot
Electricity, have without electric charge function.
The transmitting module is arranged in the housing at battery pack rear portion, for receiving the signal of sensor group, issues communication
Module, main controller receives to react after signal is transmitted to communication module after dynamic action signal again, and communication module is transmitted to driving control again
Molding block instruction, drive control mould send action command to walking mechanism, shoveling mechanism, booster body again.
The sensor group includes multiple sensors, is connected respectively with transmitting module, the function and installation site of sensor
It is described below：
Electronic gyroscope sensor：Robot identification direction is helped, ensures to walk in projected route, ensures locus,
It will not tilt or topple over, installed in the top of driven pulley, or integrated installation is on drive control module.For keeping robot
Self stability and judge direction, realize that excrement is pushed away dropping pit by the determination of cleaning up excrement robot.
Life detection sensor：For perceiving pig movable in pig house, when in robot traveling process, running into barrier
When, heartbeat is perceived, then regards the barrier as pig, implements retrogressing and hides action, integrated installation drive control module in housing
On.
Pyroelectric infrared sensor 9：Whether for judging object (excrement) and being life entity, pig manure has temperature,
But there is no heartbeat, it can be determined that be pig manure, shoveling falls shovel, pushed.Pyroelectric infrared sensor is arranged on robot housing
The front side of left and right two.
Doppler radar：Position and the speed of related movement of moving target are detected, judges pig, integrated installation is in drive control
In module.
Hall sensor：For detecting virtual wall and carrying out stroke correction, so as to judge the working range of robot.
First ultrasonic sensor, the second ultrasonic sensor：First ultrasonic sensor is arranged on robot housing
Forward right side, the second ultrasonic sensor are arranged on the positive front side of robot housing, the adjacent infrared thermal releasing of the first ultrasonic sensor
Electric transducer, the first ultrasonic sensor, for detecting the real-time range of target body and robot, the second supersonic sensing
Device, the detection to excrement is carried out according to the resemblance gathered in advance, if meeting excrement resemblance, shoveling is fallen, by it
Push, push slurry gutte to.
Cleaning up excrement robot is carrying out cleaning up excrement work or walking, and when running into animal and people, the speed of travel of robot is slack-off,
After robot avoiding barrier, the speed of travel of robot housing accelerates, when barrier (animal or people) is actively close to machine
During people's housing, the past reversely walking avoiding obstacles of robot.
But when the ground on the pig farm residing for robot is moister or robot push away excrement process excrement it is excessive when, machine
There is skidding and leads to not move ahead in the driving wheel of device people's housing, and because the preset path of the present invention includes slurry gutte,
So intelligent cleaning up excrement robot is easily fallen into slurry gutte when excrement is pushed away, cause robot can not normal work.
In order to solve the above-mentioned technical problem, sensor of the invention group further comprises speed probe, gravity sensor with
And the 3rd ultrasonic sensor, speed probe are used for the rotating speed for detecting robot driving wheel, the speed probe is arranged on machine
On two driving wheel axletrees of device people's housing bottom rear end, when robot push away excrement work and skidding occurs in driving wheel
When, with this simultaneously, the Wi-Fi orientation and communication modules of main controller judge that the machine is not subjected to displacement change, speed probe
There are rotating speed, and faster rotational speed, start the booster fan of pressurized construction, increase robot obtains driving wheel the frictional force on ground
Obtain power forward.
Gravity sensor is used to perceive the environment that robot housing is in, and is arranged on above driven pulley, and the 3rd ultrasonic wave passes
Sensor, for detect robot and ground apart from situation, robot housing bottom is arranged on, when robot and the distance on ground
During beyond setting range, judge whether robot is in vacant state.The correspondence specifically refers to：Speed probe is used to detect
The rotating speed of robotically-driven wheel, gravity sensor is used to perceive the environment that robot housing is in, when robot is carrying out pushing away excrement
During work, whether gravity sensor perceives oneself pushes to excrement, driving robot defecation ditch out of shape, is made according to the sensing of gyroscope
With it is slurry gutte direction to preset a direction.
3rd ultrasonic sensor be used to detecting robot and ground apart from situation, when the distance on robot and ground surpasses
When going out setting range, judge whether robot is in vacant state, when cleaning up excrement robot only walks, robot housing is close to defecation
Ditch, moved ahead along ditch or Divergence and go, when cleaning up excrement robot pushes away excrement walking, robot housing pushes away excrement to furrow rim of discharging feces, driving control
Molding can carry out steep cliff detection according to the perceptual signal of the 3rd ultrasonic sensor, and control drive mechanism to terminate to walk, and start
Excrement is inserted slurry gutte by shoveling assembly.
The working condition of the application robot is as follows：
Pig house cleaning up excrement robot is during walking or cleaning up excrement, when drive control mould is according to life detection sensor,
The inspection of one ultrasonic sensor, the second ultrasonic sensor, pyroelectric infrared sensor, Doppler radar and Hall sensor
Survey signal detection to barrier be people or animal when, drive control mould control drive mechanism drives robot housing, makes machine
The speed of travel of people's housing is slack-off, after robot housing avoiding barrier (animal or people), the speed of travel of robot housing
Accelerate, when barrier (animal or people) actively close to robot housing when, robot toward reversely walking avoiding obstacles (animal or
People), when drive control mould is according to life detection sensor, the first ultrasonic sensor, the second ultrasonic sensor, infrared thermal releasing
When the detection signal of electric transducer, Doppler radar and Hall sensor can't detect barrier (people or animal), pig house
Cleaning up excrement robot continues to move ahead along former route.
Pig house cleaning up excrement robot in the process of walking, when drive control mould is according to the inspection of speed probe, gravity sensor
When the orientation and communication of survey signal and drive control mould detects that skidding occurs in the driving wheel of robot housing, drive control mould
Drive booster body to open booster fan, increase frictional force of the robot to ground, make the power of driving wheel acquisition forward, so as to
Realize the normal work of pig house cleaning up excrement robot.
In order to which cleaning up excrement robot and main controller act, the application also provides a kind of control of pig house intelligence cleaning up excrement robot
System, including master control bench control system, cleaning up excrement robot own control systems and two Wi-Fi positioning and communicating modules, master control
Bench control system and cleaning up excrement robot own control systems are directly realized by signal transmission, two Wi-Fi positioning and communicatings modules
The real-time positioning of cleaning up excrement robot, relevant action instruction of the master station to the cleaning up excrement robot of ad-hoc location is set to control
System, record and feedback.
The master station system forms：Main controller connects power management module, switching value output module, Wi-Fi respectively
Communication module, GPRS are wireless conveyor module and bluetooth module, main controller gather the information of power management module, and by power supply pipe
Reason module sends instructions, and power management module connection wireless charger, is instructed to wireless charger, while net supplies electricity to whole power supply pipe
Module for power supply is managed, then is powered to whole controller.Main controller gathers the information of Wi-Fi communication modules, and Wi-Fi communication modules are real
Existing master station mutually passes with the Wi-Fi communication modules of cleaning up excrement robot own control systems and two Wi-Fi positioning and communicatings modules
Signal, realize the interaction of two systems.GPRS is wireless, and conveyor module connects user terminal, practical mutual with the information of user terminal
Logical, bluetooth module is used to be connected with the bluetooth module of cleaning up excrement robot own control systems, mutually transmits signal.
Cleaning up excrement robot own control systems include：Wi-Fi communication modules, drive control module, transmitting module with
And bluetooth module, transmitting module give Wi-Fi communication module transmission of sensor signals, Wi-Fi communication modules are to drive control module
Signal is transmitted, Wi-Fi communication modules and the Wi-Fi communication modules of master control bench control system are connected with each other, and mutually transmit signal,
Wi-Fi communication modules receive the information from battery management module；The bluetooth module phase of bluetooth module and master control bench control system
Connection, mutually transmit signal and instruction.
The transmitting module collection life detection sensor, ultrasonic sensor, infrared heat release sensor, Doppler's thunder
Reach, the signal of gravity sensor, electronic gyroscope, Hall sensor, speed probe, Wi-Fi communications are issued after collection compiling
Module.
The drive control module is to left stepper motor, right stepper motor, shoveling production motor, shoveling electric rotating machine, increasing
Pressure fan transmits signal.
The battery management module receives the information from charge coil module, and charge coil module receives and comes from master station
The wireless charger signal of system, robot is prompted to charge in time.
The specific embodiment of the present invention is the foregoing is only, but the technical characteristic of the present invention is not limited thereto, Ren Heben
The technical staff in field in the field of the invention, all cover among the scope of the claims of the present invention by the change or modification made.
Claims (10)
1. a kind of box-like pig house of smart group and dung collection system, it is characterised in that：Including Intelligent fence, intelligent cleaning up excrement robot
And rinse charging device；
It is described to be including intelligence structure：Fence, crib and slurry gutte, infrared ray is provided with the column at fence both ends；Should
A virtual wall is formed between infrared ray and infrared ray, the fence is formed with slurry gutte close to the ground of solid wall side, the row
Dropping pit is provided with belt conveyor, and the end of belt conveyor is provided with recovery pond, and grid is stamped on the slurry gutte top；
Fence is outer to be placed with flushing charging device, including developing room, master station, flushing pipe, nothing perpendicular to the side of slurry gutte
Micro USB electrical equipment, leak grid and air-dry machine, the developing room of this programme is cuboid, and the bottom middle of the developing room installs one
Wireless charger, the developing room bottom of the wireless charger surrounding are formed with leak grid；One liter is installed in the antetheca of the developing room
Door drops, the upper end installation air-dry machine of overhead door, the air outlet alignment wireless charger position of the air-dry machine, except being provided with overhead door
Outside the developing room antetheca of air-dry machine, flushing pipe corresponding with leak grating position is respectively mounted on other three walls, is being rinsed
Pipe side wall is uniformly spaced the multiple nozzles of installation；A master station is equipped with the top of the flushing charging device, master is installed in master station
Device is controlled, the master station receives the operation that Wi-Fi communications pass through switch amount output control developing room；
The intelligent cleaning up excrement robot, including housing, walking mechanism, shoveling mechanism, booster body, drive control module, communication
Module, transmitting module, sensor group and battery pack, walking mechanism drive robot to be moved to assigned direction, and Tui Chan mechanisms will
Piggery feces in front of robot push, and when excrement is more, start increase mechanism, increase the frictional force on robot and ground,
Robot is continued to move along, excrement is pushed, sensor group can help the kind of the run into barrier of robot identification
Class, it is pig or excrement, assist people identification, walks and avoid, allow the robot to implement clearly according to set route
Excrement.
2. the box-like pig house of smart group according to claim 1 and dung collection system, it is characterised in that：The walking mechanism
Including；Left stepper motor, right stepper motor, two driving wheels and a universal wheel, the stepper motor specular of left and right two
The left and right sides at rear portion in housing, each stepper motor are co-axially mounted a driving wheel, and driving wheel half is located at outside housing
Portion, half are located at enclosure interior, and the lower housing portion on front side of two driving wheels installs a universal wheel, universal wheel and two driving wheels
Triangle is formed, completes the support and walking to robot housing.
3. the box-like pig house of smart group according to claim 1 and dung collection system, it is characterised in that：The shoveling mechanism
Including：Two shoveling shovel wall electric rotating machines, shoveling connection wall and shoveling, two shoveling shovel wall electric rotating machines are symmetrically mounted on shell
Middle part in vivo, each shoveling shovel wall electric rotating machine drive a shoveling connection wall respectively, and two shoveling connection wall ends are fixedly mounted with jointly
One shoveling, shoveling connection wall is located in the shoveling connection wall trench of housing outer surface, when shoveling is horizontal positioned, shoveling connection wall
Highly it is not higher than housing upper surface, described to push away production be arc, is easy to push away more excrement.
4. the box-like pig house of smart group according to claim 1 and dung collection system, it is characterised in that：The booster body
Including four booster fans, four booster fans are uniformly arranged on the outside surrounding of housing, the both sides of shoveling, each increase blower fan
With a protection shell, top installation catch net.
5. the box-like pig house of smart group according to claim 1 and dung collection system, it is characterised in that：The drive control
Module is arranged on middle part in housing, the various control circuits needed for control machine people is installed on drive control module, to vehicle with walking machine
Structure, shoveling mechanism, booster body send action command.
6. the box-like pig house of smart group according to claim 1 and dung collection system, it is characterised in that：The communication module
Installed in housing upper back, there is enclosing cover protection in outside, and communication module is used to directly send with main controller and reception signal, simultaneously
Battery pack is connected, information about power is sent to main controller in real time.
7. the box-like pig house of smart group according to claim 1 and dung collection system, it is characterised in that：The transmitting module
In the housing at battery pack rear portion, for receiving the signal of sensor group, communication module is issued, after main controller receives signal
Communication module is transmitted to after dynamic action signal of reacting again, communication module is transmitted to drive control module instruction, drive control mould again
Again action command is sent to walking mechanism, shoveling mechanism, booster body.
8. the box-like pig house of smart group according to claim 1 and dung collection system, it is characterised in that：The sensor group
Including：Electronic gyroscope sensor：Robot identification direction is helped, ensures to walk in projected route, ensures locus, will not
Tilt or topple over, installed in the top of driven pulley, or integrated installation is on drive control module；
Life detection sensor：For perceiving pig movable in pig house, when in robot traveling process, when running into barrier, sense
Know heartbeat, then regard the barrier as pig, implement retrogressing and hide action, integrated installation is in housing on drive control module；
Pyroelectric infrared sensor：Whether for judging object (excrement) and being life entity, pig manure has temperature, but does not have
There is heartbeat, it can be determined that be pig manure, shoveling falls shovel, pushed.Pyroelectric infrared sensor is arranged on the left and right two of robot housing
Front side；
Doppler radar：Position and the speed of related movement of moving target are detected, judges pig, integrated installation is in drive control module
On；
Hall sensor：For detecting virtual wall and carrying out stroke correction, so as to judge the working range of robot.
9. the box-like pig house of smart group according to claim 1 and dung collection system, it is characterised in that：In developing room corner
Column is slided in bottom installation, and the slip flushing pipe parallel with above-mentioned flushing pipe is installed on the slip column, is being slided
Flushing pipe side wall is uniformly spaced the multiple nozzles of installation, and the water jet alignment wireless charger position of the nozzle.
10. the box-like pig house of smart group according to claim 1 and dung collection system, it is characterised in that：The shit remover
The control planning of device people and main controller includes master control bench control system, cleaning up excrement robot own control systems and two Wi-Fi
Positioning and communicating module, master control bench control system and cleaning up excrement robot own control systems directly pass through signal transmission, two Wi-Fi
Positioning and communicating module realizes the real-time positioning of cleaning up excrement robot；
The master station system forms：Main controller connects power management module, switching value output module, Wi-Fi communications respectively
Module, GPRS are wireless conveyor module and bluetooth module, main controller gather the information of power management module, and by power management mould
Block sends instructions, and power management module connection wireless charger, is instructed to wireless charger, while net supplies electricity to whole power management mould
Block is powered, then is powered to whole controller.Main controller gathers the information of Wi-Fi communication modules, and Wi-Fi communication modules realize master control
Platform mutually passes signal with the Wi-Fi communication modules of cleaning up excrement robot own control systems and two Wi-Fi positioning and communicating modules, real
The interaction of existing two systems.GPRS is wireless, and conveyor module connects user terminal, the practical information mutual communication with user terminal, bluetooth mould
Block is used to be connected with the bluetooth module of cleaning up excrement robot own control systems, mutually transmits signal；
Cleaning up excrement robot own control systems include：Wi-Fi communication modules, drive control module, transmitting module and indigo plant
Tooth module, transmitting module give Wi-Fi communication module transmission of sensor signals, and Wi-Fi communication modules give drive control module transmission
Signal, Wi-Fi communication modules and the Wi-Fi communication modules of master control bench control system are connected with each other, and mutually transmit signal, Wi-
Fi communication modules receive the information from battery management module；Bluetooth module is connected with the bluetooth module of master control bench control system
Connect, mutually transmit signal and instruction；
Transmitting module collection life detection sensor, ultrasonic sensor, infrared heat release sensor, Doppler radar, again
Force snesor, electronic gyroscope, Hall sensor, the signal of speed probe, Wi-Fi communication modules are issued after collection compiling；
The drive control module is to left stepper motor, right stepper motor, shoveling production motor, shoveling electric rotating machine, supercharging wind
Machine transmits signal；
The battery management module receives the information from charge coil module, and charge coil module receives and comes from master station system
Wireless charger signal, prompt robot charge in time.
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| CN201710873501.4A CN107624653B (en) | 2017-09-25 | 2017-09-25 | Intelligent combined pigsty and fecal collection system |
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| CN201710873501.4A CN107624653B (en) | 2017-09-25 | 2017-09-25 | Intelligent combined pigsty and fecal collection system |
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| CN107624653B CN107624653B (en) | 2023-05-16 |
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| CN108464248A (en) * | 2018-04-17 | 2018-08-31 | 山东新希望六和集团有限公司 | A kind of pig house of convenient disinfection |
| CN109089898A (en) * | 2018-07-24 | 2018-12-28 | 农业部环境保护科研监测所 | A kind of large-scale cultivation house real-time collecting and transportation method of waste |
| CN109997708A (en) * | 2019-05-13 | 2019-07-12 | 北京佳沃天河智能科技有限公司 | A kind of automation pig house |
| CN110892867A (en) * | 2018-08-23 | 2020-03-20 | 北京佳沃天河智能科技有限公司 | Novel pigsty cleaning robot and cleaning method thereof |
| CN113282042A (en) * | 2021-05-28 | 2021-08-20 | 广东广兴牧业机械设备有限公司 | Control system and control method of intelligent dung cleaning robot in pig house |
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| CN108464248A (en) * | 2018-04-17 | 2018-08-31 | 山东新希望六和集团有限公司 | A kind of pig house of convenient disinfection |
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| CN109089898B (en) * | 2018-07-24 | 2021-01-22 | 农业农村部环境保护科研监测所 | Method for collecting and transporting feces in large-scale breeding house in real time |
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| CN110892867B (en) * | 2018-08-23 | 2023-05-26 | 北京佳沃天河智能科技有限公司 | Novel pigsty cleaning robot and cleaning method thereof |
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| CN113282042A (en) * | 2021-05-28 | 2021-08-20 | 广东广兴牧业机械设备有限公司 | Control system and control method of intelligent dung cleaning robot in pig house |
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