CN107624653B - Intelligent combined pigsty and fecal collection system - Google Patents
Intelligent combined pigsty and fecal collection system Download PDFInfo
- Publication number
- CN107624653B CN107624653B CN201710873501.4A CN201710873501A CN107624653B CN 107624653 B CN107624653 B CN 107624653B CN 201710873501 A CN201710873501 A CN 201710873501A CN 107624653 B CN107624653 B CN 107624653B
- Authority
- CN
- China
- Prior art keywords
- robot
- module
- excrement
- shovel
- communication module
- 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.)
- Active
Links
Images
Landscapes
- Housing For Livestock And Birds (AREA)
- Manipulator (AREA)
Abstract
The application provides an intelligent combined pig house and excrement collection system, which comprises an intelligent fence, an intelligent excrement cleaning robot and a flushing charging device; comprises a fence, a trough, a manure drain, a main control console, a flushing charging device and an intelligent manure cleaning robot. The system can push the excrement into the excrement drain at any time, so that diseases caused by the excrement carried by the excrement cleaning robot in the excrement cleaning process to pigs are avoided. Excrement is pushed down into the excrement discharge ditch by the excrement cleaning robot and is conveyed into the recovery pool by the belt conveyor in the excrement discharge ditch, so that the excrement is conveniently discharged, and the excrement discharge ditch is common to a plurality of pigsty, so that the excrement is conveniently recovered and treated in a concentrated manner.
Description
Technical Field
The invention belongs to the field of cultivation equipment, and mainly relates to an intelligent combined pig house and a fecal collection system.
Background
At present, the raising mode of the pig raising industry in China gradually develops to large-scale and intensive artificial containment. Compared with other animal husbandry houses, the pig house has higher requirements on sanitation and hygiene. The traditional pig house structure mostly adopts brick-concrete structure, and construction period is long, and health condition is poor in the pig house, easily suffers from various diseases, and is more to the labour and the time that need put into of clearance excrement and urine in addition, consequently an intelligent combination formula pig house and an excrement and urine collecting system solve pig house health condition, clear excrement problem, excrement and urine recovery problem urgently.
Disclosure of Invention
The invention aims to provide an intelligent combined pig house and excrement collection system, and aims to solve the problem that pig manure is troublesome to recycle in the prior art.
The technical scheme adopted by the invention is as follows:
an intelligent combined pig house and excrement and urine collecting system, its characterized in that: comprises an intelligent fence, an intelligent manure cleaning robot and a flushing charging device;
the intelligent fence has the structure that: the device comprises a fence, a trough and a manure drain, wherein the upright posts at the two ends of the fence are provided with infrared rays; a virtual wall body is formed between the infrared rays, a manure drain is arranged on the ground of one side of the fence, which is close to the solid wall, a belt conveyor is arranged on the manure drain, a recovery tank is arranged at the tail end of the belt conveyor, and a grid is covered on the upper part of the manure drain;
a flushing charging device is arranged at one side, perpendicular to a manure discharge ditch, outside a fence and comprises a flushing chamber, a main control console, a flushing pipeline, a wireless charger, a water leakage grid and an air dryer; a lifting door is arranged on the front wall of the flushing chamber, an air dryer is arranged at the upper end of the lifting door, an air outlet of the air dryer is aligned to the position of the wireless charger, flushing pipelines corresponding to the positions of the water leakage grids are arranged on the other three walls except the front wall of the flushing chamber provided with the lifting door and the air dryer, and a plurality of nozzles are uniformly arranged on the side walls of the flushing pipelines at intervals; a main control console is arranged at the top of the flushing charging device, and the main control console receives WiFi communication to control the operation of the flushing chamber through outputting the switching value;
clear excrement robot of intelligence, which comprises a housin, running gear, push away shovel mechanism, booster mechanism, drive control module, communication module, the transmission module, sensor group and group battery, running gear drive robot moves to appointed direction, push away pig house excrement and urine in the robot place ahead, when excrement and urine is more, start increasing mechanism, increase the frictional force of robot and ground, make the robot continue to move forward, push away excrement and urine, sensor group can help the robot to discern the kind of the barrier encountered, be pig or excrement and urine, assist the robot discernment, walk and dodge, make the robot implement clear excrement according to established route.
Moreover, the travelling mechanism comprises; the left stepping motor, the right stepping motor, two driving wheels and a universal wheel are arranged on the left side and the right side of the rear portion in the shell in a mirror symmetry mode, each stepping motor is coaxially provided with one driving wheel, one half of the driving wheels are located outside the shell, the other half of the driving wheels are located inside the shell, the universal wheel is arranged on the lower portion of the shell on the front side of the two driving wheels, the universal wheel and the two driving wheels form a triangular shape, and supporting and walking of the robot shell are completed.
Moreover, the push shovel mechanism includes: the two shovel wall rotating electrical machines that push away, push away shovel link wall and push away the shovel, two shovel wall rotating electrical machines that push away are installed at the casing middle part in the symmetry, and every pushes away shovel wall rotating electrical machines and drives a shovel link wall respectively, and two shovel link wall tip solid respectively and put away a shovel jointly, push away the shovel link wall and lie in the shovel link wall inslot of casing surface, when pushing away the shovel level and placing, push away the height of shovel link wall and be not higher than the casing upper surface, push away the shovel and be the arc, be convenient for push away more excrement and urine.
And the booster mechanism comprises four booster fans which are uniformly distributed around the outer part of the shell, two sides of the pushing shovel are provided with a protective shell, and the upper part of the protective shell is provided with a protective net.
And the driving control module is arranged in the middle of the shell, and is provided with various control circuits required by controlling the robot, and the driving control module sends action instructions to the travelling mechanism, the pushing shovel mechanism and the pressurizing mechanism.
And the communication module is arranged on the upper part of the rear side of the shell, the outer side of the communication module is protected by an outer cover, the communication module is used for directly sending and receiving signals with the main controller, and meanwhile, the communication module is connected with the battery pack to send electric quantity information to the main controller in real time.
And the transmitting module is arranged in the shell at the rear part of the battery pack and is used for receiving signals of the sensor group, sending the signals to the communication module, and after receiving the signals, the main controller responds to the action signals and then sends the action signals to the communication module, and the communication module sends the action instructions to the driving control module, so that the driving control module sends the action instructions to the travelling mechanism, the pushing shovel mechanism and the pressurizing mechanism.
Moreover, the sensor group includes: an electronic gyroscope sensor: the robot is helped to recognize the direction, walk on a preset route, ensure the space position, and cannot incline or topple, and is arranged on the upper part of the driven wheel or integrally arranged on the driving control module;
life detection sensor: when the robot encounters an obstacle in the advancing process, the robot perceives the heartbeat, and the obstacle is regarded as the pig, the pig carries out the backing and evading actions and is integrally arranged on the driving control module in the shell;
infrared pyroelectric sensor: the device is used for judging whether the target object (excrement) is a living body or not, and the pig manure is warm, but has no heartbeat, and can be judged to be the pig manure, pushed to a shovel, pushed away. The infrared pyroelectric sensors are arranged at the left front side and the right front side of the robot shell;
doppler radar: detecting the position and the relative movement speed of a moving target, judging pigs, and integrally installing the pigs on a driving control module;
hall sensor: for detecting the virtual wall and performing stroke correction, thereby judging the working range of the robot.
Moreover, the control relation between the excrement cleaning robot and the master controller comprises a master control console control system, an excrement cleaning robot self control system and two wifi positioning communication modules, wherein the master control console control system and the excrement cleaning robot self control system directly realize real-time positioning of the excrement cleaning robot through signal transmission;
the main control desk system comprises the following components: the main controller is respectively connected with the power management module, the switching value output module, the wifi communication module, the GPRS wireless transmission module and the Bluetooth module, collects information of the power management module and is instructed by the power management module, the power management module is connected with the wireless charger to instruct the wireless charger, and meanwhile, the network power supplies power to the whole power management module and then supplies power to the whole controller. The information of wifi communication module is gathered to the master controller, and wifi communication module realization master control board and clear excrement robot self control system's wifi communication module and two wifi positioning communication module mutual transmission signals realize the interaction of two systems. The GPRS wireless transmission module is connected with the user terminal, is used for communicating information with the user terminal, and the Bluetooth module is used for being connected with a Bluetooth module of a self-control system of the excrement cleaning robot to mutually transmit signals;
the self-control system of the manure cleaning robot comprises: the system comprises a wifi communication module, a driving control module, a transmitting module and a Bluetooth module, wherein the transmitting module transmits sensor signals to the wifi communication module, the wifi communication module transmits signals to the driving control module, the wifi communication module is connected with the wifi communication module of a control system of a main control console and transmits signals to each other, and the wifi communication module receives information from a battery management module; the Bluetooth module is connected with the Bluetooth module of the main control system and mutually transmits signals and instructions;
the transmitting module acquires signals of a life detection sensor, an ultrasonic sensor, an infrared heat release sensor, a Doppler radar, a gravity sensor, an electronic gyroscope, a Hall sensor and a rotating speed sensor, acquires and compiles the signals and transmits the signals to the wifi communication module;
the driving control module transmits signals to the left stepping motor, the right stepping motor, the push shovel production motor, the push shovel rotating motor and the booster fan;
the battery management module receives information from the charging coil module, and the charging coil module receives a wireless charger signal from the main control console system to prompt the robot to charge in time.
The invention has the advantages and positive effects that:
the system can push the excrement into the excrement drain at any time, so that diseases caused by the excrement carried by the excrement cleaning robot in the excrement cleaning process to pigs are avoided. Excrement is pushed down into the excrement discharge ditch by the excrement cleaning robot and is conveyed into the recovery pool by the belt conveyor in the excrement discharge ditch, so that the excrement is conveniently discharged, and the excrement discharge ditch is common to a plurality of pigsty, so that the excrement is conveniently recovered and treated in a concentrated manner.
The system can actively find the excrement, clean in time, ensure the cleanness of the pig house and ensure the cultivation sanitation. The robot can identify the living body through various sensors, so that the pigs are prevented from being injured, and the intelligence of the robot is ensured. The travel planning can be performed, so that the robot can walk in the fence range and clear the manure; the automatic charging device has the advantages that the electric quantity is automatically identified, the automatic charging device can actively charge under the condition of insufficient electric quantity, the electric quantity is ensured to be sufficient, and the working efficiency can be ensured by automatic charging. The booster fan is added for the first time, so that the robot can be effectively prevented from skidding on a wet floor, and the cleaning capacity is improved.
Drawings
FIG. 1 is a schematic diagram of the structure of a pig house according to the present invention.
Fig. 2 is a schematic structural view of the cleaning and charging device.
Fig. 3 is a schematic view of a robot.
FIG. 4 is a schematic diagram of a control system according to the present invention.
Description of the embodiments
The invention is further illustrated by the following examples, which are intended to be illustrative only and not limiting in any way.
An intelligent combined pig house and excrement and urine collecting system, its characterized in that: comprises an intelligent fence, an intelligent manure cleaning robot and a flushing charging device; the intelligent robot cleans the manure in the fence, then the intelligent robot goes to the flushing device to carry out charging flushing, then the intelligent robot goes to clean the manure, and the intelligent robot sequentially and circularly works according to a set program.
The intelligent fence has the structure that: comprises a fence 1-4, a trough, a manure drain 1-2, wherein the fence comprises an upper rail, a lower rail, a vertical rail, an upright post and an infrared emission device (hidden in the fence); the upper rail and the lower rail are fixedly connected with a plurality of vertical rails; the two ends of the upper rail and the lower rail are connected with upright posts; the lower transverse bar is of a hollow structure; the fence is enclosed and separated on the ground 1-3 to form a plurality of independent spaces, each fence is provided with a fence door, and the upright posts around the enclosed fence are provided with infrared emission devices; a virtual wall body is formed between the infrared rays, a manure discharge ditch is formed on the ground of one side, close to the solid wall 1-1, of the fence, a belt conveyor 1-6 is arranged in the manure discharge ditch, a recovery pool is arranged at the tail end of the belt conveyor, a grid 1-5 is covered on the upper portion of the manure discharge ditch, a robot is prevented from falling into the manure discharge ditch, people can conveniently pass through the manure discharge ditch, a trough is arranged on the ground of the front portion of the corresponding manure discharge ditch, and the trough is placed in the fence.
A flushing charging device is arranged at one side, perpendicular to a manure discharge ditch, outside a fence, and comprises a flushing chamber 2-2, a main control desk 2-1, a flushing pipeline 2-3, a wireless charger 2-8, a water leakage grid 2-11 and an air dryer 2-6; a lifting door 2-5 is arranged on the front wall of the flushing chamber, an air dryer is arranged at the upper end of the lifting door, an air outlet of the air dryer is aligned to the position of the wireless charger, flushing pipelines corresponding to the positions of water leakage grids are arranged on the other three walls except the front wall of the flushing chamber provided with the lifting door and the air dryer, the flushing pipelines are mutually communicated, the flushing pipelines are connected with a water inlet pipe, the water inlet pipe is provided with a high-pressure water pump with an electromagnetic valve, a plurality of nozzles 2-4 are uniformly distributed on the side wall of the flushing pipeline at intervals, and water spraying ports of the nozzles are aligned to the position of the wireless charger.
For better flushing, sliding upright posts 2-12 are arranged at four corners of a flushing chamber, sliding flushing pipelines 2-7 parallel to the flushing pipelines at the upper end are arranged on the sliding upright posts, a motor 2-13 is arranged at the top of the flushing chamber, the flushing pipelines are pulled up and down, a plurality of nozzles are uniformly distributed on the side wall of the sliding flushing pipeline at intervals, water spraying ports of the nozzles are aligned to the positions of wireless chargers, and a robot arranged on the wireless chargers is flushed better comprehensively.
The flushing pipeline and the sliding flushing pipeline are connected with a high-pressure water pump through water inlet pipes 2-9.
A master control console is arranged at the top of the flushing chamber, and the master control console receives WiFi communication and controls the operation of the flushing chamber through outputting the switching value.
The working process of the washing and charging device comprises the following steps:
firstly, after receiving the signal that needs to charge from the insufficient electric quantity of the robot through the WiFi communication module, the master control desk sends out a signal to recall the robot, when the robot arrives near the master control desk, the lifting door is opened, the robot enters the flushing chamber to reach the upper end of the wireless charger and is completely meshed with the wireless charger, meanwhile, the master control desk controls the electromagnetic valve to start the high-pressure water pump, water is fed to the flushing pipeline and the conical nozzle starts to flush the robot, after the flushing lasts for 3 minutes, the flushing is stopped, the robot is enabled to be static and drain for 5 minutes, then the air dryer is started, the wireless charger and the robot are integrally air-dried, after the air drying lasts for 20 minutes, the master control desk starts a charging signal to enable the robot to charge on the wireless charger, and after the robot is fully charged, the robot returns to a working area to work.
The intelligent manure cleaning robot has the structure that: including cake casing 1, running gear, push away shovel mechanism, booster mechanism, drive control module 12, communication module 2, the transmission module 3, sensor group and group battery 14, communication module receives control signal, running gear drive robot moves to appointed direction, push away pig house excrement and urine in the robot place ahead, when excrement and urine is more, start booster mechanism, increase the frictional force of robot and ground, make the robot continue to move forward, push away excrement and urine, the sensor group can help the robot to discern the kind of barrier encountered, be pig or excrement and urine, assist the robot to discern, walk and dodge, make the robot implement clear excrement according to established route, above-mentioned mechanism and subassembly concrete structure and function are as follows:
the invention designs the manure cleaning robot shell into a cake shape with the radius of 0.5-1.5m, and other components are adapted to the size of the robot shell, so as to prevent the damage to the shell of the shell caused by accidental collision of the manure cleaning robot shell, and the shell is sleeved with an anti-collision coat (not shown in the figure), and is made of silica gel, plastic or rubber, has deformation capability and is convenient to take down and replace.
The travelling mechanism comprises; the left stepping motor 6, the right stepping motor, the two driving wheels 7 and the universal wheel 15 are arranged at the left side and the right side of the rear part in the shell in a mirror symmetry mode, each stepping motor is coaxially provided with one driving wheel, one half of the driving wheels are positioned outside the shell, the other half of the driving wheels are positioned inside the shell, the universal wheel is arranged at the lower part of the shell at the front side of the two driving wheels, and the universal wheel and the two driving wheels form a triangle shape to finish supporting and walking of the robot shell. The left stepping motor and the right stepping motor respectively receive signals from the driving control module and can independently or synchronously operate, forward rotation and reverse rotation are respectively completed according to signal instructions, forward movement, arbitrary steering and backward movement of the robot are realized, and the functions of cleaning manure and avoiding are realized.
The push shovel mechanism includes: the two pushing shovel wall rotating motors 8, the pushing shovel connecting wall 10 and the pushing shovel 13 are symmetrically arranged in the middle of the shell, each pushing shovel wall rotating motor drives one pushing shovel connecting wall respectively, and the end parts of the two pushing shovel connecting walls are fixedly provided with one pushing shovel together. The push shovel connecting wall is positioned in the push shovel connecting wall groove on the outer surface of the shell, and when the push shovel is horizontally placed, the height of the push shovel connecting wall is not higher than the upper surface of the shell. The pushing shovel is arc-shaped, so that more excrement can be pushed conveniently. The two pushing shovel wall rotating motors jointly receive signals from the driving control module, and synchronously move, so that the pushing shovel falls and rises, when the pushing shovel is in a non-working state, the pushing shovel connecting wall is horizontally arranged, the lower surface of the pushing shovel is not contacted with the ground, a distance of about 10cm is approximately reserved, when the pushing shovel receives the falling signals to work, the pushing shovel connecting wall rotates about 5 degrees in detail, the pushing shovel is contacted with the ground, and when the machine advances, the pushing shovel pushes away excrement, so that the excrement cleaning function is realized.
The booster mechanism comprises four booster fans 11, the four booster fans are uniformly distributed on the periphery of the outer portion of the shell and distributed on two sides of the push shovel, each booster fan is provided with a protective shell 4, a protective net 5 is arranged on the upper portion of each booster fan and used for preventing sundries falling from affecting the rotation of the fan, the booster fans receive signals from a driving control module, when a stepping motor of the robot has rotation signals, but no displacement signals, the booster fans are judged to be started, when the booster fans rotate, air is discharged upwards, the air gives the reactive force of the fans, and the friction force between a driving wheel and a driven wheel of the robot and the ground is increased.
The driving control module is arranged in the middle of the shell, and various control circuits required by the control robot are arranged on the driving control module to send action instructions to the travelling mechanism, the pushing shovel mechanism and the pressurizing mechanism.
The communication module is arranged on the upper part of the rear side of the shell, the outer side of the communication module is protected by an outer cover, the communication module is used for directly sending and receiving signals with the main controller, and meanwhile, the communication module is connected with the battery pack to send electric quantity information to the main controller in real time, so that the battery pack is prevented from being powered less or not.
The battery pack is arranged in the middle of the shell and used for supplying power to components or units of the whole robot which need to be powered, and the battery pack has a function of no-electricity charging.
The transmission module is arranged in the shell at the rear part of the battery pack and is used for receiving signals of the sensor group, sending the signals to the communication module, and after receiving the signals, the main controller responds to the action signals and then sends the action signals to the communication module, and the communication module sends the action instructions to the driving control module which sends the action instructions to the travelling mechanism, the pushing shovel mechanism and the pressurizing mechanism.
The sensor group comprises a plurality of sensors which are respectively connected with the transmission module, and the functions and the installation positions of the sensors are as follows:
an electronic gyroscope sensor: the robot is helped to recognize the direction, walk on a preset route, guarantee the space position, and cannot incline or incline, and is arranged on the upper part of the driven wheel or integrally arranged on the driving control module. The device is used for keeping the stability and the judgment direction of the robot, and realizing that the excrement cleaning robot can push excrement into the excrement pushing ditch.
Life detection sensor: when the robot encounters an obstacle in the advancing process, the robot perceives the heartbeat, and the robot perceives the obstacle as the pig, carries out the backing action and the evading action, and is integrally arranged on the driving control module in the shell.
Infrared pyroelectric sensor 9: the device is used for judging whether the target object (excrement) is a living body or not, and the pig manure is warm, but has no heartbeat, and can be judged to be the pig manure, pushed to a shovel, pushed away. The infrared pyroelectric sensors are arranged at the left front side and the right front side of the robot shell.
Doppler radar: detecting the position and the relative movement speed of a moving target, judging pigs, and integrally installing the pigs on a driving control module.
Hall sensor: for detecting the virtual wall and performing stroke correction, thereby judging the working range of the robot.
First ultrasonic sensor, second ultrasonic sensor: the first ultrasonic sensor is arranged on the right front side of the robot shell, the second ultrasonic sensor is arranged on the right front side of the robot shell, the first ultrasonic sensor is close to the infrared pyroelectric sensor and is used for detecting the real-time distance between a target human body and the robot, the second ultrasonic sensor is used for detecting feces according to the appearance characteristics acquired in advance, and if the appearance characteristics of the feces are met, the push shovel falls down to push away the feces to the feces discharging ditch.
When the excrement cleaning robot is used for cleaning or walking, the walking speed of the robot is reduced when the robot encounters animals and people, the walking speed of the robot shell is increased after the robot avoids obstacles, and the robot reversely walks to avoid the obstacles when the obstacles (animals or people) actively approach the robot shell.
However, when the ground of a pig farm where the robot is located is more humid or the manure is too much in the process of pushing the manure by the robot, the driving wheel of the robot shell is slipped to cause incapability of advancing, and because the preset path of the robot comprises the manure discharge groove, the intelligent manure cleaning robot is easy to fall into the manure discharge groove when the manure is pushed, so that the robot cannot work normally.
In order to solve the technical problem, the sensor group of the invention further comprises a rotating speed sensor, a gravity sensor and a third ultrasonic sensor, wherein the rotating speed sensor is used for detecting the rotating speed of the driving wheel of the robot, the rotating speed sensor is arranged on two driving wheel axles at the rear end of the bottom of the robot shell, when the robot performs the dung pushing work and the driving wheel is in slipping, the WiFi positioning communication module of the main controller judges that the robot does not generate displacement change, the rotating speed sensor has rotating speed, the rotating speed is accelerated, the booster fan of the booster structure is started, the friction force of the robot to the ground is increased, and the driving wheel obtains forward power.
The gravity sensor is used for sensing the environment of the robot shell body, is arranged above the driven wheel, and is used for detecting the distance condition between the robot and the ground, is arranged at the bottom of the robot shell, and judges whether the robot is in a suspended state or not when the distance between the robot and the ground exceeds a set range. The corresponding specific means: the rotation speed sensor is used for detecting the rotation speed of the driving wheel of the robot, the gravity sensor is used for sensing the environment of the body of the robot, and when the robot pushes the excrement, the gravity sensor senses whether the robot pushes the excrement or not and drives the robot to move towards the excrement discharge ditch.
The third ultrasonic sensor is used for detecting the distance condition between the robot and the ground, when the distance between the robot and the ground exceeds a set range, the robot is judged to be in a suspended state, when the excrement cleaning robot only walks, the robot shell is close to the excrement discharge ditch and moves forward or back along the ditch, when the excrement cleaning robot pushes the excrement to walk, the robot shell pushes the excrement to the edge of the excrement discharge ditch, the driving control module can carry out cliff detection according to the sensing signal of the third ultrasonic sensor and control the driving mechanism to finish walking, and the pushing shovel assembly is started to put the excrement into the excrement discharge ditch.
The working state of the robot is as follows:
in the process of walking or cleaning the dung, when the driving control module detects that the obstacle is a person or an animal according to detection signals of the life detection sensor, the first ultrasonic sensor, the second ultrasonic sensor, the infrared pyroelectric sensor, the Doppler radar and the Hall sensor, the driving control module controls the driving mechanism to drive the robot shell, so that the walking speed of the robot shell is reduced, after the robot shell avoids the obstacle (animal or human), the walking speed of the robot shell is increased, when the obstacle (animal or human) actively approaches the robot shell, the robot walks reversely to avoid the obstacle (animal or human), and when the driving control module cannot detect the obstacle (human or animal) according to detection signals of the life detection sensor, the first ultrasonic sensor, the second ultrasonic sensor, the infrared pyroelectric sensor, the Doppler radar and the Hall sensor, the dung cleaning robot continues to move along the original route.
In the running process of the pig house manure cleaning robot, when the driving control module detects that the driving wheel of the robot shell slips according to detection signals of the rotating speed sensor and the gravity sensor and positioning communication of the driving control module, the driving control module drives the supercharging mechanism to start the supercharging fan, so that the friction force of the robot to the ground is increased, the driving wheel obtains forward power, and normal work of the pig house manure cleaning robot is realized.
For clear excrement robot with the action of master controller, this application still provides a clear excrement robot of pig house intelligence control system, including master control station control system, clear excrement robot self control system and two wifi positioning communication module, master control station control system and clear excrement robot self control system are direct through signal transmission, and two wifi positioning communication module realize clear excrement robot's real-time positioning, make the master control station can control, record and feedback the relevant action instruction of clear excrement robot of specific position.
The main control desk system comprises the following components: the main controller is respectively connected with the power management module, the switching value output module, the wifi communication module, the GPRS wireless transmission module and the Bluetooth module, collects information of the power management module and is instructed by the power management module, the power management module is connected with the wireless charger to instruct the wireless charger, and meanwhile, the network power supplies power to the whole power management module and then supplies power to the whole controller. The information of wifi communication module is gathered to the master controller, and wifi communication module realization master control board and clear excrement robot self control system's wifi communication module and two wifi positioning communication module mutual transmission signals realize the interaction of two systems. The GPRS wireless transmission module is connected with the user terminal, is practical and is in information intercommunication with the user terminal, and the Bluetooth module is used for being connected with the Bluetooth module of the self-control system of the excrement cleaning robot, and mutually transmits signals.
The self-control system of the manure cleaning robot comprises: the system comprises a wifi communication module, a driving control module, a transmitting module and a Bluetooth module, wherein the transmitting module transmits sensor signals to the wifi communication module, the wifi communication module transmits signals to the driving control module, the wifi communication module is connected with the wifi communication module of a control system of a main control console and transmits signals to each other, and the wifi communication module receives information from a battery management module; the Bluetooth module is connected with the Bluetooth module of the main control system, and mutually transmits signals and instructions.
The transmission module collects signals of the life detection sensor, the ultrasonic sensor, the infrared heat release sensor, the Doppler radar, the gravity sensor, the electronic gyroscope, the Hall sensor and the rotating speed sensor, and the signals are collected, compiled and sent to the wifi communication module.
The driving control module transmits signals to the left stepping motor, the right stepping motor, the push shovel production motor, the push shovel rotating motor and the booster fan.
The battery management module receives information from the charging coil module, and the charging coil module receives a wireless charger signal from the main control console system to prompt the robot to charge in time.
The above embodiments are merely illustrative embodiments of the present invention, but the technical features of the present invention are not limited thereto, and any changes or modifications made by those skilled in the art within the scope of the present invention are included in the scope of the present invention.
Claims (6)
1. An intelligent combined pig house and excrement and urine collecting system, its characterized in that: comprises an intelligent fence, an intelligent manure cleaning robot and a flushing charging device;
including intelligent rail structure does: the fence, the trough and the manure discharge ditch are provided with infrared rays on the upright posts at the two ends of the fence; a virtual wall body is formed between the infrared rays, a manure drain is arranged on the ground of one side of the fence, which is close to the solid wall, a belt conveyor is arranged on the manure drain, a recovery tank is arranged at the tail end of the belt conveyor, and a grid is covered on the upper part of the manure drain;
a flushing charging device is arranged at one side, perpendicular to the excrement discharge ditch, outside the intelligent fence and comprises a flushing chamber, a main control console, a flushing pipeline, a wireless charger, a water leakage grid and an air dryer, wherein a wireless charger is arranged in the middle of the bottom of the flushing chamber, and the water leakage grid is arranged at the bottom of the flushing chamber around the wireless charger; a lifting door is arranged on the front wall of the flushing chamber, an air dryer is arranged at the upper end of the lifting door, an air outlet of the air dryer is aligned to the position of the wireless charger, flushing pipelines corresponding to the positions of the water leakage grids are arranged on the other three walls except the front wall of the flushing chamber provided with the lifting door and the air dryer, and a plurality of nozzles are uniformly arranged on the side walls of the flushing pipelines at intervals; a main control console is arranged at the top of the flushing charging device, a main controller is arranged in the main control console, and the main control console receives WiFi communication and controls the operation of the flushing chamber through outputting the switching value;
sliding upright posts are arranged at the bottoms of four corners of the flushing chamber, sliding flushing pipelines parallel to the flushing pipelines are arranged on the sliding upright posts, a plurality of nozzles are uniformly distributed on the side walls of the sliding flushing pipelines at intervals, and water spraying ports of the nozzles are aligned to the positions of wireless chargers;
the intelligent manure cleaning robot comprises a shell, a traveling mechanism, a pushing shovel mechanism, a pressurizing mechanism, a driving control module, a communication module, a transmitting module, a sensor group and a battery pack, wherein the traveling mechanism drives the robot to move towards a specified direction, the pushing shovel mechanism pushes away pig house manure in front of the robot, when more manure is generated, the increasing mechanism is started to increase friction force between the robot and the ground, so that the robot continues to move forwards to push away the manure, the sensor group can help the robot to identify the type of encountered obstacle, which is pig or manure, and assist the robot to identify, walk and avoid, so that the robot can implement manure cleaning according to a given route;
the supercharging mechanism comprises four supercharging fans which are uniformly arranged around the outer part of the shell, two sides of the pushing shovel are provided with a protective shell, and a protective net is arranged on the upper part of each supercharging fan;
the travelling mechanism comprises; the robot comprises a left stepping motor, a right stepping motor, two driving wheels and a universal wheel, wherein the left stepping motor and the right stepping motor are arranged at the left side and the right side of the rear part in a shell in a mirror symmetry manner, each stepping motor is coaxially provided with one driving wheel, one half of the driving wheels are positioned outside the shell, the other half of the driving wheels are positioned inside the shell, the universal wheel is arranged at the lower part of the shell at the front side of the two driving wheels, and the universal wheel and the two driving wheels form a triangle shape to finish supporting and walking of the robot shell;
the sensor group includes: an electronic gyroscope sensor, a life detection sensor, an infrared pyroelectric sensor, a Doppler radar, a Hall sensor and a rotating speed sensor;
an electronic gyroscope sensor: the robot is helped to recognize the direction, walk on a preset route, ensure the space position, and cannot incline or topple, and is arranged on the upper part of the driven wheel or integrally arranged on the driving control module;
life detection sensor: when the robot encounters an obstacle in the advancing process, the robot perceives the heartbeat, and the obstacle is regarded as the pig, the pig carries out the backing and evading actions and is integrally arranged on the driving control module in the shell;
infrared pyroelectric sensor: the infrared pyroelectric sensors are arranged at the left front side and the right front side of the robot shell;
doppler radar: detecting the position and the relative movement speed of a moving target, judging pigs, and integrally installing the pigs on a driving control module;
hall sensor: the robot is used for detecting the virtual wall and correcting the travel, so that the working range of the robot is judged;
a rotation speed sensor: the rotation speed sensor is used for detecting the rotation speed of the robot driving wheel, is arranged on two driving wheel axles at the rear end of the bottom of the robot shell, and when the robot pushes away the excrement and the driving wheel slips, meanwhile, the WiFi positioning communication module of the main controller judges that the robot does not generate displacement change, the rotation speed sensor has rotation speed, the rotation speed is accelerated, the booster fan of the booster structure is started, the friction force of the robot to the ground is increased, and the driving wheel obtains forward power.
2. The intelligent combination pig house and stool collection system of claim 1, wherein: the push shovel mechanism includes: the two shovel wall rotating electrical machines that push away, push away shovel link wall and push away the shovel, two shovel wall rotating electrical machines that push away are installed at the casing middle part in the symmetry, and every pushes away shovel wall rotating electrical machines and drives a shovel link wall respectively, and two shovel link wall tip solid respectively and put away a shovel jointly, push away the shovel link wall and lie in the shovel link wall inslot of casing surface, when pushing away the shovel level and placing, push away the height of shovel link wall and be not higher than the casing upper surface, push away the shovel and be the arc, be convenient for push away more excrement and urine.
3. The intelligent combination pig house and stool collection system of claim 1, wherein: the driving control module is arranged in the middle of the shell, and various control circuits required by the control robot are arranged on the driving control module to send action instructions to the travelling mechanism, the pushing shovel mechanism and the pressurizing mechanism.
4. The intelligent combination pig house and stool collection system of claim 1, wherein: the communication module is arranged on the upper part of the rear side of the shell, the outer side of the communication module is protected by an outer cover, the communication module is used for directly sending and receiving signals with the main controller, and meanwhile, the communication module is connected with the battery pack to send electric quantity information to the main controller in real time.
5. The intelligent combination pig house and stool collection system of claim 1, wherein: the transmission module is arranged in the shell at the rear part of the battery pack and is used for receiving signals of the sensor group, sending the signals to the communication module, and after receiving the signals, the main controller responds to the action signals and then sends the action signals to the communication module, and the communication module sends the action instructions to the driving control module to instruct the driving control module to send the action instructions to the travelling mechanism, the pushing shovel mechanism and the pressurizing mechanism.
6. The intelligent combination pig house and stool collection system of claim 1, wherein: the control relation between the excrement cleaning robot and the master controller comprises a master control console control system, an excrement cleaning robot self control system and two wifi positioning communication modules, wherein the master control console control system and the excrement cleaning robot self control system directly pass through signal transmission, and the two wifi positioning communication modules realize real-time positioning of the excrement cleaning robot;
the main control desk system comprises the following components: the main controller is respectively connected with the power management module, the switching value output module, the wifi communication module, the GPRS wireless transmission module and the Bluetooth module, collects information of the power management module, is instructed by the power management module, is connected with the wireless charger, instructs the wireless charger, supplies power to the whole power management module through network power, and supplies power to the whole controller; the main controller collects information of the wifi communication module, the wifi communication module realizes mutual signal transmission between the main control console and the wifi communication module and between the wifi positioning communication module of the self-control system of the excrement cleaning robot, and interaction of the two systems is realized; the GPRS wireless transmission module is connected with the user terminal, is used for communicating information with the user terminal, and the Bluetooth module is used for being connected with a Bluetooth module of a self-control system of the excrement cleaning robot to mutually transmit signals;
the self-control system of the manure cleaning robot comprises: the system comprises a wifi communication module, a driving control module, a transmitting module and a Bluetooth module, wherein the transmitting module transmits sensor signals to the wifi communication module, the wifi communication module transmits signals to the driving control module, the wifi communication module is connected with the wifi communication module of a control system of a main control console and transmits signals to each other, and the wifi communication module receives information from a battery management module; the Bluetooth module is connected with the Bluetooth module of the main control system and mutually transmits signals and instructions;
the transmitting module acquires signals of a life detection sensor, an ultrasonic sensor, an infrared heat release sensor, a Doppler radar, a gravity sensor, an electronic gyroscope, a Hall sensor and a rotating speed sensor, acquires and compiles the signals and transmits the signals to the wifi communication module;
the driving control module transmits signals to the left stepping motor, the right stepping motor, the push shovel production motor, the push shovel rotating motor and the booster fan;
the battery management module receives information from the charging coil module, and the charging coil module receives a wireless charger signal from the main control console system to prompt the robot to charge in time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710873501.4A CN107624653B (en) | 2017-09-25 | 2017-09-25 | Intelligent combined pigsty and fecal collection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710873501.4A CN107624653B (en) | 2017-09-25 | 2017-09-25 | Intelligent combined pigsty and fecal collection system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107624653A CN107624653A (en) | 2018-01-26 |
| CN107624653B true CN107624653B (en) | 2023-05-16 |
Family
ID=61103534
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710873501.4A Active CN107624653B (en) | 2017-09-25 | 2017-09-25 | Intelligent combined pigsty and fecal collection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107624653B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108464248B (en) * | 2018-04-17 | 2020-12-04 | 夏津新希望六和农牧有限公司 | Convenient sterile pig house |
| 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 |
| 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 |
| 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 |
| 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 |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4380844A (en) * | 1980-09-12 | 1983-04-26 | Wetrok, Inc. | Automatic floor cleaning machine |
| JP2002013114A (en) * | 2000-06-29 | 2002-01-18 | Yamaha Motor Co Ltd | Snow removal part inner surface structure of snow removing machine |
| CN1373028A (en) * | 2001-02-28 | 2002-10-09 | 北京硅景集成技术有限公司 | Fan-type robot with sucker for wiping window |
| RU47293U1 (en) * | 2005-04-18 | 2005-08-27 | Бердников Алексей Анатольевич | POWER TRANSMISSION VEHICLE WITH COMBINED MOTOR |
| CN1994805A (en) * | 2006-11-27 | 2007-07-11 | 哈尔滨工业大学 | Small-sized wall-climbing robot based on negative pressure absorption principle |
| CN101544249A (en) * | 2009-04-23 | 2009-09-30 | 昆山市工业技术研究院有限责任公司 | Wall mobile robot based on airflow lifting force |
| JP2012065720A (en) * | 2010-09-21 | 2012-04-05 | Dainippon Printing Co Ltd | Clean room and method of cleaning low floor thereof |
| CN202896707U (en) * | 2012-10-30 | 2013-04-24 | 浙江吉利汽车研究院有限公司杭州分公司 | Preventing vehicles rollover device |
| RU2013131317A (en) * | 2013-07-08 | 2015-01-20 | Евгений Николаевич Хрусталев | METHOD FOR INCREASING PERFORMANCE OF MOTOR OF MILITARY EQUIPMENT AND DEVICE OF MOTOR OF MILITARY EQUIPMENT |
| CN104563049A (en) * | 2013-10-16 | 2015-04-29 | 福特全球技术公司 | Snow plow blade detection and compensation system |
| CN205180003U (en) * | 2015-12-08 | 2016-04-27 | 宋玉荣 | Automatic pig house is bred to collection excrement |
| CN105982624A (en) * | 2015-12-30 | 2016-10-05 | 小米科技有限责任公司 | Automatic cleaning equipment and anti-jamming handling method and device for automatic cleaning equipment |
| CN106542013A (en) * | 2016-12-08 | 2017-03-29 | 南京航空航天大学 | The anti-crosswind offset assembly of car and method |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1219457A (en) * | 1997-12-12 | 1999-06-16 | 唐世明 | Wall climbing robot |
| CN1948084A (en) * | 2006-05-18 | 2007-04-18 | 刘宏茂 | Lift force control method of rotating wing fan and vertiautomobile |
| CN202098386U (en) * | 2011-05-26 | 2012-01-04 | 武汉瑞丽森科技发展有限公司 | Machine for automatically rinsing whole engineering vehicle |
| CN102893875B (en) * | 2012-10-17 | 2014-02-19 | 四川农业大学 | Full hydraulic automatic dung cleaning robot |
| CN203120634U (en) * | 2013-03-12 | 2013-08-14 | 蔡锡森 | Automatic dung scraping and discharging system for pig houses |
| CN203834329U (en) * | 2014-05-13 | 2014-09-17 | 河南高远公路养护设备股份有限公司 | Air blower driving device for drainage asphalt pavement functional recovery vehicle |
| GB2529166B (en) * | 2014-08-11 | 2020-08-26 | James Webber Simon | Animal excrement collection |
| CN104586324A (en) * | 2015-01-16 | 2015-05-06 | 惠州市鑫沛科技有限公司 | Intelligent cleaning robot capable of realizing automatic navigation, floor mopping, charging and rag cleaning |
| CN106610667A (en) * | 2015-10-22 | 2017-05-03 | 沈阳新松机器人自动化股份有限公司 | Corridor cleaning robot control system and method based on RC controller |
| CN105494118B (en) * | 2016-01-18 | 2019-02-01 | 华南农业大学 | A kind of pig farm automatic manure-cleaning vehicle and cleaning up excrement method |
| CN206150106U (en) * | 2016-11-01 | 2017-05-10 | 农业部环境保护科研监测所 | Clear excrement safety scraper blade of self -induction formula cowshed |
| CN106974595B (en) * | 2017-03-27 | 2018-01-19 | 湖南大学 | A kind of intelligent robot for indoor cleaning |
| CN207803091U (en) * | 2017-09-25 | 2018-09-04 | 农业部环境保护科研监测所 | The box-like pig house of smart group and dung collection system |
-
2017
- 2017-09-25 CN CN201710873501.4A patent/CN107624653B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4380844A (en) * | 1980-09-12 | 1983-04-26 | Wetrok, Inc. | Automatic floor cleaning machine |
| JP2002013114A (en) * | 2000-06-29 | 2002-01-18 | Yamaha Motor Co Ltd | Snow removal part inner surface structure of snow removing machine |
| CN1373028A (en) * | 2001-02-28 | 2002-10-09 | 北京硅景集成技术有限公司 | Fan-type robot with sucker for wiping window |
| RU47293U1 (en) * | 2005-04-18 | 2005-08-27 | Бердников Алексей Анатольевич | POWER TRANSMISSION VEHICLE WITH COMBINED MOTOR |
| CN1994805A (en) * | 2006-11-27 | 2007-07-11 | 哈尔滨工业大学 | Small-sized wall-climbing robot based on negative pressure absorption principle |
| CN101544249A (en) * | 2009-04-23 | 2009-09-30 | 昆山市工业技术研究院有限责任公司 | Wall mobile robot based on airflow lifting force |
| JP2012065720A (en) * | 2010-09-21 | 2012-04-05 | Dainippon Printing Co Ltd | Clean room and method of cleaning low floor thereof |
| CN202896707U (en) * | 2012-10-30 | 2013-04-24 | 浙江吉利汽车研究院有限公司杭州分公司 | Preventing vehicles rollover device |
| RU2013131317A (en) * | 2013-07-08 | 2015-01-20 | Евгений Николаевич Хрусталев | METHOD FOR INCREASING PERFORMANCE OF MOTOR OF MILITARY EQUIPMENT AND DEVICE OF MOTOR OF MILITARY EQUIPMENT |
| CN104563049A (en) * | 2013-10-16 | 2015-04-29 | 福特全球技术公司 | Snow plow blade detection and compensation system |
| CN205180003U (en) * | 2015-12-08 | 2016-04-27 | 宋玉荣 | Automatic pig house is bred to collection excrement |
| CN105982624A (en) * | 2015-12-30 | 2016-10-05 | 小米科技有限责任公司 | Automatic cleaning equipment and anti-jamming handling method and device for automatic cleaning equipment |
| CN106542013A (en) * | 2016-12-08 | 2017-03-29 | 南京航空航天大学 | The anti-crosswind offset assembly of car and method |
Non-Patent Citations (1)
| Title |
|---|
| 邵浩等.用于玻璃幕墙清洗作业的爬壁机器人系统.《制造业自动化》.2000,(第02期),第6-9页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107624653A (en) | 2018-01-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107624653B (en) | Intelligent combined pigsty and fecal collection system | |
| CN107624656B (en) | Intelligent manure cleaning robot for pig house and control system | |
| CN207803091U (en) | The box-like pig house of smart group and dung collection system | |
| US11310993B2 (en) | Master-slave cooperative cleaning robot system | |
| CN107471188B (en) | A kind of walking mechanism of intelligent sweeping robot | |
| CN109362582B (en) | Cleaning robot and cleaning method suitable for multi-scene pigsty | |
| CN202408739U (en) | Intelligent cleaning equipment | |
| CN111297275A (en) | Multifunctional cleaning robot for washing and killing floor | |
| CN209964907U (en) | Clear excrement robot in pig house | |
| TW201701092A (en) | Self-propelled electronic device and drive method for said self-propelled electronic device | |
| CN107080502B (en) | Intelligent cleaning robot system | |
| CN211674050U (en) | Commercial intelligent cleaning robot | |
| CN102106713A (en) | Accumulated water removal system and accumulated water removal method | |
| CN210446911U (en) | Commercial automatic floor cleaning and sweeping machine | |
| CN106618386A (en) | Cleaning robot | |
| CN113678741A (en) | Automatic excrement identification fixed-point sterilization robot with recycling function and sterilization method | |
| CN112088783A (en) | Scraping and sweeping integrated pigsty manure cleaning robot | |
| CN112971621A (en) | Indoor intelligent cleaning system and control method | |
| CN112077860A (en) | Chicken coop environment is observed and controled and is cleaned robot | |
| CN202981889U (en) | Commercial robot road sweeper | |
| CN210871329U (en) | Intelligent toilet cleaning robot | |
| CN113785776B (en) | Pig house dung cleaning robot, dung cleaning method and live pig health diagnosis method | |
| CN110141161A (en) | It is a kind of to wash floor cleaning machine device people automatically | |
| CN207264200U (en) | A kind of control system of pig house intelligence cleaning up excrement robot | |
| CN206239339U (en) | A kind of household cleaning machine people |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 300191 No. 31, rehabilitation Road, Tianjin, Nankai District Applicant after: AGRO-ENVIRONMENTAL PROTECTION INSTITUTE, MINISTRY OF AGRICULTURE Address before: 300191 No. 31, rehabilitation Road, Tianjin, Nankai District Applicant before: AGRO-ENVIRONMENTAL PROTECTION INSTITUTE OF MINISTRY OF AGRICULTURE |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |