CN107624656B - Intelligent manure cleaning robot for pig house and control system - Google Patents
Intelligent manure cleaning robot for pig house and control system Download PDFInfo
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- CN107624656B CN107624656B CN201710872647.7A CN201710872647A CN107624656B CN 107624656 B CN107624656 B CN 107624656B CN 201710872647 A CN201710872647 A CN 201710872647A CN 107624656 B CN107624656 B CN 107624656B
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Abstract
The invention relates to an intelligent pig house excrement cleaning robot and a control system thereof, wherein the intelligent pig house excrement cleaning robot comprises a shell, a traveling mechanism, a pushing shovel mechanism, a pressurizing mechanism, a driving control module block, 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 mechanism pushes away pig house excrement in front of the robot, when more excrement exists, the pressurizing mechanism is started, the friction force between the robot and the ground is increased, the robot continues to move forwards, the excrement is pushed away, the sensor group can help the robot to identify the type of obstacle encountered by the robot, and the robot can assist the robot to identify, walk and avoid the excrement, so that the robot can implement excrement cleaning according to a given route. The application provides a clear excrement robot of pig house intelligence can carry out the trip planning, guarantees that the robot walks in fence scope, clear excrement.
Description
Technical Field
The invention belongs to the technical field of manure cleaning mechanical equipment, and mainly relates to an intelligent manure cleaning robot for a pig house and a control system.
Background
China is a large country of livestock food, and great attention has been paid to livestock cultivation for years. The livestock breeding amount in China accounts for over 50% of the world, but with global warming, the world environment worsens day and night, and the high cost of livestock raw materials, epidemic risks, environmental safety hazards, food safety and other risks are brought. Therefore, the Chinese farming industry is about to face a new innovation, and the farming industry is necessarily brought to a centralized and high-tech road.
Although the livestock breeding industry in China has a large scale, the technology for cleaning the excrement is not mature, and the economic aspect is affected by the growth and health of the livestock to a certain extent. Wherein the main components of the livestock manure comprise crude protein, fat, nitrogen-free extract, calcium, phosphorus and vitamin B12; there are many potential substances at the same time, such as: mineral trace elements, various drugs, antibiotics, hormones, and the like, and a large number of pathogenic microorganisms, parasites, and eggs thereof; and also contains ammonia, hydrogen sulfide, indole, and skatole. Traditional excrement and urine clearance mainly has manual clearance, watering clearance and forklift clearance etc. and manual clearance and forklift clearance can receive factors such as environment, instrument restriction. Such as: the cleaning times per day are limited; the labor intensity is high; the forklift is large in size, high in noise, easy to cause injury and frightening to livestock, uneconomical and inflexible; furthermore, the treatment of waste water from sprinkler cleaning is also a significant problem. Therefore, the traditional cleaning method has certain defects (such as swine fever, swine chain disease, HINI virus and the like caused by the fact that swine waste is not cleaned in time). However, most of the excrement cleaning robots are used for cleaning excrement, the functions are single, and the core technology is controlled manually through a background, so that the intelligence is greatly reduced. And the excrement carried by the excrement cleaning robot in the excrement cleaning process is difficult to clean, if the excrement cleaning robot is repeatedly used, the defects similar to those of the traditional cleaning method (such as swine fever, pig chain ball disease, HINI virus and the like can be caused if pig manure is not cleaned in time) still occur.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the intelligent pig house excrement cleaning robot and the control system which are convenient to operate, sensitive in response, safe and reliable.
The technical scheme adopted by the invention is as follows:
clear excrement robot of pig house intelligence, its characterized in that: including casing, running gear, push away shovel mechanism, booster mechanism, drive control module, communication module, transmission module, sensor group and group battery, running gear drive robot moves to appointed direction, pushes away pig house excrement and urine in the robot place ahead, when excrement and urine is more, starts booster mechanism, increases the frictional force of robot and ground, makes the robot continue to move forward, pushes away excrement and urine, and sensor group can help the robot discernment the kind of the barrier encountered, is pig or excrement and urine, helps the robot discernment, walks and dodges, makes the robot implement clear excrement according to established route.
Moreover, the housing is designed in the shape of a pie with a radius of 0.5-1.5m.
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.
Further, the ultrasonic sensor further includes a first ultrasonic sensor and a 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.
The control system of the intelligent manure cleaning robot for the pig house comprises a main control console control system, a manure cleaning robot self control system and two wifi positioning communication modules, wherein the main control console control system and the manure cleaning robot self control system directly pass through signal transmission, and the two wifi positioning communication modules realize real-time positioning of the manure 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 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 clear excrement robot of pig house intelligence that this application provided can initiatively find excrement and urine, in time cleans, guarantees the cleanness of pig house, guarantees to breed the health. 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 application provides a clear excrement robot of pig house intelligence can carry out the trip planning, guarantees that the robot walks in fence scope, clear excrement.
The clear excrement robot of pig house intelligence that this application provided has automatic identification electric quantity, can initiatively charge under the not enough circumstances of electric quantity, guarantees that the electric quantity is sufficient, and automatic charging can guarantee work efficiency.
The application provides a clear excrement robot of pig house intelligence has added booster fan for the first time, can prevent effectively that the robot from skidding on moist bottom plate, improves the cleaning ability.
Drawings
Fig. 1 is a schematic structural view of a robot according to the present invention.
Fig. 2 is a block schematic diagram of the operation system of the manure cleaning robot of 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.
The utility model provides a clear excrement robot of pig house intelligence, including cake shape 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 the pig house excrement and urine of shovel mechanism with 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, sensor group can help the robot discernment 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, above-mentioned mechanism and subassembly specific structure and function description 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 to instruct the driving control module to send the action instructions to the travelling mechanism, the pushing shovel mechanism and the pressurizing mechanism.
The sensor group comprises a plurality of sensors (most of which are not numbered, the approximate positions are provided, the sensor group can be changed or adjusted according to actual requirements), the sensor group is 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 to form the excrement 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.
In order to cooperate with the mechanisms, the application further provides a control system of the intelligent manure cleaning robot for the pig house, which comprises a main control console control system, a manure cleaning robot self control system and two wifi positioning communication modules, wherein the main control console control system and the manure cleaning robot self control system directly realize real-time positioning of the manure cleaning robot through signal transmission, and the two wifi positioning communication modules enable the main control console to control, record and feed back relevant action instructions of the manure cleaning robot at specific positions.
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.
While the invention has been described in terms of embodiments, it will be apparent to those skilled in the art that the invention is not limited to the specific embodiments described above and shown in the drawings. Any modifications which do not depart from the functional and structural principles of the present invention are intended to be included within the scope of the appended claims.
Claims (8)
1. Clear excrement robot of pig house intelligence, its characterized in that: the pig manure collection device 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 a robot to move in a specified direction, the pushing shovel mechanism pushes away pig manure in front of the robot, when the manure is more, the pressurizing mechanism is started to increase the friction between the robot and the ground, so that the robot continuously moves forwards to push away the manure, the sensor group can help the robot to identify the type of the encountered obstacle, which is pig or manure, and assist the robot to identify, walk and avoid, so that the robot can implement manure collection 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 pig manure detection device is used for judging whether a target object 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 and shoveled off and 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: 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 rotational speed sensor is used for detecting the rotational speed of robot drive wheel, and this rotational speed sensor sets up on two drive wheel axletree of robot casing bottom rear end, and when the robot pushes away excrement work and the drive wheel and skid the phenomenon appears, with this simultaneously, the wiFi location communication module of master controller judges that this machine has not taken place displacement variation, and rotational speed sensor has the rotational speed, and the rotational speed accelerates, starts boost structure's booster fan, increases the frictional force of robot to ground, makes the drive wheel obtain forward power.
2. The pig house intelligent manure cleaning robot of claim 1, wherein: the shell is designed into a round cake shape, and the radius is 0.5-1.5m.
3. The pig house intelligent manure cleaning robot 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.
4. The pig house intelligent manure cleaning robot 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.
5. The pig house intelligent manure cleaning robot 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.
6. The pig house intelligent manure cleaning robot 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.
7. The pig house intelligent manure cleaning robot of claim 1, wherein: still include 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.
8. The control system of a manure cleaning robot of claim 1, wherein: the system comprises a main control console control system, a manure cleaning robot self control system and two wifi positioning communication modules, wherein the main control console control system and the manure cleaning robot self control system directly pass through signal transmission, and the two wifi positioning communication modules realize real-time positioning of the manure 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, the main controller 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, meanwhile, the power supply is used for supplying power to the whole power management module and supplying power to the whole controller, the main controller collects information of the wifi communication module, the wifi communication module achieves mutual transmission of signals between the main control platform and the wifi communication module of the self-control system of the excrement cleaning robot and between the wifi positioning communication module and achieves interaction of the two systems, the GPRS wireless transmission module is connected with a user terminal, the practical and user terminal are in information intercommunication, 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 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.
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