CN108393903A - Intelligent hog house disinfection cleaning robot - Google Patents
Intelligent hog house disinfection cleaning robot Download PDFInfo
- Publication number
- CN108393903A CN108393903A CN201810482141.XA CN201810482141A CN108393903A CN 108393903 A CN108393903 A CN 108393903A CN 201810482141 A CN201810482141 A CN 201810482141A CN 108393903 A CN108393903 A CN 108393903A
- Authority
- CN
- China
- Prior art keywords
- babinet
- cleaning robot
- pressure water
- water pipe
- intelligence
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 61
- 238000004659 sterilization and disinfection Methods 0.000 title claims abstract description 24
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 40
- 244000035744 Hura crepitans Species 0.000 claims abstract description 18
- 239000004576 sand Substances 0.000 claims description 9
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims 1
- 230000036541 health Effects 0.000 abstract description 2
- 230000001954 sterilising effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 238000005406 washing Methods 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 239000002574 poison Substances 0.000 description 2
- 231100000614 poison Toxicity 0.000 description 2
- 241000287828 Gallus gallus Species 0.000 description 1
- 241001572175 Gaza Species 0.000 description 1
- 238000009360 aquaculture Methods 0.000 description 1
- 244000144974 aquaculture Species 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000009991 scouring Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K1/00—Housing animals; Equipment therefor
- A01K1/01—Removal of dung or urine, e.g. from stables
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/02—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using physical phenomena
- A61L2/08—Radiation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/026—Acoustical sensing devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/20—Targets to be treated
- A61L2202/25—Rooms in buildings, passenger compartments
Abstract
The present invention proposes a kind of intelligent hog house disinfection cleaning robot, it is that babinet is set on the chassis for having driving wheel, electrical source of power case, sandbox and system control box are set in babinet, human assistance is set in the rear end of babinet and is oriented to handle and touch screen, is oriented in human assistance and lower section is set automatic high pressure water pipe wheel disc；The radius arm of flexible rotation is set at the top of babinet, radius arm end is equipped with revolvable washer jet, and washer jet is connect with the high-pressure water pipe coiled on automatic high pressure water pipe wheel disc；Laser beam transmitter is set in radius arm side, laser and ultrasonic radar are respectively equipped in babinet rear and front end and both sides, supplied laser navigation apparatus is set in babinet front end.The present invention not only saves water source and time, reduces cost, and can effectively be cleaned to each position of pig house, while can also carry out disinfection, it is ensured that pig house environment health.
Description
Technical field
The present invention relates to the disinfection cleaning devices of colony house, and in particular to a kind of intelligence hog house disinfection cleaning robot.
Background technology
With the fast development of live pig large-scale cultivation, the discharge of increasing waste makes pig house environment sanitary condition increasingly
It is prominent, to keeping the environmental sanitation of pig house to propose stern challenge.And the quality of environmental sanitation is directly related to life in pig house
The healthy growth of pig, and then it is related to the sound development of pig-breeding industry, affect the vital interests of culturist.Therefore, right
It is that each culturist has to the thing in face of solution that pig house is cleaned, sterilized in time.
Currently, the cleaning and sterilizing mode of most of pig houses is remained in by manually carrying out cleaning and sterilizing.In cleaning and sterilizing
Preceding first all to drive live pig out of pig house, staff enters pig house and cleans, sterilizes, and this mode is time-consuming and laborious and efficiency
It is low.With the expansion of cultivation scale, pig house area just increases, and a large amount of wastes that pig house generates daily just increase, and cleaning is needed to disappear
The employee of poison is increased by, and aquaculture cost just increases naturally.
With the development of automatic technology, automatic controls also begins to clean for pig house.As some are using in pig house
Column circle wall on multiple high pressure washing water pipes are installed, recycle external high-tension apparatus to pressurize, column circle to be manually entered
It after interior cleaning up excrement, is rinsed using high-pressure spray gun, this mode is installed due to high pressure washing water pipe and fixed, can not be comprehensively without dead
Angle is rinsed, it is also necessary to manually be cleaned again, not only efficiency is low, wastes water source, but also while having in pig house live pig easily hurts life
Pig.Also some are using the cleaning vehicle that can be walked in pig house, but some auxiliary are arranged in pig house and set for this cleaning vehicle needs
It is standby, and its moving range is limited, and cleaning is not thorough enough, and use is not convenient enough.
Invention content
Technical problem to be solved by the invention is to provide a kind of intelligent hog house disinfection cleaning robots, utilize the robot
Can be to pig cleaning, disinfection, and can be cost-effective, operating efficiency is high.
In order to solve the above technical problems, the technical solution used in the present invention is：A kind of intelligence hog house disinfection cleaning robot
People, including bottom belt are respectively equipped with interception directive wheel there are four the chassis of driving wheel in the rear and front end on the chassis；On chassis
Babinet is set above, and electrical source of power case, sandbox and system control box are set in babinet；Two human assistances are set in the rear end of babinet to be oriented to
Being oriented in two human assistances and set touch screen between, be oriented in two human assistances and lower section set automatic high pressure water pipe wheel disc；In case
The radius arm of flexible rotation is set at the top of body, radius arm end is equipped with revolvable washer jet, washer jet and automatic high pressure
The high-pressure water pipe connection coiled on water pipe wheel disc；Laser beam transmitter is set in radius arm side；In babinet rear and front end and both sides
It is respectively equipped with laser and ultrasonic radar, supplied laser navigation apparatus is set in babinet front end；It is the interception directive wheel, touch screen, automatic
High-pressure water pipe wheel disc, radius arm, washer jet, laser beam transmitter, laser and ultrasonic radar, supplied laser navigation apparatus be
Control cabinet control of uniting connects.
The support shaft top of radius arm sets industrial vision camera, industrial vision camera and system control box on the babinet
Control connection.
Further, set the bluetooth module being connect with system control box on the babinet, bluetooth module with it is pre- on mobile phone
The APP of dress passes through bluetooth connection.
Compression pump is set in the sandbox, one is connected between the high-pressure water pipe coiled on sandbox and automatic high pressure water pipe wheel disc
Pipeline, sets that there are one unidirectional normal-closed electromagnetic valves on pipeline.
Charger interface is also set on the babinet, charger interface is connect with electrical source of power case.
The babinet is in back taper and is divided into three-layer container case, and lower layers of containers case is the electrical source of power case for storing battery pack,
Middle layer container case is the sandbox for storing the grains of sand, and upper layer container case is the system control for storing intelligence control system electric appliance and control panel
Case processed.
The grains of sand diameter stored in the sandbox is less than 0.05 millimeter.
Four driving wheels of the tray bottom are independent drive.
The present invention is compared using the intelligent hog house disinfection cleaning robot designed by above-mentioned technical proposal with conventional clean machine
Advantage is：
1. using water wisely.The pig house of traditional artificial cleaning one 2000, people's high pressure water cleaning need 3 day time, clearly
Scouring water amount is at 35 tons or so.One 2000 pig houses of cleaning are carried out using robot of the present invention, water consumption at 5 tons or so,
About water consumption saves 80% or so.
2. saving the time.The pig house of traditional artificial cleaning one 2000, a people take 3 day time.Using machine of the present invention
Device people only needs time half a day, saves for 80% time than manually cleaning.
It is compared with artificial conventional clean mode 3. being cleaned with robot of the present invention, synthesis is cost-effective 70% or more.
4. the present invention can effectively clean each position of pig house, cleaning performance is notable, while can also disappear
Poison, it is ensured that pig house environment health.
5. automatic operation mode both can be used in the present invention, man-machine coordination operating mode can also be used, it can also be by mobile whole
Distance control mode is held, can flexibly be selected according to the concrete condition of pig house, intelligence degree is high.
Description of the drawings
Fig. 1 shows main structure diagrams of the present invention；
Fig. 2 indicates the cross-section structure enlarged diagram in the portions A in Fig. 1；
Fig. 3 indicates that the present invention is overlooking structure diagram；
Fig. 4 indicates left view structural representation of the present invention；
Fig. 5 indicates the dimensional structure diagram of the present invention.
Specific implementation mode
Intelligent hog house disinfection cleaning robot of the invention is illustrated below in conjunction with the accompanying drawings.
Referring to Fig. 1 to Fig. 5, intelligence hog house disinfection cleaning robot of the present invention, including chassis, wherein chassis is a director
800 millimeters, wide 600 millimeters of rectangular chassis, for the bottom belt on chassis there are four Mecanum driving wheel 1, each driving wheel 1 is equal
Independent driving, can be achieved in this way it is of the invention in the state of not turning to can all-around mobile, with facilitate site of deployment those
In small space can all-around mobile, achieving the purpose that can comprehensive cleaning and disinfection.It is set respectively in the rear and front end on chassis
There is the interception directive wheel that can be dismantled and fold（Do not show in figure）, for guiding of the present invention when moving forward and backward, wherein visiting
It refers to connector between interception directive wheel and chassis using common dismounting and folding mode to dismantle and fold to directive wheel, such as logical
It crosses shaft to turn folding, dismounting etc. is fixed by screw.Babinet 13 is set on chassis, babinet 13 is in inverted cone-shaped structure, babinet
13 are divided into three-layer container case, and lower layers of containers case is the electrical source of power case for storing 24 volts of direct current lithium battery groups 16, is carried for the present invention
Power supply source is supported；Middle layer container case is the sandbox 15 for storing the grains of sand, and 15 memory of sandbox is placed with the sand that diameter is less than 0.05 millimeter
Grain, sets compression pump in sandbox 15, a pipe is connected between the high-pressure water pipe coiled on sandbox 15 and automatic high pressure water pipe wheel disc 2
Road is set on pipeline there are one unidirectional normal-closed electromagnetic valve, which only opens when rinsing ground；Upper layer container case is storage
The system control box of intelligence control system electric appliance and control panel 14, for the control section of the present invention.It is set in the rear end of babinet 13
Two human assistances are oriented to 3（Handrail）, under manual operation pattern, the artificial handrail that holds to keep the present invention forward or rear regression
It walks.10 cun of high definition system operatio touch screens 4 are set between two human assistances are oriented to 3, realize the operation of human-computer interaction interface.Two
Human assistance is oriented to sets automatic high pressure water pipe wheel disc 23 lower section, can be provided according to system under automatic or manual pattern
Work order, realize the automatic deploying and retracting of high-pressure water pipe.The principal arm 7 that can be rotated is set at the top of babinet 13, and energy is set on principal arm 7
Enough telescopic arms 10 to stretch along principal arm 7, the end of telescopic arm 10 set the mechanical arm 9 that can be rotated along telescopic arm 10, mechanical arm 9
End sets the washer jet 8 that can be rotated, and washer jet 8 is connect with the high-pressure water pipe coiled on automatic high pressure water pipe wheel disc 2, main
Arm 7, telescopic arm 10, mechanical arm 9 constitute the radius arm of the present invention, and radius arm and washer jet 8 constitute the giant of the present invention.
The rotation of principal arm 7 of the present invention, mechanical arm 9 are rotated along telescopic arm 10 and the rotation of washer jet 8 passes through corresponding electricity
Machine（Do not show in figure）It is driven, each motor is made of driver and motor two parts, by turning for driver control motor
Dynamic, telescopic arm 10 is flexible along principal arm 7 to be driven by electric pushrod, and electric pushrod is identical with the property of motor, by moving component and
Driver forms, and driver control is flexible, and above structure is the prior art, intelligence control system electric appliance and control panel of the present invention
The above-mentioned each driver action of 14 controls.Laser beam hair is set in the top side of 9 junction of telescopic arm 10 and mechanical arm of radius arm
Emitter 11, laser beam transmitter 11 is used for emitting laser is irradiated disinfection to pig house.In 13 rear and front end of babinet and left and right two
Side is respectively equipped with laser and ultrasonic radar 12, and laser and ultrasonic radar 12 are mainly used for visiting into when retreating before this invention
Obstacle information is surveyed, to provide avoidance information all when the present invention smoothly advances to control section, it is ensured that the smooth row of the present invention
Into.Supplied laser navigation apparatus is set in the front end of babinet 13（Do not show in figure）, supplied laser navigation apparatus be mainly used for give control section provide
The present invention moves ahead required navigation information, it is ensured that smoothly navigation moves ahead the present invention.It is located at the support shaft of radius arm on babinet 13
Top sets CCD industrial vision cameras 6, and for identifying the various objects in pig farm equipment and pig house, part provides necessary in order to control
Information.Two interception directive wheels 1 of the present invention, touch screen 4, automatic high pressure water pipe wheel disc 2, radius arm, washer jet 8, laser
Beam transmitter 11, laser and ultrasonic radar 12, supplied laser navigation apparatus, industrial vision camera 6 etc. in system control box
Intelligence control system electric appliance and the control connection of control panel 14.
The present invention also sets the bluetooth module being connect with system control box on babinet 13（Do not show in figure）, bluetooth module and hand
The APP pre-installed on machine realizes the distance control mode by mobile terminal by bluetooth connection.
Charger interface 5 is also set on the babinet 13, charger interface 5 is connect with 24 volts of direct current lithium battery groups 16, with
It is convenient to be charged in time to battery pack.
When work, high pressure water cleaning stain removal is carried out first, and then laser beam irradiates cleaning and sterilizing.
One, high pressure water cleaning stain removal
1, it when user is in the pig house use present invention, needs in touch screen 4（Human-computer interaction interface）Automatic function mould is selected above
Formula or man-machine coordination operating mode can also select cleaning machine Working mould on intelligent mobile (smart mobile phone) terminal APP
Formula, under normal circumstances, frequently with automatic operation mode.
2, under automatic operation mode, and under the control action of intelligence control system electric appliance and control panel 14, cleaning machine
It can advance automatically along pig house people walking corridor and clean.When cleaning machine enters setting working region, cleaning machine stretches cleaning automatically
Radius arm is first cleaned from pigsty floor.CCD industrial vision cameras 6 entrained by support shaft top of the present invention due to radius arm
Just recognizable wall and ground, in order to increase the accuracy of identification, the angle of washer jet 8 is also to correct current cleaning model
Cofactor is to rinse ground in some angular range, is to rinse wall in another angular range, this needs basis
Field of employment is determined, therefore system being capable of automatic identification cleaning machine cleaning pigsty floor.In system automatic identification cleaning machine
When cleaning pigsty floor, the unidirectional normal-closed electromagnetic valve on sandbox interior conduit is opened, due to having certain pressure in the pipeline of flow,
Under the action of compression pump, sand enters in water pipe the sand in sandbox at this time, and sand is automatically added to high pressure water flow, with height
It presses hydraulic giant to spray, the floor washing with impact force is carried out to pigsty floor spot.High-pressure wash gaza cleaning pig house again
Plate can be played and rapidly and efficiently be cleaned, and save time, using water wisely.
3, when giant cleans metope or pig house roof, sandbox 15 is automatically closed, and at this moment giant only sprays
High pressure water cleaning.Because the wall and roof of pig house do not have the spot of pigsty floor more, high pressure water cleaning is only used.
4, when encountering pig house pillar, radius arm can shrink and erect automatically.Pig is avoided when cleaning robot moves ahead
In house when mullion, radius arm can trail automatically, continue cleaning.
5, when cleaning robot cleans to the pig house other end, radius arm can be automatically rotated to the other side, carry out the other side
Pig cleaning.
6, when cleaning robot is in cleaning process, the industrial vision camera at the top of cleaning robot to the object of pig house into
Row visual identity.When the lighting device for recognizing pig house configuration, the objects such as sensor, system reduces hydraulic pressure automatically, avoids height
Press Water Damage pig house facility.
Two, laser beam irradiates cleaning and sterilizing
After cleaning robot carries out high pressure water cleaning stain removal to pig house, laser beam transmitter is recycled to carry out laser irradiation,
Make pig house irradiated site instantaneous high-temperature laser sterilization.
Intelligence hog house disinfection cleaning robot of the present invention can be applied not only to pig farm, can equally be well applied to chicken farm.
Claims (8)
1. a kind of intelligence hog house disinfection cleaning robot, including there are four the chassis of driving wheel for bottom belt, it is characterized in that described
The rear and front end on chassis is respectively equipped with interception directive wheel；Babinet is set on chassis, and electrical source of power case, sandbox are set in babinet and is
System control cabinet；Two human assistances are set in the rear end of babinet and are oriented to handle, are oriented in two human assistances and are set touch screen between, it is artificial two
Auxiliary is oriented to sets automatic high pressure water pipe wheel disc lower section；The radius arm of flexible rotation is set at the top of babinet, radius arm end is set
There are revolvable washer jet, washer jet to be connect with the high-pressure water pipe coiled on automatic high pressure water pipe wheel disc；In radius arm side
While setting laser beam transmitter；It is respectively equipped with laser and ultrasonic radar in babinet rear and front end and both sides, is set in babinet front end sharp
Optical navigation apparatus；The interception directive wheel, touch screen, automatic high pressure water pipe wheel disc, radius arm, washer jet, radiating laser beams
Device, laser and ultrasonic radar, supplied laser navigation apparatus are controlled with system control box and are connected.
2. intelligence hog house disinfection cleaning robot according to claim 1, it is characterized in that the radius arm on the babinet
Support shaft top sets industrial vision camera, and industrial vision camera is connected with system control box control.
3. intelligence hog house disinfection cleaning robot according to claim 1, it is characterized in that being set on the babinet and system
The APP pre-installed on the bluetooth module of control cabinet connection, bluetooth module and mobile phone passes through bluetooth connection.
4. intelligence hog house disinfection cleaning robot according to claim 1, it is characterized in that compression pump is set in the sandbox,
It is connected with a pipeline between the high-pressure water pipe coiled on sandbox and automatic high pressure water pipe wheel disc, is set on pipeline there are one unidirectional closed type
Solenoid valve.
5. intelligence hog house disinfection cleaning robot according to claim 1, it is characterized in that also setting charging on the babinet
Device interface, charger interface are connect with electrical source of power case.
6. intelligence hog house disinfection cleaning robot according to claim 1, it is characterized in that the babinet is in back taper and divides
At three-layer container case, lower layers of containers case is the electrical source of power case for storing battery pack, and middle layer container case is the sandbox for storing the grains of sand,
Upper layer container case is the system control box for storing intelligence control system electric appliance and control panel.
7. intelligence hog house disinfection cleaning robot according to claim 6, it is characterized in that the grains of sand stored in the sandbox
Diameter is less than 0.05 millimeter.
8. intelligence hog house disinfection cleaning robot according to claim 1, it is characterized in that four drives of the tray bottom
Driving wheel is independent drives.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810482141.XA CN108393903A (en) | 2018-05-18 | 2018-05-18 | Intelligent hog house disinfection cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810482141.XA CN108393903A (en) | 2018-05-18 | 2018-05-18 | Intelligent hog house disinfection cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108393903A true CN108393903A (en) | 2018-08-14 |
Family
ID=63101167
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810482141.XA Pending CN108393903A (en) | 2018-05-18 | 2018-05-18 | Intelligent hog house disinfection cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108393903A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110000145A (en) * | 2019-05-13 | 2019-07-12 | 北京佳沃天河智能科技有限公司 | A kind of pig house is interior to be automatically positioned cleaning robot and cleaning method |
| CN110476821A (en) * | 2019-08-23 | 2019-11-22 | 广州叶鱼农业生态科技发展有限公司 | A kind of cleaning robot |
| CN112843285A (en) * | 2020-12-31 | 2021-05-28 | 同方威视技术股份有限公司 | Killing device, storage box and killing method |
| CN114982643A (en) * | 2022-06-27 | 2022-09-02 | 淄博市动物疫病预防与控制中心 | Intelligent farm for livestock breeding of excrement recycling type |
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