CN109362582B - Cleaning robot and cleaning method suitable for multi-scene pigsty - Google Patents
Cleaning robot and cleaning method suitable for multi-scene pigsty Download PDFInfo
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- CN109362582B CN109362582B CN201811398398.3A CN201811398398A CN109362582B CN 109362582 B CN109362582 B CN 109362582B CN 201811398398 A CN201811398398 A CN 201811398398A CN 109362582 B CN109362582 B CN 109362582B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 239
- 238000000034 method Methods 0.000 title claims abstract description 20
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 150
- 238000005507 spraying Methods 0.000 claims abstract description 19
- 238000004146 energy storage Methods 0.000 claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims description 117
- 230000009471 action Effects 0.000 claims description 16
- 230000003287 optical effect Effects 0.000 claims description 15
- 239000007921 spray Substances 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000006835 compression Effects 0.000 claims description 7
- 238000007906 compression Methods 0.000 claims description 7
- 239000000835 fiber Substances 0.000 claims description 7
- 239000007788 liquid Substances 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 238000007790 scraping Methods 0.000 claims description 6
- 238000010408 sweeping Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 239000002699 waste material Substances 0.000 abstract description 2
- 230000001276 controlling effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 4
- 238000000926 separation method Methods 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002550 fecal effect Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K1/00—Housing animals; Equipment therefor
- A01K1/01—Removal of dung or urine, e.g. from stables
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Zoology (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Cleaning In General (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a cleaning robot and a cleaning method suitable for a multi-scene pigsty, wherein the cleaning robot comprises a vehicle body composed of a water tank seat plate, an electric control part seat plate, a two-layer plate and a bottom plate which are arranged from top to bottom, a walking system which is arranged on the bottom plate and drives the vehicle body to travel in all directions, a lifting cleaning system which is arranged at the front end of the two-layer plate, a control system which is arranged on the bottom plate of the electric control part, a water spraying system and an energy storage system which are arranged on the water tank seat plate, wherein the control system controls the running of the walking system, the lifting cleaning system and the water spraying system, the water spraying system provides a water source for the cleaning system, and the energy storage system provides electric energy for various electric devices. The invention solves the problems of difficult cleaning of pigsty, complex ground, poor environmental sanitation, high water source waste, high labor cost and the like in a large-scale pig farm, is suitable for multiple scenes, realizes the full-coverage dead-angle-free cleaning function, shortens the gesture adjusting time of the cleaning robot by matching with the omnidirectional walking function, and greatly improves the cleaning efficiency.
Description
Technical Field
The invention belongs to the technical field of agricultural intelligent equipment, and particularly relates to a cleaning robot and a cleaning method suitable for a multi-scene pig house.
Background
At present, the modern agriculture background is taken as the development of animal husbandry, most of the animal husbandry is supported by manual labor, a few large-scale animal husbandry places introduce semi-automatic service equipment, and for pig house cleaning work in a large pig farm, tools are still needed to be used for cleaning and a large amount of water source is consumed for cleaning, so that the time is long, the cost is high, and the efficiency is low. Aiming at the pig house cleaning work in the field, the invention develops a cleaning robot suitable for a multi-scene pig house, wherein the working environment of the cleaning robot can be a planar floor pig house or a excrement leakage floor pig house or a planar floor and excrement leakage floor pig house, the cleaning robot is convenient to use, thorough in cleaning, energy-saving and environment-friendly, and the full-automatic cleaning mode of the pig house can be realized by the application of the cleaning robot, so that the working efficiency is improved to a great extent, and the environmental condition of the pig house is improved.
Disclosure of Invention
In view of the above, the invention aims to provide a cleaning robot and a cleaning method suitable for multi-scene pigsty, so as to solve the problems of difficult pigsty cleaning, complex ground, poor environmental sanitation, much water source waste, high labor cost and the like in the pigsty cleaning technology in a large-scale pigsty under the existing conditions.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
the utility model provides a be applicable to many scenes pig house clearance robot, includes the automobile body that comprises water tank bedplate, automatically controlled piece bedplate, two-layer board and the bottom plate that from the top down set up, the running system that drives the omnidirectional walking of automobile body that sets up on the bottom plate, the lift cleaning system of setting in two-layer board front end, the control system who sets up on automatically controlled piece bedplate, water spray system and the energy storage system of setting on water tank bedplate, control system control running system, lift cleaning system and water spray system's operation, water spray system provides the water source for cleaning system, energy storage system provides the electric energy for various power consumption devices.
Further, the traveling system is four groups of driving wheel devices which are arranged at the bottom of the cleaning robot and are arranged along the rectangular diagonal line, each group of driving wheel device comprises a driving seat, a driving motor, an optical axis supporting rod, an omnidirectional wheel and a driving output shaft, the driving motor is fixed in the middle of the driving seat, the omnidirectional wheel is connected with the driving motor through the driving output shaft, two sides of the driving seat are respectively fixedly provided with a sliding block, each sliding block is vertically penetrated with the optical axis supporting rod, the optical axis supporting rods are arranged in the sliding blocks in a sliding mode, two ends of each optical axis supporting rod are fixedly connected with a bottom plate and a two-layer plate respectively, and driving wheel buffer springs are sleeved on the optical axis supporting rods between the sliding blocks and the two-layer plate.
Further, the lifting type cleaning system comprises a cleaning device and a lifting device, wherein the cleaning device comprises a middle cleaning mechanism and two swing arm cleaning mechanisms, the two swing arm cleaning mechanisms are rotatably arranged on the left side and the right side of the middle cleaning mechanism, and the two swing arm cleaning mechanisms are driven to rotate by a swing arm motor;
the lifting device comprises a movable table driving motor, a ball screw mechanism and a movable table, wherein the movable table driving motor, the ball screw mechanism and the movable table are fixed on balls of the ball screw mechanism, the movable table driving motor drives the ball screw mechanism to operate, the movable table is fixedly connected with the middle cleaning mechanism, the ball screw mechanism drives the movable table to lift along the sliding table, and the sliding table is arranged on the front side of the two-layer plate.
Further, the water spraying system comprises a water tank, a water spraying pipeline communicated with the water tank and a cleaning device, a water tank top door arranged at the top of the water tank, a liquid level sensor for detecting the water level height in the water tank and a water tank top door driving mechanism arranged on the water tank for controlling the opening and closing of the water tank top door, wherein the water tank top door driving mechanism comprises a motor and a chain wheel mechanism, the water tank top door consists of two semicircular doors, the motor drives the chain wheel mechanism to operate, the chain wheel mechanism drives a driving gear to rotate, the driving gear is meshed with a driven gear, and the two semicircular doors are connected with the driving gear and the driven gear at the respective sides.
Further, the spray pipe way is including setting up the PU pipe in the water tank bottom, and the other end of PU pipe loops through right angle joint, water pipe, right angle quick-connect connector, check Lin Tou and the one end intercommunication of fibre pipe, the other end of fibre pipe is connected with electric water pump, electric water pump pass through water pipe and a plurality of shower nozzles intercommunication, be equipped with a tee bend coupling on the water pipe between electric water pump and a plurality of shower nozzles, tee bend coupling passes through water pipe and water tank intercommunication, is equipped with the governing valve on the water pipe between water tank and the tee bend coupling.
Further, the control system comprises a PLC control module, an RFID communication module, a wireless remote control switch, an air switch, a terminal, a water tank top door driver, a push plate driver and a relay.
Further, the robot comprises a head AGV magnetic navigation sensor II and a tail AGV magnetic navigation sensor III, wherein the head AGV magnetic navigation sensor II and the tail AGV magnetic navigation sensor III are respectively arranged at the front end and the rear end of the bottom plate through a magnetic navigation sensor seat board III and a magnetic navigation sensor seat board I, and the magnetic navigation sensor I is arranged in the middle of the bottom plate through a magnetic navigation sensor seat board II and is vertically arranged with the AGV magnetic navigation sensors at the front end and the rear end;
four swing arm limit sensors for detecting the swing positions of the first swing arm cleaning mechanism and the second swing arm cleaning mechanism are arranged on the two sides of the front surface and the back surface of the middle cleaning mechanism;
the cleaning robot is provided with a cleaning robot shell outside, and ultrasonic sensors and infrared sensors are arranged around the bottom of the cleaning robot shell.
A cleaning method suitable for a multi-scene pigsty cleaning robot comprises the following steps of
(1) After the robot is electrified, the PLC control module operates according to an initial state, firstly, each driving motor finds a zero position state according to requirements, and the lifting type cleaning system is arranged at the front end of the vehicle body and at a proper position from the ground by means of the positions of the height limiting sensor and the swing arm limiting sensor;
(2) The swing arm cleaning mechanism I and the swing arm cleaning mechanism II are rotated to the front of the vehicle body, and the movement in all directions in the plane is realized by virtue of the driving wheels;
(3) When the cleaning machine is used for cleaning a pig house with a plane floor normally, the swing arm cleaning mechanism I and the swing arm cleaning mechanism II are driven by the push plate I driving motor and the push plate III driving motor respectively to reach a preset position, the lifting cleaning system drives the mobile station to descend by the mobile station driving motor so that a brush and the ground keep a certain compression amount, and the driving wheel mechanism is controlled by the PLC control module so that the cleaning robot linearly walks in the advancing direction to realize cleaning;
(4) When dead angles of the plane floor are cleaned, the swing arm cleaning mechanism I and the swing arm cleaning mechanism II are respectively driven by the driving motor of the push plate I and the driving motor of the push plate III and are in a right-angle state with the push plate, and at the moment, the driving wheel mechanism is controlled by the PLC control module to enable the cleaning robot to translate so as to clean the floor;
(5) When the pig house with the excrement leakage floor is cleaned normally, the first swing arm cleaning mechanism and the second swing arm cleaning mechanism are driven by the first push plate driving motor and the third push plate driving motor respectively, the first swing arm cleaning mechanism and the second swing arm cleaning mechanism are kept in a swinging state, the lifting type cleaning system drives the moving table to descend through the moving table driving motor so that the brush and the ground keep a certain compression amount, the driving wheel mechanism is controlled by the PLC control module to enable the cleaning robot to move in a straight line in the advancing direction, and the cleaning process is realized through the swinging states of the first swing arm cleaning mechanism and the second swing arm cleaning mechanism and the flat pushing action of the brush;
(6) In the cleaning process, a water source with certain pressure is quantitatively pumped by an electric water pump and sprayed to the cleaning device, so that pushing, scraping and sweeping actions along a certain direction are realized, and ground sundries are uniformly cleaned to a designated position such as a plane floor or a excrement leakage position of a excrement leakage floor.
Further, in the cleaning task, a head AGV magnetic navigation sensor and a tail AGV magnetic navigation sensor which are arranged at the front end and the rear end of a vehicle body bottom plate are utilized, and the magnetic navigation system is used for identifying a magnetic stripe to complete the track motion of the robot;
in the cleaning task, if the front or the rear of the robot encounters an obstacle, the ultrasonic sensor feeds back a signal to the control system according to the detection distance, and whether the robot continues to walk or stops is judged.
Further, in the cleaning task, if the water tank lacks water, the liquid level sensor responds to the action, after the robot is coordinated and controlled to a designated position through the PLC control module and the RFID communication module, the water tank top door driving mechanism drives the water tank top door to open for the water replenishing task, after the water is filled up, the water tank top door is closed, and the cleaning task is continuously completed through the instruction.
Compared with the prior art, the cleaning robot suitable for the multi-scene pigsty has the following advantages:
the invention relates to a cleaning robot suitable for multi-scene pigsty,
the robot adopts a three-arm pushing and scraping mode, wherein two arms can realize a scraping and sweeping function integrated cleaning device, less water sources are used for assisting in cleaning tasks, and excrement and sundries are pushed to a designated position (a plane floor) or cleaned into an excrement leakage place (an excrement leakage floor), so that the cleaning tasks are completed, and meanwhile, the preparation is provided for the next working procedure;
the omni-directional walking function enables the cleaning robot to adjust the gesture flexibly and efficiently, the structure and the action mode of the lifting cleaning system realize the full-coverage dead-angle-free cleaning function, and the omni-directional walking function is matched, so that the gesture adjusting time of the cleaning robot is shortened, and the cleaning efficiency is greatly improved;
the automatic unmanned management mode can be realized, and the remote Internet of things multi-machine collaborative work is realized by connecting APP software with robot hardware. APP software is used as a control unit of the system, communication identification and data processing are carried out through an RFID communication module on a robot body, one mode can complete a task function according to a reserved track by means of an AGV magnetic navigation system, the other mode can achieve accurate remote control movement through a software positioning function, meanwhile, a PLC control module is used as a core unit to achieve accurate control on each motor, signal processing among sensors is completed, and logic relations among driving modules are coordinated;
the robot power source adopts an energy-saving and environment-friendly lithium battery pack, and the single charging for 8 hours can meet the requirement of load driving for more than 3 hours; the omnidirectional walking of the robot is controlled by using a direct-current gear motor; the motor and the sliding table are utilized to control the lifting and swinging actions of the lifting type cleaning system of the robot;
the robot body frame is composed of metal and composite materials, has lighter self-weight and can carry water source under 25kg for movement.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is an isometric schematic view of a cleaning robot as a whole;
FIG. 2 is another axial schematic view of the cleaning robot as a whole;
FIG. 3 is an isometric schematic view of an elevating cleaning system;
FIG. 4 is another directional axial side schematic view of the elevating cleaning system;
FIG. 5 is an isometric view of a drive wheel assembly;
FIG. 6 is a side view of the drive wheel assembly;
FIG. 7 is a top view of the electrical control component seat plate and the mounting component thereon;
FIG. 8 is a top view of a two-layer plate and its mounting member;
FIG. 9 is a top view of the base plate and its mounting thereon;
FIG. 10 is a spray pipe diagram;
FIG. 11 is an isometric view of a cleaning robot with a belt;
FIG. 12 is a side view of a lifting state of the cleaning robot lift cleaning system;
FIG. 13 is a schematic view of a cleaning robot in a planar floor scraping operation;
FIG. 14 is a schematic view of the working state of the cleaning robot at the cleaning dead angle;
fig. 15 is a schematic diagram of a cleaning robot in a push-broom working state of a fecal leakage floor.
Reference numerals illustrate:
1-water tank, 2-water spraying pipeline, 3-water tank seat board, 4-electric control part seat board, 5-two layers board, 6-water tank seat board pillar, 7-electric control part seat board pillar, 8-push plate height limit baffle, 9-push plate height limit sensor seat board, 10-push plate height limit sensor, 11-lifting cleaning system, 12-driving wheel device, 13-bottom board, 14-moving table, 15-water tank top door, 16-water tank top door driving mechanism, 17-connecting bracket, 18-magnetic navigation sensor seat board I, 19-push plate I, 20-push plate I driving motor, 21-push plate II, 22-L type upper baffle I, 23-push plate III driving motor, 24-spring I, 25-push plate slider 26-push plate III, 27-L-shaped lower baffle I, 28-brush connecting plate I, 29-brush I, 30-brush connecting plate II, 31-brush II, 32-brush III, 33-L-shaped lower baffle II, 34-spring II, 35-L-shaped upper baffle II, 36-brush connecting plate III, 37-L-shaped upper baffle III, 38-L-shaped lower baffle III, 39-spring III, 40-slipway, 41-spring IV, 42-L-shaped upper baffle IV, 43-L-shaped lower baffle IV, 44-movable table driving motor, 45-slide block, 46-driving seat, 47-driving motor, 48-optical axis supporting rod, 49-driving wheel buffer spring, 50-omnidirectional wheel, 51-driving output shaft, 52-wireless remote control switch, the device comprises a 53-PLC control module, a 54-air switch, a 55-terminal, a 56-electric water pump, a 57-battery pack II, a 58-water tank top door driver, a 59-push plate driver, a 60-relay, a 61-driving wheel driver, a 62-magnetic navigation sensor I, a 63-magnetic navigation sensor seat board II, a 64-RFID communication module, a 65-PU pipe, a 66-right angle joint, a 67-speed regulating valve, a 68-tee pipe joint, a 69-right angle quick connector, a 70-green head, a 71-fiber pipe, a 72-spray head, a 73-ultrasonic sensor, a 74-infrared sensor, a 75-liquid level sensor, a 76-swing arm cleaning mechanism I, a 77-swing arm cleaning mechanism II, a 78-magnetic navigation sensor seat board III, a 79-magnetic navigation sensor II, a 80-magnetic navigation sensor III, a 81-swing arm limit sensor, a 82-cleaning robot housing and a 83-battery pack I.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
The invention will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1-11, the cleaning robot suitable for the multi-scene pig house comprises a vehicle body composed of a water tank seat board 3, an electric control part seat board 4, a two-layer board 5 and a bottom board 13 which are arranged from top to bottom, a walking system which is arranged on the bottom board 13 and drives the vehicle body to travel in all directions, a lifting cleaning system 11 which is arranged at the front end of the two-layer board 5, a control system which is arranged on the electric control part seat board 4, a water spraying system and an energy storage system which are arranged on the water tank seat board 3, wherein the control system controls the running system, the lifting cleaning system 11 and the water spraying system to operate, the water spraying system provides a water source for the lifting cleaning system 11, and the energy storage system provides electric energy for various electric devices.
The bottom plate 13 is in supporting connection with the two-layer plate 5 through a connecting bracket 17, the two-layer plate 5 is in supporting connection with the electric control seat plate 4 through an electric control seat plate support 7, and the electric control seat plate 4 is in supporting connection with the water tank seat plate 3 through a water tank seat plate support 6.
The walking system is four groups of driving wheel devices 12 which are arranged at the bottom of the cleaning robot and along a rectangular diagonal line, each group of driving wheel devices 12 comprises a driving seat 46, a driving motor 47, an optical axis supporting rod 48, an omni-directional wheel 50 and a driving output shaft 51, the driving motor 47 is fixed in the middle of the driving seat 46, the omni-directional wheel 50 is connected with the driving motor 47 through the driving output shaft 51, two sides of the driving seat 46 are respectively fixedly provided with a sliding block 45, each sliding block 45 is vertically penetrated with the optical axis supporting rod 48, the optical axis supporting rods 48 are arranged in the sliding blocks 45 in a sliding mode, two ends of each optical axis supporting rod 48 are fixedly connected with the bottom plate 13 and the two layers of plates 5 respectively, a driving wheel buffer spring 49 is sleeved on the optical axis supporting rod 48 between the sliding blocks 45 and the two layers of plates 5, the driving motor 47 drives a worm gear reducer to rotate, the omni-directional wheel 50 is composed of two single wheels which are integrally arranged, a plurality of shuttle-shaped rollers are uniformly distributed at the edge of each single wheel, the shuttle-shaped rollers of the two single wheels are arranged in a staggered mode, and the two shuttle-shaped rollers on the two single wheels are projected in a complete round mode on the perpendicular to the driving surface.
The two-layer plate 5 is provided with the driving wheel driver 61 for controlling the four groups of driving wheel devices 12 to operate, when the driving wheel device encounters an uneven complex road surface and the running acceleration is high, the four groups of driving wheel structures 12 are impacted differently, the effects of equipment buffering and damping are achieved through deformation adjustment of the driving wheel buffer springs 49, and the buffer springs store energy, so that the driving wheel device 12 is ensured to keep enough adhesive force with the ground when floating downwards, the protection of the driving wheel device 12 is achieved through the buffering action of the driving wheel buffer springs 49, and stable and accurate running of the equipment is achieved.
The lifting type cleaning system 11 comprises a cleaning device and a lifting device, wherein the cleaning device comprises a middle cleaning mechanism and two swing arm cleaning mechanisms, the two swing arm cleaning mechanisms are rotatably arranged on the left side and the right side of the middle cleaning mechanism, and the two swing arm cleaning mechanisms are driven to rotate by a swing arm motor;
the lifting device comprises a mobile station driving motor 44, a ball screw mechanism and a mobile station 14 which are fixed on a sliding table 40, wherein the mobile station 14 is fixedly arranged on balls of the ball screw mechanism, the mobile station driving motor 44 drives the ball screw mechanism to operate, the mobile station 14 is fixedly connected with the middle cleaning mechanism, the ball screw mechanism drives the mobile station 14 to lift along the sliding table 40, and the sliding table 40 is arranged on the front side of the two-layer plate 5;
the middle cleaning mechanism comprises a second push plate 21, a second brush connecting plate 30, an upper L-shaped baffle plate III 37, a lower L-shaped baffle plate III 38, an upper L-shaped baffle plate IV 42 and a lower L-shaped baffle plate IV 43, wherein the upper L-shaped baffle plate III 37, the lower L-shaped baffle plate III 38, the upper L-shaped baffle plate IV 42 and the lower L-shaped baffle plate IV 43 are correspondingly arranged on the left side and the right side of the second push plate 21, the lower L-shaped baffle plate III 38 and the lower L-shaped baffle plate IV 43 are symmetrically fixed on the left side and the right side of the second brush connecting plate 30, a spring III 39 is compressed between the upper L-shaped baffle plate III 37 and the lower L-shaped baffle plate III 38, a spring IV 41 is compressed between the upper L-shaped baffle plate IV 42 and the lower L-shaped baffle plate IV 43, and the lower L-shaped baffle plate IV 43 are matched with sliding grooves on the second push plate 21 through push plate sliding blocks 25;
the two swing arm cleaning mechanisms are specifically a first swing arm cleaning mechanism 76 and a second swing arm cleaning mechanism 77, the first swing arm cleaning mechanism 76 comprises a first push plate driving motor 20, a first push plate 19, a second L-shaped upper baffle 35 and a second L-shaped lower baffle 33, the first push plate driving motor 20 is arranged at the top of the first push plate 19, an output shaft of the first push plate driving motor 20, which is vertically arranged, is connected with one side of the first push plate 19 through a key, the second L-shaped upper baffle 35 and the second L-shaped lower baffle 33 are correspondingly arranged on the first push plate 19, the second L-shaped lower baffle 33 is fixed on a third brush connecting plate 36, a second spring 34 is compressed between the second L-shaped upper baffle 35 and the second L-shaped lower baffle 33, and the second L-shaped lower baffle 33 is matched with a chute on the first push plate 19 through a push plate slide block 25;
the swing arm cleaning mechanism II 77 comprises a push plate III driving motor 23, a push plate III 26, an L-shaped upper baffle plate I22 and an L-shaped lower baffle plate I27, wherein the push plate III driving motor 23 is arranged at the top of the push plate III 26, an output shaft of the push plate III driving motor 23, which is vertically arranged, is connected with one side key of the push plate III 26, the L-shaped upper baffle plate I22 and the L-shaped lower baffle plate I27 are correspondingly arranged on the push plate III 26, the L-shaped lower baffle plate I27 is fixed on a brush connecting plate I28, a spring I24 is compressed between the L-shaped upper baffle plate I22 and the L-shaped lower baffle plate I27, and the L-shaped lower baffle plate I27 is matched with a sliding groove on the push plate III 26 through a push plate sliding block 25.
When the brush and the ground generate pressure, the brush connecting plate is limited through the push plate sliding block and the elastic potential energy of the spring, so that the brush and the ground are ensured to keep a certain compression amount, and the condition of uneven stress of the brush caused by uneven pavement is avoided, thereby achieving a good cleaning effect.
The water spraying system comprises a water tank 1, a water spraying pipeline 2 communicated with the water tank 1 and a cleaning device, a water tank top door 15 arranged at the top of the water tank 1, a liquid level sensor 75 for detecting the water level in the water tank 1, and a water tank top door driving mechanism 16 arranged on the water tank 1 for controlling the opening and closing of the water tank top door 15, wherein the water tank top door driving mechanism 16 comprises a motor and a chain wheel mechanism, the water tank top door 15 consists of two semicircular doors, the motor drives the chain wheel mechanism to operate, the chain wheel mechanism drives a driving gear to rotate, the driving gear is meshed with a driven gear, and the two semicircular doors are connected with the driving gear and the driven gear at the respective sides.
The water spraying pipeline 2 comprises a PU pipe 65 arranged at the bottom of the water tank 1, the other end of the PU pipe 65 is sequentially communicated with one end of a fiber pipe 71 through a right-angle joint 66, a water pipe, a right-angle quick connector 69 and a green head 70, the other end of the fiber pipe 71 is connected with the electric water pump 56, the electric water pump 56 is communicated with a plurality of spray heads 72 through the water pipe, a three-way pipe joint 68 is arranged on the water pipe between the electric water pump 56 and the spray heads 72, the three-way pipe joint 68 is communicated with the water tank 1 through the water pipe, a speed regulating valve 67 is arranged on the water pipe between the water tank 1 and the three-way pipe joint 68, the water spraying process is realized through the action of the electric water pump 56, and the water flow at the spray heads 72 can be regulated by the speed regulating valve 67, so that the water spraying effect is controlled.
The control system comprises a PLC control module 53, an RFID communication module 64, a wireless remote control switch 52, an air switch 54, a terminal 55, a water tank top door driver 58, a push plate driver 59 and a relay 60, wherein the wireless remote control switch 52 receives an external remote control instruction to realize an external manual control function, the PLC control module 53 adopts a programmable storage, stores instructions for executing operations such as logic operation, sequential control, timing, counting, arithmetic operation and the like in the programmable storage, controls the action of the whole equipment through digital input and output, the air switch 54 completes contact and breaking of a circuit, can protect short circuits, serious overload, undervoltage and the like generated by the circuit or the electrical equipment, the terminal 55 plays a role in connection in electric signal transmission and electric conduction, the product structure is simplified, the water tank top door driver 58 sends an instruction to the water tank top door driving mechanism 16 through the PLC control module 53 to realize the opening and closing actions of the water tank top door 15, the push plate driver 59 sends an instruction to the lifting cleaning system 11 through the PLC control module 53 to control actions of all parts of the lifting cleaning system 11 in real time, four groups of driving wheel drivers 61 are respectively corresponding to the four groups of driving wheel devices 12, each group of driving wheel drivers 61 is controlled to the corresponding rotating speed and rotating direction of the omnidirectional wheel 50 in real time through the PLC control module 53, the actions of linear walking, turning, spinning, translation, lateral sliding and the like of the cleaning robot can be realized, and the flexibility of the cleaning robot is greatly improved by various walking postures.
The robot comprises a head AGV magnetic navigation sensor II 79 and a tail AGV magnetic navigation sensor III 80, wherein the head AGV magnetic navigation sensor II 79 and the tail AGV magnetic navigation sensor III 80 are respectively arranged at the front end and the rear end of the bottom plate 13 through a magnetic navigation sensor seat plate III 78 and a magnetic navigation sensor seat plate I18, the magnetic navigation sensor I62 is arranged in the middle of the bottom plate 13 through a magnetic navigation sensor seat plate II 63 and is vertically arranged with the AGV magnetic navigation sensors at the front end and the rear end, and the magnetic navigation sensors are at a certain height from the ground, and the magnetic navigation sensors are used for detecting pre-buried magnetic nails and controlling the running track of the trolley in real time;
four swing arm limit sensors 81 for detecting the swing positions of the first swing arm cleaning mechanism 76 and the second swing arm cleaning mechanism 77 are arranged on the two sides of the front surface and the back surface of the second push plate 21.
The cleaning robot is externally provided with a cleaning robot shell 82, an ultrasonic sensor 73 and an infrared sensor 74 are arranged around the bottom of the cleaning robot shell 82, when a task is executed, if an obstacle is encountered in front of or behind the robot, a signal is fed back to a control system through the ultrasonic sensor 73 according to the detection distance, whether the robot is continuously walking or obstacle avoidance is judged, and the obstacle avoidance function is realized through the infrared sensor 74.
The robot includes the spacing separation blade 8 of push pedal height and the spacing sensor 10 of push pedal height, the spacing separation blade 8 of push pedal height fix on mobile station 14, the spacing sensor 10 of push pedal height install on two-layer board 5 through the spacing sensor bedplate 9 of push pedal height, when lifting cleaning system goes up and down, the spacing separation blade 8 of height through push pedal and the spacing sensor 10 effect of push pedal height for control lifting cleaning system 11's lifting height.
The energy storage system comprises a plurality of groups of rechargeable batteries which are connected in parallel, and particularly comprises a first battery pack 83 arranged on the two-layer plate 5 and a second battery pack 57 arranged on the electric control element seat plate 4, and is a power source of the cleaning robot.
12-15, a cleaning method suitable for a multi-scene pig house cleaning robot comprises (1) after the robot is electrified, a PLC control module 53 operates according to an initial state, firstly, each driving motor finds a zero state according to requirements, and the lifting cleaning system 11 is positioned at the front end of a vehicle body and at a proper position from the ground by means of the positions of a height limit sensor 10 and a swing arm limit sensor 81;
(2) The swing arm cleaning mechanism I76 and the swing arm cleaning mechanism II 77 are rotated to the front of the vehicle body, and the movement in each direction in the plane is realized by the driving wheel device 12;
(3) When the cleaning machine is used for cleaning a flat floor pig house normally, the first swing arm cleaning mechanism 76 and the second swing arm cleaning mechanism 77 are driven by the first push plate driving motor 20 and the third push plate driving motor 23 respectively to reach a preset position, the lifting cleaning system 11 drives the mobile station 14 to descend through the mobile station driving motor 44 so as to keep the compression amount between the brush and the ground, and the driving wheel device 12 is controlled by the PLC control module 53 so as to enable the cleaning robot to travel in a straight line in the advancing direction, so that cleaning is realized;
(4) When the dead angle of the plane floor is cleaned, the swing arm cleaning mechanism I76 and the swing arm cleaning mechanism II 77 are respectively driven by the push plate I driving motor 20 and the push plate III driving motor 23 to form a right angle state with the push plate II 21, and at the moment, the driving wheel mechanism 12 is controlled by the PLC control module 53 to enable the cleaning robot to translate so as to realize cleaning;
(5) When the pig house with the excrement leakage floor is cleaned normally, the first swing arm cleaning mechanism 76 and the second swing arm cleaning mechanism 77 are driven by the first push plate driving motor 20 and the third push plate driving motor 23 respectively, the first swing arm cleaning mechanism 76 and the second swing arm cleaning mechanism 77 are kept in a swinging state, the lifting cleaning system 11 drives the mobile station 14 to descend through the mobile station driving motor 44 so as to keep the compression amount between the brush and the ground, the driving wheel device 12 is controlled by the PLC control module 53 to enable the cleaning robot to travel in a straight line in the advancing direction, and cleaning is realized through the swinging state of the first swing arm cleaning mechanism 76 and the second swing arm cleaning mechanism 77 and the flat pushing action of the second brush 31;
(6) In the cleaning process, a water source with certain pressure is quantitatively pumped by the electric water pump 56 to be sprayed to the cleaning device, so that pushing, scraping and sweeping actions along a certain direction are realized, and the ground sundries are uniformly cleaned to a designated position such as a plane floor or a excrement leakage position of a excrement leakage floor.
In the cleaning task, the first magnetic navigation sensor 62, the second magnetic navigation sensor 79 of the head AGV and the third magnetic navigation sensor 80 of the tail AGV are utilized, and the magnetic navigation system is used for identifying the magnetic stripes to complete the track motion of the robot;
in the cleaning task, if the front or rear of the robot encounters an obstacle, the ultrasonic sensor 73 feeds back a signal to the control system according to the detected distance, and judges whether to continue walking or stop, and the obstacle avoidance function is realized through the infrared sensor 74.
In the cleaning task, if the water tank 1 lacks water, the liquid level sensor 75 responds to the action, after the robot is coordinated and controlled to a designated position through the PLC control module and the RFID communication module, the water tank top door driving mechanism drives the water tank top door 15 to open for performing the water replenishing task, after the water is filled up, the water tank top door 15 is closed, and the cleaning task is continuously completed through instructions.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (8)
1. Be applicable to many scenes pig house clearance robot, its characterized in that: the electric cleaning device comprises a vehicle body composed of a water tank seat plate, an electric control part seat plate, a two-layer plate and a bottom plate which are arranged from top to bottom, a traveling system arranged on the bottom plate and used for driving the vehicle body to travel in all directions, a lifting type cleaning system arranged at the front end of the two-layer plate, a control system arranged on the bottom plate of the electric control part, a water spraying system and an energy storage system which are arranged on the water tank seat plate, wherein the control system controls the traveling system, the lifting type cleaning system and the water spraying system to operate, the water spraying system provides a water source for the cleaning system, and the energy storage system provides electric energy for various electric devices;
the walking system is four groups of driving wheel devices arranged at the bottom of the cleaning robot along a rectangular diagonal line, each group of driving wheel device comprises a driving seat, a driving motor, an optical axis supporting rod, an omnidirectional wheel and a driving output shaft, the driving motor is fixed in the middle of the driving seat, the omnidirectional wheel is connected with the driving motor through the driving output shaft, two sides of the driving seat are respectively fixedly provided with a sliding block, each sliding block is vertically penetrated with the optical axis supporting rod, the optical axis supporting rods are arranged in the sliding blocks in a sliding manner, two ends of each optical axis supporting rod are respectively fixedly connected with a bottom plate and a two-layer plate, and driving wheel buffer springs are sleeved on the optical axis supporting rods between the sliding blocks and the two-layer plate;
the lifting type cleaning system comprises a cleaning device and a lifting device, wherein the cleaning device comprises a middle cleaning mechanism and two swing arm cleaning mechanisms, the two swing arm cleaning mechanisms are rotatably arranged on the left side and the right side of the middle cleaning mechanism, and the two swing arm cleaning mechanisms are driven to rotate by a swing arm motor;
the lifting device comprises a movable table driving motor, a ball screw mechanism and a movable table, wherein the movable table driving motor, the ball screw mechanism and the movable table are fixed on balls of the ball screw mechanism, the movable table driving motor drives the ball screw mechanism to operate, the movable table is fixedly connected with the middle cleaning mechanism, the ball screw mechanism drives the movable table to lift along the sliding table, and the sliding table is arranged on the front side of the two-layer plate;
the middle cleaning mechanism comprises a push plate II, a brush connecting plate II, an L-shaped upper baffle plate III, an L-shaped lower baffle plate III, an L-shaped upper baffle plate IV and an L-shaped lower baffle plate IV, wherein the L-shaped upper baffle plate III, the L-shaped lower baffle plate III, the L-shaped upper baffle plate IV and the L-shaped lower baffle plate IV are correspondingly arranged on the left side and the right side of the push plate II in pairs, the L-shaped lower baffle plate III and the L-shaped lower baffle plate IV are symmetrically fixed on the left side and the right side of the brush connecting plate II, a spring III is compressed between the L-shaped upper baffle plate III and the L-shaped lower baffle plate III, a spring IV is compressed between the L-shaped upper baffle plate IV and the L-shaped lower baffle plate IV, and the L-shaped lower baffle plate IV are matched with a chute on the push plate II through a push plate sliding block;
the two swing arm cleaning mechanisms are specifically a first swing arm cleaning mechanism and a second swing arm cleaning mechanism, the first swing arm cleaning mechanism comprises a first push plate driving motor, a first push plate, an upper L-shaped baffle plate and a lower L-shaped baffle plate, the first push plate driving motor is arranged at the top of the first push plate, an output shaft of the first push plate driving motor, which is vertically arranged, is connected with one side key of the first push plate, the second L-shaped upper baffle plate and the second L-shaped lower baffle plate are correspondingly arranged on the first push plate, the second L-shaped lower baffle plate is fixed on a third brush connecting plate, a second spring is compressed between the second L-shaped upper baffle plate and the second L-shaped lower baffle plate, and the lower L-shaped baffle plate is matched with a sliding groove on the first push plate through a push plate sliding block;
the swing arm cleaning mechanism II comprises a push plate III driving motor, a push plate III, an L-shaped upper baffle plate I and an L-shaped lower baffle plate I, wherein the push plate III driving motor is arranged at the top of the push plate III, an output shaft of the push plate III driving motor which is vertically arranged is connected with one side key of the push plate III, the L-shaped upper baffle plate I and the L-shaped lower baffle plate I are correspondingly arranged on the push plate III, the L-shaped lower baffle plate I is fixed on a brush connecting plate I, a spring I is compressed between the L-shaped upper baffle plate I and the L-shaped lower baffle plate I, and the L-shaped lower baffle plate I is matched with a chute on the push plate III through a push plate sliding block.
2. A pig house cleaning robot adapted for multiple scenarios according to claim 1, characterized in that: the water spraying system comprises a water tank, a water spraying pipeline communicated with the water tank and a cleaning device, a water tank top door arranged at the top of the water tank, a liquid level sensor for detecting the water level height in the water tank and a water tank top door driving mechanism arranged on the water tank for controlling the opening and closing of the water tank top door, wherein the water tank top door driving mechanism comprises a motor and a chain wheel mechanism, the water tank top door consists of two semicircular doors, the motor drives the chain wheel mechanism to operate, the chain wheel mechanism drives a driving gear to rotate, the driving gear is meshed with a driven gear, and the two semicircular doors are connected with the driving gear and the driven gear at the respective sides.
3. A pig house cleaning robot adapted for multiple scenarios according to claim 2, characterized in that: the utility model discloses a water spray pipeline, including setting up the PU pipe in the water tank bottom, the other end of PU pipe loops through right angle joint, water pipe, right angle quick connector, check Lin Tou and the one end intercommunication of fibre pipe, the other end of fibre pipe is connected with electric water pump, electric water pump pass through water pipe and a plurality of shower nozzles intercommunication, be equipped with a tee bend coupling on the water pipe between electric water pump and the a plurality of shower nozzles, tee bend coupling passes through water pipe and water tank intercommunication, is equipped with the governing valve on the water pipe between water tank and the tee bend coupling.
4. A cleaning robot for multi-scenario pigsty according to claim 2 or 3, characterized in that: the control system comprises a PLC control module, an RFID communication module, a wireless remote control switch, an air switch, a terminal, a water tank top door driver, a push plate driver and a relay.
5. The multi-scene pig house cleaning robot according to claim 4, wherein: the robot comprises a head AGV magnetic navigation sensor II and a tail AGV magnetic navigation sensor III, wherein the head AGV magnetic navigation sensor II and the tail AGV magnetic navigation sensor III are respectively arranged at the front end and the rear end of the bottom plate through a magnetic navigation sensor seat board III and a magnetic navigation sensor seat board I, and the magnetic navigation sensor I is arranged in the middle of the bottom plate through a magnetic navigation sensor seat board II and is vertically arranged with the AGV magnetic navigation sensors at the front end and the rear end;
four swing arm limit sensors for detecting the swing positions of the first swing arm cleaning mechanism and the second swing arm cleaning mechanism are arranged on the two sides of the front surface and the back surface of the middle cleaning mechanism;
the cleaning robot is provided with a cleaning robot shell outside, and ultrasonic sensors and infrared sensors are arranged around the bottom of the cleaning robot shell.
6. The cleaning method suitable for the multi-scene pig house cleaning robot according to claim 5, wherein the cleaning method comprises the following steps: comprising
(1) After the robot is electrified, the PLC control module operates according to an initial state, firstly, each driving motor finds a zero position state according to requirements, and the lifting type cleaning system is arranged at the front end of the vehicle body and at a proper position from the ground by means of the positions of the height limiting sensor and the swing arm limiting sensor;
(2) The swing arm cleaning mechanism I and the swing arm cleaning mechanism II are rotated to the front of the vehicle body, and the movement in all directions in the plane is realized by virtue of the driving wheels;
(3) When the cleaning machine is used for cleaning a pig house with a plane floor normally, the swing arm cleaning mechanism I and the swing arm cleaning mechanism II are driven by the push plate I driving motor and the push plate III driving motor respectively to reach a preset position, the lifting cleaning system drives the mobile station to descend by the mobile station driving motor so that a brush and the ground keep a certain compression amount, and the driving wheel mechanism is controlled by the PLC control module so that the cleaning robot linearly walks in the advancing direction to realize cleaning;
(4) When dead angles of the plane floor are cleaned, the swing arm cleaning mechanism I and the swing arm cleaning mechanism II are respectively driven by the driving motor of the push plate I and the driving motor of the push plate III and are in a right-angle state with the push plate, and at the moment, the driving wheel mechanism is controlled by the PLC control module to enable the cleaning robot to translate so as to clean the floor;
(5) When the pig house with the excrement leakage floor is cleaned normally, the first swing arm cleaning mechanism and the second swing arm cleaning mechanism are driven by the first push plate driving motor and the third push plate driving motor respectively, the first swing arm cleaning mechanism and the second swing arm cleaning mechanism are kept in a swinging state, the lifting type cleaning system drives the moving table to descend through the moving table driving motor so that the brush and the ground keep a certain compression amount, the driving wheel mechanism is controlled by the PLC control module to enable the cleaning robot to move in a straight line in the advancing direction, and the cleaning process is realized through the swinging states of the first swing arm cleaning mechanism and the second swing arm cleaning mechanism and the flat pushing action of the brush;
(6) In the cleaning process, a water source with certain pressure is quantitatively pumped by an electric water pump and sprayed to the cleaning device, so that pushing, scraping and sweeping actions along a certain direction are realized, and ground sundries are uniformly cleaned to a designated position such as a plane floor or a excrement leakage position of a excrement leakage floor.
7. The cleaning method suitable for the multi-scene pig house cleaning robot according to claim 6, wherein the cleaning method comprises the following steps: in the cleaning task, a head AGV magnetic navigation sensor and a tail AGV magnetic navigation sensor which are arranged at the front end and the rear end of a vehicle body bottom plate are utilized, and the magnetic navigation system is used for identifying a magnetic stripe to complete the track motion of the robot;
in the cleaning task, if the front or the rear of the robot encounters an obstacle, the ultrasonic sensor feeds back a signal to the control system according to the detection distance, and whether the robot continues to walk or stops is judged.
8. The cleaning method suitable for the multi-scene pig house cleaning robot according to claim 7, wherein the cleaning method comprises the following steps: in the cleaning task, if the water tank lacks water, the liquid level sensor responds to the action, after the robot is coordinated and controlled to a designated position through the PLC control module and the RFID communication module, the water tank top door driving mechanism drives the water tank top door to open, the water replenishing task is carried out, after the water tank is filled up, the water tank top door is closed, and the cleaning task is continuously completed through the instruction.
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| CN112088783A (en) * | 2020-09-25 | 2020-12-18 | 华南农业大学 | Scraping and sweeping integrated pigsty manure cleaning robot |
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