CN112077860A - Chicken coop environment is observed and controled and is cleaned robot - Google Patents

Abstract

The patent discloses an environment measurement and control and cleaning robot suitable for a henhouse, which comprises an automatic walking trolley, an intelligent cleaning device, an environment intelligent measurement and control device and a cooling device, wherein the intelligent cleaning device, the environment intelligent measurement and control device and the cooling device are arranged on the middle part of the automatic walking trolley; the intelligent cleaning device is arranged at the front part of the trolley and used for cleaning and collecting garbage in the henhouse and locally disinfecting the ground; the environment intelligent measurement and control device is arranged right in front of the trolley and is used for measuring and controlling the environment; the cooling device comprises a spray head, and water drops in the water tank can be atomized and sprayed into the henhouse, so that the purpose of cooling is achieved. The robot provided by the invention has the advantages of simple and compact structure, reasonable design, flexibility and strong practicability, can simultaneously meet multiple functions, can greatly improve the working efficiency and liberate labor force.

Description

Chicken coop environment is observed and controled and is cleaned robot

Technical Field

This patent belongs to a poultry raising robot technical field, specifically indicates an environment in chicken coop is observed and controled and is cleaned robot.

Background

With the development of robotics, more and more intelligent machines are applied to agriculture, animal husbandry and poultry industry production, and the domestic poultry industry also starts to continuously advance to scale, standardization and intellectualization. However, with the continuous expansion of the scale, the intensity of the artificial breeding operation is increased, the breeding personnel not only need to clean but also need to pay attention to the environmental change in the whole facility all the time, the artificial difficulty is in making timely and accurate judgment on the change of various gases in the air, and factors such as temperature, humidity and illumination also have great influence on the survival rate or the laying rate of the poultry.

To above-mentioned problem, need to develop one kind can compromise simultaneously and clean, the disinfection, the cooling, environmental monitoring and control and integrative poultry industry robot, can be comprehensive at the in-process of automatic walking, accomplish in time cleaning to ground rubbish, and observe and control in real time the environment, utilize current ripe data transmission technique to pass to data center with information, make things convenient for operating personnel to in time judge, maintain the balance of the various indexes in the chicken coop steadily, greatly improve work efficiency, reduce manpower and materials, time saving, increase income.

Content of patent

This patent cleans and the environmental detection problem to the rubbish in breeding the chicken coop, has designed a novel environment and has observed and control and clean the robot, should equip and accomplish rubbish simultaneously and clean, the function of local disinfection, environment measurement and control, intelligence cooling, the automatic walking on ground, have energy-conserving, efficient, the precision is high, intelligent characteristics, can reduce the operating time of staff at the chicken coop simultaneously, greatly reduce the propagation of infectious disease.

In order to solve the technical problem, the technical scheme of the patent is as follows: an environment measurement and control and cleaning robot comprises an automatic walking trolley, an intelligent cleaning device, an environment intelligent measurement and control device and a cooling device;

the automatic walking trolley comprises a universal wheel, a battery, a stepping motor, a transmission chain and a driving wheel, wherein the universal wheel is arranged at the front part of the automatic walking trolley, the driving wheel is arranged at the rear part of the automatic walking trolley, the universal wheel is matched with the driving wheel to realize the advancing and turning of the trolley, the stepping motor is arranged at the upper part of the driving wheel and is fixedly connected with a frame of the automatic walking trolley, the battery is arranged above the stepping motor, the transmission chain connects the stepping motor with a chain wheel on the driving wheel, the battery provides electric energy for the motor, and the motor transmits power to the driving shaft through the transmission chain, so that the driving shaft is driven to rotate, and the driving wheel rotates;

the intelligent cleaning device comprises a dung scraping plate, two garbage transmission pipelines, an anti-collision wheel, a disinfection sprayer, a pesticide box, a water pipe, a filter A and a garbage collecting box, wherein the anti-collision wheel is arranged below a support, the extension of the anti-collision wheel is wrapped by rubber materials, the anti-collision wheel made of rubber materials can play a good buffering role when meeting obstacles, the dung scraping plate is arranged below the anti-collision wheel, the garbage transmission pipelines are positioned behind the dung scraping plate and are sleeved with an outlet of the dung scraping plate, the dung scraping plate can clean garbage on the ground, the garbage can be conveyed into the garbage collecting box through the garbage transmission pipelines, the garbage collecting box is welded at the front part of an automatic walking trolley frame and is welded with the support to play a supporting role, the disinfection sprayer is arranged at the middle parts of the support and the anti-collision wheel and is connected with the support through bolts, and mainly sprays liquid medicine from the pesticide box to the ground after cleaning, the function of immediately disinfecting after cleaning is achieved;

the environment intelligent measurement and control device is fixedly connected above the support and comprises various sensors and a control circuit, the infrared position sensor, the ultrasonic sensor, the gyroscope sensor and other environment sensors can transmit detected data signals to the controller, the controller transmits the signals to the alarm and the computer display end in a wireless mode, an operator can perform operation through remote control or keyboard input, and the controller realizes the functions of cleaning, walking, other driving and the like;

the cooling device comprises a water tank, a water suction pipeline, a lower water level sensor, an upper water level sensor, a water pump, a water injection switch, a spraying system and a filter B, wherein the water tank is arranged at the middle upper part of the self-walking trolley and is positioned between the garbage collecting box and the stepping motor shell, the water suction pipeline is positioned inside the water tank, the water pump and the filter B are arranged at the upper part of the water tank, the spraying system is arranged at the outer upper part of a protective shell above the water tank, the water pump, the filter B and the spraying system can be communicated with each other by water pipes, the water pump pumps water from the water tank to the filter, high-pressure water is conveyed to the spraying system after primary filtering, the high-pressure water is controlled by a spray head to be atomized and sprayed out, the water injection switch is arranged at the upper end of the protective shell above the water tank and is connected with the protective, the water injection switch is turned on, the trolley can return to the water receiving position for secondary water injection according to a set route, when the water level of water injection rises to the upper water level sensor, the water injection switch is turned off, water injection is stopped, and the water pump can be prevented from being burnt out due to the matching of the two sensors and the water injection switch;

preferably, the automatic walking trolley comprises a driving system, a transmission system and a turning system, wherein the driving system comprises a battery and a stepping motor, all energy sources of the whole device are completely from the battery, the transmission system comprises a stepping motor A, a stepping motor B, a transmission chain A, a transmission chain B, a chain wheel A, a chain wheel B and a driving shaft, the battery drives the motor to rotate, power is continuously transmitted to the driving shaft through a middle transmission chain, so that the driving shaft is driven to rotate, the chain wheel A on the stepping motor A is connected with the chain wheel B on the driving shaft through the left transmission chain A to realize transmission, the chain wheel A on the stepping motor B is connected with the chain wheel B on the driving shaft through the right transmission chain B to realize transmission, the driving wheel A and the driving wheel B are respectively arranged at the left side and the right side of the driving shaft to drive the automatic walking trolley to realize walking, the middles of the driving, when the rotating speeds of the two stepping motors are the same, the rotating speeds of the left driving shaft and the right driving shaft are the same, the trolley moves straight, and when the left stepping motor and the right stepping motor output different rotating speeds, the driving wheels are matched with the middle differential planetary gear to realize turning;

preferably, the garbage collection box comprises an opening and closing door, a push plate, an electromagnetic valve controller and a spring, the opening and closing door is positioned on the right side of the garbage collection box and is connected with the garbage collection box through a hinge, the upper part and the lower part of the door can be opened and closed, the electromagnetic valve controller is positioned on the left side of the garbage classification box, the right side of the electromagnetic valve controller is connected with the push plate through the spring, when garbage in the collection box needs to be dumped, the electromagnetic valve drives the spring to push the push plate to the left to push out the garbage in the container, after the garbage is pushed out once, the push plate returns to work, the;

preferably, the spraying system comprises three spray heads, a spray head support and a base, the spray heads are arranged at the top of the whole spraying system and can rotate, the spray heads atomize and spray water drops from the water tank, the water drops can be sprayed out three meters away at the farthest, each spray head is provided with an independent switch and can be controlled independently, the spray head support is arranged above the base and internally provided with a spray pipe, the spray pipe has a supporting function on the spray head, and the base is used for fixing the spray head support.

Compared with the prior art, the beneficial effect of this patent is:

(1) the disinfection spray head is arranged between the anti-collision wheel and the bracket, so that local disinfection treatment can be performed on the cleaned ground, air pollution caused by excrement or other garbage can be avoided, and breeding and multiplication of bacteria in the whole henhouse can be reduced as much as possible;

(2) the machine is more precise in detection of environmental parameters than manual detection, various sensors are used for environmental detection, data information is transmitted to the controller, various driving can be performed after manual operation, functions of cooling, dust removal, windowing, humidification and the like are achieved, real-time monitoring of the environment is met, wireless network transmission is adopted between the trolley and the controller, and limited transmission is adopted between the large barns, so that the environment is more precise and reliable;

(3) the upper and lower positions of the water tank are provided with two sensors, when the lower water level sensor senses that the liquid level in the water tank is reduced, the water pump is automatically powered off, the water pump can be effectively prevented from being burnt out, the trolley returns to a water adding position according to a specified route to add water, a water injection switch is turned on when the water is added, the water is added by matching with a water injection port, when the liquid level of the added water reaches the upper water level, the water injection switch is turned off, the water addition is stopped, and the operation;

(4) an infrared position sensor is arranged on the right front part of the trolley, ultrasonic sensors and gyroscope sensors are arranged on wheels on two sides of the trolley, and the various sensors are matched with each other, so that the positioning and routing of the trolley can be realized;

(5) according to the invention, the whole-area coverage path is adopted, so that the trolley can walk according to a set route, meanwhile, the front obstacle can be pre-judged, the obstacle avoidance treatment can be carried out in time, and the rubber product is wrapped on the anti-collision wheel arranged at the front end of the trolley, so that the buffering effect can be well played;

(6) according to the simplified design of the working principle of the differential mechanism, the two motors respectively drive the two shafts to rotate, and the middle parts of the two shafts are connected by the differential planetary gear mechanism, so that the turning function of the trolley can be realized;

(7) the solenoid valve can promote the push pedal to remove about to the flexible of spring to carry out the automation with the rubbish in the garbage collection box and empty, reduced manpower and materials.

Drawings

FIG. 1 is a schematic view of the overall structure of a henhouse environment measurement and control and cleaning robot;

FIG. 2 is a driving schematic diagram of a henhouse environment measuring and controlling and cleaning robot;

FIG. 3 is a perspective view of a chicken house environment measurement and control and cleaning robot garbage collection box;

FIG. 4 is a hardware structure diagram of an environmental monitoring system of a henhouse environment monitoring and control and cleaning robot;

fig. 5 is a schematic view of a spraying device of a henhouse environment measuring, controlling and cleaning robot.

Number designation in the figures: 1. an automatic walking trolley; 2. a garbage collection box; 201. opening and closing the door; 202, pushing a plate; 203. a solenoid valve controller; 204. a spring; 3. a universal wheel; 4. a waste conveying pipeline; 5. an intelligent cleaning device; 6. a dung scraping plate; 7. an anti-collision wheel; 8. a disinfection nozzle; 9. a support; 10. an environment intelligent measurement and control device; 11. a medicine chest; 12. a water pipe; 13. a filter A; 14. a water pump; 15. a water injection switch; 16. a spray system; 161. a spray head; 162. a showerhead post; 163. a base; 17. a cooling device; 18. a filter B; 19. an upper water level sensor; 20. a water tank; 21. a battery; 22. a stepping motor; 221. a stepping motor A; 222. a stepping motor B; 23. a lower water level sensor; 24. a drive chain; 241. a transmission chain A; 242. a transmission chain B; 25. a drive wheel; 251. a driving wheel A; 252. a drive wheel B; 26. a water suction pipe; 27. a differential gear mechanism; 28. a drive shaft; 291. a chain wheel A; 292. and a chain wheel B.

Detailed Description

The technical solution in the embodiments of the present patent will be clearly and completely described below with reference to the drawings in the embodiments of the present patent. It is obvious that the described embodiments are only a few of the embodiments of the patent, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the scope of protection of this patent.

Example 1: as shown in figure 1, the overall structure schematic diagram of the henhouse environment measurement and control and cleaning robot mainly comprises an automatic walking trolley, an intelligent cleaning device, an environment intelligent measurement and control device and a cooling device. The dolly is holistic frame, can drive other devices of installing on the dolly and remove in the chicken coop. When the intelligent cleaning device works, the dung scraping plate sucks garbage such as waste, feathers, excrement and dust in a henhouse into a garbage conveying pipeline and collects the garbage along with the garbage conveying pipeline, the whole process is carried out under a closed condition, after the dung scraping plate works, a spray head arranged on a support can spray disinfection liquid, local disinfection treatment can be carried out on the ground immediately, and disinfectant sprayed by the spray head refers to the liquid obtained by mixing water in a water tank and medicines in a medicine box and is filtered midway through a filter, so that the blockage at the spray head is reduced. The environment intelligent measurement and control device is a set of various sensors and processors, the sensors can receive signals, transmit the signals to a mobile phone or an operation computer, analyze and process data, and operators can visually see whether various environment parameters are stable. When the cooling device works, water in the water tank is pumped out by the water pump and then is treated by the filter, is conveyed to the spraying system by the water conveying pipeline and is atomized and sprayed out by the spray head, and the purpose of cooling is achieved.

As shown in fig. 2, the driving schematic diagram of the henhouse environment measurement and control and cleaning robot is shown, the battery drives two stepping motors to rotate, power is transmitted to the driving shaft through the middle chain transmission, the driving shaft rotates to drive the driving wheel to rotate, the driving wheel is positioned at the rear part of the trolley and is in a rear driving mode, the front wheel of the trolley is designed into a universal wheel and can be matched with the driving wheel to realize straight movement or turning, the two shafts at the left side and the right side are connected through a differential gear mechanism, and the middle differential gear mechanism not only can play a role in connection, but also can meet the turning requirement. When the sensor receives the barrier signal, the signals transmitted to the motor are different, the speed of the stepping motor is realized by pulse frequency, the output rotating speed of the motor is different due to different pulse frequency, when the rotating speeds of the left side and the right side are the same, the whole robot advances, and when the rotating speeds are different, the robot automatically turns.

As shown in fig. 3, the garbage collection box of the henhouse environment measurement and control and cleaning robot is a three-dimensional view, after the left electromagnetic valve is switched on, the right opening and closing door is opened upwards, the spring is stretched rightwards, the push plate is pushed to move, so that garbage stored in the collection box is pushed rightwards, after one-time operation is completed, the extended spring is retracted by the electromagnetic valve, the push plate is driven to move leftwards, the opening and closing door is closed downwards, and the garbage collection box can be collected again.

Fig. 4 shows a hardware structure diagram of an environment detection system of a henhouse environment measurement and control and cleaning device, the whole environment monitoring system is located at the front end of the whole machine and is divided into manual and automatic control modes, when the manual mode is set, a worker can realize the execution work of the device by controlling a remote control or a network, when the device is located under an automatic module in an automatic working system, data information is collected by various sensors such as a camera, infrared rays, ultrasonic waves and the like, the detection equipment can monitor obstacles and various environmental parameters in the henhouse, such as temperature, humidity and various gas contents in the air, and the monitoring data result is uploaded to a machine-loading position so as to be operated by the worker, the machine-loading position can further compare the collected data information with a programmed parameter range, when various environmental parameter values are in an allowable range, then continue normal operating, when the parameter value of collecting surpasss normal within range, then can show in the display screen and remind, the staff can remind according to data and carry out corresponding operation, and operating instruction sends the back, and actuating mechanism carries out corresponding open and close control to satisfy the intelligent control of chicken coop environment.

As shown in figure 5, the schematic diagram of the spraying device of the henhouse environment measuring and controlling and cleaning robot is shown, when the temperature reduction treatment is needed in the environment, water in the water tank is pumped out at high pressure by a water pump and reaches the spraying device along a water pipeline, three atomizing nozzles capable of rotating freely are installed at the uppermost end of the spraying device, the spraying requirement of 3m can be met at the farthest, and the purpose of temperature reduction is achieved.

Claims (1)

1. The utility model provides a novel robot is observed and controled and cleans to environment in chicken coop which characterized in that: comprises an automatic walking trolley (1), an intelligent cleaning device (5), an intelligent environment measurement and control device (10) and a cooling device (17);

the automatic walking trolley (1) comprises a universal wheel (3), a driving wheel (25), a transmission system consisting of a battery (21), a stepping motor (22), a transmission chain (24), a transmission wheel (29) and a driving shaft (28), and a differential gear mechanism (27), wherein the universal wheel (3) is arranged at the front part of the automatic walking trolley (1), the driving wheel (25) is arranged at the rear part of the automatic walking trolley (1), the universal wheel (3) and the driving wheel (25) play a role in supporting the whole machine, the whole transmission system is arranged at the tail end of the automatic walking trolley (1), the battery (21) is fixedly connected to a trolley frame and is electrically connected with a stepping motor A (221) and a stepping motor B (222) which are arranged at the left end and the right end, the stepping motor A (221) and the stepping motor B (222) are respectively connected with a chain wheel B (292) on the driving shaft through the transmission chain A (241) and the transmission, the chain wheel (29) is welded on a driving shaft (28), the driving shaft (28) is provided with a driving wheel (25), and the differential gear mechanism (27) connects the driving shafts (28) at two ends through a planetary gear to realize the traveling function under different conditions;

intelligence cleaning device (5) are including dung scraping plate (6), crashproof wheel (7), disinfection shower nozzle (8), support (9), medical kit (11), water pipe (12), filter A (13), garbage collection box (2) and rubbish transmission pipeline (4), support (9) welding is in the dead ahead of automatic walking dolly (1), and support (9) below is fixed crashproof wheel (7) by the bolt, and disinfection shower nozzle (8) are installed with support (9) coupling part in crashproof wheel (7) center department, and crashproof wheel (7) can play the guard action to below dung scraping plate (6), dung scraping plate (6) and ground in close contact with, and a port of rubbish transmission pipeline (4) is cup jointed in the export of dung scraping plate (6) rear end, and another port directly extends to garbage collection box (2), garbage collection box is including door (201), push pedal (202), garbage collection box, The garbage collection box is characterized by comprising an electromagnetic valve controller (203) and a spring (204), an opening and closing door (201) is arranged on the right side of the garbage collection box (2) and is connected with the garbage collection box through a hinge to realize vertical opening and closing, the electromagnetic valve controller (203) is installed on the left side of the garbage collection box (2), a middle spring (204) and a push plate (202) play a role in movable connection, a disinfection sprayer (8) is connected with a medicine box (11) through a water pipe (12), the medicine box (11) is also communicated with a water tank (20) through a water pipe, a filter A (13) is installed between the medicine box (11) and the water tank (20), and the filter A (13) can be connected to the top end of the garbage;

the environment intelligent measurement and control device (10) comprises a manual/automatic controller, an infrared position sensor, an ultrasonic sensor, a temperature sensor, a humidity sensor and CO₂Sensor, N₂Sensor, control circuit board and electric wire, these sensor and circuit board, electricityThe wires are concentrated on the upper part of the bracket (9) and are wrapped by a plastic shell;

the cooling device (17) comprises a water tank (20), an upper water level sensor (19), a lower water level sensor (23), a water suction pipeline (26), a water pump (14), a water injection switch (15), a spraying system (16) and a filter B (18), wherein the water tank (20) is welded in the middle of the automatic walking trolley (1) and is positioned between the garbage collection box (2) and the battery (21), the upper water level sensor (19) is installed at the position, 5cm away from the upper top surface, of the water tank (20), the lower water level sensor (23) is installed at the position, 5cm away from the lower bottom surface, of the water tank (20), the water suction pipeline (26) is inserted in the middle of the water tank (20), the water suction pipeline (26) upwards extends out of the water pipe (12), the water pump (14) is fixedly installed at the top of the water tank (20) and is connected with the filter B (18) and the spraying system (16) through the water pipe (12), and the water injection switch (, The filter B (18) is arranged on the top of the shell, the spraying system (16) comprises three spray heads (161), spray head support columns (162) and a base (163), the spray heads (161) are arranged on the top of the whole spraying system (16) and can rotate and atomize and spray out water drops, the spray head support columns (162) are arranged above the base and internally comprise spray pipes, the spray head support columns have a supporting function on the spray heads (161), and the base (163) is used for fixing the spray head support columns (162).

Images