CN112088783A - Scraping and sweeping integrated pigsty manure cleaning robot - Google Patents
Scraping and sweeping integrated pigsty manure cleaning robot Download PDFInfo
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- CN112088783A CN112088783A CN202011019762.8A CN202011019762A CN112088783A CN 112088783 A CN112088783 A CN 112088783A CN 202011019762 A CN202011019762 A CN 202011019762A CN 112088783 A CN112088783 A CN 112088783A
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- machine body
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- cleaning
- cleaning robot
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- 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
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- 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
- A01K1/0128—Removal of dung or urine, e.g. from stables by means of scrapers or the like moving continuously
Abstract
The invention discloses a scraping and sweeping integrated pigsty manure cleaning robot which comprises a machine body, a driving mechanism, a cleaning mechanism, a navigation mechanism, a power supply mechanism and a control mechanism, wherein the driving mechanism is installed at the lower end of the machine body; the driving mechanism, the cleaning mechanism, the navigation mechanism and the power supply mechanism are all connected with the control mechanism. The pigsty cleaning machine utilizes the apparatus to replace manual cleaning of the pigsty environment, reduces labor intensity, and has good dung cleaning effect and high working efficiency; and meanwhile, the intelligent control is carried out by adopting a navigation mechanism, a control mechanism and the like, and the intelligent degree is high.
Description
Technical Field
The invention relates to a robot technology, in particular to a scraping and sweeping integrated pigsty manure cleaning robot.
Background
The health problem of the pigsty directly influences the health of the disease of the pig, however, the excrement cleaning problem is an important link of the livestock breeding health, the livestock excrement is difficult to clean and contains more harmful substances and germs, and if the livestock excrement is not cleaned in time, the livestock breeding environment is polluted, so that a series of disease health problems occur. Most of a lot of small-size houses adopt the pig house structure in ground bottom installation excrement groove, and this pig house all needs artifical clearance basically to clear up excrement and urine to bottom excrement groove in, artifical clearance is not only the amount of labour big and the disease risk is big.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a scraping and sweeping integrated pigsty manure cleaning robot. This scrape clear excrement robot of sweeping integral type pig house can reduce the amount of labour, reduces the disease risk.
The purpose of the invention is realized by the following technical scheme: the scraping and sweeping integrated pigsty manure cleaning robot comprises a machine body, a driving mechanism, a cleaning mechanism, a navigation mechanism, a power supply mechanism and a control mechanism, wherein the driving mechanism is installed at the lower end of the machine body; the driving mechanism, the cleaning mechanism, the navigation mechanism and the power supply mechanism are all connected with the control mechanism.
Preferably, the cleaning mechanism comprises a spray head, a water pump, a water tank, a brush and a brush motor, the spray head and the brush are both arranged at the front end of the machine body, the brush is positioned in front of the spray head, the brush motor is arranged in the machine body, and a power output shaft of the brush motor is connected with the brush; the sprayer is connected with a water pump through a water pipe, and the water pump is connected with a water tank arranged in the machine body.
Preferably, the cleaning mechanism further comprises a circular arc-shaped dung scraping plate, the dung scraping plate is installed below the machine body, and the brush, the spray head and the dung scraping plate are sequentially distributed from the front end to the rear end of the machine body.
Preferably, the manure scraper comprises a metal plate, which is covered by a rubber layer.
Preferably, actuating mechanism includes left drive wheel, right drive wheel, universal wheel, left driving motor and right driving motor, left side drive wheel and right drive wheel are installed respectively in the both sides of the rear end of fuselage, left side driving motor and right driving motor are all installed in the fuselage, just left side driving motor and right driving motor are connected with left drive wheel and right drive wheel respectively, the universal wheel is installed in the front end of fuselage, left side driving motor and right driving motor all are connected with control mechanism.
Preferably, the power supply mechanism comprises a battery pack and a charging circuit, the driving mechanism, the cleaning mechanism, the navigation mechanism and the control mechanism are all connected with the battery pack, the machine body is provided with a charging head, and the charging head is connected with the battery pack through the charging circuit.
Preferably, the control mechanism comprises a first controller and a second controller, the navigation mechanism is connected with the first controller, the driving mechanism, the cleaning mechanism and the power supply mechanism are all connected with the second controller, and the first controller is in signal connection with the second controller.
Preferably, the navigation mechanism comprises a laser radar, and the laser radar is connected with the control mechanism.
Preferably, both sides of the front end of the machine body are provided with rollers, and the end face of the front end of the machine body is provided with a buffer plate.
Preferably, the water tank of clearance mechanism is equipped with the first sensor that is used for detecting the water yield of water tank, the fuselage is equipped with the second sensor that is used for detecting power mechanism's electric quantity, first sensor and second sensor all are connected with control mechanism.
Compared with the prior art, the invention has the following advantages:
1. the scraping and sweeping integrated pigsty manure cleaning robot mainly comprises a machine body, a driving mechanism, a cleaning mechanism, a navigation mechanism, a power supply mechanism and a control mechanism, and the machine body, the driving mechanism, the cleaning mechanism, the navigation mechanism, the power supply mechanism and the control mechanism replace manual cleaning of the pigsty environment, so that the labor intensity is reduced, the manure cleaning effect is good, and the working efficiency is high; and meanwhile, the intelligent control is carried out by adopting a navigation mechanism, a control mechanism and the like, and the intelligent degree is high.
2. The cleaning mechanism in the scraping and sweeping integrated pigsty manure cleaning robot mainly comprises a spray head, a water pump, a water tank, a brush and a brush motor, and the manure cleaning operation is carried out by combining spray head washing and brush cleaning, so that the manure cleaning effect is good, and the efficiency is high; meanwhile, the brush can be used for pushing the excrement into the excrement groove, so that the piggery is very suitable for a piggery with an excrement groove structure.
Drawings
Fig. 1 is a schematic structural diagram of a scraping and sweeping integrated pigsty manure cleaning robot.
Fig. 2 is a schematic internal structure diagram of the scraping and sweeping integrated pigsty manure cleaning robot.
Fig. 3 is a bottom view of the scraping and sweeping integrated pigsty manure cleaning robot of the present invention.
Fig. 4 is a front view of the scraping and sweeping integrated pigsty manure cleaning robot of the present invention.
Fig. 5 is a rear view of the scraping and sweeping integrated pigsty manure cleaning robot of the present invention.
Fig. 6 is a schematic structural view of the drive mechanism of the present invention.
Wherein, 1 is the fuselage, 2 is actuating mechanism, 3 is clearance mechanism, 4 is navigation, 5 is power mechanism, 6 is control mechanism, 7 is the drain pan, 8 is the top cap, 9 is the backup pad, 10 is the shower nozzle, 11 is the water pump, 12 is the water tank, 13 is the brush, 14 is the brush motor, 15 is the dung scraping board, 16 is left drive wheel, 17 is right drive wheel, 18 is the universal wheel, 19 is left driving motor, 20 is right driving motor, 21 is the group battery, 22 is the head that charges, 23 is the gyro wheel, 24 is the buffer board, 25 is left reduction gear, 26 is right reduction gear, 27 is the water injection joint.
Detailed Description
The invention is further illustrated by the following figures and examples.
The scraping and sweeping integrated pigsty manure cleaning robot shown in fig. 1 to 5 comprises a machine body, a driving mechanism, a cleaning mechanism, a navigation mechanism, a power supply mechanism and a control mechanism, wherein the driving mechanism is installed at the lower end of the machine body, the cleaning mechanism is installed at the front end of the machine body, the navigation mechanism is installed on the machine body, and the driving mechanism, the cleaning mechanism and the navigation mechanism are all connected with the power supply mechanism; the driving mechanism, the cleaning mechanism, the navigation mechanism and the power supply mechanism are all connected with the control mechanism. Specifically, in the working process, the navigation mechanism is utilized to collect the working environment information, and the control mechanism processes the working environment information, so that a control instruction is sent to the driving mechanism and the cleaning mechanism, and the scraping and sweeping integrated pigsty manure cleaning robot replaces the traditional manual work to intelligently clean the pigsty, so that the intelligent degree is high, the working efficiency is high, and the manure cleaning effect is good. The machine body mainly comprises a bottom shell and a top cover, the top cover is connected with the upper end of the bottom shell, and the bottom shell and the top cover form an installation cavity for installing a power supply mechanism and the like, so that components in each mechanism are protected, and the components are prevented from being polluted by pollutants such as dust, excrement and the like and damaged. In order to further ensure the stability of the compactness of the structure, a supporting plate is arranged in the mounting cavity, and the battery pack and the control mechanism of the power supply mechanism are mounted on the supporting plate.
The cleaning mechanism comprises a spray head, a water pump, a water tank, a brush and a brush motor, wherein the spray head and the brush are both arranged at the front end of the machine body, the brush is positioned in front of the spray head, the brush motor is arranged in the machine body, and a power output shaft of the brush motor is connected with the brush; the sprayer is connected with a water pump through a water pipe, and the water pump is connected with a water tank arranged in the machine body. Specifically, as shown in fig. 3, the spray head and the brushes are both arranged below the front end of the machine body, and the number of the brushes is 2, and the 2 brushes are respectively arranged on two sides below the front end; the quantity of brush motor is the same with the quantity of brush, 2 brush motors be connected with 2 brushes respectively promptly to can drive 2 brush antiport, thereby conveniently outwards push excrement and urine, in order to accomplish the subaerial excrement and urine clearance of pig house in the excrement and urine groove with excrement and urine propelling movement to the pig house. For the efficiency of cleaning and the effect of cleaning that improves the brush, the water in the water pump suction water tank sprays out from the shower nozzle again to wash and moist the excrement and urine that needs on the ground, moist excrement and urine is cleaned by the brush more easily, and this utilizes washing and brush to clean the excrement and urine of combining in to the pig house and clear up, and is efficient and effectual. Meanwhile, a first sensor is arranged in the water tank and used for detecting the water quantity in the water tank, and when the water quantity in the water tank is lower than a set value, the first sensor is used for detecting the water quantity in the water tank. And the second controller sends out a control command according to the information transmitted by the first sensor so as to enable the driving mechanism to act, and the robot returns to add water along the planned route. Wherein the water injection joint is installed in the upper end of fuselage, and this water injection joint communicates with the water tank to make things convenient for the feed tank to supply water.
The cleaning mechanism further comprises a circular arc-shaped dung scraping plate, the dung scraping plate is installed below the machine body, and the brush, the spray head and the dung scraping plate are sequentially distributed from the front end to the rear end of the machine body. After adopting washing and brush to clean, use the dung scraping plate to scrape and sweep ground again, this can further improve the cleaning effect. Meanwhile, the dung scraping plate comprises a metal plate, and the metal plate is wrapped by a rubber layer. The dung scraping plate is directly contacted with the ground, so that the machine body is supported, and the cleaning effect is improved. The dung scraping plate with the structure improves the cleaning effect and reduces the noise.
A clear excrement robot of integral type of sweeping based on foretell includes clear excrement step of following:
s1, spraying water by a spray head to moisten and clean the excrement;
s2, cleaning the excrement into an excrement groove by reversely rotating the brush;
s3, cleaning the residual excrement into an excrement groove by an excrement scraping plate.
Specifically, this clear excrement robot of sweeping integral type cleans and scrapes excrement clearance three kinds of modes through washing, brush and combine together, can reach the clear excrement effect of ideal.
As shown in fig. 1, 2 and 6, the driving mechanism includes a left driving wheel, a right driving wheel, a universal wheel, a left driving motor and a right driving motor, the left driving wheel and the right driving wheel are respectively installed at two sides of the rear end of the machine body, the left driving motor and the right driving motor are both installed in the machine body, the left driving motor and the right driving motor are respectively connected with the left driving wheel and the right driving wheel, the universal wheel is installed at the front end of the machine body, and the left driving motor and the right driving motor are both connected with the control mechanism. Specifically, left drive wheel, right drive wheel and universal wheel all adopt the rubber tyer to prevent skidding, guarantee that whole robot is stable to be gone, in order to guarantee clear excrement mechanism and the effective work of excrement collecting mechanism. For further driving stability, the left driving motor is connected with the left driving wheel through the left speed reducer, and the right driving motor is connected with the right driving wheel through the right speed reducer. The height of the universal wheel can be adjusted according to the height of the road surface, so that the dung scraping plate is always tightly attached to the ground at different road surface heights, and the dung scraping plate is suitable for different road surface environments.
The power mechanism comprises a battery pack and a charging circuit, the driving mechanism, the cleaning mechanism, the navigation mechanism and the control mechanism are all connected with the battery pack, the machine body is provided with a charging head, and the charging head is connected with the battery pack through the charging circuit. The power supply mechanism mainly provides power for the cleaning mechanism, the navigation mechanism, the control mechanism and the like. In this embodiment, the battery pack is formed of a secondary battery having a rated voltage of 24V. In order to reduce the design cost, the charging circuit adopts the existing charging circuit. And meanwhile, the second sensor is utilized to monitor the electric quantity of the battery pack, when the voltage of the battery pack is lower than a set value, the second controller sends out a control instruction according to the information transmitted by the second sensor so as to enable the driving mechanism to act, and then the robot returns to charge according to the planned route.
The control mechanism comprises a first controller and a second controller, the navigation mechanism is connected with the first controller, the driving mechanism, the cleaning mechanism and the power supply mechanism are all connected with the second controller, and the first controller is in signal connection with the second controller. Specifically, in this embodiment, the first controller is a raspberry pi, and the second controller is an STM32F103 microprocessor. The first controller is connected with the laser radar in the navigation mechanism to receive working environment data detected by the laser radar, process the environment data, and then transmit a processing result to the second controller, and the second controller sends a control instruction according to a processing structure of the first controller, so that the left driving motor and the right driving motor in the driving, and the brush motor and the power supply mechanism in the cleaning mechanism are controlled to work. The first controller and the second controller are adopted to receive and process the information of the components respectively, the response speed is high, and the working efficiency is further improved.
The navigation mechanism comprises a laser radar which is connected with a first controller in the control mechanism. The laser radar is used for detecting working environment data such as terrain, obstacles (such as workers and pigs in a pigsty) and targets (namely excrement), and then the detected working environment data are transmitted to the first controller, and the first controller carries out environment map construction, path planning, dynamic obstacle avoidance and target cleaning plan according to the working environment data, so that the excrement cleaning operation is carried out by matching with an environment map and an optimal path.
The front end both sides of fuselage all are equipped with the gyro wheel, the front end terminal surface of fuselage is equipped with the buffer board. The rollers can avoid collision between the bodies, and the friction between the rollers and the wall is small, so that the whole robot can smoothly advance. And the buffer board can avoid damaging the wall surface when colliding with the wall surface.
The above-mentioned embodiments are preferred embodiments of the present invention, and the present invention is not limited thereto, and any other modifications or equivalent substitutions that do not depart from the technical spirit of the present invention are included in the scope of the present invention.
Claims (10)
1. Scrape and sweep clear excrement robot of integral type pig house, its characterized in that: the cleaning machine comprises a machine body, a driving mechanism, a cleaning mechanism, a navigation mechanism, a power supply mechanism and a control mechanism, wherein the driving mechanism is arranged at the lower end of the machine body; the driving mechanism, the cleaning mechanism, the navigation mechanism and the power supply mechanism are all connected with the control mechanism.
2. The scraping-sweeping integrated pigsty manure cleaning robot of claim 1, characterized in that: the cleaning mechanism comprises a spray head, a water pump, a water tank, a brush and a brush motor, wherein the spray head and the brush are both arranged at the front end of the machine body, the brush is positioned in front of the spray head, the brush motor is arranged in the machine body, and a power output shaft of the brush motor is connected with the brush; the sprayer is connected with a water pump through a water pipe, and the water pump is connected with a water tank arranged in the machine body.
3. The scraping-sweeping integrated pigsty manure cleaning robot of claim 2, characterized in that: the cleaning mechanism further comprises a circular arc-shaped dung scraping plate, the dung scraping plate is installed below the machine body, and the brush, the spray head and the dung scraping plate are sequentially distributed from the front end to the rear end of the machine body.
4. The scraping-sweeping integrated pigsty manure cleaning robot according to claim 3, characterized in that: the dung scraping plate comprises a metal plate, which is wrapped by a rubber layer.
5. The scraping-sweeping integrated pigsty manure cleaning robot of claim 1, characterized in that: the driving mechanism comprises a left driving wheel, a right driving wheel, a universal wheel, a left driving motor and a right driving motor, the left driving wheel and the right driving wheel are respectively installed on two sides of the rear end of the machine body, the left driving motor and the right driving motor are both installed in the machine body, the left driving motor and the right driving motor are respectively connected with the left driving wheel and the right driving wheel, the universal wheel is installed at the front end of the machine body, and the left driving motor and the right driving motor are both connected with the control mechanism.
6. The scraping-sweeping integrated pigsty manure cleaning robot of claim 1, characterized in that: the power mechanism comprises a battery pack and a charging circuit, the driving mechanism, the cleaning mechanism, the navigation mechanism and the control mechanism are all connected with the battery pack, the machine body is provided with a charging head, and the charging head is connected with the battery pack through the charging circuit.
7. The scraping-sweeping integrated pigsty manure cleaning robot of claim 1, characterized in that: the control mechanism comprises a first controller and a second controller, the navigation mechanism is connected with the first controller, the driving mechanism, the cleaning mechanism and the power supply mechanism are all connected with the second controller, and the first controller is in signal connection with the second controller.
8. The scraping-sweeping integrated pigsty manure cleaning robot of claim 1, characterized in that: the navigation mechanism comprises a laser radar which is connected with the control mechanism.
9. The scraping-sweeping integrated pigsty manure cleaning robot of claim 1, characterized in that: the front end both sides of fuselage all are equipped with the gyro wheel, the front end terminal surface of fuselage is equipped with the buffer board.
10. The scraping-sweeping integrated pigsty manure cleaning robot of claim 1, characterized in that: the water tank of clearance mechanism is equipped with the first sensor that is used for detecting the water yield of water tank, the fuselage is equipped with the second sensor that is used for detecting power mechanism's electric quantity, first sensor and second sensor all are connected with control mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011019762.8A CN112088783A (en) | 2020-09-25 | 2020-09-25 | Scraping and sweeping integrated pigsty manure cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011019762.8A CN112088783A (en) | 2020-09-25 | 2020-09-25 | Scraping and sweeping integrated pigsty manure cleaning robot |
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| CN112088783A true CN112088783A (en) | 2020-12-18 |
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| CN202011019762.8A Pending CN112088783A (en) | 2020-09-25 | 2020-09-25 | Scraping and sweeping integrated pigsty manure cleaning robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113100088A (en) * | 2021-04-13 | 2021-07-13 | 安徽凌坤智能科技有限公司 | Pig house air purification robot of plant |
| CN113273499A (en) * | 2021-05-28 | 2021-08-20 | 广东广兴牧业机械设备有限公司 | Intelligent dung cleaning robot in hog house and control system thereof |
| CN113741430A (en) * | 2021-08-16 | 2021-12-03 | 河南牧原智能科技有限公司 | Autonomous navigation method, apparatus and computer storage medium for dung cleaning robot |
| CN113785776A (en) * | 2021-08-26 | 2021-12-14 | 北京市农林科学院智能装备技术研究中心 | Pig house dung cleaning robot, dung cleaning method and live pig health diagnosis method |
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| CN107711531A (en) * | 2017-11-06 | 2018-02-23 | 华南农业大学 | One kind sweeps formula pig farm automatic manure-cleaning car and cleaning up excrement method |
| CN109362582A (en) * | 2018-11-22 | 2019-02-22 | 哈尔滨天河自动化设备有限公司 | One kind being suitable for more scene piggery cleaner device people and method for cleaning |
| CN210580423U (en) * | 2019-09-26 | 2020-05-22 | 牧原食品股份有限公司 | Excrement cleaning robot |
| CN111183905A (en) * | 2020-02-27 | 2020-05-22 | 哈尔滨天河自动化设备有限公司 | Fattening pig house cleaning robot |
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2020
- 2020-09-25 CN CN202011019762.8A patent/CN112088783A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107711531A (en) * | 2017-11-06 | 2018-02-23 | 华南农业大学 | One kind sweeps formula pig farm automatic manure-cleaning car and cleaning up excrement method |
| CN109362582A (en) * | 2018-11-22 | 2019-02-22 | 哈尔滨天河自动化设备有限公司 | One kind being suitable for more scene piggery cleaner device people and method for cleaning |
| CN210580423U (en) * | 2019-09-26 | 2020-05-22 | 牧原食品股份有限公司 | Excrement cleaning robot |
| CN111183905A (en) * | 2020-02-27 | 2020-05-22 | 哈尔滨天河自动化设备有限公司 | Fattening pig house cleaning robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113100088A (en) * | 2021-04-13 | 2021-07-13 | 安徽凌坤智能科技有限公司 | Pig house air purification robot of plant |
| CN113273499A (en) * | 2021-05-28 | 2021-08-20 | 广东广兴牧业机械设备有限公司 | Intelligent dung cleaning robot in hog house and control system thereof |
| CN113741430A (en) * | 2021-08-16 | 2021-12-03 | 河南牧原智能科技有限公司 | Autonomous navigation method, apparatus and computer storage medium for dung cleaning robot |
| CN113785776A (en) * | 2021-08-26 | 2021-12-14 | 北京市农林科学院智能装备技术研究中心 | Pig house dung cleaning robot, dung cleaning method and live pig health diagnosis method |
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Application publication date: 20201218 |
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