CN112205306A - Automatic avoidance cow dung collection control system - Google Patents

Abstract

An automatic avoidance cow dung collection control system is assembled on a mechanical part of a cow dung collection device and used for controlling the mechanical part of the cow dung collection device; the automatic avoidance cow dung collection control system comprises an artificial intelligence control subsystem, a first serial port line interface converter, a second serial port line interface converter, a third serial port line interface converter, a PLC (programmable logic controller), a vehicle-mounted motor driver, an ultrasonic ranging module, a walking motor, a first port expander, a second port expander, a third port expander, a sensor assembly, a first dung removing device motor driver, a second dung removing device motor driver, an unloading motor, a lifting motor, a scraper motor, a scroll motor and a travel switch assembly, wherein the artificial intelligence control subsystem is respectively connected with the first serial port line interface converter, the second serial port line interface converter and the third serial port line interface converter; by adopting the invention, the intelligent collection of cow dung is realized, the labor intensity is reduced, and the working efficiency is improved.

Description

Automatic avoidance cow dung collection control system

The technical field is as follows:

the invention relates to the technical field of mechanical equipment for breeding, in particular to a cow dung automatic avoiding and collecting control system.

Background art:

with the increase of the scale and the productivity of cattle breeding industry in China, the number of farmers for breeding beef cattle and dairy cows increases, and the cleaning of cattle dung in a breeding farm in the breeding work becomes the largest work load of breeding personnel. At present, the cow dung is cleared up and is mainly divided into modes such as clear excrement of manual work and clear excrement of machinery, wherein:

the manual excrement cleaning is that a spade, a push shovel, a shovel broom and other tools are manually used for cleaning excrement into piles, and then manual loading and transporting are carried out. The mode is a method for excreting excrement commonly adopted by small-scale cattle farms, and has the defects of high labor intensity, time and labor waste, poor environment and low working efficiency of workers.

In the prior art, many breeding enterprises adopt the loader to clear up the cow dung, and the loader clearance cow dung flexibility is relatively poor, and the manual work of main needs is controlled, and can not satisfy the clearance demand of short period, is unsuitable every day or separates the mode mechanical type clearance cow dung of short period such as one day.

The invention content is as follows:

in view of the above, there is a need for an automatic avoidance cow dung collection control system.

An automatic avoidance cow dung collection control system is assembled on a mechanical part of a cow dung collection device and used for controlling the mechanical part of the cow dung collection device; the automatic avoidance cow dung collection control system comprises an artificial intelligence control subsystem, a first serial port line interface converter, a second serial port line interface converter, a third serial port line interface converter, a PLC (programmable logic controller), a vehicle-mounted motor driver, an ultrasonic ranging module, a walking motor, a first port expander, a second port expander, a third port expander, a sensor assembly, a first dung removing device motor driver, a second dung removing device motor driver, an unloading motor, a lifting motor, a scraper motor, a scroll motor and a travel switch assembly, wherein the artificial intelligence control subsystem is respectively connected with the first serial port line interface converter, the second serial port line interface converter and the third serial port line interface converter;

the first serial port line interface converter is connected with a vehicle-mounted motor driver, the vehicle-mounted motor driver is connected with a walking motor, the walking motor is assembled on a walking wheel of a walking mechanism, the second serial port line interface converter is connected with a PLC (programmable logic controller), the third serial port line interface converter is connected with an ultrasonic ranging module, the ultrasonic ranging module is assembled on the machine body, and the ultrasonic ranging module is used for measuring the distance between the automatic avoidance cow dung collection robot mechanical body and an obstacle;

the PLC controller is respectively connected with the first port expander, the second port expander and the third port expander;

the first port expander is synchronously connected with the sensor assembly, the second port expander is respectively connected with a first dung removing device motor driver and a second dung removing device motor driver, the third port expander is connected with a travel switch assembly, and the travel switch assembly is used for limiting the moving position of the tipping mechanism;

the first dung removing device motor driver is respectively connected with the unloading motor and the lifting motor, the unloading motor is assembled below the tipping bucket mechanism, the lifting motor is assembled on the lifting mechanism, the second dung removing device motor driver is respectively connected with the scraper motor and the scroll motor, the scraper motor is assembled on the lifting mechanism, the lifting mechanism is assembled with the transmission scraper, the scraper motor controls the transmission of the transmission scraper, the scroll motor is assembled on the furling mechanism and controls the transmission of the furling mechanism.

Preferably, the cow dung collection control system is dodged automatically and still includes fourth port expander and liquid crystal display, PLC controller and fourth port expander communication connection, and the fourth port expander is connected with liquid crystal display.

Preferably, the traveling motor includes a left traveling wheel motor and a right traveling wheel motor, the left traveling wheel motor is mounted on a left traveling wheel of the traveling mechanism, and the right traveling wheel motor is mounted on a right traveling wheel of the traveling mechanism.

Preferably, the travel switch assembly comprises a skip front travel switch, a skip rear travel switch, a skip upper travel switch and a skip lower travel switch, the skip front travel switch, the skip rear travel switch, the skip upper travel switch and the skip lower travel switch are respectively connected with the third port expander, and the skip front travel switch, the skip rear travel switch, the skip upper travel switch and the skip lower travel switch are assembled on the machine body and located below the skip mechanism.

Preferably, the sensor module includes voltage and current energy consumption detector, box temperature sensor, box humidity transducer, hydrogen sulfide detector, infrared sensor, pm2.5 sensor, ammonia sensor, environment humidity transducer and environment temperature sensor fit on the fuselage, it still includes chargeable and dischargeable battery to dodge cow dung collection control system automatically, chargeable and dischargeable battery fits on the fuselage, voltage and current energy consumption detector is connected with chargeable and dischargeable battery.

Preferably, the artificial intelligence control subsystem comprises an artificial intelligence arithmetic unit, a wireless USB interface, a first USB-TTL converter, a second USB-TTL converter, a third USB-TTL converter, a fourth USB-TTL converter, a fifth USB-TTL converter, a remote control handle, a ZED binocular camera, a laser radar range finder, a GPS positioning module, a gyroscope sensor, an operation input terminal and an indoor positioning module, wherein the artificial intelligence arithmetic unit is respectively connected with the wireless USB interface, the first USB-TTL converter, the second USB-TTL converter, the third USB-TTL converter, the fourth USB-TTL converter and the fifth USB-TTL converter, the wireless USB interface is in communication connection with the remote control handle, the USB interface is in binocular connection with the ZED camera, the first USB-TTL converter is connected with the laser radar range finder, the second USB-TTL converter is connected with the GPS positioning module, the third USB-TTL converter is connected with the gyroscope sensor, the fourth USB-TTL converter is connected with the operation input terminal, and the fifth USB-TTL converter is connected with the indoor positioning module.

Preferably, the artificial intelligence control subsystem further comprises a remote monitoring module, the remote monitoring module comprises a personal computer, a mobile phone APP, a cloud platform and a multi-ratio gateway, the multi-ratio gateway is communicated with the artificial intelligence arithmetic unit through an Ethernet and an MQTT communication protocol, the cloud platform is communicated with the multi-ratio gateway, and the personal computer, the mobile phone APP and the cloud platform are in communication connection.

Preferably, the artificial intelligence control subsystem further comprises a voice service module, and the voice service module is communicated with the artificial intelligence arithmetic unit through a TCP/IP protocol; the voltage-current energy consumption detector comprises a voltage sensor and a current sensor.

Preferably, the control chip of the PLC controller comprises a COM pin, an AD0 pin, an AD1 pin, an AD2 pin, an AD3 pin, an AD4 pin, an AD5 pin, an AD6 pin, an AD7 pin, an AD8 pin, an AD9 pin, an X0 pin, an X1 pin, an X2 pin, an X3 pin, a 485A-1 pin, a 485B-1 pin, a 24V pin, a 0V pin, a COM0 pin, a Y0 pin, a Y1 pin, a Y2 pin, a Y3 pin, a Y4 pin, a Y5 pin, a Y6 pin, a Y7 pin, a Y8 pin, a Y9 pin, a Y10 pin and a Y10 pin, an AD 10 pin, a temperature sensor, an AD 10, a humidity sensor, an infrared sensor, an ammonia sensor, an environment temperature sensor, an environment sensor, an infrared sensor, an ammonia sensor and an infrared sensor, the X0 pin, the X1 pin, the X2 pin and the X3 pin are respectively connected with a skip upper travel switch, a skip lower travel switch, a skip front travel switch and a skip rear travel switch;

a Y0 pin is connected with a PWM-0 end, the PWM-0 end is used for sending PWM signals to a reel motor, a Y1 pin is connected with a PWM-1 end, the PWM-1 end is used for sending PWM signals to a scraper motor, a Y2 pin is connected with a PWM-2 end, the PWM-2 end is used for sending PWM signals to an unloading motor, a Y3 pin is connected with a PWM-3 end, and the PWM-3 end is used for sending PWM signals to a lifting motor;

the Y4 pin is connected with the EN-0 end, the EN-0 end is used for sending an enabling signal to a scroll motor, the Y5 pin is connected with the F/R-0 end, the F/R-0 end is used for sending a forward and reverse signal to the scroll motor, the Y6 pin is connected with the EN-1 end, the EN-1 end is used for sending an enabling signal to a scraper motor, the Y7 pin is connected with the F/R-1 end, the F/R-1 end is used for sending a forward and reverse signal to the scraper motor, the Y8 pin is connected with the EN-2 end, the EN-2 end is used for sending an enabling signal to an unloading motor, the Y9 pin is connected with the F/R-2 end, the F/R-2 end is used for sending a forward and reverse signal to an unloading motor, the Y10 pin is connected with the EN-3 end, and the EN-3 end is used for sending an enabling signal, the Y11 pin is connected with the F/R-3 end, and the F/R-3 end is used for sending a positive and negative rotation signal to the lifting motor.

The control system provided by the invention is adopted to carry out the automatic cleaning operation of cow dung, the artificial intelligence control subsystem is provided with a robot operating system, the artificial intelligence control subsystem sends an enabling signal and a forward and reverse rotation signal to the vehicle-mounted motor driver through the first serial port line interface converter, the vehicle-mounted motor driver controls the walking of the walking mechanism, the second serial port line interface converter sends a control instruction to the PLC controller, the PLC controller sends a control signal to the sensor assembly through the first port expander, the sensor assembly senses the temperature and humidity of the environment, the ammonia concentration, PM2.5, the hydrogen sulfide concentration, the temperature and humidity of the box body and the detection of voltage current energy consumption, the PLC controller sends enabling and forward and reverse rotation signals to the first dung removing device motor driver and the second dung removing device motor driver through the second port expander, the first dung removing device motor driver controls the operation and forward and reverse rotation of the unloading motor and the lifting motor, the second dung removing device motor driver controls the operation and the forward and reverse rotation of the scraper motor and the scroll motor, and the PLC receives the information of the stroke assembly through the third port expander so as to control the up-down and forward-backward movement positions of the tipping bucket mechanism; the reeling motor provides power for the reeling mechanism, the reeling mechanism reels the cow dung and sends the cow dung to the lifting mechanism, the scraper motor is assembled on the lifting mechanism and provides power for the lifting mechanism, the scraper mechanism is assembled with the transmission scraper which controls the transmission scraper to rotate in a conveyor belt manner, the cow dung in the reeling mechanism is conveyed to the tipping bucket mechanism in the rotating process, the tipping bucket box body of the tipping bucket mechanism is controlled by the unloading motor to turn over, so that the cow dung is unloaded, after the unloading is finished, the unloading motor turns over, the tipping bucket box returns to the position, and the stroke switch component controls the up-down stroke and the front-back stroke of the tipping bucket box, so that the cow dung collection and unloading can be finished only by controlling through the PLC controller, the intelligent collection of the cow dung is realized, the labor intensity is reduced, the working efficiency is improved, and the flexibility of cow dung collection is higher, automatic monitoring and real-time collection or timing collection are realized through the artificial intelligence control subsystem, and the requirement of regularly collecting cow dung in a short period is met.

Description of the drawings:

in order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is a schematic structural diagram of a mechanical part of a cow dung collecting device;

FIG. 2 is a schematic structural diagram of the dump mechanism in FIG. 1;

FIG. 3 is a schematic structural view of the push plate of FIG. 2;

FIG. 4 is a schematic structural view of the lifting mechanism of FIG. 1;

FIG. 5 is a schematic view of the structure of the material lifting hopper of FIG. 4;

FIG. 6 is a schematic diagram of the structure of the chain stay of FIG. 4;

FIG. 7 is a schematic view of the adjustment mount of FIG. 4;

FIG. 8 is a schematic structural view of the cleaning mechanism and the lifting mechanism of FIG. 1;

FIG. 9 is a schematic structural view of the cleaning mechanism of FIG. 9;

FIG. 10 is a schematic structural diagram of the travel mechanism, the intelligent control system and the battery system of FIG. 1;

FIG. 11 is a schematic diagram of a frame structure of an automatic cow dung avoiding and collecting control system;

FIG. 12 is a pin connection diagram of a PLC controller control chip;

FIG. 13 is a schematic view showing the connection of a reel motor and a scraper motor with a driving chip of a motor driver of the second dung removing device;

FIG. 14 is a schematic view showing the connection of the unloading motor and the lifting motor with the driving chip of the motor driver of the second dung removing device;

FIG. 15 is a schematic view showing the connection of a traveling motor and a driving chip of a vehicle body motor driver;

in the figure: the device comprises a machine body 1, a tipping mechanism 2, a tipping box 21, a tipping transmission assembly 22, a lead screw backing plate 22-1, a tipping motor mounting seat 22-2, an unloading motor 22-3, a tipping lead screw supporting seat 22-4, a tipping lead screw 22-5, a coupler 22-6, a push plate 22-7, a threaded lantern ring 22-7-1, a hinged ring 22-7-2, a lacing wire 22-8, a transverse rib 22-9, a walking assembly 23, a walking track 23-1, a horizontal part 23-1-1, an arc part 23-1-2, an inclined part 23-1-3, a walking roller 23-2, a roller seat 23-3, a buffer column 23-4, a lifting mechanism 3, a lifting mechanism body 31, a lifting channel 31-1 and an arc material conveying groove 31-2, a material guide groove 31-3, a bottom plate 31-3-1, triangular side plates 31-3-2, support rollers 31-4, support plates 31-5, a lifting transmission assembly 32, a scraper motor 32-1, a driving wheel shaft 32-2, a driven wheel shaft 32-3, a driving wheel 32-4, a driven wheel 32-5, a chain 32-6, a roller 32-6-1, a transmission connection assembly 32-7, an adjusting installation seat 32-8, a C-shaped groove 32-8-1, a bearing support plate 32-8-2, a bearing 32-8-3, a first boss 32-8-4, a second boss 32-8-5, an adjusting bolt 32-8-6, a material lifting hopper 33, a scraper plate 33-1 and a material baffle plate 33-2, side baffle 33-3, chain bracket 34, groove type support bracket 34-1, cylindrical support pillar 34-2, cleaning mechanism 4, packing auger mounting bracket 41, fixing plate 41-1, mounting plate 41-2, connecting plate 41-3, reinforcing rib 41-4, cleaning transmission component 42, reel motor 42-1, rotating shaft 42-2, transmission wheel 42-3, transmission belt 42-4, cleaning packing auger 43, packing auger sleeve 43-1, packing auger blade 43-2, feces guide plate 44, feces outlet 44-1, lifting mechanism 5, lifting transmission component 51, lifting motor base 51-1, lifting motor 51-2, lifting screw 51-3, lifting screw support base 51-4, lifting block 51-5, guide component 52, guide rail 52-1 and guide slider 52-2, the walking mechanism 6, a driving walking wheel 61, a following walking wheel 62, a connecting shaft 63, a walking motor 64 and a walking wheel seat 65;

an artificial intelligence control subsystem 70, an artificial intelligence arithmetic unit 71, a wireless USB interface 72, a USB interface 73, a first USB-TTL converter 74, a second USB-TTL converter 75, a third USB-TTL converter 76, a fourth USB-TTL converter 77, a fifth USB-TTL converter 78, a remote control handle 79, a ZED binocular camera 710, a laser radar range finder 711, a GPS positioning module 712, a gyroscope sensor 713, an operation input terminal 714, an indoor positioning module 715, a voice service module 716, a remote monitoring module 717, a first serial port line interface converter 80, a second serial port line interface converter 81, a third serial port line interface converter 82, a PLC controller 83, a vehicle-mounted motor driver 84, an ultrasonic ranging module 85, a first port expander 86, a second port expander 87, a third port expander 88, a sensor assembly 89, and a first dung removing device motor driver 810, A second dung removing device motor driver 811, a travel switch component 812, a fourth port expander 813 and a liquid crystal display 814.

The specific implementation mode is as follows:

in order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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 protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

The present invention provides the following specific examples.

The automatic avoidance cow dung collection control system is assembled on a mechanical part of the cow dung collection device and used for controlling the mechanical part of the cow dung collection device.

As shown in figures 1 to 10, the application provides a mechanical part structure of a cow dung collecting device, which comprises a machine body 1, a tipping bucket mechanism 2, a lifting mechanism 3, a cleaning mechanism 4, a lifting mechanism 5 and a traveling mechanism 6, wherein the tipping bucket mechanism 2 comprises a tipping bucket box 21 arranged above the machine body 1, a tipping transmission assembly 22 and a traveling assembly 23 which are arranged between the tipping bucket box 21 and the machine body 1, the tipping transmission assembly 22 comprises a lead screw base plate 22-1 fixedly arranged on the upper side of the machine body 1, one end of the lead screw base plate 22-1 is provided with a tipping motor mounting seat 22-2, the tipping motor mounting seat 22-2 is provided with an unloading motor 22-3, two ends of the lead screw base plate 22-1 are respectively provided with a tipping lead screw supporting seat 22-4, a tipping lead screw 22-5 is arranged between the two tipping lead screw supporting seats 22-4, one end of the tipping lead screw 22-5 is connected with the unloading motor 22-3 through a coupler The force output end is connected, a push plate 22-7 is sleeved on the overturning lead screw 22-5, the push plate 22-7 is in threaded connection with the overturning lead screw 22-5, at least one tie bar 22-8 is hinged to the push plate 22-7, the other end of the tie bar 22-8 is hinged to a transverse bar 22-9, and the transverse bar 22-9 is fixedly installed at the bottom of the hopper overturning box 21; the walking assembly 23 comprises a group of walking rails 23-1 arranged on the machine body 1 and a plurality of groups of walking rollers 23-2 matched with the walking rails 23-1, and the walking rollers 23-2 are arranged at the bottom of the tipping box 21 through roller seats 23-3; the lifting mechanism 3 comprises a lifting mechanism body 31, a lifting transmission assembly 32, a material lifting hopper 33 and two groups of chain supports 34, wherein the lifting transmission assembly 32, the material lifting hopper 33 and the two groups of chain supports 34 are arranged in the lifting mechanism body 31, the lifting mechanism body 31 comprises a lifting channel 31-1, the lifting channel 31-1 is obliquely arranged, and an upper discharge port of the lifting channel 31-1 is positioned right above the hopper overturning box 21; the lifting transmission assembly 32 comprises a scraper motor 32-1, a driving wheel shaft 32-2 arranged at the upper end of the lifting channel 31, a driven wheel shaft 32-3 arranged at the lower end of the lifting channel 31, a driving wheel 32-4 arranged on the driving wheel shaft 32-2, a driven wheel 32-5 arranged on the driven wheel shaft 32-3 and a chain 32-6 connected to the driving wheel 32-4 and the driven wheel 32-5, wherein the power output end of the scraper motor 32-1 is connected with the driving wheel shaft 32-2 through a transmission connection assembly 32-7; the material lifting hopper 33 comprises a scraping plate 33-1, a material blocking plate 33-2 and side baffle plates 33-3, two ends of the material blocking plate 33-2 are respectively connected to the two groups of chains 32-6 and are parallel to the moving direction of the chains 32-6, the scraping plate 33-1 and the material blocking plate 33-2 are vertically connected to form an L shape, and the side baffle plates 33-3 are arranged at two ends of the scraping plate 33-1; the two groups of chain supports 34 are respectively arranged on two sides in the lifting channel 31, each group of chain supports 34 comprises two groove-shaped support frames 34-1 which are arranged in parallel, a group of cylindrical support columns 34-2 are symmetrically arranged on two sides in each groove-shaped support frame 34-1, and the chains 32-6 are annularly arranged between the two groups of support columns 34-2; the cleaning mechanism 4 comprises an auger mounting frame 41, a cleaning transmission assembly 42, a cleaning auger 43 and a feces guide plate 44, the auger mounting frame 41 comprises a fixing plate 41-1 arranged horizontally, a mounting plate 41-2 vertically connected below two ends of the fixing plate 41-1, a connecting plate 41-3 arranged in the middle of the upper part of the fixing plate 41-1 and a reinforcing rib 41-4 arranged on the connecting plate 41-3, and the fixing plate 41-1 is arranged at the lower part of the front wall of the lifting channel 31 through the connecting plate 41-3; the cleaning transmission assembly 42 comprises a scroll motor 42-1 and a rotating shaft 42-2, the scroll motor 42-1 is arranged above the fixed plate 41-1, two ends of the rotating shaft 42-2 are respectively arranged on the mounting plates 41-2 at two ends of the fixed plate 41-1 through bearings, a transmission wheel 42-3 is fixedly arranged in the middle of the rotating shaft 42-2, and a power output end of the scroll motor 42-1 is in transmission connection with the transmission wheel 42-3 through a transmission belt 42-4; a group of cleaning augers 43 are oppositely sleeved on the rotating shaft 42-2 in a mirror image mode by taking the driving wheel 42-3 as a mirror image shaft, and each cleaning auger 43 comprises an auger sleeve 43-1 and an auger blade 43-2 arranged on the auger sleeve 43-1; the manure guide plate 44 is an arc-shaped plate connected below the rear end of the fixed plate 41-1, the groove of the arc-shaped plate is arranged towards one side of the fixed plate 41-1, a manure outlet 44-1 is arranged in the middle of the manure guide plate 44, and the manure outlet 44-1 is communicated with the lower feed inlet of the lifting channel 31; the lifting mechanism 5 comprises a lifting transmission component 51 and a guide component 52, the lifting transmission component 51 comprises a lifting motor base 51-1 arranged on the machine body 1, a lifting motor 51-2 is arranged on the lifting motor base 51-1, the power output end of the lifting motor 51-2 is connected with a lifting screw 51-3, the lifting screw 51-3 is arranged between a group of lifting screw supporting bases 51-4, a lifting block 51-5 is sleeved on the lifting screw 51-3, the lifting block 51-5 is in threaded connection with the lifting screw 51-3, and the lifting block 51-5 is fixedly connected with a bottom plate 31-3-1 of the lifting channel 31; the guide assembly 52 comprises a guide rail 52-1 arranged on the machine body 1 and a guide slide block 52-2 matched with the guide rail 52-1 for use, and the guide slide block 52-2 is fixedly connected with the lifting channel 31; the travelling mechanism 6 comprises two driving travelling wheels 61 and two follow-up travelling wheels 62, the two driving travelling wheels 61 are independently arranged on two sides of the front part of the machine body 1 through two connecting shafts 63 respectively, each travelling wheel is independently connected with a travelling motor 64, and the two follow-up travelling wheels 62 are arranged on two sides of the rear part of the machine body 1 through travelling wheel seats 65 respectively; the traveling motor 64 includes a left wheel motor fitted to the left active traveling wheel and a right wheel motor fitted to the right active traveling wheel. The push plate 22-7 is provided with a threaded lantern ring 22-7-1 and a hinged ring 22-7-2, the push plate 22-7 is sleeved on the screw rod through the threaded lantern ring 22-7-1, and the lacing wire 22-8 is hinged with the push plate 22-7 through the hinged ring 22-7-2. The overturning transmission assembly 22 further comprises a limit switch, the limit switch is arranged on the machine body 1, and the limit switch is electrically connected with the unloading motor 22-3; the walking assembly 23 further comprises a group of buffer columns 23-4, and the buffer columns 23-4 are arranged above the front portion of the walking track 23-1. The lower feed inlet of the lifting channel 31 is provided with an arc-shaped material conveying chute 31-2, and the upper discharge outlet is provided with a material guide chute 31-3; the arc-shaped material conveying groove 31-2 is communicated with the manure outlet 44-1; the material guide groove 31-3 comprises a bottom plate 31-3-1 provided with a strip-shaped hole and a triangular side plate 31-3-2, and the included angle between the bottom plate 31-3-1 and the lifting channel 31 is 90 degrees; the included angle between the lifting channel 31 and the horizontal plane is 45-60 degrees. The lower part of the lifting channel 31 is provided with supporting rollers 31-4, and a plurality of supporting plates 31-5 are connected between two side walls in the lifting channel 31. The transmission connecting assembly 32-7 is a transmission wheel/transmission belt combination or a transmission chain wheel/transmission chain combination; the walking track 23-1 is a group of oppositely arranged groove-shaped tracks, and the walking track 23-1 comprises a horizontal part 23-1-1, an arc part 23-1-2 and an inclined part 23-1-3 which are connected in sequence. The driving wheel shaft 32-2 is arranged on the lifting channel 31-1 through an adjusting installation seat 32-8, the adjusting installation seat 32-8 comprises a C-shaped groove 32-8-1, the bottom of the C-shaped groove 32-8-1 is provided with a strip-shaped hole, a bearing support plate 32-8-2 is embedded in the C-shaped groove 32-8-1, a bearing 32-8-3 is embedded in the bearing support plate 32-8-2, one end of the C-shaped groove 32-8-1 is fixedly provided with a first boss 32-8-4 with a threaded hole, one side of the bearing support plate 32-8-2 is fixedly provided with a second boss 32-8-5 with a threaded hole, the first boss is connected with the second boss 32-8-5 through an adjusting bolt 32-8-6, the C-shaped groove 32-8-1 is installed on the side wall of the lifting channel 31-1 through a screw, the strip-shaped hole of the C-shaped groove 32-8-1 is aligned with the strip-shaped hole of the side wall of the lifting channel 31-1, and the bearing 32-8-3 is connected with the driving wheel shaft 32-2. The chain is a roller chain, and rollers 32-6-1 are arranged on sleeves of the roller chain.

Referring to fig. 1 to 11, the automatic avoidance cow dung collection control system includes an artificial intelligence control subsystem 70, a first serial port line interface converter 80, a second serial port line interface converter 81, a third serial port line interface converter 82, a PLC controller 83, a vehicle-mounted motor driver 84, an ultrasonic ranging module 85, a traveling motor, a first port expander 86, a second port expander 87, a third port expander 88, a sensor assembly 89, a first dung removing device motor driver 810, a second dung removing device motor driver 811, an unloading motor, a lifting motor, a scraper motor, a reel motor, and a travel switch assembly 812, wherein the artificial intelligence control subsystem 70 is connected with the first serial port line interface converter 80, the second serial port line interface converter 81, and the third serial port line interface converter 82, respectively; the first serial port line interface converter 80 is connected with a vehicle-mounted motor driver 84, the vehicle-mounted motor driver 84 is connected with a walking motor, the walking motor is assembled on a walking wheel of a walking mechanism, the second serial port line interface converter 81 is connected with a PLC (programmable logic controller) 83, the third serial port line interface converter 82 is connected with an ultrasonic ranging module 85, the ultrasonic ranging module 85 is assembled on the machine body, and the ultrasonic ranging module 85 is used for measuring the distance from the mechanical body of the automatic avoidance cow dung collection machine to an obstacle; the first serial port line interface converter 80 is USB-RS232, the second serial port line interface converter 81 is USB-RS485, and the third serial port line interface converter 82 is USB-TTL.

The PLC controller 83 is connected to a first port expander 86, a second port expander 87, and a third port expander 88, respectively; the first port expander 86 is AD/GPIO/I₂The C bidirectional two-wire system synchronous serial bus, the second port expander 87 and the third port expander 88 are GPIO general purpose input/output.

The first port expander 86 is synchronously connected with the sensor assembly 89, the second port expander 87 is respectively connected with a first dung removing device motor driver 810 and a second dung removing device motor driver 811, the third port expander 88 is connected with a travel switch assembly 812, and the travel switch assembly 812 is used for limiting the moving position of the tipping mechanism;

the first dung removing device motor driver 810 is connected with the unloading motor and the lifting motor respectively, and the second dung removing device motor driver 811 is connected with the scraper motor and the reel motor respectively.

The automatic cow dung avoiding collection control system further comprises a fourth port expander 813 and a liquid crystal display screen 814, the PLC 83 is in communication connection with the fourth port expander 813, and the fourth port expander 813 is connected with the liquid crystal display screen 814. The fourth port expander 813 is a GPIO general purpose input/output.

The traveling motor comprises a left traveling wheel motor and a right traveling wheel motor, the left traveling wheel motor is assembled on a left traveling wheel of the traveling mechanism, and the right traveling wheel motor is assembled on a right traveling wheel of the traveling mechanism.

The travel switch assembly comprises a skip bucket front travel switch, a skip bucket rear travel switch, a skip bucket upper travel switch and a skip bucket lower travel switch, the skip bucket front travel switch, the skip bucket rear travel switch, the skip bucket upper travel switch and the skip bucket lower travel switch are respectively connected with the third port expander, and the skip bucket front travel switch, the skip bucket rear travel switch, the skip bucket upper travel switch and the skip bucket lower travel switch are assembled on the machine body and are located below the skip bucket mechanism.

Sensor module 89 includes voltage and current energy consumption detector, box temperature sensor, box humidity transducer, hydrogen sulfide detector, infrared sensor, pm2.5 sensor, ammonia sensor, environment humidity transducer and environment temperature sensor join in marriage and assemble on the fuselage, it still includes chargeable and dischargeable battery to dodge cow dung collection control system automatically, chargeable and dischargeable battery joins in marriage and assembles on the fuselage, voltage and current energy consumption detector is connected with chargeable and dischargeable battery.

The artificial intelligence control subsystem 70 comprises an artificial intelligence operator 71, a wireless USB interface 72, a USB interface 73, a first USB-TTL converter 74, a second USB-TTL converter 75, a third USB-TTL converter 76, a fourth USB-TTL converter 77, a fifth USB-TTL converter 78, a remote control handle 79, a ZED binocular camera 710, a laser radar range finder 711, a GPS positioning module 712, a gyroscope sensor 713, an operation input terminal 714 and an indoor positioning module 715, wherein the artificial intelligence operator 71 is respectively connected with the wireless USB interface 72, the USB interface 73, the first USB-TTL converter 74, the second USB-TTL converter 75, the third USB-TTL converter 76, the fourth USB-TTL converter 77 and the fifth USB-TTL converter 78, the wireless USB interface 72 is in communication connection with the remote control handle 79, the USB interface 73 is connected with the ZED binocular camera 710, the first USB-TTL converter 74 is connected to the lidar rangefinder 711, the second USB-TTL converter 75 is connected to the GPS positioning module 712, the third USB-TTL converter 76 is connected to the gyro sensor 713, the fourth USB-TTL converter 77 is connected to the operation input terminal 714, and the fifth USB-TTL converter 78 is connected to the indoor positioning module 715. The gyroscope sensor 713 is an MPU6050 sensor, and the indoor positioning module 715 employs a cellular positioning technology, a WIFI technology or a bluetooth technology, an infrared scanning technology, an ultra wideband technology, and the like of an existing communication network.

The artificial intelligence control subsystem 70 further comprises a voice service module 716, and the voice service module 716 communicates with the artificial intelligence arithmetic unit 71 through a TCP/IP protocol; the voltage-current energy consumption detector comprises a voltage sensor and a current sensor.

The artificial intelligence control subsystem 70 further comprises a remote monitoring module 717, the remote monitoring module 717 comprises a personal computer PC, a mobile phone APP, a cloud platform and a multi-ratio gateway, the multi-ratio gateway is communicated with the artificial intelligence arithmetic unit through an Ethernet and an MQTT communication protocol, the cloud platform is communicated with the multi-ratio gateway, and the personal computer PC and the mobile phone APP are in communication connection with the cloud platform.

Referring to fig. 12, 13, 14 and 15, a control chip of the PLC controller includes a COM pin, an AD0 pin, an AD1 pin, an AD2 pin, an AD3 pin, an AD4 pin, an AD5 pin, an AD6 pin, an AD7 pin, an AD8 pin, an AD9 pin, an X0 pin, an X1 pin, an X2 pin, an X3 pin, a 485A-1 pin, a 485B-1 pin, a 24V pin, a 0V pin, a COM0 pin, a Y0 pin, a Y1 pin, a Y2 pin, a Y3 pin, a Y4 pin, a Y5 pin, a Y6 pin, a Y7 pin, a Y8 pin, a Y9 pin, a Y10 pin, a 10 pin, an AD 10 pin, a humidity sensor, a box, a humidity sensor, the ammonia gas sensor, the environment temperature sensor and the environment humidity sensor are connected, and an X0 pin, an X1 pin, an X2 pin and an X3 pin are respectively connected with a skip bucket upper travel switch, a skip bucket lower travel switch, a skip bucket front travel switch and a skip bucket rear travel switch;

a Y0 pin is connected with a PWM-0 end, the PWM-0 end is used for sending PWM signals to a reel motor, a Y1 pin is connected with a PWM-1 end, the PWM-1 end is used for sending PWM signals to a scraper motor, a Y2 pin is connected with a PWM-2 end, the PWM-2 end is used for sending PWM signals to an unloading motor, a Y3 pin is connected with a PWM-3 end, and the PWM-3 end is used for sending PWM signals to a lifting motor;

the Y4 pin is connected with the EN-0 end, the EN-0 end is used for sending an enabling signal to a scroll motor, the Y5 pin is connected with the F/R-0 end, the F/R-0 end is used for sending a forward and reverse signal to the scroll motor, the Y6 pin is connected with the EN-1 end, the EN-1 end is used for sending an enabling signal to a scraper motor, the Y7 pin is connected with the F/R-1 end, the F/R-1 end is used for sending a forward and reverse signal to the scraper motor, the Y8 pin is connected with the EN-2 end, the EN-2 end is used for sending an enabling signal to an unloading motor, the Y9 pin is connected with the F/R-2 end, the F/R-2 end is used for sending a forward and reverse signal to an unloading motor, the Y10 pin is connected with the EN-3 end, and the EN-3 end is used for sending an enabling signal, the Y11 pin is connected with the F/R-3 end, and the F/R-3 end is used for sending a positive and negative rotation signal to the lifting motor.

The reel motor and the scraper motor are respectively connected with a second dung removing device motor driver, chip pins U1, V1, W1, REF1+, A1, B1, C1 and REF 1-of the second dung removing device motor driver are connected with the reel motor, and pins U2, V2, W2, REF2+, A2, B2, C2 and REF 2-of the second dung removing device motor driver are connected with the scraper motor; the lifting motor and the unloading motor are respectively connected with a first dung removing device motor driver, chip pins U1, V1, W1, REF1+, A1, B1, C1 and REF 1-of the first dung removing device motor driver are connected with the lifting motor, and pins U2, V2, W2, REF2+, A2, B2, C2 and REF 2-of the first dung removing device motor driver are connected with the unloading motor; chip pins U1, V1, W1, REF1+, A1, B1, C1 and REF 1-of the vehicle body motor driver are connected with a right wheel motor of a walking motor, and pins U2, V2, W2, REF2+, A2, B2, C2 and REF 2-of the vehicle body motor driver are connected with a left wheel motor of the walking motor.

The control system provided by the invention is adopted to carry out the automatic cleaning operation of cow dung, the artificial intelligence control subsystem is provided with a robot operating system, the artificial intelligence control subsystem sends an enabling signal and a forward and reverse rotation signal to the vehicle-mounted motor driver through the first serial port line interface converter, the vehicle-mounted motor driver controls the walking of the walking mechanism, the second serial port line interface converter sends a control instruction to the PLC controller, the PLC controller sends a control signal to the sensor assembly through the first port expander, the sensor assembly senses the temperature and humidity of the environment, the ammonia concentration, PM2.5, the hydrogen sulfide concentration, the temperature and humidity of the box body and the detection of voltage current energy consumption, the PLC controller sends enabling and forward and reverse rotation signals to the first dung removing device motor driver and the second dung removing device motor driver through the second port expander, the first dung removing device motor driver controls the operation and forward and reverse rotation of the unloading motor and the lifting motor, the second dung removing device motor driver controls the operation and the forward and reverse rotation of the scraper motor and the scroll motor, and the PLC receives the information of the stroke assembly through the third port expander so as to control the up-down and forward-backward movement positions of the tipping bucket mechanism; the reel motor provides power for the reeling mechanism, the reeling mechanism reels cow dung and sends the cow dung to the lifting mechanism, the scraper motor is assembled on the lifting mechanism and provides power for the lifting mechanism, the scraper mechanism is assembled with the transmission scraper, the scraper motor controls the transmission scraper to rotate in a conveyor belt manner, the cow dung in the reeling mechanism is transmitted to the tipping bucket mechanism in the rotating process, the tipping bucket box body of the tipping bucket mechanism is controlled by the unloading motor to turn over, so that the cow dung is unloaded, after the unloading is finished, the unloading motor turns over, the tipping bucket box returns, the stroke switch component controls the up-down stroke, the front-back stroke and the back-forth stroke of the tipping bucket box, and thus, the collection and the unloading of the cow dung can be finished only by controlling through the PLC controller,

when the cow dung collecting device is assembled, a photoelectric encoder, a binocular camera, a laser radar and a GPS positioning module are used for positioning and navigating to the entrance of a cow farm when the cow dung collecting device is taken out of a warehouse; and in the cow dung cleaning operation, a photoelectric encoder, a binocular camera, laser radar data fusion, slam graph construction and traversal path planning are utilized. When detecting that excrement is full, firstly recording the current coordinate point, and then removing the manure pit and pouring the excrement. After finishing dumping, the coordinate point of the record is returned to continue to finish cow dung cleaning operation, the operation is repeated circularly until the operation is finished, and after the operation is finished, no matter whether the dung bucket is full or not, a dung dumping task is executed, and finally the charging pile is returned.

Unloading manure: when the manure reaches the manure pit, the manure bucket descends to complete the dumping task and then rises.

In the cleaning process, the electric quantity of the battery is lower than a certain threshold value, the current coordinate point is recorded at first, and the charging pile is charged. And returning to the coordinate point to continue cleaning after charging is finished. And in storage, firstly, the robot is adjusted to be parallel to the charging pile at a certain position away from the storage by using a gyroscope, and then point-to-point navigation is carried out to be in seamless joint with the charging pile.

Claims (9)

1. An automatic avoidance cow dung collection control system is assembled on a mechanical part of a cow dung collection device and used for controlling the mechanical part of the cow dung collection device; the method is characterized in that: the automatic avoidance cow dung collection control system comprises an artificial intelligence control subsystem, a first serial port line interface converter, a second serial port line interface converter, a third serial port line interface converter, a PLC (programmable logic controller), a vehicle-mounted motor driver, an ultrasonic ranging module, a walking motor, a first port expander, a second port expander, a third port expander, a sensor assembly, a first dung removing device motor driver, a second dung removing device motor driver, an unloading motor, a lifting motor, a scraper motor, a scroll motor and a travel switch assembly, wherein the artificial intelligence control subsystem is respectively connected with the first serial port line interface converter, the second serial port line interface converter and the third serial port line interface converter;

the first serial port line interface converter is connected with a vehicle-mounted motor driver, the vehicle-mounted motor driver is connected with a walking motor, the walking motor is assembled on a walking wheel of a walking mechanism, the second serial port line interface converter is connected with a PLC (programmable logic controller), the third serial port line interface converter is connected with an ultrasonic ranging module, the ultrasonic ranging module is assembled on the machine body, and the ultrasonic ranging module is used for measuring the distance between the automatic avoidance cow dung collection robot mechanical body and an obstacle;

the PLC controller is respectively connected with the first port expander, the second port expander and the third port expander;

the first port expander is synchronously connected with the sensor assembly, the second port expander is respectively connected with a first dung removing device motor driver and a second dung removing device motor driver, the third port expander is connected with a travel switch assembly, and the travel switch assembly is used for limiting the moving position of the tipping mechanism;

the first dung removing device motor driver is respectively connected with the unloading motor and the lifting motor, the unloading motor is assembled below the tipping bucket mechanism, the lifting motor is assembled on the lifting mechanism, the second dung removing device motor driver is respectively connected with the scraper motor and the scroll motor, the scraper motor is assembled on the lifting mechanism, the lifting mechanism is assembled with the transmission scraper, the scraper motor controls the transmission of the transmission scraper, the scroll motor is assembled on the furling mechanism and controls the transmission of the furling mechanism.

2. The automatic avoidance cow dung collection control system according to claim 1, wherein: the automatic cow dung avoiding and collecting control system further comprises a fourth port expander and a liquid crystal display screen, the PLC is in communication connection with the fourth port expander, and the fourth port expander is connected with the liquid crystal display screen.

3. The automatic avoidance cow dung collection control system according to claim 2, wherein: the traveling motor comprises a left traveling wheel motor and a right traveling wheel motor, the left traveling wheel motor is assembled on a left traveling wheel of the traveling mechanism, and the right traveling wheel motor is assembled on a right traveling wheel of the traveling mechanism.

4. The automatic avoidance cow dung collection control system according to claim 3, wherein: the travel switch assembly comprises a skip bucket front travel switch, a skip bucket rear travel switch, a skip bucket upper travel switch and a skip bucket lower travel switch, the skip bucket front travel switch, the skip bucket rear travel switch, the skip bucket upper travel switch and the skip bucket lower travel switch are respectively connected with the third port expander, and the skip bucket front travel switch, the skip bucket rear travel switch, the skip bucket upper travel switch and the skip bucket lower travel switch are assembled on the machine body and are located below the skip bucket mechanism.

5. The automatic avoidance cow dung collection control system according to claim 4, wherein: sensor module includes voltage and current energy consumption detector, box temperature sensor, box humidity transducer, hydrogen sulfide detector, infrared sensor, pm2.5 sensor, ammonia sensor, ambient humidity sensor and ambient temperature sensor join in marriage the fuselage, it still includes chargeable and dischargeable battery to dodge cow dung collection control system automatically, chargeable and dischargeable battery joins in marriage and assembles on the fuselage, voltage and current energy consumption detector is connected with chargeable and dischargeable battery.

6. The automatic avoidance cow dung collection control system according to claim 5, wherein: the artificial intelligence control subsystem comprises an artificial intelligence arithmetic unit, a wireless USB interface, a first USB-TTL converter, a second USB-TTL converter, a third USB-TTL converter, a fourth USB-TTL converter, a fifth USB-TTL converter, a remote control handle, a ZED binocular camera, a laser radar range finder, a GPS positioning module, a gyroscope sensor, an operation input terminal and an indoor positioning module, wherein the artificial intelligence arithmetic unit is respectively connected with the wireless USB interface, the first USB-TTL converter, the second USB-TTL converter, the third USB-TTL converter, the fourth USB-TTL converter and the fifth USB-TTL converter, the wireless USB interface is in communication connection with the remote control handle, the USB interface is connected with the ZED binocular camera, the first USB-TTL converter is connected with the laser radar range finder, the second USB-TTL converter is connected with the GPS positioning module, the third USB-TTL converter is connected with the gyroscope sensor, the fourth USB-TTL converter is connected with the operation input terminal, and the fifth USB-TTL converter is connected with the indoor positioning module.

7. The automatic avoidance cow dung collection control system according to claim 6, wherein: the artificial intelligence control subsystem also comprises a remote monitoring module, the remote monitoring module comprises a personal computer, a mobile phone APP, a cloud platform and a multi-ratio gateway, the multi-ratio gateway is communicated with the artificial intelligence arithmetic unit through an Ethernet and an MQTT communication protocol, the cloud platform is communicated with the multi-ratio gateway, and the personal computer, the mobile phone APP and the cloud platform are in communication connection.

8. The automatic avoidance cow dung collection control system according to claim 7, wherein: the artificial intelligence control subsystem also comprises a voice service module which is communicated with the artificial intelligence arithmetic unit through a TCP/IP protocol; the voltage-current energy consumption detector comprises a voltage sensor and a current sensor.

9. The automatic avoidance cow dung collection control system according to claim 8, wherein: the control chip of the PLC controller comprises a COM pin, an AD0 pin, an AD1 pin, an AD2 pin, an AD3 pin, an AD4 pin, an AD5 pin, an AD6 pin, an AD7 pin, an AD8 pin, an AD9 pin, an X0 pin, an X1 pin, an X2 pin, an X3 pin, a 485A-1 pin, a 485B-1 pin, a 24V pin, a 0V pin, a COM0 pin, a Y0 pin, a Y1 pin, a Y2 pin, a Y3 pin, a Y4 pin, a Y5 pin, a Y6 pin, a Y7 pin, a Y8 pin, a Y9 pin, a Y10 pin and a Y10 pin, an AD 10 pin, a temperature sensor, an AD 10, a humidity sensor, an infrared sensor, an ammonia sensor, an environment sensor and an infrared sensor, the X0 pin, the X1 pin, the X2 pin and the X3 pin are respectively connected with a skip upper travel switch, a skip lower travel switch, a skip front travel switch and a skip rear travel switch;

a Y0 pin is connected with a PWM-0 end, the PWM-0 end is used for sending PWM signals to a reel motor, a Y1 pin is connected with a PWM-1 end, the PWM-1 end is used for sending PWM signals to a scraper motor, a Y2 pin is connected with a PWM-2 end, the PWM-2 end is used for sending PWM signals to an unloading motor, a Y3 pin is connected with a PWM-3 end, and the PWM-3 end is used for sending PWM signals to a lifting motor;

the Y4 pin is connected with the EN-0 end, the EN-0 end is used for sending an enabling signal to a scroll motor, the Y5 pin is connected with the F/R-0 end, the F/R-0 end is used for sending a forward and reverse signal to the scroll motor, the Y6 pin is connected with the EN-1 end, the EN-1 end is used for sending an enabling signal to a scraper motor, the Y7 pin is connected with the F/R-1 end, the F/R-1 end is used for sending a forward and reverse signal to the scraper motor, the Y8 pin is connected with the EN-2 end, the EN-2 end is used for sending an enabling signal to an unloading motor, the Y9 pin is connected with the F/R-2 end, the F/R-2 end is used for sending a forward and reverse signal to an unloading motor, the Y10 pin is connected with the EN-3 end, and the EN-3 end is used for sending an enabling signal, the Y11 pin is connected with the F/R-3 end, and the F/R-3 end is used for sending a positive and negative rotation signal to the lifting motor.

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