CN114055469A - Electric control type leaking floor cleaning and disinfecting robot system, method, medium and terminal - Google Patents
Electric control type leaking floor cleaning and disinfecting robot system, method, medium and terminal Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
- A61L2/18—Liquid substances or solutions comprising solids or dissolved gases
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/24—Apparatus using programmed or automatic operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/26—Accessories or devices or components used for biocidal treatment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/14—Means for controlling sterilisation processes, data processing, presentation and storage means, e.g. sensors, controllers, programs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/15—Biocide distribution means, e.g. nozzles, pumps, manifolds, fans, baffles, sprayers
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Public Health (AREA)
- Epidemiology (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention belongs to the technical field of robots, automatic control, Internet of things, wireless communication and farm cleaning and disinfection, and discloses an electric control type leaking floor cleaning and disinfecting robot system, a method, a medium and a terminal, wherein the electric control type leaking floor cleaning and disinfecting robot system with a horizontal rotating steel brush consists of a robot control platform and a cleaning and disinfecting system with the horizontal rotating steel brush; the robot control platform consists of a crawler-type walking device, a power supply system, a control system and an image return system; the cleaning and disinfecting system with the horizontal rotating steel brush consists of a horizontal steel brush cleaning system, a high-pressure water gun cleaning and disinfecting system and a control system. The intelligent cleaning and disinfecting device can regularly complete routine cleaning and disinfecting and intelligent fixed-point cleaning and disinfecting of the pigsty environment, and can enter the excrement ditch to clean and disinfect the leaky floor. The system can not only clean and disinfect the pigsty environment, but also clean and disinfect other livestock and poultry environments.
Description
Technical Field
The invention belongs to the technical field of robots, automatic control, Internet of things, wireless communication and farm cleaning and disinfection, and particularly relates to an electric control type leaking floor cleaning and disinfection robot system with a horizontal rotating steel brush, a method, a medium and a terminal.
Background
In recent years, with the improvement of the living standard of people, the demand of people on live pig products is increased year by year, and the development process of live pig breeding to scale, intensification and modernization is accelerated. With the increasing of the market scale and the expanding of the circulation range of live pig products, the prevention and control of live pig breeding epidemic diseases tend to be complicated, particularly, once some viral infectious diseases occur in a breeding farm, the control is difficult, massive live pigs are usually killed, and disastrous loss is caused to the breeding farm. In addition, for pigs died from illness, if the pigs are not treated and disinfected in time, viruses can be transmitted to other healthy pigs, and unnecessary loss is caused. Therefore, in the production, to obtain stable production benefits, the ground soil, excrement, sewage, fur, facilities and equipment of the pigsty and the dead pig bodies must be disinfected regularly and fully, and a scientific disinfection method is adopted to kill pathogenic microorganisms spreading in the external environment from the infection source, cut off the propagation path, prevent the epidemic disease from spreading continuously and ensure the healthy and stable development of the breeding industry.
In modern pig farms, leaky floors are usually laid on the excreta ditches to keep the interior of the pen clean and sanitary, improve environmental conditions, and reduce the workload of manual cleaning. However, the cleaning and disinfection of the leaky floor are very difficult, and especially the leaky floor facing to the excrement and urine ditch surface cannot be cleaned and disinfected at all without special machinery. If the leaky floor is not cleaned for a long time, a large amount of excrement and urine stains are hardened on the surface of the leaky floor, a large amount of viruses and bacteria are bred, and the living environment and epidemic disease prevention and control of live pigs are seriously influenced.
At present, the cleaning and disinfection mode of most pigsties still mainly uses manual cleaning and disinfection, and the cleaning and disinfection mode not only wastes time and energy, and is low in efficiency and high in production cost, but also can cause serious harm to the body and mind of a worker in a severe environment with high humidity and containing harmful gases such as ammonia gas and hydrogen sulfide for a long time. Therefore, it is desirable to design a new robot system for cleaning and disinfecting a leaky floor.
Through the above analysis, the problems and defects of the prior art are as follows: the existing mode of manually cleaning and disinfecting the pigsty is time-consuming and labor-consuming, low in efficiency and high in production cost, and workers are in a severe environment with high humidity and harmful gases such as ammonia gas and hydrogen sulfide for a long time, so that the bodies and the mind are seriously injured; the cleaning and disinfection of the leaky floor are very difficult, and especially the leaky floor facing to the excrement ditch surface cannot be cleaned and disinfected at all without special machinery. If the leaky floor is not cleaned for a long time, a large amount of excrement and urine stains are hardened on the surface of the leaky floor, a large amount of viruses and bacteria are bred, and the living environment and epidemic disease prevention and control of live pigs are seriously influenced.
The difficulty in solving the above problems and defects is: (1) the excrement and urine stains hardened on the leaky floor are loosened without the help of mechanical friction; (2) only part of the loose excrement and urine drops from the leaking floor under the action of mechanical friction, and if a high-pressure water gun is not matched, the excrement and urine and the urine are difficult to clean; (3) the space in the excrement ditch is narrow, so that the cleaning and disinfecting work cannot be finished only by manpower; (4) the pigsty is high in humidity and high in concentration of harmful gases such as ammonia gas and hydrogen sulfide, ventilation cannot be performed particularly in spring and winter, the pigsty is high in humidity and high in concentration of harmful gases such as ammonia gas and hydrogen sulfide.
The significance of solving the problems and the defects is as follows: the electric control type leaking floor cleaning and disinfecting robot system with the horizontal rotating steel brush can improve the working efficiency, reduce the production cost, ensure the physical and mental health of workers, conveniently clean and disinfect the leaking floor facing to the excrement and urine ditch surface, and achieve the aim of cleaning under the combined action of mechanical friction and a high-pressure water gun.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an electric control type leaking floor cleaning and disinfecting robot system with a horizontal rotating steel brush, a method, a medium and a terminal, and particularly relates to an electric control type leaking floor cleaning and disinfecting robot system with a horizontal rotating steel brush and a control method thereof, wherein the electric control type leaking floor cleaning and disinfecting robot system is suitable for a pig farm.
The invention is realized in such a way that an electric control type cleaning and disinfecting robot system for a slotted floor with a horizontal rotating steel brush consists of a robot control platform and a cleaning and disinfecting system with a horizontal rotating steel brush.
The robot control platform consists of a crawler-type walking device, a power supply system, a platform control system and an image return system; when the robot control platform works, the platform control system controls the robot control platform to move forwards, backwards, turn left and right, the image return system monitors the working environment of the robot control platform in real time and wirelessly transmits the working environment to the display monitoring system, and an operator grasps the working condition of the robot control platform in real time and adjusts the working condition in time according to the image transmitted back by the image return system so that the robot control platform keeps a correct working state;
the cleaning and disinfecting system with the horizontal rotating steel brush consists of a horizontal steel brush cleaning system, a high-pressure water gun cleaning and disinfecting system and a cleaning and disinfecting control system; during cleaning, the lifting system in the horizontal steel brush cleaning system is controlled by the cleaning and disinfecting control system to move up and down according to actual working requirements, so that the cleaning assembly is kept at a proper working position; meanwhile, the cleaning and disinfecting control system controls the horizontal steel wire brush in the horizontal steel brush cleaning system to rotate anticlockwise or clockwise to finish the cleaning work of the steel wire brush; the cleaning and disinfecting control system also adjusts mechanical arms in the high-pressure water gun cleaning and disinfecting system in real time, so that the height, the angle, the left-right swinging amplitude and the frequency of the high-pressure spray head are kept in a proper working state, and pig manure and urine stains remained on a leaking floor after the cleaning assembly is cleaned; during disinfection, the cleaning and disinfection control system controls the mechanical arm in the high-pressure water gun cleaning and disinfection system to enable the height, the angle, the left-right swinging amplitude and the frequency of the high-pressure spray nozzle to be kept in a normal working state, so that the leaking floor is disinfected.
Further, automatically controlled formula leaking floor cleaning and disinfection robot system with horizontal rotation steel brush still includes water pump motor assembly, driving motor, belt pulley, receipts pipe support, high-pressure water pipe, lead screw base, trapezoidal lead screw, transmission shaft, right angle commutator, track robot, arm, high pressure nozzle, support base, horizontal steel brush, servo motor, crawler-type running gear, support column, a supporting beam and go up the backup pad.
Further, the robot control platform includes:
(1) robot walking device
The robot walking device is a crawler type and consists of a driving wheel, a speed reducer, a driving motor, a thrust wheel, a guide wheel, a supporting belt wheel, a tensioning device, a buffer spring, a walking mechanism and a crawler; the caterpillar band is made of high-quality rubber embedded with Kevlar fibers, the width of the caterpillar band is 200mm, and the center distance is 850 mm; the driving motor is a 48V direct current brushless motor; the driving wheel is made of medium carbon steel, namely No. 40 steel, is connected with the speed reducer and is used for providing driving force for the robot to walk; the belt supporting wheel is used for dragging the crawler belt and preventing the crawler belt from excessively drooping so as to reduce the vibration and jumping phenomenon of the crawler belt in motion and prevent the crawler belt from sliding off laterally; the number of the supporting belt wheels on one side of the walking device is 2, and the supporting belt wheels consist of solid rubber rims and steel wheel discs; the tensioning device is used for realizing the tensioning function of the track; the buffer spring is used for being matched with the tensioning device to realize the elastic tensioning function of the track; the guide wheels are used for guiding the track to correctly revolve so as to prevent deviation and track crossing; the guide wheel is processed by medium carbon steel; the thrust wheels are used for supporting the weight of the robot and enabling the crawler belt to advance along the wheels; the number of the thrust wheels on one side of the walking device is 5, and the thrust wheels are made of polyoxymethylene POM materials; the walking mechanism comprises a body of the crawler chassis, and is a driving wheel, a speed reducer, a driving motor, a thrust wheel, a guide wheel, a supporting belt wheel, a tensioning device and a buffer spring carrier platform, so that the guide wheel and the thrust wheel are convenient to fix and install; the walking device is made of stainless steel materials.
(2) Platform control system
The control system realizes wireless and motion control of the robot by using a remote control mode and consists of a wireless control system, a motion control system and a control center.
(3) Image return system
The image return system is a system for monitoring the terminal display equipment in real time by using a mobile phone, and comprises a camera, a wireless module and a terminal display; the camera collects data, transmits the data through the wireless module and finally displays the data on a terminal display of the mobile phone.
(4) Power supply system
The robot power system comprises 1 48v lithium battery, 1 24v lithium battery, a cooling system, other accessories and the like; the 48v lithium battery is used for providing electric energy for the robot walking device; the 24v lithium battery is used for providing electric energy for the image return system, the mechanical arm driving motor and the cleaning and disinfecting system.
Further, the platform control system includes:
1) wireless control system
The wireless control system consists of a data detection center, a Hadoop cloud platform and a mobile client; the data monitoring center is used for storing the real-time state data of the robot into the server and issuing a control instruction to the robot; the Hadoop cloud platform is used for calculating data parameters of the robot; the mobile client is used for monitoring and controlling the robot in real time.
2) Motion control system
The motion control system consists of a motion control module, a brushless motor and other auxiliary components; the brushless motor is connected with the motion control module and used for realizing speed closed-loop control, and the motion control module is connected with the control center; when the robot works, the robot sends out an instruction through remote wireless control, the control center receives the instruction and transmits a signal to the motion control module, and the motion control module controls the motor to work, so that the motion of the robot is controlled.
3) Control center
The control center adopts a DSP TMS320F2812 microprocessor as a controller, is used for acquiring instructions sent by the cloud platform, and realizes various control functions through an I/O port.
Further, the cleaning and disinfecting system with the horizontal rotating steel brush comprises:
(1) horizontal steel brush cleaning system
The horizontal steel brush cleaning system consists of a cleaning assembly, a lifting system and other accessory accessories; the cleaning assembly consists of 4 horizontal steel wire brushes, 4 servo motors, 3 lower support bases, 1 upper support plate, 1 support beam and 6 support cylinders; wherein the diameter of the horizontal steel wire brush is 360mm, the thickness of the horizontal steel wire brush is 100mm, and the axial distance between the adjacent steel wire brushes is 380 mm; the lower supporting base and the upper supporting plate are both made of stainless steel with the thickness of 5 mm; the supporting beam is formed by processing a stainless steel pipe with the diameter of 40 multiplied by 100 multiplied by 2 mm; the supporting cylinder is formed by processing a stainless steel pipe with the diameter of 25.4mm and the thickness of 2 mm; the servo motor is a 24v direct current brushless waterproof motor; the lifting system consists of a T-shaped threaded lifter, a speed reduction transmission system and other accessory accessories; the T-shaped thread lifter comprises 2 lead screw bases and 2T-shaped lead screws; the speed reduction transmission system consists of 3 transmission shafts, 1 right-angle commutator, 1 servo motor and other accessories; the lifting system is used for realizing the up-and-down movement of the cleaning and disinfecting system and meeting the cleaning and disinfecting requirements.
(2) High-pressure water gun cleaning and disinfecting system
The high-pressure water gun cleaning system consists of a water pump motor assembly, a high-pressure water pipe storage system and a high-pressure water gun injection system and is used for completing independent cleaning and independent disinfection or matching with a horizontal steel brush cleaning system to complete the cleaning and disinfection of the leaking floor; the water pump motor assembly consists of a high-pressure water pump, a driving motor and accessories and is used for providing high-pressure water for the high-pressure water gun cleaning system, and the highest pressure of the high-pressure water pump can provide 15MPa of water pressure; the high-pressure water pipe storage system consists of a driving motor, a belt pulley, a belt, a high-pressure water pipe, a storage shielding spoke and a storage pipe winding shaft and is used for orderly, regularly and automatically winding the high-pressure water pipe on the storage pipe winding shaft or automatically releasing the high-pressure water pipe when the cleaning and disinfecting robot system works so as to ensure that the cleaning and disinfecting robot system works; the high-pressure water gun injection system consists of a high-pressure spray head, a mechanical arm and a high-pressure water pipe, is used for realizing fixed-point cleaning and disinfection under the driving of the mechanical arm, and completes the cleaning work of the leaking floor by swinging left and right in cooperation with a horizontal steel brush cleaning system.
(3) Cleaning and disinfecting control system
The control system comprises a water pump assembly motor control module, a high-pressure water pipe storage system motor control module, a high-pressure water gun injection system motor control module, a lifting system motor control module, a horizontal steel brush cleaning assembly motor control module, a wireless transmission receiving control module, a control display screen/mobile phone and a software system, and is used for completing control over the water pump motor assembly, the high-pressure water pipe storage system, the high-pressure water gun injection system, the lifting system and the horizontal steel brush cleaning assembly through a wireless remote operation display screen/mobile phone.
Another object of the present invention is to provide a control method of an electric control type leaking floor cleaning and disinfecting robot system with a horizontal rotating steel brush, which applies the electric control type leaking floor cleaning and disinfecting robot system with a horizontal rotating steel brush, the control method of the electric control type leaking floor cleaning and disinfecting robot system with a horizontal rotating steel brush comprising the following steps:
step one, a cleaning process: when the robot works forwards, the robot control platform is started through the mobile client, so that the robot control platform walks forwards along the central line of the excrement ditch;
step two, a disinfection process: after the robot cleans the spot such as the pig manure on the leaky floor, the robot control platform is controlled by the mobile client to walk backwards along the central line of the manure ditch.
Further, in the first step, the cleaning process includes:
when the robot works forwards, the robot control platform is started through the mobile client, so that the robot control platform walks forwards along the central line of the excrement ditch; meanwhile, the display screen/the mobile phone is controlled to open the electric valve of the water tank, close the electric valve of the disinfectant liquid tank, start the motor assembly of the water pump, adjust the pressure adjusting valve on the high-pressure water pump, and provide high-pressure water meeting the working requirements for the high-pressure water gun injection system, wherein the pressure adjusting range is 0-15 Mpa; the driving motor in the high-pressure water pipe storage system is started by controlling the display screen/the mobile phone, the storage pipe winding shaft is driven to rotate by the belt pulley and the belt, so that the high-pressure water pipe wound on the storage pipe winding shaft is loosened, and under the action of traction force of the robot control platform, the high-pressure water pipe slides forwards along the central line of the excrement ditch along with the robot control platform; a servo motor in the lifting system is started by controlling the display screen/the mobile phone, and the T-shaped lead screw is driven to move up and down by the right-angle commutator and the transmission shaft, so that the horizontal steel wire brush in the cleaning assembly stays at the optimal working position; a servo motor in the cleaning assembly is started by controlling the display screen/the mobile phone to drive the horizontal steel wire brush to rotate, so that pig manure and other stains attached to the bottom of the leaky floor are loosened and fall off under the action of friction force; the motor in the mechanical arm is started by controlling the display screen/the mobile phone, so that the mechanical arm is adjusted to a proper height, the high-pressure spray head is driven to swing left and right, and pig manure and other stains which are loosened and remained under the action of the horizontal steel wire brush and are attached to the bottom surface of the leaky floor are washed out, so that the aim of cleaning is fulfilled; the cleaning work of the slotted floor is completed through operation, so that the aim of cleaning is fulfilled; after the cleaning of the slotted floor is finished, the whole working system is restored to the initial working state through the mobile client, and preparation work is prepared for the next step of the disinfection of the slotted floor.
In the second step, the sterilization process includes:
after the robot cleans the spot such as the pig manure on the leaky floor, the robot control platform is controlled by the mobile client to walk backwards along the central line of the manure ditch. Meanwhile, the display screen/the mobile phone is controlled to close the electric valve of the water tank, open the electric valve of the disinfectant liquid tank, start the water pump motor assembly, adjust the pressure adjusting valve on the high-pressure water pump, and provide high-pressure liquid medicine meeting the working requirements for the high-pressure water gun injection system; the driving motor in the high-pressure water pipe storage system is started through controlling the display screen/the mobile phone, the storage pipe winding shaft is driven to rotate through the belt pulley and the belt, the high-pressure water pipe is wound on the storage pipe winding shaft, and the winding speed of the high-pressure water pipe wound on the storage pipe winding shaft is adapted to the running speed of the robot control platform through adjusting the rotating speed of the driving motor; the motor in the mechanical arm is started by controlling the display screen/the mobile phone, so that the mechanical arm is adjusted to a proper height, the high-pressure spray head is driven to swing left and right, and the disinfectant sprayed out from the high-pressure spray head is uniformly sprayed on the surface of the cleaned leaking floor without dead angles, so that the disinfecting work of the leaking floor is completed.
It is a further object of the invention to provide a computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of:
(1) and (3) cleaning: when the robot works forwards, the robot control platform is started through the mobile client, so that the robot control platform walks forwards along the central line of the excrement ditch; meanwhile, the display screen/the mobile phone is controlled to open the electric valve of the water tank, close the electric valve of the disinfectant liquid tank, start the motor assembly of the water pump, adjust the pressure adjusting valve on the high-pressure water pump, and provide high-pressure water meeting the working requirements for the high-pressure water gun injection system, wherein the pressure adjusting range is 0-15 Mpa; the driving motor in the high-pressure water pipe storage system is started by controlling the display screen/the mobile phone, the storage pipe winding shaft is driven to rotate by the belt pulley and the belt, so that the high-pressure water pipe wound on the storage pipe winding shaft is loosened, and under the action of traction force of the robot control platform, the high-pressure water pipe slides forwards along the central line of the excrement ditch along with the robot control platform; a servo motor in the lifting system is started by controlling the display screen/the mobile phone, and the T-shaped lead screw is driven to move up and down by the right-angle commutator and the transmission shaft, so that the horizontal steel wire brush in the cleaning assembly stays at the optimal working position; a servo motor in the cleaning assembly is started by controlling the display screen/the mobile phone to drive the horizontal steel wire brush to rotate, so that pig manure and other stains attached to the bottom of the leaky floor are loosened and fall off under the action of friction force; the motor in the mechanical arm is started by controlling the display screen/the mobile phone, so that the mechanical arm is adjusted to a proper height, the high-pressure spray head is driven to swing left and right, and pig manure and other stains which are loosened and remained under the action of the horizontal steel wire brush and are attached to the bottom surface of the leaky floor are washed out, so that the aim of cleaning is fulfilled; the cleaning work of the slotted floor is completed through operation, so that the aim of cleaning is fulfilled; after the cleaning of the slotted floor is finished, the whole working system is restored to the initial working state through the mobile client, and preparation work is prepared for the next step of the disinfection of the slotted floor.
(2) And (3) a disinfection process: after the robot cleans the spot such as the pig manure on the leaky floor, the robot control platform is controlled by the mobile client to walk backwards along the central line of the manure ditch. Meanwhile, the display screen/the mobile phone is controlled to close the electric valve of the water tank, open the electric valve of the disinfectant liquid tank, start the water pump motor assembly, adjust the pressure adjusting valve on the high-pressure water pump, and provide high-pressure liquid medicine meeting the working requirements for the high-pressure water gun injection system; the driving motor in the high-pressure water pipe storage system is started through controlling the display screen/the mobile phone, the storage pipe winding shaft is driven to rotate through the belt pulley and the belt, the high-pressure water pipe is wound on the storage pipe winding shaft, and the winding speed of the high-pressure water pipe wound on the storage pipe winding shaft is adapted to the running speed of the robot control platform through adjusting the rotating speed of the driving motor; the motor in the mechanical arm is started by controlling the display screen/the mobile phone, so that the mechanical arm is adjusted to a proper height, the high-pressure spray head is driven to swing left and right, and the disinfectant sprayed out from the high-pressure spray head is uniformly sprayed on the surface of the cleaned leaking floor without dead angles, so that the disinfecting work of the leaking floor is completed.
It is another object of the present invention to provide a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
(1) and (3) cleaning: when the robot works forwards, the robot control platform is started through the mobile client, so that the robot control platform walks forwards along the central line of the excrement ditch; meanwhile, the display screen/the mobile phone is controlled to open the electric valve of the water tank, close the electric valve of the disinfectant liquid tank, start the motor assembly of the water pump, adjust the pressure adjusting valve on the high-pressure water pump, and provide high-pressure water meeting the working requirements for the high-pressure water gun injection system, wherein the pressure adjusting range is 0-15 Mpa; the driving motor in the high-pressure water pipe storage system is started by controlling the display screen/the mobile phone, the storage pipe winding shaft is driven to rotate by the belt pulley and the belt, so that the high-pressure water pipe wound on the storage pipe winding shaft is loosened, and under the action of traction force of the robot control platform, the high-pressure water pipe slides forwards along the central line of the excrement ditch along with the robot control platform; a servo motor in the lifting system is started by controlling the display screen/the mobile phone, and the T-shaped lead screw is driven to move up and down by the right-angle commutator and the transmission shaft, so that the horizontal steel wire brush in the cleaning assembly stays at the optimal working position; a servo motor in the cleaning assembly is started by controlling the display screen/the mobile phone to drive the horizontal steel wire brush to rotate, so that pig manure and other stains attached to the bottom of the leaky floor are loosened and fall off under the action of friction force; the motor in the mechanical arm is started by controlling the display screen/the mobile phone, so that the mechanical arm is adjusted to a proper height, the high-pressure spray head is driven to swing left and right, and pig manure and other stains which are loosened and remained under the action of the horizontal steel wire brush and are attached to the bottom surface of the leaky floor are washed out, so that the aim of cleaning is fulfilled; the cleaning work of the slotted floor is completed through operation, so that the aim of cleaning is fulfilled; after the cleaning of the slotted floor is finished, the whole working system is restored to the initial working state through the mobile client, and preparation work is prepared for the next step of the disinfection of the slotted floor.
(2) And (3) a disinfection process: after the robot cleans the spot such as the pig manure on the leaky floor, the robot control platform is controlled by the mobile client to walk backwards along the central line of the manure ditch. Meanwhile, the display screen/the mobile phone is controlled to close the electric valve of the water tank, open the electric valve of the disinfectant liquid tank, start the water pump motor assembly, adjust the pressure adjusting valve on the high-pressure water pump, and provide high-pressure liquid medicine meeting the working requirements for the high-pressure water gun injection system; the driving motor in the high-pressure water pipe storage system is started through controlling the display screen/the mobile phone, the storage pipe winding shaft is driven to rotate through the belt pulley and the belt, the high-pressure water pipe is wound on the storage pipe winding shaft, and the winding speed of the high-pressure water pipe wound on the storage pipe winding shaft is adapted to the running speed of the robot control platform through adjusting the rotating speed of the driving motor; the motor in the mechanical arm is started by controlling the display screen/the mobile phone, so that the mechanical arm is adjusted to a proper height, the high-pressure spray head is driven to swing left and right, and the disinfectant sprayed out from the high-pressure spray head is uniformly sprayed on the surface of the cleaned leaking floor without dead angles, so that the disinfecting work of the leaking floor is completed.
Another object of the present invention is to provide an information data processing terminal for implementing the electrically controlled robot system for cleaning and disinfecting a leaky floor with a horizontally rotating steel brush.
By combining all the technical schemes, the invention has the advantages and positive effects that: the invention develops an electric control type pigsty leaking floor cleaning and disinfecting robot system with a horizontal rotating steel brush, which is suitable for pigsty environment, particularly suitable for cleaning and disinfecting leaking floors, by utilizing the technologies of artificial intelligence, sensors, automatic control, 5G communication, machining and the like. The robot can regularly complete routine cleaning and disinfection and intelligent fixed-point cleaning and disinfection of the pigsty environment, and can enter the excrement ditch to clean and disinfect the leaky floor. The system can not only clean and disinfect the pigsty environment, but also clean and disinfect other livestock and poultry environments.
The invention provides an electric control type pigsty leaking floor cleaning and disinfecting robot system with a horizontal rotating steel brush, which is characterized in that:
(1) one machine has multiple functions. The cleaning and disinfecting robot system for the pig house slotted floor has the functions of independent cleaning, independent disinfection, cleaning and disinfection of the slotted floor by matching with the horizontal steel brush cleaning system and the like, can not only finish the cleaning and disinfecting work of the slotted floor and the relative bottom surface of a pig manure ditch, but also finish the ground cleaning, ground disinfection and space disinfection work of other livestock and poultry houses.
(2) The work which can not be completed by manpower is completed. Due to the narrow space in the pig manure ditch and the high concentration of harmful gases such as ammonia gas, hydrogen sulfide, carbon dioxide and the like, workers are not suitable to enter the manure ditch to work. The system can go deep into the pig manure ditch through manual remote control to complete the cleaning and disinfection work.
(3) Viral infectious diseases can be avoided.
(4) Can protect the physical and psychological health of the cleaner. The humidity in the breeding house is high, and the breeding house contains various harmful gases such as ammonia gas, hydrogen sulfide, carbon dioxide and the like, so that the cleaner can work in such a severe environment and can cause serious harm to the body and mind of the cleaner. By using the system, cleaning workers do not need to enter the breeding house, and cleaning and disinfection can be completed through remote control outside the house.
(5) Improve work efficiency, reduce working cost. A2500-head pigsty is cleaned manually, and one person needs to work for 4-5 days. The robot system can be cleaned in about 1 day, which saves 3-4 days compared with manual cleaning, greatly improves the working efficiency and reduces the working cost.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a control method of an electrically controlled robot system for cleaning and disinfecting a leaky floor with a horizontally rotating steel brush according to an embodiment of the present invention.
FIG. 2 is a schematic structural diagram of an electrically controlled robot system for cleaning and disinfecting a leaky floor with a horizontally rotating steel brush according to an embodiment of the present invention;
in the figure: 1. a water pump motor assembly; 2. a drive motor; 3. a belt pulley; 4. collecting the pipe frame; 5. a high pressure water pipe; 6. a lead screw base; 7. a trapezoidal lead screw; 8. a drive shaft; 9. a right angle commutator; 10. a tracked robot; 11. a mechanical arm; 12. a high pressure spray head; 13. a support base; 14. a horizontal wire brush; 15. a servo motor; 16. a servo motor; 17. a crawler-type traveling device; 18. a support pillar; 19. a support beam; 20. and an upper support plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In view of the problems of the prior art, the present invention provides an electrically controlled robot system for cleaning and disinfecting a leaky floor with a horizontally rotating steel brush, which is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the control method of the electrically controlled robot system for cleaning and disinfecting a leaky floor with a horizontally rotating steel brush according to the embodiment of the present invention includes the following steps:
s101, a cleaning process: when the robot works forwards, the robot control platform is started through the mobile client, so that the robot control platform walks forwards along the central line of the excrement ditch;
s102, a disinfection process: after the robot cleans the spot such as the pig manure on the leaky floor, the robot control platform is controlled by the mobile client to walk backwards along the central line of the manure ditch.
The technical solution of the present invention is further described below with reference to specific examples.
Firstly, the invention develops an electric control type pigsty leaking floor cleaning and disinfecting robot system with a horizontal rotating steel brush, which is suitable for pigsty environment, in particular for cleaning and disinfecting leaking floors, by utilizing the technologies of artificial intelligence, sensors, automatic control, 5G communication, machining and the like. The robot can regularly complete routine cleaning and disinfection and intelligent fixed-point cleaning and disinfection of the pigsty environment, and can enter the excrement ditch to clean and disinfect the leaky floor. The system can not only clean and disinfect the pigsty environment, but also clean and disinfect other livestock and poultry environments.
Second, scheme
(I) integral Structure
An electric control type pigsty leaking floor cleaning and disinfecting robot system with a horizontal rotating steel brush mainly comprises a robot control platform and a cleaning and disinfecting system with the horizontal rotating steel brush, and the specific structure is shown in figure 2.
In the electrically controlled robot system for cleaning and disinfecting the leaky floor of a pigsty with a horizontally rotating steel brush in fig. 2, 1, a water pump motor assembly; 2. a drive motor; 3. belt pulley 4. collecting the pipe frame; 5. a high pressure water pipe; 6. a lead screw base; 7. a trapezoidal lead screw; 8. a drive shaft; 9. a right angle commutator; 10. a tracked robot; 11. a mechanical arm; 12. a high pressure spray head; 13. a support base; 14. a horizontal wire brush; 15. a servo motor; 16. a servo motor; 17. a crawler-type traveling device; 18. a support pillar; 19. a support beam; 20. and an upper support plate.
1. Robot control platform
The robot control platform mainly comprises a crawler-type walking device 17, a power supply system, a platform control system, an image return system and the like.
(1) Robot walking device
The robot walking device 17 is a crawler type and mainly comprises a driving wheel, a speed reducer, a driving motor, a thrust wheel, a guide wheel, a supporting belt wheel, a tensioning device, a buffer spring, a walking mechanism, a crawler and the like, and the crawler has the advantages of small turning radius, low gravity center, large adhesion coefficient and the like, so that the robot has good overturn resistance and stability on a downhill, can turn in a small space, and increases the universality of the robot. The crawler belt is made of high-quality rubber embedded with Kevlar fibers, the width of the crawler belt is 200mm, and the center distance is 850 mm. The driving motor is a 48V direct current brushless motor. The driving wheel is made of medium carbon steel (No. 40 steel), is mainly connected with the speed reducer and provides driving force for the robot to walk. The belt supporting wheel is used for dragging the crawler belt and preventing the crawler belt from excessively drooping so as to reduce the vibration and jumping phenomenon of the crawler belt in motion and prevent the crawler belt from sliding off laterally. The number of the supporting belt wheels on one side of the walking device is 2, and the supporting belt wheels mainly comprise solid rubber rims and steel wheel discs. The main function of the tensioning device is to realize the tensioning function of the track and prevent the belt from falling. The main function of the buffer spring is to match with the tensioning device to realize the elastic tensioning function of the track. The guide wheels are used for guiding the track to correctly revolve, so that the track can be prevented from deviating and crossing, and the height of the center of each guide wheel from the ground is favorable for reducing the gravity center. The guide wheel is made of medium carbon steel (No. 40 steel). The main function of the thrust wheels is to support the weight of the robot and to allow the track to advance along the wheels. The number and the arrangement of the thrust wheels are favorable for enabling the ground pressure of the crawler belt to be uniformly distributed, the number of the thrust wheels on one side of the walking device is 5, and the walking device is mainly processed by Polyoxymethylene (POM) materials. The running mechanism mainly comprises a body of a crawler chassis, and is a driving wheel, a speed reducer, a driving motor, a thrust wheel, a guide wheel, a supporting belt wheel, a tensioning device and a buffer spring carrier platform, so that the guide wheel, the thrust wheel and the like are conveniently fixed and installed. The walking device is mainly made of stainless steel materials.
(2) Platform control system
The robot is mainly controlled wirelessly and in motion by a remote control mode and comprises a wireless control system, a motion control system and a control center.
1) Wireless control system
The wireless control system consists of a data detection center, a Hadoop cloud platform and a mobile client. The data monitoring center has the main functions of storing the real-time state data of the robot into the server and issuing a control instruction to the robot; the Hadoop cloud platform mainly calculates data parameters of the robot; the mobile client is used for monitoring and controlling the robot in real time.
2) Motion control system
The motion control system mainly comprises a motion control module, a brushless motor and other auxiliary components. The brushless motor is connected with the motion control module to realize speed closed-loop control, and the motion control module is connected with the control center. When the robot works, the robot sends out an instruction through remote wireless control, the control center receives the instruction and transmits a signal to the motion control module, and the motion control module controls the motor to work, so that the motion of the robot is controlled.
3) Control center
The control center adopts a DSP TMS320F2812 microprocessor as a controller, can acquire instructions sent by the cloud platform, and realizes various control functions through an I/O port.
(3) Image return system
The image return system is a system for monitoring in real time by using a mobile phone as a terminal display device. The image return system mainly comprises a camera, a wireless module and a terminal display. The data collected by the camera is transmitted out through the wireless module and finally displayed on a terminal display of the mobile phone.
(4) Power supply system
The robot power system mainly comprises 1 48v lithium battery, 1 24v lithium battery, a cooling system, other accessories and the like. Wherein, the 48v lithium battery provides electric energy for the robot walking device; 24v lithium batteries provide electric energy for the image return system, the mechanical arm driving motor and the cleaning and disinfecting system.
2. Cleaning and disinfecting system with horizontal rotating steel brush
The cleaning and disinfecting system with the horizontal rotating steel brush mainly comprises a horizontal steel brush cleaning system, a high-pressure water gun cleaning and disinfecting system and a control system.
(1) Horizontal steel brush cleaning system
The horizontal steel brush cleaning system mainly comprises a cleaning assembly, a lifting system, other accessory accessories and the like. The cleaning assembly mainly comprises 4 horizontal steel wire brushes 14, 4 servo motors 15, 3 lower supporting bases 13, 1 upper supporting plate 20, 1 supporting beam 19 and 6 supporting cylinders 18. Wherein, the diameter of the horizontal steel wire brush is 360mm, the thickness is 100mm, and the axial distance between the adjacent steel wire brushes is 380 mm; the lower supporting base 13 and the upper supporting plate 20 are both made of stainless steel with the thickness of 5 mm; the support beam 19 is made of a stainless steel pipe of 40 × 100 × 2 mm; the supporting cylinder 18 is formed by processing a stainless steel pipe with the diameter of 25.4mm and the thickness of 2 mm; the servo motor 15 is a 24v dc brushless waterproof motor. The lifting system mainly comprises a T-shaped thread lifter, a speed reduction transmission system and other accessory accessories, wherein the T-shaped thread lifter mainly comprises 2 lead screw bases 6, 2T-shaped lead screws 7 and the like; the speed reducing transmission system mainly comprises 3 transmission shafts 8, 1 right-angle commutator 9, 1 servo motor 16 and other accessories. The lifting system mainly has the function of realizing the up-and-down movement of the cleaning and disinfecting system and meeting the cleaning and disinfecting requirements.
(2) High-pressure water gun cleaning and disinfecting system
The high-pressure water gun cleaning system mainly comprises a water pump motor assembly 1, a high-pressure water pipe storage system, a high-pressure water gun injection system and the like, and can finish independent cleaning, independent disinfection or complete the cleaning and disinfection work of a leaking floor by matching with a horizontal steel brush cleaning system. The water pump motor assembly 1 mainly comprises a high-pressure water pump, a driving motor and accessories, and provides high-pressure water for a high-pressure water gun cleaning system, and the high-pressure water pump can provide 15MPa of water pressure at the highest; the high-pressure water pipe storage system mainly comprises a driving motor 2, a belt pulley 3, a belt, a high-pressure water pipe 5, a storage shielding spoke, a storage pipe winding shaft and the like, and when the cleaning and disinfecting robot system works, the high-pressure water pipe can be orderly, regularly and automatically wound on the storage pipe winding shaft or automatically released, so that the cleaning and disinfecting robot system is ensured to work; the high-pressure water gun injection system mainly comprises a high-pressure spray head 12, a mechanical arm 11, a high-pressure water pipe 5 and the like, the high-pressure spray head can swing left and right under the driving of the mechanical arm except for realizing fixed-point cleaning and disinfection, and the high-pressure spray head is matched with a horizontal steel brush cleaning system to complete the cleaning work of the leaking floor.
(3) Cleaning and disinfecting control system
The control system mainly comprises a water pump assembly motor control module, a high-pressure water pipe storage system motor control module, a high-pressure water gun injection system motor control module, a lifting system motor control module, a horizontal steel brush cleaning assembly motor control module, a wireless transmission receiving control module, a control display screen/mobile phone, a software system and the like.
(II) working process
1. Cleaning process
When the robot works forwards, the robot control platform is started through the mobile client, so that the robot control platform walks forwards along the central line of the excrement ditch. Meanwhile, the display screen/the mobile phone is controlled to open the electric valve of the water tank, close the electric valve of the disinfectant liquid tank, start the water pump motor assembly 1, adjust the pressure adjusting valve on the high-pressure water pump, and provide high-pressure water meeting the working requirements for the high-pressure water gun injection system, wherein the pressure adjusting range is 0-15 Mpa; the driving motor 2 in the high-pressure water pipe storage system is started by controlling the display screen/the mobile phone, the storage pipe winding shaft is driven to rotate by the belt pulley 3 and the belt, so that the high-pressure water pipe 5 wound on the storage pipe winding shaft is loosened, and the high-pressure water pipe 5 slides forwards along the central line of the excrement and urine ditch along with the robot control platform under the action of the traction force of the robot control platform; a servo motor 16 in the lifting system is started by controlling the display screen/the mobile phone, and the T-shaped lead screw 7 is driven to move up and down by the right-angle commutator 9 and the transmission shaft 8, so that a horizontal steel brush 14 in the cleaning assembly stays at the optimal working position; a servo motor 15 in the cleaning assembly is started by controlling the display screen/the mobile phone to drive the horizontal steel wire brush 1 to rotate, so that pig manure and other stains attached to the bottom of the leaky floor are loosened and fall off under the action of friction force; the motor in the mechanical arm 11 is started by controlling the display screen/the mobile phone, so that the mechanical arm is adjusted to a proper height, the high-pressure spray head 12 is driven to swing left and right, and pig manure and other stains which are loosened and remained under the action of the horizontal steel wire brush and are attached to the bottom surface of the crack floor are washed, and the aim of cleaning is fulfilled. Through the operation, the cleaning work of the leaking floor is completed, and the purpose of cleaning is achieved. After the cleaning of the slotted floor is finished, the whole working system is restored to the initial working state through the mobile client, and preparation work is prepared for the next step of the disinfection of the slotted floor.
2. Disinfection process
After the robot cleans the spot such as the pig manure on the leaky floor, the robot control platform is controlled by the mobile client to walk backwards along the central line of the manure ditch. Meanwhile, the display screen/the mobile phone is controlled to close the electric valve of the water tank, open the electric valve of the disinfectant liquid tank, start the water pump motor assembly 1, adjust the pressure adjusting valve on the high-pressure water pump, and provide high-pressure liquid medicine meeting the working requirements for the high-pressure water gun injection system; the driving motor 2 in the high-pressure water pipe storage system is started through controlling the display screen/the mobile phone, the storage pipe winding shaft is driven to rotate through the belt pulley 3 and the belt, the high-pressure water pipe 5 is wound on the storage pipe winding shaft, and the winding speed of the high-pressure water pipe 5 wound on the storage pipe winding shaft is adapted to the running speed of the robot control platform by adjusting the rotating speed of the driving motor 2; the motor in the mechanical arm 11 is started by controlling the display screen/the mobile phone, so that the mechanical arm is adjusted to a proper height, the high-pressure spray head 12 is driven to swing left and right, and the disinfectant sprayed out from the high-pressure spray head 12 is uniformly sprayed on the surface of the cleaned leaking floor without dead angles, so that the disinfecting work of the leaking floor is completed.
The positive effects of the present invention will be further described with reference to the features of the electrically controlled robot system for cleaning and disinfecting the leaky floor in a pigsty, which has horizontally rotating steel brushes.
1. One machine has multiple functions. The cleaning and disinfecting robot system for the pig house slotted floor has the functions of independent cleaning, independent disinfection, cleaning and disinfection of the slotted floor by matching with the horizontal steel brush cleaning system and the like, can not only finish the cleaning and disinfecting work of the slotted floor and the relative bottom surface of a pig manure ditch, but also finish the ground cleaning, ground disinfection and space disinfection work of other livestock and poultry houses.
2. The work which can not be completed by manpower is completed. Due to the narrow space in the pig manure ditch and the high concentration of harmful gases such as ammonia gas, hydrogen sulfide, carbon dioxide and the like, workers are not suitable to enter the manure ditch to work. The system can go deep into the pig manure ditch through manual remote control to complete the cleaning and disinfection work.
3. Viral infectious diseases can be avoided.
4. Can protect the physical and psychological health of the cleaner. The humidity in the breeding house is high, and the breeding house contains various harmful gases such as ammonia gas, hydrogen sulfide, carbon dioxide and the like, so that the cleaner can work in such a severe environment and can cause serious harm to the body and mind of the cleaner. By using the system, cleaning workers do not need to enter the breeding house, and cleaning and disinfection can be completed through remote control outside the house.
5. Improve work efficiency, reduce working cost. A2500-head pigsty is cleaned manually, and one person needs to work for 4-5 days. The robot system can be cleaned in about 1 day, which saves 3-4 days compared with manual cleaning, greatly improves the working efficiency and reduces the working cost.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, can be implemented in a computer program product that includes one or more computer instructions. When loaded or executed on a computer, cause the flow or functions according to embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. An electric control type leaking floor cleaning and disinfecting robot system with a horizontal rotating steel brush is characterized in that the electric control type leaking floor cleaning and disinfecting robot system with the horizontal rotating steel brush consists of a robot control platform and a cleaning and disinfecting system with the horizontal rotating steel brush;
the robot control platform consists of a crawler-type walking device, a power supply system, a platform control system and an image return system; when the robot control platform works, the platform control system controls the robot control platform to move forwards, backwards, turn left and right, the image return system monitors the working environment of the robot control platform in real time and wirelessly transmits the working environment to the display monitoring system, and an operator grasps the working condition of the robot control platform in real time and adjusts the working condition in time according to the image transmitted back by the image return system so that the robot control platform keeps a correct working state;
the cleaning and disinfecting system with the horizontal rotating steel brush consists of a horizontal steel brush cleaning system, a high-pressure water gun cleaning and disinfecting system and a cleaning and disinfecting control system; during cleaning, the lifting system in the horizontal steel brush cleaning system is controlled by the cleaning and disinfecting control system to move up and down according to actual working requirements, so that the cleaning assembly is kept at a proper working position; meanwhile, the cleaning and disinfecting control system controls the horizontal steel wire brush in the horizontal steel brush cleaning system to rotate anticlockwise or clockwise to finish the cleaning work of the steel wire brush; the cleaning and disinfecting control system also adjusts mechanical arms in the high-pressure water gun cleaning and disinfecting system in real time, so that the height, the angle, the left-right swinging amplitude and the frequency of the high-pressure spray head are kept in a proper working state, and pig manure and urine stains remained on a leaking floor after the cleaning assembly is cleaned; during disinfection, the cleaning and disinfection control system controls the mechanical arm in the high-pressure water gun cleaning and disinfection system to enable the height, the angle, the left-right swinging amplitude and the frequency of the high-pressure spray nozzle to be kept in a normal working state, so that the leaking floor is disinfected.
2. The electrically controlled robot system for cleaning and disinfecting a leaky floor with a horizontally rotating steel brush according to claim 1, further comprising a water pump motor assembly, a driving motor, a belt pulley, a pipe collecting rack, a high pressure water pipe, a screw base, a trapezoidal screw, a transmission shaft, a right angle commutator, a crawler robot, a mechanical arm, a high pressure nozzle, a support base, a horizontal wire brush, a servo motor, a crawler traveling device, a support column, a support beam, and an upper support plate.
3. An electronically controlled, slotted floor cleaning and sanitizing robotic system having horizontally rotating steel brushes as recited in claim 1, wherein said robotic control platform comprises:
(1) robot walking device
The robot walking device is a crawler type and consists of a driving wheel, a speed reducer, a driving motor, a thrust wheel, a guide wheel, a supporting belt wheel, a tensioning device, a buffer spring, a walking mechanism and a crawler; the caterpillar band is made of high-quality rubber embedded with Kevlar fibers, the width of the caterpillar band is 200mm, and the center distance is 850 mm; the driving motor is a 48V direct current brushless motor; the driving wheel is made of medium carbon steel, namely No. 40 steel, is connected with the speed reducer and is used for providing driving force for the robot to walk; the belt supporting wheel is used for dragging the crawler belt and preventing the crawler belt from excessively drooping so as to reduce the vibration and jumping phenomenon of the crawler belt in motion and prevent the crawler belt from sliding off laterally; the number of the supporting belt wheels on one side of the walking device is 2, and the supporting belt wheels consist of solid rubber rims and steel wheel discs; the tensioning device is used for realizing the tensioning function of the track; the buffer spring is used for being matched with the tensioning device to realize the elastic tensioning function of the track; the guide wheels are used for guiding the track to correctly revolve so as to prevent deviation and track crossing; the guide wheel is processed by medium carbon steel; the thrust wheels are used for supporting the weight of the robot and enabling the crawler belt to advance along the wheels; the number of the thrust wheels on one side of the walking device is 5, and the thrust wheels are made of polyoxymethylene POM materials; the walking mechanism comprises a body of the crawler chassis, and is a driving wheel, a speed reducer, a driving motor, a thrust wheel, a guide wheel, a supporting belt wheel, a tensioning device and a buffer spring carrier platform, so that the guide wheel and the thrust wheel are convenient to fix and install; the walking device is made of stainless steel materials;
(2) platform control system
The robot is controlled wirelessly and in motion by using a remote control mode and comprises a wireless control system, a motion control system and a control center;
(3) image return system
The image return system is a system for monitoring the terminal display equipment in real time by using a mobile phone, and comprises a camera, a wireless module and a terminal display; the data collected by the camera is transmitted out through the wireless module and finally displayed on a terminal display of the mobile phone;
(4) power supply system
The robot power system comprises 1 48v lithium battery, 1 24v lithium battery, a cooling system, other accessories and the like; the 48v lithium battery is used for providing electric energy for the robot walking device; the 24v lithium battery is used for providing electric energy for the image return system, the mechanical arm driving motor and the cleaning and disinfecting system.
4. An electronically controlled robot system for cleaning and disinfecting a leaky floor with a horizontally rotating steel brush as claimed in claim 3, wherein said platform control system comprises:
1) wireless control system
The wireless control system consists of a data detection center, a Hadoop cloud platform and a mobile client; the data monitoring center is used for storing the real-time state data of the robot into the server and issuing a control instruction to the robot; the Hadoop cloud platform is used for calculating data parameters of the robot; the mobile client is used for monitoring and controlling the robot in real time;
2) motion control system
The motion control system consists of a motion control module, a brushless motor and other auxiliary components; the brushless motor is connected with the motion control module and used for realizing speed closed-loop control, and the motion control module is connected with the control center; when the robot works, the robot sends out an instruction through remote wireless control, the control center receives the instruction and transmits a signal to the motion control module, and the motion control module controls the motor to work, so that the motion of the robot is controlled;
3) control center
The control center adopts a DSP TMS320F2812 microprocessor as a controller, is used for acquiring instructions sent by the cloud platform, and realizes various control functions through an I/O port.
5. An electronically controlled robot system for cleaning and disinfecting a leaky floor with a horizontally rotating steel brush as claimed in claim 1, wherein said cleaning and disinfecting system with a horizontally rotating steel brush comprises:
(1) horizontal steel brush cleaning system
The horizontal steel brush cleaning system consists of a cleaning assembly, a lifting system and other accessory accessories; the cleaning assembly consists of 4 horizontal steel wire brushes, 4 servo motors, 3 lower support bases, 1 upper support plate, 1 support beam and 6 support cylinders; wherein the diameter of the horizontal steel wire brush is 360mm, the thickness of the horizontal steel wire brush is 100mm, and the axial distance between the adjacent steel wire brushes is 380 mm; the lower supporting base and the upper supporting plate are both made of stainless steel with the thickness of 5 mm; the supporting beam is formed by processing a stainless steel pipe with the diameter of 40 multiplied by 100 multiplied by 2 mm; the supporting cylinder is formed by processing a stainless steel pipe with the diameter of 25.4mm and the thickness of 2 mm; the servo motor is a 24v direct current brushless waterproof motor; the lifting system consists of a T-shaped threaded lifter, a speed reduction transmission system and other accessory accessories; the T-shaped thread lifter comprises 2 lead screw bases and 2T-shaped lead screws; the speed reduction transmission system consists of 3 transmission shafts, 1 right-angle commutator, 1 servo motor and other accessories; the lifting system is used for realizing the up-and-down movement of the cleaning and disinfecting system;
(2) high-pressure water gun cleaning and disinfecting system
The high-pressure water gun cleaning system consists of a water pump motor assembly, a high-pressure water pipe storage system and a high-pressure water gun injection system and is used for completing independent cleaning and independent disinfection or matching with a horizontal steel brush cleaning system to complete the cleaning and disinfection of the leaking floor; the water pump motor assembly consists of a high-pressure water pump, a driving motor and accessories and is used for providing high-pressure water for the high-pressure water gun cleaning system, and the highest pressure of the high-pressure water pump can provide 15MPa of water pressure; the high-pressure water pipe storage system consists of a driving motor, a belt pulley, a belt, a high-pressure water pipe, a storage shielding spoke and a storage pipe winding shaft and is used for orderly, regularly and automatically winding the high-pressure water pipe on the storage pipe winding shaft or automatically releasing the high-pressure water pipe when the cleaning and disinfecting robot system works so as to ensure that the cleaning and disinfecting robot system works; the high-pressure water gun injection system consists of a high-pressure spray head, a mechanical arm and a high-pressure water pipe, is used for realizing fixed-point cleaning and disinfection under the driving of the mechanical arm, and completes the cleaning work of the leaking floor by swinging left and right and matching with a horizontal steel brush cleaning system;
(3) cleaning and disinfecting control system
The control system comprises a water pump assembly motor control module, a high-pressure water pipe storage system motor control module, a high-pressure water gun injection system motor control module, a lifting system motor control module, a horizontal steel brush cleaning assembly motor control module, a wireless transmission receiving control module, a control display screen/mobile phone and a software system, and is used for completing control over the water pump motor assembly, the high-pressure water pipe storage system, the high-pressure water gun injection system, the lifting system and the horizontal steel brush cleaning assembly through a wireless remote operation display screen/mobile phone.
6. A control method of an electric control type leaking floor cleaning and disinfecting robot system with a horizontal rotating steel brush, which is applied to the electric control type leaking floor cleaning and disinfecting robot system with a horizontal rotating steel brush as claimed in any one of claims 1 to 5, is characterized in that the control method of the electric control type leaking floor cleaning and disinfecting robot system with a horizontal rotating steel brush comprises the following steps:
step one, a cleaning process: when the robot works forwards, the robot control platform is started through the mobile client, so that the robot control platform walks forwards along the central line of the excrement ditch;
step two, a disinfection process: after the robot cleans the spot such as the pig manure on the leaky floor, the robot control platform is controlled by the mobile client to walk backwards along the central line of the manure ditch.
7. The method for controlling an electronically controlled robot system for cleaning and disinfecting a leaky floor, having a horizontally rotating steel brush as claimed in claim 6, wherein in the first step, said cleaning process comprises:
when the robot works forwards, the robot control platform is started through the mobile client, so that the robot control platform walks forwards along the central line of the excrement ditch; meanwhile, the display screen/the mobile phone is controlled to open the electric valve of the water tank, close the electric valve of the disinfectant liquid tank, start the motor assembly of the water pump, adjust the pressure adjusting valve on the high-pressure water pump, and provide high-pressure water meeting the working requirements for the high-pressure water gun injection system, wherein the pressure adjusting range is 0-15 Mpa; the driving motor in the high-pressure water pipe storage system is started by controlling the display screen/the mobile phone, the storage pipe winding shaft is driven to rotate by the belt pulley and the belt, so that the high-pressure water pipe wound on the storage pipe winding shaft is loosened, and under the action of traction force of the robot control platform, the high-pressure water pipe slides forwards along the central line of the excrement ditch along with the robot control platform; a servo motor in the lifting system is started by controlling the display screen/the mobile phone, and the T-shaped lead screw is driven to move up and down by the right-angle commutator and the transmission shaft, so that the horizontal steel wire brush in the cleaning assembly stays at the optimal working position; a servo motor in the cleaning assembly is started by controlling the display screen/the mobile phone to drive the horizontal steel wire brush to rotate, so that pig manure and other stains attached to the bottom of the leaky floor are loosened and fall off under the action of friction force; the motor in the mechanical arm is started by controlling the display screen/the mobile phone, so that the mechanical arm is adjusted to a proper height, the high-pressure spray head is driven to swing left and right, and pig manure and other stains which are loosened and remained under the action of the horizontal steel wire brush and are attached to the bottom surface of the leaky floor are washed out, so that the aim of cleaning is fulfilled; the cleaning work of the slotted floor is completed through operation, so that the aim of cleaning is fulfilled; after the cleaning of the slotted floor is finished, the whole working system is restored to the initial working state through the mobile client, and preparation work is made for the next step of the disinfection of the slotted floor;
in the second step, the sterilization process includes:
after the robot finishes cleaning stains such as pig manure on the leaky floor, the robot control platform is controlled by the mobile client to move backwards along the central line of the manure ditch; meanwhile, the display screen/the mobile phone is controlled to close the electric valve of the water tank, open the electric valve of the disinfectant liquid tank, start the water pump motor assembly, adjust the pressure adjusting valve on the high-pressure water pump, and provide high-pressure liquid medicine meeting the working requirements for the high-pressure water gun injection system; the driving motor in the high-pressure water pipe storage system is started through controlling the display screen/the mobile phone, the storage pipe winding shaft is driven to rotate through the belt pulley and the belt, the high-pressure water pipe is wound on the storage pipe winding shaft, and the winding speed of the high-pressure water pipe wound on the storage pipe winding shaft is adapted to the running speed of the robot control platform through adjusting the rotating speed of the driving motor; the motor in the mechanical arm is started by controlling the display screen/the mobile phone, so that the mechanical arm is adjusted to a proper height, the high-pressure spray head is driven to swing left and right, and the disinfectant sprayed out from the high-pressure spray head is uniformly sprayed on the surface of the cleaned leaking floor without dead angles, so that the disinfecting work of the leaking floor is completed.
8. A computer device, characterized in that the computer device comprises a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to carry out the steps of:
(1) and (3) cleaning: when the robot works forwards, the robot control platform is started through the mobile client, so that the robot control platform walks forwards along the central line of the excrement ditch; meanwhile, the display screen/the mobile phone is controlled to open the electric valve of the water tank, close the electric valve of the disinfectant liquid tank, start the motor assembly of the water pump, adjust the pressure adjusting valve on the high-pressure water pump, and provide high-pressure water meeting the working requirements for the high-pressure water gun injection system, wherein the pressure adjusting range is 0-15 Mpa; the driving motor in the high-pressure water pipe storage system is started by controlling the display screen/the mobile phone, the storage pipe winding shaft is driven to rotate by the belt pulley and the belt, so that the high-pressure water pipe wound on the storage pipe winding shaft is loosened, and under the action of traction force of the robot control platform, the high-pressure water pipe slides forwards along the central line of the excrement ditch along with the robot control platform; a servo motor in the lifting system is started by controlling the display screen/the mobile phone, and the T-shaped lead screw is driven to move up and down by the right-angle commutator and the transmission shaft, so that the horizontal steel wire brush in the cleaning assembly stays at the optimal working position; a servo motor in the cleaning assembly is started by controlling the display screen/the mobile phone to drive the horizontal steel wire brush to rotate, so that pig manure and other stains attached to the bottom of the leaky floor are loosened and fall off under the action of friction force; the motor in the mechanical arm is started by controlling the display screen/the mobile phone, so that the mechanical arm is adjusted to a proper height, the high-pressure spray head is driven to swing left and right, and pig manure and other stains which are loosened and remained under the action of the horizontal steel wire brush and are attached to the bottom surface of the leaky floor are washed out, so that the aim of cleaning is fulfilled; the cleaning work of the slotted floor is completed through operation, so that the aim of cleaning is fulfilled; after the cleaning of the slotted floor is finished, the whole working system is restored to the initial working state through the mobile client, and preparation work is made for the next step of the disinfection of the slotted floor;
(2) and (3) a disinfection process: after the robot finishes cleaning stains such as pig manure on the leaky floor, the robot control platform is controlled by the mobile client to move backwards along the central line of the manure ditch; meanwhile, the display screen/the mobile phone is controlled to close the electric valve of the water tank, open the electric valve of the disinfectant liquid tank, start the water pump motor assembly, adjust the pressure adjusting valve on the high-pressure water pump, and provide high-pressure liquid medicine meeting the working requirements for the high-pressure water gun injection system; the driving motor in the high-pressure water pipe storage system is started through controlling the display screen/the mobile phone, the storage pipe winding shaft is driven to rotate through the belt pulley and the belt, the high-pressure water pipe is wound on the storage pipe winding shaft, and the winding speed of the high-pressure water pipe wound on the storage pipe winding shaft is adapted to the running speed of the robot control platform through adjusting the rotating speed of the driving motor; the motor in the mechanical arm is started by controlling the display screen/the mobile phone, so that the mechanical arm is adjusted to a proper height, the high-pressure spray head is driven to swing left and right, and the disinfectant sprayed out from the high-pressure spray head is uniformly sprayed on the surface of the cleaned leaking floor without dead angles, so that the disinfecting work of the leaking floor is completed.
9. A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the method of controlling an electronically controlled leaky floor cleaning and disinfecting robot system with a horizontally rotating steel brush according to any one of claims 6 to 7.
10. An information data processing terminal, characterized in that the information data processing terminal is used for realizing the function of the electric control type leaking floor cleaning and disinfecting robot system with the horizontally rotating steel brush as claimed in any one of claims 1-5.
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