CN114982643B - Excrement and urine reprocessing utilizes formula livestock-raising with intelligent clearance robot and intelligent farm - Google Patents
Excrement and urine reprocessing utilizes formula livestock-raising with intelligent clearance robot and intelligent farm Download PDFInfo
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- CN114982643B CN114982643B CN202210744575.9A CN202210744575A CN114982643B CN 114982643 B CN114982643 B CN 114982643B CN 202210744575 A CN202210744575 A CN 202210744575A CN 114982643 B CN114982643 B CN 114982643B
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- 238000012958 reprocessing Methods 0.000 title claims abstract description 14
- 210000002700 urine Anatomy 0.000 title description 22
- 244000144972 livestock Species 0.000 claims abstract description 88
- 238000004140 cleaning Methods 0.000 claims abstract description 63
- 210000000078 claw Anatomy 0.000 claims abstract description 30
- 238000012545 processing Methods 0.000 claims abstract description 28
- 238000005303 weighing Methods 0.000 claims abstract description 18
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 14
- 238000009395 breeding Methods 0.000 claims abstract description 11
- 230000001488 breeding effect Effects 0.000 claims abstract description 11
- 230000002550 fecal effect Effects 0.000 claims abstract description 10
- 244000185238 Lophostemon confertus Species 0.000 claims abstract description 9
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 128
- 238000004519 manufacturing process Methods 0.000 claims description 68
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 42
- 239000003337 fertilizer Substances 0.000 claims description 39
- 210000003608 fece Anatomy 0.000 claims description 35
- 239000010871 livestock manure Substances 0.000 claims description 34
- 238000007726 management method Methods 0.000 claims description 30
- 241001465754 Metazoa Species 0.000 claims description 29
- 230000003287 optical effect Effects 0.000 claims description 29
- 238000002955 isolation Methods 0.000 claims description 27
- 239000000523 sample Substances 0.000 claims description 26
- 238000004659 sterilization and disinfection Methods 0.000 claims description 24
- 238000001931 thermography Methods 0.000 claims description 24
- 238000007599 discharging Methods 0.000 claims description 22
- 238000003860 storage Methods 0.000 claims description 20
- 238000010438 heat treatment Methods 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 14
- 239000000463 material Substances 0.000 claims description 13
- 238000001914 filtration Methods 0.000 claims description 11
- 238000004458 analytical method Methods 0.000 claims description 7
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 7
- 238000003973 irrigation Methods 0.000 claims description 7
- 230000002262 irrigation Effects 0.000 claims description 7
- 238000004806 packaging method and process Methods 0.000 claims description 7
- 238000010248 power generation Methods 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 238000012423 maintenance Methods 0.000 claims description 6
- 230000013011 mating Effects 0.000 claims description 6
- 201000010099 disease Diseases 0.000 claims description 5
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 claims description 5
- 230000035622 drinking Effects 0.000 claims description 5
- 238000009304 pastoral farming Methods 0.000 claims description 4
- 238000003384 imaging method Methods 0.000 claims description 3
- 239000007921 spray Substances 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 4
- 239000010865 sewage Substances 0.000 description 9
- 238000009423 ventilation Methods 0.000 description 9
- 244000025254 Cannabis sativa Species 0.000 description 8
- 239000003651 drinking water Substances 0.000 description 6
- 235000020188 drinking water Nutrition 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 239000007788 liquid Substances 0.000 description 6
- 230000002265 prevention Effects 0.000 description 6
- 230000001954 sterilising effect Effects 0.000 description 5
- 230000004720 fertilization Effects 0.000 description 4
- 238000005507 spraying Methods 0.000 description 4
- 230000004308 accommodation Effects 0.000 description 3
- 239000007789 gas Substances 0.000 description 3
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- 239000002893 slag Substances 0.000 description 2
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K1/00—Housing animals; Equipment therefor
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K1/00—Housing animals; Equipment therefor
- A01K1/01—Removal of dung or urine, e.g. from stables
-
- 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
-
- 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
- A61L2/22—Phase substances, e.g. smokes, aerosols or sprayed or atomised substances
-
- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F11/00—Treatment of sludge; Devices therefor
- C02F11/02—Biological treatment
- C02F11/04—Anaerobic treatment; Production of methane by such processes
-
- C—CHEMISTRY; METALLURGY
- C05—FERTILISERS; MANUFACTURE THEREOF
- C05F—ORGANIC FERTILISERS NOT COVERED BY SUBCLASSES C05B, C05C, e.g. FERTILISERS FROM WASTE OR REFUSE
- C05F3/00—Fertilisers from human or animal excrements, e.g. manure
- C05F3/06—Apparatus for the manufacture
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24D—DOMESTIC- OR SPACE-HEATING SYSTEMS, e.g. CENTRAL HEATING SYSTEMS; DOMESTIC HOT-WATER SUPPLY SYSTEMS; ELEMENTS OR COMPONENTS THEREFOR
- F24D15/00—Other domestic- or space-heating systems
- F24D15/02—Other domestic- or space-heating systems consisting of self-contained heating units, e.g. storage heaters
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E50/00—Technologies for the production of fuel of non-fossil origin
- Y02E50/30—Fuel from waste, e.g. synthetic alcohol or diesel
Abstract
The invention provides an intelligent farm for livestock breeding by means of fecal reprocessing, belongs to the technical field of livestock breeding, and solves the problems of poor fecal collecting and processing effect, low collecting intelligent degree and the like of the conventional farm. The intelligent cleaning robot comprises a crawler walking chassis, bionic plates are detachably arranged on two sides of the crawler walking chassis, a turning hopper is arranged on the crawler walking chassis, a weighing device is arranged between the turning hopper and the crawler walking chassis, a roller box and a brush box are arranged on the turning hopper, cleaning rollers and cleaning brushes are respectively arranged in the roller box and the brush box, a clamping mechanical arm is arranged in the middle of the front side of the crawler walking chassis, and a clamping claw component is detachably arranged at the end part of the clamping mechanical arm.
Description
Technical Field
The invention belongs to the technical field of livestock breeding, and relates to an intelligent farm, in particular to an intelligent farm for livestock breeding by means of fecal reprocessing and utilizing.
Background
Farm refers to an agricultural production unit, a production organization or a production enterprise, and mainly engages in agricultural production or livestock breeding to manage various agricultural products and livestock products.
Farms can be owned and operated by individuals, families or communities, or by complexes, companies, and can range in size from a few acres to hundreds of hectares, and in america, a farm can be as large as tens of thousands of hectares or hundreds of thousands of hectares.
The farm is mainly suitable for producing farms such as agricultural grains, oil, vegetables, cash crops and the like all over the world; mainly comprises the following components: (1), living areas; (2) a water supply center; (3) farm field transverse roads; (4), farm field longitudinal roads and the like.
For livestock farms, the manure of the farm needs to be collected and treated in time, otherwise, the environment is polluted, the livestock is easy to be affected, and the conventional livestock farms lack manure collection and reprocessing and utilizing equipment.
Through searching, for example, chinese patent literature discloses a stock raising farm based on big data [ application number: CN202022177913.4; publication No.: CN214593437U ]. This kind of farm is including the house of keeping in the circle, house outer wall upper end parallel distribution has the roof, and the laminating of house outer wall one side has the door body, door body outer wall one side middle part swing joint has the loose-leaf, and door body outer wall lower extreme one side installs the wheel, the laminating of wheel outer wall lower extreme has sliding guide, and sliding guide outer wall upper end parallel distribution has the rack, rack outer wall lower extreme meshing has the gear. The forage-holding farm based on big data is provided with a forage conveyer belt which is transversely prevented from being around or in the middle of a holding greenhouse, and the reserved movable space can be reasonably utilized, but the excrement cannot be treated.
Through searching, for example, chinese patent literature discloses a livestock-raising excrement collection and treatment device [ application number: CN201922036030.9; publication No.: CN211482370U ]. Such a processing device comprises: the device comprises a main body, wheels, a feeding pipe, a filtering plate, a wind filtering cavity, a wind discharging window, a lifting box, a lifting groove, a transmission cavity, a crushing cavity, an equipment cavity, a waste gas storage cavity, an exhaust pipe, an air valve, an extrusion cavity, a waste gas collecting cavity, an ingress pipe, an air pump, a connecting hose, an absorption pipe, a cleaning sheet, a motor I, a fan, an electric push rod, a fixing rod, a crushing frame, a motor II, a gear I, a transmission gear, a screw rod, a gear II, an extrusion plate, an atmospheric pressure sensor and a handle. Although can clear up the excrement and urine in batches, but be unfavorable for farm use, can frighten the livestock, can not in time fix a position the excrement and urine moreover, can not collect the excrement and urine fast effectively.
Based on this, we propose an excrement and urine reprocessing utilizes formula livestock-raising to use intelligent farm, through excrement and urine processing district, production living area and motion pasture district cooperation, can effectively make fertilizer and marsh gas with excrement and urine, marsh gas and power supply system's marsh gas power generation facility and heating system's marsh gas hot-blast furnace cooperation, supply power and heat, both avoided the pollution of livestock excrement and urine to air environment, also can fertilize and sell, energy-concerving and environment-protective, save the cost.
The intelligent cleaning robot can quickly position the excrement through the matching of the ultrasonic detector, the thermal imaging probe assembly and the optical camera assembly; the intelligent cleaning robot can clamp, overturn and pour the excrement into the inside of the overturning hopper through the cooperation of the clamping mechanical arm and the clamping claw component; the intelligent cleaning robot is matched with the weighing device through the turning hopper, and when the weighing device reaches a limiting value, the turning hopper can quickly pour out the excrement, so that the operation is convenient; the intelligent cleaning robot is matched with the bionic plate through the crawler walking chassis, the bionic plate can be replaced according to the variety of the raised livestock, the livestock is prevented from being frightened, and the intelligent cleaning robot is matched with the ultrasonic detector and the optical camera assembly, so that the intelligent cleaning robot is convenient to transfer and walk.
Disclosure of Invention
The invention aims at solving the problems in the prior art, and provides an intelligent farm for livestock breeding for fecal reprocessing and utilizing, which aims to solve the technical problems that: how to realize effectively getting manure location clamp and collecting and making fertilizer and marsh gas, supply power and heat, both avoid polluting, also can fertilize and sell, energy-concerving and environment-protective, save the cost.
The aim of the invention can be achieved by the following technical scheme:
the utility model provides an excrement and urine reprocessing utilizes intelligent farm for livestock-raising, includes animal farm door and intelligent clearance robot and from left to right set gradually excrement and urine processing zone, production living area and motion pasture district, animal farm door is located the place ahead of production living area, and excrement and urine processing zone is inside to be equipped with fertilizer processing zone and methane-generating pit from front to back in proper order, and production living area is inside to be equipped with living management area, auxiliary production area, animal house production area and isolation area from front to back in proper order, and motion pasture district is a plurality of stadiums and a plurality of animal pasture district that set gradually from left to right are equipped with the trunk road between excrement and urine processing zone, production living area and the motion pasture district, and animal farm door department is equipped with disinfection system.
The working principle of the invention is as follows: before entering an animal farm, vehicles and staff are disinfected through a disinfection system, epidemic prevention safety is guaranteed, a life management area carries out life and product grazing management, an auxiliary production area carries out power supply, heating and the like, an animal house production area carries out animal house cultivation, an isolation area carries out medical treatment, isolation and cadaver manure treatment on livestock, the livestock can move on a sports ground, a plurality of animal grass areas can carry out regional weed eating, at the moment, the sports ground and the animal grass areas can have excrement, an intelligent cleaning robot can position the excrement and then collect and transport the excrement, meanwhile, the excrement and the manure can be cleaned and transported to a fertilizer treatment area and a methane tank, the fertilizer treatment area carries out sterilization, auxiliary material adding, mixing stirring and fermentation to obtain fertilizer, packaging and selling can also carry out fertilization on the animal grass area, the methane tank can generate methane, the methane is transported to the auxiliary production area to carry out heating and power supply, both the water fertilizer and the slag fertilizer can be generated by the tank can carry out sales, and fertilization and the excrement can be reprocessed and utilized, and the energy is more environment-friendly.
The disinfection system comprises a vehicle disinfection tank, a human foot pedal disinfection tank, a spraying disinfection chamber and a dressing and changing shoe room; the living management area comprises a residence, a body-building area, a dining room and a product processing control area, and is connected with the methane tank through a sewer pipe; the auxiliary production area comprises a water supply and drainage control system, a power supply system, a heating system and a maintenance warehouse, wherein the power supply system comprises methane power generation equipment, the heating system comprises a methane hot blast stove, and water filtering equipment is arranged between the water supply and drainage control system and an external water source; the positions of the life management area, the auxiliary production area, the livestock shed production area and the isolation area are the same as the dominant wind direction, and the heights of the life management area, the auxiliary production area, the livestock shed production area and the isolation area are sequentially reduced.
By adopting the structure, the vehicle disinfection tank, the human foot disinfection tank, the spray disinfection chamber and the dressing and shoe changing room can respectively change the shoes of an entering vehicle, the shoes of an entering person, the bodies of the entering person and the entering workers, ensure epidemic prevention safety, the life management area can carry out accommodation, body building, eating, product processing and livestock control, the auxiliary production area can carry out water supply, power supply, heating, maintenance and other works, the marsh gas enters the marsh gas power generation equipment to generate power, the marsh gas enters the marsh gas hot blast stove to heat, the water supply and drainage control system can pump water of an external water source such as a river and lake into the water filtering equipment to be filtered for the workers and livestock to drink and use, the positions of the life management area, the auxiliary production area, the livestock house production area and the isolation area are the same as the dominant wind direction, ventilation is ensured, polluted gas, excrement and dirty air of livestock are avoided, the heights of the life management area, the auxiliary production area, the livestock house production area and the isolation area are sequentially reduced, ventilation, lighting and pollution discharge are ensured.
The inside of the livestock shed production area is sequentially provided with a feed storage processing area, an adult shed, a middle livestock shed, a small livestock shed, a delivery shed and a mating shed from front to back, wherein the adult shed is arranged in a double-row layout manner, and the livestock shed production area is connected with the methane tank through a sewer pipe; the isolation area comprises a medical room, a disease animal isolation room, a manure collecting tank and a manure dead body treatment room, a communicating pipe is arranged between the manure dead body treatment room and the methane tank, a control valve is arranged on the communicating pipe, the front side of the fertilizer treatment area is a packaging room, and the rear side of the fertilizer treatment area is a processing storage room.
By adopting the structure, the feed storage processing area, the adult house, the middle livestock house, the small livestock house, the delivery house and the mating house have corresponding functions, the cultivation is facilitated, the adult house is arranged in a double-row layout mode, the ventilation effect is good, the clean sewage channel is separated, the circuit is shortened, the arrangement is compact, sewage which is generated between the livestock house production area and the methane tank through sewer connection and can form methane can be introduced into the methane tank, such as excrement and urine, and the like, and the medical room, the sick livestock isolation room, the excrement collecting tank and the excrement and urine dead body treatment room have corresponding functions, the cultivation is facilitated, after the sick livestock die, the dead body can be crushed and stirred in the excrement and urine dead body treatment room to form mixed liquid, the mixed liquid is injected into the methane tank through the communicating pipe, the methane tank can be sterilized, auxiliary materials are added, mixed and stirred and fermented, the fertilizer can be obtained and stored, and the packaging room can package the fertilizer for sale.
Be equipped with a plurality of sunshade drinking sheds on the stadium, be equipped with the escape canal around the stadium, escape canal and water supply and drainage control system intercommunication are equipped with irrigation system on the animal husbandry district, irrigation system and water supply and drainage control system intercommunication are equipped with a plurality of pasture height detectors on the animal husbandry district, and pasture height detector includes image acquisition module and intelligent analysis module and manual work detection module.
By adopting the structure, the sunshade drinking water shed is used for sunshade drinking water after livestock moves, the drainage ditch is convenient for wash the drainage after the stadium, the drainage ditch communicates with the water supply and drainage control system, sewage can be discharged, cyclic utilization after also can filtering, the irrigation system communicates with the water supply and drainage control system, irrigates the pasture in the pasture area, the pasture height detector comprises an image acquisition module, an intelligent analysis module and a manual detection module which are matched, the pasture growth height is detected, and the pasture is raised in a partitioned mode.
The intelligent cleaning robot comprises a crawler traveling chassis, bionic plates are detachably arranged on two sides of the crawler traveling chassis, a turning hopper is arranged on the crawler traveling chassis, a weighing device is arranged between the turning hopper and the crawler traveling chassis, a roller box and a brush box are arranged on the turning hopper, a cleaning roller and a cleaning brush are respectively arranged in the roller box and the brush box, a clamping mechanical arm is arranged in the middle of the front side of the crawler traveling chassis, a clamping claw assembly is detachably arranged at the end part of the clamping mechanical arm, the cleaning roller and the cleaning brush can be detachably connected with the end part of the clamping mechanical arm, two symmetrical auxiliary mechanical arms and two symmetrical optical camera assemblies are arranged on the front side of the crawler traveling chassis, the auxiliary mechanical arms are located on the inner sides of the optical camera assemblies, the clamping mechanical arms are located between the two auxiliary mechanical arms, and an ultrasonic detector and a thermal imaging probe assembly are respectively arranged on the two auxiliary mechanical arms.
By adopting the structure, the crawler traveling chassis drives the intelligent cleaning robot to travel in the farm, the bionic plate can be replaced according to the variety of the raised livestock, the scaring livestock is avoided, the optical camera assembly can be used for inputting livestock manure information, such as size, height and color, the ultrasonic detector, the thermal imaging probe assembly and the learning camera assembly can be used for rapidly positioning the manure, the crawler traveling chassis is moved to the front of the manure, the clamping mechanical arm is matched with the clamping claw assembly to clamp the manure, the clamping mechanical arm drives the clamping claw assembly to move to the overturning hopper, meanwhile, the clamping claw assembly is driven to overturn 270 degrees, the manure inside the clamping claw assembly is poured into the overturning hopper, when the weighing device reaches a limiting value, the crawler traveling chassis drives the device to move to a methane tank or a fertilizer processing area, the overturning hopper is used for pouring out the internal manure, and when the living management area, the livestock house production area and the like need cleaning, the cleaning roller and the cleaning brush are arranged at the end part of the clamping mechanical arm, and the roller brush cleaning can be carried out.
The crawler travel chassis is internally provided with a GPS (global positioning system) locator, a WiFi (wireless fidelity) transmission module, a storage battery and an electric control main board, wherein the electric control main board is respectively and electrically connected with the GPS locator, the WiFi transmission module and the storage battery, and the WiFi transmission module is connected with a product processing control area through a wireless network.
By adopting the structure, the GPS locator is used for locating the position of the intelligent cleaning robot, the WiFi transmission module is used for sending various information, the storage battery supplies power for each component, and the electric control main board performs information collection, processing and analysis and sends out working signals.
The optical camera component comprises a fixed plate, the fixed plate is fixed on the crawler chassis, a rotating motor is fixed at the lower end of the fixed plate, a rotating disc is arranged at the upper end of the fixed plate in a rotating mode, an output shaft of the rotating motor is fixedly connected with the rotating disc, two mounting frames are fixed above the rotating disc, a mounting plate is arranged between the two mounting frames in a rotating mode, a positioning motor is fixed on the mounting plate, an output shaft of the positioning motor is rotationally connected with one of the mounting frames, an optical camera is fixed on the mounting plate, and the optical camera is electrically connected with an electric control main board.
By adopting the structure, the output shaft of the rotating motor drives the rotating disc to rotate at the upper end of the fixed plate, and the output shaft of the positioning motor drives one of the mounting frames to rotate, so that the mounting plate is driven to rotate between the two mounting frames, the optical camera is driven to adjust the angle, the excrement position is convenient to observe, and the intelligent cleaning robot avoids and bypasses the obstacle when walking.
The lower end of the auxiliary mechanical arm is rotatably provided with a rotating frame, the rotating frame rotates above the crawler traveling chassis, a rotating motor is arranged inside the crawler traveling chassis, an output shaft of the rotating motor is fixedly connected with the rotating frame, the thermal imaging probe assembly comprises an anti-shake support and a thermal imaging probe, the anti-shake support is fixed at the end part of the auxiliary mechanical arm, and the thermal imaging probe is rotatably connected to the anti-shake support.
By adopting the structure, the output shaft of the rotating motor drives the rotating frame to rotate above the crawler traveling chassis, so that the auxiliary mechanical arm is driven to rotate, the auxiliary mechanical arm adjusts the positions of the anti-shake support and the ultrasonic detector, the anti-shake support prevents the thermal imaging probe from shaking, the ultrasonic detector spatially positions excrement, the thermal imaging probe can thermally detect the excrement, and the excrement position is locked rapidly in time before the excrement is eliminated.
The clamping claw assembly comprises a base frame, the base frame is detachably connected to the end part of the clamping mechanical arm, clamping supports which are uniformly distributed are rotationally arranged on two sides of the base frame, a shaft coupling is connected between the clamping supports on the same side, hinge plates are fixed on the front side and the rear side of the base frame, a plurality of electric push rods are hinged between the shaft coupling on the two sides and the hinge plates, the electric push rods are electrically connected with the electric control main board, clamping plates are arranged between the clamping supports on the same side and comprise fixing shafts, the fixing shafts are detachably connected between the clamping supports, clamping plate bodies are fixedly arranged on the fixing shafts, material guide plates are arranged on the front sides of the clamping plate bodies, and the material guide plates are located on the lower parts of the front sides of the base frame.
By adopting the structure, the electric control main board controls the electric push rod to retract, a plurality of clamping brackets on two sides are driven to open, the fixed shaft is driven to open, the clamping plate body is driven to open, the clamping mechanical arm drives the clamping claw assembly to move to the ground, the clamping plate body is abutted against the ground, the two clamping plate bodies are positioned on two sides of excrement, the electric control main board controls the electric push rod to push out, the clamping plate body is driven to be closed, the excrement is clamped, the clamping mechanical arm drives the clamping claw assembly to move to the overturning hopper, and meanwhile, the clamping claw assembly is driven to overturn 270 degrees, so that the excrement inside the clamping claw assembly is poured into the overturning hopper along the material guide plate.
The turning hopper comprises a fixing frame and a tipping bucket body, wherein the fixing frame is fixed above a crawler chassis, the weighing device is arranged between the fixing frame and the crawler chassis, clamping seats are fixed on the periphery of the lower end of the tipping bucket body, two clamping seats on the same side are hinged to each other, a first supporting rod is connected to the upper side of the fixing frame through a rotating seat, a connecting seat is fixed to the first supporting rod, a tipping bucket push rod is arranged between the first supporting rod and the connecting seat, a second supporting rod is fixed to the connecting seat, the end portion of the second supporting rod is connected with the tipping bucket body through the rotating seat, a discharging plate is arranged on the side face of the tipping bucket body, a discharging push rod is hinged to the lower end of the tipping bucket body, a hinged connecting seat is hinged to the side face of the tipping bucket body, a connecting rod is hinged between the hinged connecting seat and the discharging push rod, and a connecting rod is hinged between the hinged connecting seat and the discharging plate.
By adopting the structure, when the weighing machine reaches a limit value, the crawler traveling chassis drives the device to move to a biogas digester or a fertilizer treatment area, the discharging push rod is retracted, the hinged connection seat is pulled to rotate around the side face of the tipping bucket body, so that the connecting rod pulls the discharging plate to open outwards, the tipping bucket push rod is pushed out to drive the first support rod and the connecting seat to rotate and open, so that the first support rod and the second support rod are driven to rotate and open around the fixing frame and the tipping bucket body through the rotating seat respectively, and then the side face of the fixing frame is driven to rotate around between the two clamping seats of the tipping bucket body, and excrement in the tipping bucket body is poured out along the discharging plate.
Compared with the prior art, the intelligent farm for livestock breeding for fecal reprocessing and utilizing has the following advantages:
the manure treatment area, the production and living area and the sports grass area are matched, so that manure can be effectively made into fertilizer and methane, and the methane is matched with methane power generation equipment of a power supply system and a methane hot-air furnace of a heating system to supply power and heat, so that pollution of the manure to the air environment is avoided, fertilizer and selling can be realized, energy is saved, the environment is protected, and the cost is saved; the intelligent cleaning robot can quickly position the excrement through the matching of the ultrasonic detector, the thermal imaging probe assembly and the optical camera assembly; the intelligent cleaning robot can clamp, overturn and pour the excrement into the inside of the overturning hopper through the cooperation of the clamping mechanical arm and the clamping claw component; the intelligent cleaning robot is matched with the weighing device through the turning hopper, and when the weighing device reaches a limiting value, the turning hopper can quickly pour out the excrement, so that the operation is convenient; the intelligent cleaning robot is matched with the bionic plate through the crawler walking chassis, the bionic plate can be replaced according to the variety of the raised livestock, the livestock is prevented from being frightened, and the intelligent cleaning robot is matched with the ultrasonic detector and the optical camera assembly, so that the intelligent cleaning robot is convenient to transfer and walk.
Drawings
Fig. 1 is a process diagram of the present invention.
Fig. 2 is a plan view of the present invention.
FIG. 3 is a schematic view of the terrain and wind direction partition plan of the present invention.
Fig. 4 is a schematic perspective view of an intelligent cleaning robot according to the present invention.
Fig. 5 is a schematic diagram of a structure of the intelligent cleaning robot during unloading.
Fig. 6 is a schematic view of a cleaning structure of the intelligent cleaning robot according to the present invention.
Fig. 7 is a schematic perspective view of an optical camera assembly according to the present invention.
FIG. 8 is a schematic structural view of the auxiliary mechanical arm and thermal imaging probe assembly of the present invention.
Fig. 9 is a schematic view of the structure of the gripper assembly of the present invention.
Fig. 10 is a schematic perspective view of a gripper plate according to the present invention.
FIG. 11 is a schematic view of the structure of the turning hopper in the invention during discharging.
Fig. 12 is a schematic view of the lower side of the hopper according to the present invention.
Fig. 13 is an enlarged schematic view of the structure of fig. 12 at a in the present invention.
In the figure, 1, a bionic plate; 2. turning over a hopper; 3. a roller box; 4. a cleaning roller; 5. clamping a mechanical arm; 6. a clamping jaw assembly; 7. an ultrasonic detector; 8. an auxiliary mechanical arm; 9. an optical camera assembly; 10. a crawler chassis; 11. a thermal imaging probe assembly; 12. a cleaning brush; 13. a brush box; 14. a fixing plate; 15. a rotating electric machine; 16. a rotating disc; 17. a mounting frame; 18. a position-adjusting motor; 19. a mounting plate; 20. an optical camera; 21. a rotating electric machine; 22. a rotating frame; 23. an anti-shake bracket; 24. a thermal imaging probe; 25. a base frame; 26. an electric push rod; 27. clamping the bracket; 28. a hinged plate; 29. clamping the plate; 30. clamping the plate body; 31. a material guide plate; 32. a fixed shaft; 33. a first strut; 34. a skip push rod; 35. a rotating seat; 36. a connecting seat; 37. a second strut; 38. a skip bucket body; 39. a stripper plate; 40. a fixing frame; 41. hinging the connecting seat; 42. a connecting rod; 43. a discharge push rod; 44. a clamping seat.
Detailed Description
The following are specific embodiments of the present invention and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1-13, the intelligent farm for livestock breeding for fecal reprocessing and utilizing comprises an animal farm door, an intelligent cleaning robot, a fecal treatment area, a production living area and a motion pasture area, wherein the fecal treatment area, the production living area and the motion pasture area are sequentially arranged from left to right;
before entering an animal farm, vehicles and staff are disinfected through a disinfection system, epidemic prevention safety is guaranteed, a life management area carries out life and product grazing management, an auxiliary production area carries out power supply, heating and the like, an animal house production area carries out animal house cultivation, an isolation area carries out medical treatment, isolation and cadaver manure treatment on livestock, the livestock can move on a sports ground, a plurality of animal grass areas can carry out regional weed eating, at the moment, the sports ground and the animal grass areas can have excrement, an intelligent cleaning robot can position the excrement and then collect and transport the excrement, meanwhile, the excrement and the manure can be cleaned and transported to a fertilizer treatment area and a methane tank, the fertilizer treatment area carries out sterilization, auxiliary material adding, mixing stirring and fermentation to obtain fertilizer, packaging and selling can also carry out fertilization on the animal grass area, the methane tank can generate methane, the methane is transported to the auxiliary production area to carry out heating and power supply, both the water fertilizer and the slag fertilizer can be generated by the tank can carry out sales, and fertilization and the excrement can be reprocessed and utilized, and the energy is more environment-friendly.
The disinfection system comprises a vehicle disinfection pool, a human foot pedal disinfection pool, a spraying disinfection room and a dressing and shoe changing room; the living management area comprises a residence, a body-building area, a dining room and a product processing control area, and is connected with the methane tank through a sewer pipe; the auxiliary production area comprises a water supply and drainage control system, a power supply system, a heating system and a maintenance warehouse, wherein the power supply system comprises methane power generation equipment, the heating system comprises a methane hot blast stove, and water filtering equipment is arranged between the water supply and drainage control system and an external water source; the positions of the life management area, the auxiliary production area, the livestock shed production area and the isolation area are the same as the dominant wind direction, and the heights of the life management area, the auxiliary production area, the livestock shed production area and the isolation area are sequentially reduced;
the vehicle disinfection pool, the human foot disinfection pool, the spraying disinfection room and the dressing and shoe changing room can respectively change the shoes of the entering vehicle, the entering human and the body and the entering workers, ensure epidemic prevention safety, the life management area can carry out accommodation, body building, eating, product processing, livestock control and the like, the auxiliary production area can carry out water supply, power supply, heating, maintenance and the like, the marsh gas enters the marsh gas generating equipment to generate electricity, the marsh gas enters the marsh gas hot blast stove to carry out heating, and the water supply and drainage control system can pump the water of an external water source such as a river and a lake into the water filtering equipment for filtering and then supply and use by workers and livestock, the positions of the life management area, the auxiliary production area, the livestock house production area and the isolation area are the same as the dominant wind direction, ventilation is ensured, polluted gas, excrement odor and livestock disease air are prevented from being blown to the life management area, and the heights of the life management area, the auxiliary production area, the livestock house production area and the isolation area are sequentially reduced, and ventilation, lighting and pollution discharge are ensured.
The inside of the livestock shed production area is sequentially provided with a feed storage processing area, an adult shed, a middle livestock shed, a small livestock shed, a delivery shed and a mating shed from front to back, wherein the adult shed is arranged in a double-row layout manner, and the livestock shed production area is connected with the methane tank through a sewer pipe; the isolation area comprises a medical room, a disease animal isolation room, a manure collecting tank and a manure dead body treatment room, a communicating pipe is arranged between the manure dead body treatment room and the methane tank, a control valve is arranged on the communicating pipe, the front side of the fertilizer treatment area is a packaging room, and the rear side of the fertilizer treatment area is a processing storage room;
the feed storage processing area, the adult house, the middle livestock house, the small livestock house, the delivery house and the mating house have corresponding functions, the cultivation is facilitated, the adult house is arranged in a double-row layout mode, the ventilation effect is good, the clean sewage channel is separated, the circuit is shortened, the arrangement is compact, sewage which is generated between the livestock house production area and the methane tank through sewer connection and can form methane can be introduced into the methane tank, such as excrement and urine, etc., a medical room, a sick livestock isolation room, a feces collection tank and a feces and urine dead body treatment room have corresponding functions, cultivation is facilitated, after the sick livestock die, the dead body can be crushed and stirred in the feces and urine dead body treatment room to form mixed liquid, the mixed liquid is injected into the methane tank through the communicating pipe, methane is formed, the processing storage room can sterilize, add auxiliary materials, mix and ferment, fertilizer can be obtained and stored, and the packaging room can package fertilizer for sale.
The system comprises a sport field, a plurality of sunshade drinking sheds, a drainage ditch, an irrigation system, a plurality of pasture height detectors, an intelligent analysis module and a manual detection module, wherein the sunshade drinking sheds are arranged on the sport field; the sunshade drinking water canopy is used for sunshade drinking water after the livestock moves, and the escape canal is convenient for wash the stadium drainage after, and the escape canal communicates with water supply and drainage control system, and sewage can be discharged, also cyclic utilization after can filtering, irrigation system and water supply and drainage control system intercommunication irrigates the pasture in animal pasture district, and pasture height detector includes image acquisition module and intelligent analysis module and artifical detection module cooperation, detects pasture growth height, carries out regional rearing poultry.
The intelligent cleaning robot comprises a crawler traveling chassis 10, bionic plates 1 are detachably arranged on two sides of the crawler traveling chassis 10, a hopper 2 is turned over on the crawler traveling chassis 10, a weighing device is arranged between the hopper 2 and the crawler traveling chassis 10, a roller box 3 and a brush box 13 are arranged on the hopper 2, a cleaning roller 4 and a cleaning brush 12 are respectively arranged in the roller box 3 and the brush box 13, a clamping mechanical arm 5 is arranged in the middle of the front side of the crawler traveling chassis 10, a clamping claw assembly 6 is detachably arranged at the end part of the clamping mechanical arm 5, the cleaning roller 4 and the cleaning brush 12 can be detachably connected with the end part of the clamping mechanical arm 5, two symmetrical auxiliary mechanical arms 8 and two symmetrical optical camera assemblies 9 are arranged on the front side of the crawler traveling chassis 10, the auxiliary mechanical arms 8 are positioned on the inner sides of the optical camera assemblies 9, the clamping mechanical arms 5 are positioned between the two auxiliary mechanical arms 8, and an ultrasonic detector 7 and a thermal imaging probe assembly 11 are respectively arranged on the two auxiliary mechanical arms 8;
The crawler chassis 10 drives the intelligent cleaning robot to walk in the farm, the bionic plate 1 can be replaced according to the variety of the raised livestock, the scaring livestock is avoided, the optical camera assembly 9 can record livestock manure information, such as size, height and color, the ultrasonic detector 7, the thermal imaging probe assembly 11 and the learning camera assembly 9 can rapidly position the manure, the crawler chassis 10 moves to the front, the clamping mechanical arm 5 is matched with the clamping claw assembly 6 to clamp the manure, the clamping mechanical arm 5 drives the clamping claw assembly 6 to move to the overturning hopper 2, meanwhile, the clamping claw assembly 6 is driven to overturn for 270 degrees, the manure inside the clamping claw assembly 6 is poured into the overturning hopper 2, when the weighing machine reaches a limiting value, the crawler chassis 10 drives the device to move to a methane tank or a fertilizer treatment area, the overturning hopper 2 pours the internal manure out, and when a life management area, a livestock house production area and the like need to be cleaned, the cleaning roller 4 and the cleaning brush 12 are arranged at the end part of the clamping mechanical arm 5, and roller brushing can be performed.
The crawler traveling chassis 10 is internally provided with a GPS (global positioning system) locator, a WiFi (wireless fidelity) transmission module, a storage battery and an electric control main board, wherein the electric control main board is respectively and electrically connected with the GPS locator, the WiFi transmission module and the storage battery, and the WiFi transmission module is connected with a product processing control area through a wireless network; the GPS locator is used for locating the position of the intelligent cleaning robot, the WiFi transmission module is used for sending various information, the storage battery supplies power for all the components, and the electric control main board collects, processes and analyzes the information and sends out working signals.
The optical camera component 9 comprises a fixed plate 14, the fixed plate 14 is fixed on the crawler chassis 10, a rotary motor 15 is fixed at the lower end of the fixed plate 14, a rotary disc 16 is rotatably arranged at the upper end of the fixed plate 14, an output shaft of the rotary motor 15 is fixedly connected with the rotary disc 16, two mounting frames 17 are fixed above the rotary disc 16, a mounting plate 19 is rotatably arranged between the two mounting frames 17, a positioning motor 18 is fixed on the mounting plate 19, an output shaft of the positioning motor 18 is rotatably connected with one of the mounting frames 17, an optical camera 20 is fixed on the mounting plate 19, and the optical camera 20 is electrically connected with an electric control main board; the output shaft of the rotating motor 15 drives the rotating disc 16 to rotate at the upper end of the fixed plate 14, and the output shaft of the positioning motor 18 drives one of the mounting frames 17 to rotate, so that the mounting plate 19 is driven to rotate between the two mounting frames 17, and the optical camera 20 is driven to adjust the angle, so that the excrement position can be conveniently observed, and the intelligent cleaning robot can avoid and bypass the obstacle when walking.
The lower end of the auxiliary mechanical arm 8 is rotatably provided with a rotating frame 22, the rotating frame 22 rotates above the crawler chassis 10, a rotating motor 21 is arranged inside the crawler chassis 10, an output shaft of the rotating motor 21 is fixedly connected with the rotating frame 22, the thermal imaging probe assembly 11 comprises an anti-shake bracket 23 and a thermal imaging probe 24, the anti-shake bracket 23 is fixed at the end part of the auxiliary mechanical arm 8, and the thermal imaging probe 24 is rotatably connected to the anti-shake bracket 23;
The output shaft of the rotating motor 21 drives the rotating frame 2 to rotate above the crawler chassis 10, so that the auxiliary mechanical arm 8 is driven to rotate, the auxiliary mechanical arm 8 adjusts the positions of the anti-shake support 23 and the ultrasonic detector 7, the anti-shake support 23 prevents the thermal imaging probe 24 from shaking, the ultrasonic detector 7 spatially positions excrement, the thermal imaging probe 24 can perform thermal detection, and the excrement position is locked timely and rapidly before the excrement is removed.
The clamping claw assembly 6 comprises a base frame 25, the base frame 25 is detachably connected to the end part of the clamping mechanical arm 5, a plurality of uniformly distributed clamping brackets 27 are rotatably arranged on two sides of the base frame 25, a shaft coupling is connected between the clamping brackets 27 on the same side, hinge plates 28 are fixed on the front side and the rear side of the base frame 25, a plurality of electric push rods 26 are hinged between the shaft coupling on two sides and the hinge plates 28, the electric push rods 26 are electrically connected with an electric control main board, a clamping plate 29 is arranged between the clamping brackets 27 on the same side, the clamping plate 29 comprises a fixed shaft 32, the fixed shaft 32 is detachably connected between the clamping brackets 27, a clamping plate body 30 is fixed on the fixed shaft 32, a material guide plate 31 is arranged on the front side of the clamping plate body 30, and the material guide plate 31 is positioned on the lower part of the front side of the base frame 25;
The electric control main board controls the electric push rod 26 to retract, drives a plurality of clamping supports 27 on two sides to open, drives the fixed shaft 32 to open, drives the clamping plate body 30 to open, drives the clamping claw assembly 6 to move to the ground by the clamping mechanical arm 5, and enables the clamping plate body 30 to abut against the ground, the two clamping plate bodies 30 are located on two sides of excrement, the electric control main board controls the electric push rod 26 to push out, drives the clamping plate body 30 to be closed, clamps up the excrement, and drives the clamping claw assembly 6 to move to the overturning hopper 2 by the clamping mechanical arm 5, simultaneously drives the clamping claw assembly 6 to overturn 270 degrees, and enables the excrement inside the clamping claw assembly 6 to be poured into the overturning hopper 2 along the guide plate 31.
The turning hopper 2 comprises a fixed frame 40 and a tipping bucket body 38, wherein the fixed frame 40 is fixed above the crawler chassis 10, a weighing device is arranged between the fixed frame 40 and the crawler chassis 10, clamping seats 44 are fixed on the periphery of the lower end of the tipping bucket body 38, the side face of the fixed frame 40 is hinged with the two clamping seats 44 on the same side, the upper side of the fixed frame 40 is connected with a first supporting rod 33 through a rotating seat 35, a connecting seat 36 is fixed on the first supporting rod 33, a tipping bucket push rod 34 is arranged between the first supporting rod 33 and the connecting seat 36, a second supporting rod 37 is fixed on the connecting seat 36, the end part of the second supporting rod 37 is connected with the tipping bucket body 38 through the rotating seat 35, a discharging plate 39 is arranged on the side face of the tipping bucket body 38, a discharging push rod 43 is hinged at the lower end of the tipping bucket body 38, a hinged connecting seat 41 is hinged between the hinged connecting seat 41 and the discharging push rod 43, and a connecting rod 42 is hinged between the hinged connecting seat 41 and the discharging plate 39;
When the weighing machine reaches a limit value, the crawler chassis 10 drives the device to move to a methane tank or a fertilizer treatment area, the discharging push rod 43 is retracted, the hinged connection seat 41 is pulled to rotate around the side face of the tipping bucket body 38, the connecting rod 42 pulls the discharging plate 39 to open outwards, the tipping bucket push rod 34 is pushed out to drive the first supporting rod 33 and the connection seat 36 to rotate and open, and accordingly the first supporting rod 33 and the second supporting rod 37 are driven to rotate and open around the fixing frame 40 and the tipping bucket body 38 respectively through the rotating seat 35, and then the two clamping seats 44 of the tipping bucket body 38 are driven to rotate around the side face of the fixing frame 40, so that excrement inside the tipping bucket body 38 is poured out along the discharging plate 39.
The working principle of the invention is as follows:
before entering the animal farm, the vehicles and the staff are sterilized or changed in clothes and shoes through a vehicle sterilizing pond, a human foot sterilizing pond, a spraying sterilizing chamber and a clothes changing and shoes changing room, so that epidemic prevention safety is ensured;
the life management area can carry out accommodation, body building, eating, product processing and product grazing management, the auxiliary production area can carry out water supply, power supply, heating, maintenance and other works, the biogas enters the biogas generating equipment to generate power, the biogas enters the biogas hot blast stove to heat, and the water supply and drainage control system can pump water of an external water source such as a river and a lake into the water body filtering equipment to be filtered for drinking and use by workers and livestock;
The feed storage processing area, the adult house, the middle livestock house, the small livestock house, the delivery house and the mating house have corresponding functions, are beneficial to cultivation, the adult house adopts double-row layout, has good ventilation effect, and has separated and shortened clean sewage channels and compact arrangement, and sewage which is generated between the livestock house production area and the methane tank through sewer connection and can form methane can be introduced into the methane tank, such as excrement urine and the like;
the medical treatment room, the sick and beast isolation room, the excrement collecting tank and the excrement and urine dead body treatment room have corresponding functions, are beneficial to cultivation, and can crush and stir dead bodies in the excrement and urine dead body treatment room to form mixed liquid after the sick and beasts die, and the mixed liquid is injected into the methane tank through the communicating pipe to form methane;
the positions of the life management area, the auxiliary production area, the livestock shed production area and the isolation area are the same as the dominant wind direction, ventilation is guaranteed, pollution gas, excrement odor and livestock disease air are prevented from being blown to the life management area, epidemic prevention is guaranteed, the heights of the life management area, the auxiliary production area, the livestock shed production area and the isolation area are sequentially reduced, and ventilation, lighting and pollution discharge are guaranteed;
the livestock can move on the sports ground, the sunshade drinking water shed is used for sunshade drinking water after the livestock moves, the drainage ditch is convenient for cleaning the sports ground and draining water, the drainage ditch is communicated with the water supply and drainage control system, and sewage can be discharged or filtered and recycled;
The irrigation system is communicated with the water supply and drainage control system, and is used for watering and irrigating the pasture in the pasture area, and the pasture height detector comprises an image acquisition module, an intelligent analysis module and a manual detection module which are matched with each other to detect the growth height of the pasture, so that the pasture is fed and raised in a partitioned mode;
at this time, the stadium and the pasture area can have excrement, the crawler walking chassis 10 drives the intelligent cleaning robot to walk in the farm, the GPS locator is used for locating the position of the intelligent cleaning robot, the WiFi transmission module is used for sending various information, the storage battery supplies power for each part, the electronic control main board collects, processes and analyzes the information and sends out working signals, the bionic board 1 can be replaced according to the variety of the raised livestock, the livestock is prevented from being frightened, the optical camera assembly 9 can record the excrement information of the livestock, such as size, height and color, the output shaft of the rotating motor 15 drives the rotating disc 16 to rotate at the upper end of the fixed board 14, the output shaft of the positioning motor 18 drives one of the mounting frames 17 to rotate, thereby driving the mounting plate 19 to rotate between the two mounting frames 17, and driving the optical camera 20 to adjust the angle, so as to be convenient for observing the excrement position and avoiding bypassing the obstacle when the intelligent cleaning robot walks;
The ultrasonic detector 7, the thermal imaging probe assembly 11 and the imaging camera assembly 9 are used for rapidly positioning the excrement, the electric control main board is used for controlling the electric push rod 26 to be folded before the crawler walking chassis 10 moves to the excrement, a plurality of clamping supports 27 on two sides are driven to be opened, a fixed shaft 32 is driven to be opened, a clamping plate body 30 is driven to be opened, the clamping mechanical arm 5 is used for driving the clamping claw assembly 6 to move to the ground, the clamping plate body 30 is abutted on the ground, the two clamping plate bodies 30 are positioned on two sides of the excrement, the electric control main board is used for controlling the electric push rod 26 to push out, the clamping plate body 30 is driven to be closed, the excrement is clamped, the clamping mechanical arm 5 is used for driving the clamping claw assembly 6 to move to the overturning hopper 2, and meanwhile, the clamping claw assembly 6 is driven to be overturned for 270 degrees, and the excrement inside the clamping claw assembly 6 is poured into the overturning hopper 2 along the guide plate 31;
when the weighing machine reaches a limit value, the crawler traveling chassis 10 drives the device to move to a methane tank or a fertilizer treatment area, the discharging push rod 43 is retracted, the hinged connection seat 41 is pulled to rotate around the side surface of the tipping bucket body 38, the connecting rod 42 pulls the discharging plate 39 to open outwards, the tipping bucket push rod 34 is pushed out, the first supporting rod 33 and the connection seat 36 are driven to rotate and open, the first supporting rod 33 and the second supporting rod 37 are driven to rotate and open around the fixed frame 40 and the tipping bucket body 38 respectively through the rotating seat 35, and then the two clamping seats 44 of the tipping bucket body 38 are driven to rotate around the side surface of the fixed frame 40, so that excrement in the tipping bucket body 38 is poured out along the discharging plate 39;
The fertilizer treatment area is sterilized, added with auxiliary materials, mixed, stirred and fermented to obtain fertilizer, the fertilizer can be packaged and sold, fertilizer can be applied to the pasture area, biogas can be generated by the biogas digester, the biogas is conveyed to the auxiliary production area for heating and power supply, and water fertilizer and residue fertilizer generated by the biogas digester can be sold, fertilizer can be applied to the pasture area, livestock manure can be reprocessed and utilized, and the energy is saved and the environment is protected;
when the living management area, the livestock shed production area and the like need to be cleaned, the cleaning roller 4 and the cleaning brush 12 are arranged at the end part of the clamping mechanical arm 5, so that the roller brush cleaning can be performed.
In combination, the manure treatment area, the production and living area and the sports grass area are matched, so that manure can be effectively made into fertilizer and methane, and the methane is matched with methane power generation equipment of a power supply system and a methane hot-air furnace of a heating system to supply power and heat, thereby avoiding pollution of the manure of livestock to the air environment, and also being capable of fertilizing and selling, saving energy, protecting environment and saving cost;
the intelligent cleaning robot can quickly position the excrement through the matching of the ultrasonic detector 7, the thermal imaging probe assembly 11 and the optical camera assembly 9;
the intelligent cleaning robot can clamp, overturn and pour the excrement into the inside of the overturning hopper 2 through the cooperation of the clamping mechanical arm 5 and the clamping claw component 6;
The intelligent cleaning robot is matched with the weighing device through the turning hopper 2, and when the weighing device reaches a limiting value, the turning hopper 2 can quickly pour out the excrement, so that the operation is convenient;
the intelligent cleaning robot is matched with the bionic plate 1 through the crawler walking chassis 10, the bionic plate 1 can be replaced according to the variety of the raised livestock, the livestock are prevented from being frightened, and the intelligent cleaning robot is matched with the ultrasonic detector 7 and the optical camera component 9, so that the transfer walking is facilitated.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (5)
1. The intelligent cleaning robot for the fecal reprocessing and utilizing type livestock breeding is characterized by comprising a crawler traveling chassis (10), wherein bionic plates (1) are detachably arranged on two sides of the crawler traveling chassis (10), a hopper (2) is turned over on the crawler traveling chassis (10), a weighing device is arranged between the hopper (2) and the crawler traveling chassis (10), a roller box (3) and a brush box (13) are arranged on the hopper (2), a cleaning roller (4) and a cleaning brush (12) are respectively arranged in the roller box (3) and the brush box (13), a clamping mechanical arm (5) is arranged in the middle of the front side of the crawler traveling chassis (10), a clamping claw assembly (6) is detachably arranged at the end part of the clamping mechanical arm (5), two symmetrical auxiliary mechanical arms (8) and two symmetrical optical camera head assemblies (9) are arranged on the front side of the crawler traveling chassis (10), the auxiliary mechanical arms (8) are positioned between the two auxiliary mechanical arms (8) and the two ultrasonic imaging mechanical probe assemblies (11) are arranged between the two auxiliary mechanical arms (8) and the two ultrasonic imaging mechanical probe assemblies (8;
The crawler traveling chassis (10) is internally provided with a GPS (global positioning system) locator, a WiFi (wireless fidelity) transmission module, a storage battery and an electric control main board, wherein the electric control main board is respectively and electrically connected with the GPS locator, the WiFi transmission module and the storage battery, and the WiFi transmission module is connected with a product processing control area through a wireless network;
the optical camera component (9) comprises a fixed plate (14), the fixed plate (14) is fixed on a crawler chassis (10), a rotating motor (15) is fixed at the lower end of the fixed plate (14), a rotating disc (16) is rotatably arranged at the upper end of the fixed plate (14), an output shaft of the rotating motor (15) is fixedly connected with the rotating disc (16), two mounting frames (17) are fixed above the rotating disc (16), a mounting plate (19) is rotatably arranged between the two mounting frames (17), a positioning motor (18) is fixed on the mounting plate (19), an output shaft of the positioning motor (18) is rotatably connected with one of the mounting frames (17), an optical camera (20) is fixed on the mounting plate (19), and the optical camera (20) is electrically connected with an electric control main board;
the lower end of the auxiliary mechanical arm (8) is rotatably provided with a rotating frame (22), the rotating frame (22) rotates above the crawler traveling chassis (10), a rotating motor (21) is arranged inside the crawler traveling chassis (10), an output shaft of the rotating motor (21) is fixedly connected with the rotating frame (22), the thermal imaging probe assembly (11) comprises an anti-shake support (23) and a thermal imaging probe (24), the anti-shake support (23) is fixed at the end part of the auxiliary mechanical arm (8), and the thermal imaging probe (24) is rotatably connected to the anti-shake support (23);
The clamping claw assembly (6) comprises a base frame (25), the base frame (25) is detachably connected to the end part of the clamping mechanical arm (5), a plurality of clamping brackets (27) which are uniformly distributed are rotatably arranged on two sides of the base frame (25), a shaft coupling is connected between the clamping brackets (27) on the same side, hinge plates (28) are fixed on the front side and the rear side of the base frame (25), a plurality of electric push rods (26) are hinged between the shaft coupling on two sides and the hinge plates (28), the electric push rods (26) are electrically connected with an electric control main board, a clamping plate (29) is arranged between the clamping brackets (27) on the same side, the clamping plate (29) comprises a fixed shaft (32), a clamping plate body (30) is detachably connected between the clamping brackets (27), a material guide plate (31) is arranged on the front side of the clamping plate body (30), and the material guide plate (31) is positioned at the lower part of the front side of the base frame (25);
the overturning hopper (2) comprises a fixed frame (40) and a tipping bucket body (38), the fixed frame (40) is fixed above the crawler chassis (10), the weighing device is arranged between the fixed frame (40) and the crawler chassis (10), clamping bases (44) are fixed on the periphery of the lower end of the tipping bucket body (38), two clamping bases (44) on the same side are hinged to the side face of the fixed frame (40), a first supporting rod (33) is connected to the upper side of the fixed frame (40) through a rotating base (35), a connecting base (36) is fixed on the first supporting rod (33), a tipping rod (34) is fixed between the first supporting rod (36) and the connecting base (36), a second supporting rod (37) is fixed on the connecting base (36), the end portion of the second supporting rod (37) is connected with the tipping bucket body (38) through the rotating base (35), a discharging plate (39) is arranged on the side face of the tipping bucket body (38), a discharging push rod (43) is hinged to the lower end of the tipping bucket body (38), a tipping bucket body (38) is hinged to the side face of the tipping bucket body (41), a connecting rod (41) is hinged to the connecting base (41), and the discharging plate (41) is hinged to the connecting plate (41) and is hinged to the connecting rod (41).
2. The intelligent farm for livestock breeding capable of reprocessing and utilizing excrement comprises an animal farm gate, the intelligent cleaning robot of claim 1, and an excrement treatment area, a production living area and a motion pasture area which are sequentially arranged from left to right, wherein the animal farm gate is positioned right in front of the production living area, a fertilizer treatment area and a methane tank are sequentially arranged in the excrement treatment area from front to back, a living management area, an auxiliary production area, a livestock house production area and an isolation area are sequentially arranged in the production living area from front to back, a plurality of sports fields and a plurality of animal pasture areas are sequentially arranged in the motion pasture area from left to right, and a trunk road is arranged among the excrement treatment area, the production living area and the motion pasture area, and a disinfection system is arranged at the animal farm gate.
3. A smart farm for livestock farming for fecal reprocessing according to claim 2, wherein the disinfection system comprises a vehicle disinfection tank, a human foot disinfection tank, a spray disinfection chamber and a changing shoe booth; the living management area comprises a residence, a body-building area, a dining room and a product processing control area, and is connected with the methane tank through a sewer pipe; the auxiliary production area comprises a water supply and drainage control system, a power supply system, a heating system and a maintenance warehouse, wherein the power supply system comprises methane power generation equipment, the heating system comprises a methane hot blast stove, and water filtering equipment is arranged between the water supply and drainage control system and an external water source; the positions of the life management area, the auxiliary production area, the livestock shed production area and the isolation area are the same as the dominant wind direction, and the heights of the life management area, the auxiliary production area, the livestock shed production area and the isolation area are sequentially reduced.
4. An intelligent farm for livestock breeding with reprocessing and utilizing feces according to claim 3, wherein the livestock housing production area is internally provided with a feed storage processing area, an adult housing, a middle livestock housing, a small livestock housing, a delivery housing and a mating housing from front to back in sequence, the adult housing is arranged in a double-row layout, and the livestock housing production area is connected with a methane tank through a sewer pipe; the isolation area comprises a medical room, a disease animal isolation room, a manure collecting tank and a manure dead body treatment room, a communicating pipe is arranged between the manure dead body treatment room and the methane tank, a control valve is arranged on the communicating pipe, the front side of the fertilizer treatment area is a packaging room, and the rear side of the fertilizer treatment area is a processing storage room.
5. The intelligent farm for livestock-raising with reprocessed excrement according to claim 4, wherein a plurality of sunshade drinking sheds are arranged on the stadium, drainage ditches are arranged around the stadium and are communicated with a water supply and drainage control system, an irrigation system is arranged on the livestock-raising area and is communicated with the water supply and drainage control system, a plurality of pasture height detectors are arranged on the livestock-raising area, and each pasture height detector comprises an image acquisition module, an intelligent analysis module and a manual detection module.
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