CN207803091U - The box-like pig house of smart group and dung collection system - Google Patents
The box-like pig house of smart group and dung collection system Download PDFInfo
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- CN207803091U CN207803091U CN201721231571.1U CN201721231571U CN207803091U CN 207803091 U CN207803091 U CN 207803091U CN 201721231571 U CN201721231571 U CN 201721231571U CN 207803091 U CN207803091 U CN 207803091U
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Abstract
A kind of box-like pig house of smart group of the application offer and dung collection system, including Intelligent fence, intelligent cleaning up excrement robot and flushing charging unit；Including fence, crib, slurry gutte, master station, rinse charging unit and intelligent cleaning up excrement robot.This system can at any time shift excrement in slurry gutte onto, avoid the disease brought to pig by excrement accumulation and the excrement that is carried during cleaning up excrement of cleaning up excrement robot.Excrement is pushed away by cleaning up excrement robot to be fallen in slurry gutte and is transported in recovery pond by the belt conveyor in slurry gutte, and to which easily excrement be discharged, multiple public slurry guttes of pigsty facilitate excrement centralized recovery to handle.
Description
Technical field
The utility model belongs to cultivation equipment field, relates generally to a kind of box-like pig house of smart group and dung collection system.
Background technology
The feeding manner of China's pig breeding industry gradually develops to scale, intensive artificial house at present.Relative to other
Animal husbandry colony house, requirement higher of the pig house to sanitation and hygiene.Traditional pig house structure majority uses brick mix structure, construction period
Long, sanitary condition is poor in pig house, is susceptible to suffer from various diseases, and need the labour put into and time more in cleaning excrement, because
This is badly in need of a kind of box-like pig house of smart group and a kind of dung collection system solves the problems, such as pig house sanitary condition, cleaning up excrement, excrement recycling
Problem.
Utility model content
The purpose of this utility model is to provide a kind of box-like pig house of smart group and dung collection systems, it is intended to solve existing
The cumbersome problem of pig manure is recycled in technology.
The technical scheme adopted by the utility model is that：
A kind of box-like pig house of smart group and dung collection system, it is characterised in that：Including Intelligent fence, intelligent cleaning up excrement machine
People and flushing charging unit；
The structure of the Intelligent fence is：Including fence, crib, slurry gutte, it is provided on the column at fence both ends red
Outside line；A virtual wall is formed between the infrared ray and infrared ray, which is formed with defecation close to the ground of solid wall side
Ditch, the slurry gutte are equipped with belt conveyor, and the end of belt conveyor is equipped with recovery pond, and lattice are stamped on the slurry gutte top
Grid；
Fence is outer to be placed with flushing charging unit, including developing room, master station, flush pipe perpendicular to the side of slurry gutte
The developing room of road, wireless charger, leak grid and air-dry machine, this programme is cuboid, the bottom middle of the developing room
One wireless charger is installed, the developing room bottom of the wireless charger surrounding is formed with leak grid；Pacify in the antetheca of the developing room
Fill an overhead door, air-dry machine is installed in the upper end of overhead door, the air outlet alignment wireless charger position of the air-dry machine, except being equipped with
Outside the developing room antetheca of overhead door and air-dry machine, it is respectively mounted flushing pipe corresponding with leak grating position on other three walls,
It is uniformly spaced the multiple nozzles of installation in flushing pipe side wall；It is equipped with a master station at the top of the flushing charging unit, the master station
Receive the operation that WiFi communication exports control developing room by switch amount；
The intelligence cleaning up excrement robot, including shell, walking mechanism, shoveling mechanism, booster body, drive control module,
Communication module, transmitting module, sensor group and battery pack, walking mechanism drive robot to be moved to assigned direction, push away production machine
Structure pushes the piggery feces in front of robot, when excrement is more, starts and increases mechanism, increases the friction of robot and ground
Power makes robot continue to move along, and excrement is pushed, and sensor group can help robot to identify encountered barrier
Type is pig or excrement, and assist people identification is walked and avoided, and allows the robot to implement according to set route
Cleaning up excrement.
Moreover, the walking mechanism includes；Left stepper motor, right stepper motor, two driving wheels and a universal wheel,
The stepper motor mirror symmetry of left and right two is mounted on the left and right sides at rear portion in shell, and each stepper motor is co-axially mounted a driving
Wheel, driving wheel half are located at hull outside, and half is located at enclosure interior, the lower part of the housing installation 10,000 on front side of two driving wheels
To wheel, universal wheel and two driving wheels form triangle, complete support and walking to robot shell.
Moreover, the shoveling mechanism includes：Two shoveling shovel wall electric rotating machines, shoveling connection wall and shoveling, two push away
Shovel shovel wall electric rotating machine is symmetrically mounted on middle part in shell, and each shoveling shovel wall electric rotating machine respectively drives a shoveling connection wall,
Two shoveling connection wall ends are fixedly mounted with a shoveling jointly, and shoveling connection wall is located in the shoveling connection wall trench of housing outer surface, when
When shoveling is horizontally arranged, the height of shoveling connection wall is not higher than housing upper surface, described to push away production for arc, convenient for pushing away more excrement
Just.
Moreover, the booster body includes four booster fans, four booster fans are uniformly mounted on the outside four of shell
In week, the both sides of shoveling, for each wind turbine tool that increases there are one protection shell, catch net is installed on top.
Moreover, the drive control module is mounted on middle part in shell, institute of control robot is installed on drive control module
The various control circuits needed, action command is sent out to walking mechanism, shoveling mechanism, booster body.
Moreover, the communication module is mounted on shell upper back, there is outer cover protection in outside, and communication module is used for and master control
Device directly sends out and receives signal, while connecting battery pack, and information about power is sent to main controller in real time.
Moreover, the transmitting module is mounted in the shell at battery pack rear portion, it is used for the signal of receiving sensor group, is issued
Communication module, main controller receives to react after signal is transmitted to communication module after actuating signal again, and communication module is transmitted to driving again
Control module instructs, and drive control mould sends out action command to walking mechanism, shoveling mechanism, booster body again.
Moreover, the sensor group includes：Electronic gyroscope sensor：It helps robot to identify direction, ensures predetermined
Route is walked, and is ensured spatial position, will not be tilted or topple over, and the top or integrated installation for being mounted on driven wheel are controlled in driving
On molding block；
Life detection sensor：For perceiving movable pig in pig house, in robot traveling process, barrier is encountered
When, heartbeat is perceived, then regards the barrier as pig, implements to retreat and hides action, integrated installation drive control module in shell
On；
Pyroelectric infrared sensor：Whether for judging object (excrement) and being life entity, pig manure has temperature, but
It is no heartbeat, it can be determined that be pig manure, shoveling falls shovel, pushes.Pyroelectric infrared sensor is arranged on a left side for robot shell
Two front side of the right side；
Doppler radar：Position and the speed of related movement for detecting moving target, judge pig, integrated installation is in drive control
In module；
Hall sensor：For detecting virtual wall and carrying out stroke correction, to judge the working range of robot.
The advantages of the utility model and good effect：
This system can at any time shift excrement in slurry gutte onto, avoid because excrement is accumulated and cleaning up excrement robot is in cleaning up excrement
The disease that the excrement carried in the process is brought to pig.Excrement is pushed away by cleaning up excrement robot to be fallen in slurry gutte and passes through slurry gutte
Interior belt conveyor is transported in recovery pond, and to which easily excrement be discharged, multiple public slurry guttes of pigsty are convenient
The processing of excrement centralized recovery.
This system can actively find excrement, be cleaned in time, ensure the cleaning of pig house, ensure cultivation health.The machine
Device people can identify life entity by multiple sensors, ensure that pig preserves from, ensure the intelligent of robot.It can be into every trade
Journey is planned, ensures that robot walks within the scope of fence, cleaning up excrement；With automatic identification electricity, energy in the case of not enough power supply
Enough active charges ensure that electricity is sufficient, and automatic charging can ensure working efficiency.This system adds increase wind turbine, energy for the first time
It enough effectively prevent robot to skid on moist bottom plate, improves cleaning ability.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model pig house.
Fig. 2 is the structural schematic diagram for cleaning charging unit.
Fig. 3 is the structural scheme of mechanism of robot.
Fig. 4 is the utility model control system schematic diagram.
Specific implementation mode
Below by specific embodiment, the utility model is described in further detail, following embodiment be it is descriptive, no
It is restrictive, protection scope of this utility model cannot be limited by this.
A kind of box-like pig house of smart group and dung collection system, it is characterised in that：Including Intelligent fence, intelligent cleaning up excrement machine
People and flushing charging unit；Then intelligent robot cleaning up excrement in fence is gone flusher to carry out charging flushing, is then gone again
Cleaning up excrement, according to setting program, cycle operation successively.
The structure of the Intelligent fence is：Include upper rail, lower cross including fence 1-4, crib, slurry gutte 1-2, the fence
Column, perpendicular column, column and infrared transmitting device (being hidden in inside fence)；Upper rail, bottom rail and several perpendicular columns
It is fixedly connected；The both ends of the upper rail and bottom rail are connected with column；The bottom rail is hollow structure；The fence
It is enclosed on the 1-3 of ground and is separated to form multiple separate spaces, and each fence is fitted with fence gate, enclosing fence surrounding
Infrared transmitting device is provided on column；A virtual wall is formed between the infrared ray and infrared ray, the fence is close to real
The ground of the sides body wall 1-1 is formed with slurry gutte, which is equipped with belt conveyor 1-6, and the end of belt conveyor is equipped with
Recovery pond, and grid 1-5 is stamped on the slurry gutte top, prevents robot from falling into slurry gutte and people is facilitated to lead on slurry gutte
Row corresponds to and is mounted with crib on the forward ground of slurry gutte position, which is placed in fence.
Fence is outer to be placed with flushing charging unit, including developing room 2-2, master station perpendicular to the side of slurry gutte
The developing room of 2-1, flushing pipe 2-3, wireless charger 2-8, leak grid 2-11 and air-dry machine 2-6, this programme are rectangular
A wireless charger is installed in the bottom middle of body, the developing room, and the developing room bottom of the wireless charger surrounding is formed with leak
The height of grid, the leak grid is less than wireless charger, timely draining-off sewage when being conducive to rinse, leak grid connection draining
Mouthful, finally flow into slurry gutte；One overhead door 2-5 is installed in the antetheca of the developing room, air-dry machine, the wind are installed in the upper end of overhead door
The air outlet alignment wireless charger position of dry machine, in addition to the developing room antetheca of overhead door and air-dry machine is installed, other three
Flushing pipe corresponding with leak grating position is respectively mounted on wall, which is interconnected, flushing pipe connection
Water inlet pipe, and high-pressure hydraulic pump of the water inlet pipe installation with solenoid valve, the flushing pipe side wall are uniformly spaced the multiple nozzles of installation
2-4, the water jet alignment wireless charger position of the nozzle.
In order to preferably rinse, sliding column 2-12 is installed in developing room quadrangle, installation and upper end on the sliding column
The parallel sliding flushing pipe 2-7 of the flushing pipe installs a motor 2-13 rinsing indoor top, pulls rinse up and down
Pipeline, the sliding flushing pipe side wall are uniformly spaced the multiple nozzles of installation, and the water jet alignment wireless charger position of the nozzle
It sets, it is preferably comprehensive to rinse the robot being placed on wireless charger.
Flushing pipe connects high-pressure hydraulic pump with sliding flushing pipe by water inlet pipe 2-9.
A master station is equipped at the top of developing room, which receives WiFi communication and export control flushing by switch amount
The operation of room.
Originally the course of work of charging unit is washed：
First, master station is received by WiFi communication module after robot electric quantity deficiency needs the signal to charge,
It sends out signal and recalls robot, when robot reaches near master station, overhead door is opened, and robot enters developing room and reaches wirelessly
Charger upper end, is fully engaged against with wireless charger, and at the same time, master station controls solenoid valve and starts high-pressure hydraulic pump, to bath
Pipe water and conical nozzle start to be rinsed robot, after flushing continues 3 minutes, stop rinsing, make robot static
It drains 5 minutes, is then turned on air-dry machine, whole air-dried, air-dried to continue after twenty minutes, master is carried out to wireless charger and robot
Control platform open charging signals, so that robot is charged on wireless charger, after robot is fully charged, return workspace into
Row work.
The structure of the intelligence cleaning up excrement robot is：Including patty shell 1, walking mechanism, shoveling mechanism, supercharger
Structure, drive control module 12, communication module 2, transmitting module 3, sensor group and battery pack 14, communication module receive control letter
Number, walking mechanism drives robot to be moved to assigned direction, and Tui Chan mechanisms push the piggery feces in front of robot, work as excrement
When more, start booster body, increase the frictional force of robot and ground, so that robot is continued to move along, excrement is pushed,
Sensor group can help robot to identify the type of encountered barrier, be pig or excrement, assist people identification, row
It walks and avoids, allow the robot to implement cleaning up excrement, said mechanism and component concrete structure and function according to set route
It is described as follows：
Cleaning up excrement robot housing design is patty by the utility model, and radius 0.5-1.5m, other assemblies are according to machine
The size of people's shell adapts to setting size, and cleaning up excrement robot shell accident collision in order to prevent causes to break shell shell
Bad, one anticollision housing (not shown) of shell housing, shell is made of silica gel, plastics or rubber, has deformability, just
In removing and replace.
The walking mechanism includes；Left stepper motor 6, right stepper motor, two driving wheels 7 and a universal wheel 15,
The stepper motor mirror symmetry of left and right two is mounted on the left and right sides at rear portion in shell, and each stepper motor is co-axially mounted a driving
Wheel, driving wheel half are located at hull outside, and half is located at enclosure interior, the lower part of the housing installation 10,000 on front side of two driving wheels
To wheel, universal wheel and two driving wheels form triangle, complete support and walking to robot shell.Left stepper motor and
Right stepper motor receives the signal from drive control module respectively, can individual operation, can also operate synchronously, respectively according to letter
Number instruction is completed to rotate and reverse, realize robot advance, it is arbitrary turn to and retreat, realize cleaning up excrement and hide function.
The shoveling mechanism includes：Two shoveling shovel wall electric rotating machines 8, shoveling connection wall 10 and shoveling 13, two push away
Shovel shovel wall electric rotating machine is symmetrically mounted on middle part in shell, and each shoveling shovel wall electric rotating machine respectively drives a shoveling connection wall,
Two shoveling connection wall ends are fixedly mounted with a shoveling jointly.Shoveling connection wall is located in the shoveling connection wall trench of housing outer surface, when
When shoveling is horizontally arranged, the height of shoveling connection wall is not higher than housing upper surface.It is described to push away production for arc, convenient for pushing away more excrement
Just.Two shoveling shovel wall electric rotating machines receive the signal from drive control module jointly, move synchronously, realize the whereabouts for pushing away production
And rise, when pushing away production in off position, shoveling connection wall is horizontally disposed, and shoveling lower surface is not contacted with ground, greatly
The general distance for having 10cm or so, when shoveling receives whereabouts signal work, 5 ° or so of the rotation in detail of shoveling connection wall, shoveling with
Ground contacts, and when machine advances, shoveling pushes excrement, realizes the function of cleaning up excrement.
The booster body includes four booster fans 11, and four booster fans are uniformly mounted on the external surrounding of shell,
The both sides of shoveling are distributed in, each wind turbine tool that increases there are one protection shell 4, install catch net 5, fallen for preventing by top
Sundries influence fan rotation, booster fan receive from drive control module signal, when the stepper motor of robot has
Rotating signal, but when not having displacement signal, judges to start and increases wind turbine, and when increasing wind turbine rotation, air is discharged upwards, empty
The reaction force of gas fan will increase the frictional force of the driving wheel and driven wheel and ground of robot.
The drive control module is mounted on middle part in shell, is installed on drive control module each needed for control robot
Kind control circuit, action command is sent out to walking mechanism, shoveling mechanism, booster body.
The communication module is mounted on shell upper back, and outside has outer cover protection, communication module to be used for straight with main controller
Sending and receiving go out and receive signal, while connecting battery pack, and information about power is sent to main controller in real time, in order to avoid the few electricity of battery pack or nothing
Electricity.
The battery pack is mounted on middle part in shell, and battery pack is used to need the component of electricity consumption or unit to supply to whole robot
Electricity has without electric charge function.
The transmitting module is mounted in the shell at battery pack rear portion, is used for the signal of receiving sensor group, is issued communication
Module, main controller receives to react after signal is transmitted to communication module after actuating signal again, and communication module is transmitted to drive control again
Module instruction, drive control mould send out action command to walking mechanism, shoveling mechanism, booster body again.
The sensor group includes multiple sensors, is connect respectively with transmitting module, the function and installation site of sensor
It is described below：
Electronic gyroscope sensor：It helps robot to identify direction, ensures to walk in projected route, ensure spatial position,
It will not tilt or topple over, mounted on the top of driven wheel or integrated installation on drive control module.For keeping robot
Self stability and judge direction, realizes that excrement is pushed away dropping pit by the determination of cleaning up excrement robot.
Life detection sensor：For perceiving movable pig in pig house, in robot traveling process, barrier is encountered
When, heartbeat is perceived, then regards the barrier as pig, implements to retreat and hides action, integrated installation drive control module in shell
On.
Pyroelectric infrared sensor 9：Whether for judging object (excrement) and being life entity, pig manure has temperature,
But there is no heartbeat, it can be determined that be pig manure, shoveling falls shovel, pushes.Pyroelectric infrared sensor is arranged in robot shell
Two front side of left and right.
Doppler radar：Position and the speed of related movement for detecting moving target, judge pig, integrated installation is in drive control
In module.
Hall sensor：For detecting virtual wall and carrying out stroke correction, to judge the working range of robot.
First ultrasonic sensor, the second ultrasonic sensor：First ultrasonic sensor is arranged in robot shell
Forward right side, the second ultrasonic sensor are arranged in the positive front side of robot shell, the first ultrasonic sensor closely infrared thermal releasing
Electric transducer, the first ultrasonic sensor, the real-time range for detecting target body and robot, the second supersonic sensing
Device carries out the detection to excrement according to resemblance gathered in advance, if meeting excrement resemblance, shoveling is fallen, by it
It pushes, pushes slurry gutte to.
Cleaning up excrement robot is carrying out cleaning up excrement work or walking, and when encountering animal and people, the speed of travel of robot is slack-off,
After robot avoiding barrier, the speed of travel of robot shell becomes faster, when barrier (animal or people) is actively close to machine
When people's shell, the past reversed walking avoiding obstacles of robot.
But the ground on the pig farm residing for the robot is moister or robot push away excrement process excrement it is excessive when, machine
The driving wheel of device people's shell has skidded phenomenon and leads to not move ahead, and since the preset path of the utility model includes defecation
Ditch causes robot can not work normally so intelligent cleaning up excrement robot is easy to fall into slurry gutte when pushing away excrement.
In order to solve the above-mentioned technical problem, the sensor group of the utility model further comprises speed probe, gravity sensitive
Device and third ultrasonic sensor, speed probe are used to detect the rotating speed of robot driving wheel, speed probe setting
On two driving wheel axles of robot housing bottom rear end, when robot push away excrement work and driving wheel has skidded
When phenomenon, simultaneously with this, the WiFi orientation and communication modules of main controller judge that the machine is not subjected to displacement variation, revolution speed sensing
Device has rotating speed, and faster rotational speed, starts the booster fan of pressurized construction, increases robot to the frictional force on ground, makes driving wheel
Obtain forward power.
Gravity sensor is for perceiving the environment that robot shell is in, and side, third ultrasonic wave pass on the driven wheel for setting
Sensor is arranged for detecting robot situation at a distance from ground in robot housing bottom, when robot is at a distance from ground
When beyond setting range, judge whether robot is in vacant state.The correspondence specifically refers to：Speed probe is for detecting
The rotating speed of robotically-driven wheel, gravity sensor is for perceiving the environment that robot shell is in, when robot is carrying out pushing away excrement
When work, whether gravity sensor perceives oneself pushes to excrement, driving robot defecation ditch out of shape.
Third ultrasonic sensor is for detecting robot situation at a distance from ground, when robot surpasses at a distance from ground
When going out setting range, judge whether robot is in vacant state, when cleaning up excrement robot only walks, robot shell is close to defecation
Ditch, move ahead along ditch or Divergence and go, when cleaning up excrement robot pushes away excrement walking, robot shell pushes away excrement to furrow rim of discharging feces, driving control
Molding can carry out steep cliff detection according to the perceptual signal of third ultrasonic sensor, and control driving mechanism and terminate to walk, and start
Excrement is placed in slurry gutte by shoveling assembly.
The working condition of the application robot is as follows：
Pig house cleaning up excrement robot is during walking or cleaning up excrement, when drive control mould is according to life detection sensor,
The inspection of one ultrasonic sensor, the second ultrasonic sensor, pyroelectric infrared sensor, Doppler radar and Hall sensor
Survey signal detection to barrier be people or animal when, drive control mould controls driving mechanism and drives robot shell, makes machine
The speed of travel of people's shell is slack-off, after robot shell avoiding barrier (animal or people), the speed of travel of robot shell
Become faster, when barrier (animal or people) actively close to robot shell when, robot toward reversed walking avoiding obstacles (animal or
People), when drive control mould is according to life detection sensor, the first ultrasonic sensor, the second ultrasonic sensor, infrared thermal releasing
When the detection signal detection of electric transducer, Doppler radar and Hall sensor is less than barrier (people or animal), pig house
Cleaning up excrement robot continues to move ahead along former route.
Pig house cleaning up excrement robot in the process of walking, when drive control mould is according to the inspection of speed probe, gravity sensor
When the orientation and communication of survey signal and drive control mould detects that the driving wheel of robot shell has skidded phenomenon, drive control mould
It drives booster body to open booster fan, increases frictional force of the robot to ground, driving wheel is made to obtain forward power, to
Realize the normal work of pig house cleaning up excrement robot.
In order to which cleaning up excrement robot and main controller act, the application also provides a kind of control of pig house intelligence cleaning up excrement robot
System, including master control bench control system, cleaning up excrement robot own control systems and two wifi positioning and communicating modules, master station
Control system and cleaning up excrement robot own control systems are directly transmitted by signal, and two wifi positioning and communicating modules are realized clear
The real-time positioning of excrement robot, master station is enable to control the relevant action instruction of the cleaning up excrement robot of specific position,
Record and feedback.
The master station system group becomes：Main controller is separately connected power management module, switching value output module, wifi
Communication module, GPRS are wireless conveyor module and bluetooth module, main controller acquire the information of power management module, and by power supply pipe
Reason module sends instructions, and power management module connects wireless charger, is instructed to wireless charger, while net supplies electricity to entire power supply pipe
Module for power supply is managed, then is powered to entire controller.Main controller acquires the information of wifi communication modules, and wifi communication modules are realized
The wifi communication modules and two mutual communications of wifi positioning and communicating modules of master station and cleaning up excrement robot own control systems
Number, realize the interaction of two systems.GPRS is wireless conveyor module connects user terminal, the practical information mutual communication with user terminal,
Bluetooth module is used to connect with the bluetooth module of cleaning up excrement robot own control systems, mutually transmits signal.
Cleaning up excrement robot own control systems include：Wifi communication modules, drive control module, transmitting module and
Bluetooth module, transmitting module give wifi communication module transmission of sensor signals, wifi communication modules to be transmitted to drive control module
Signal, wifi communication modules and the wifi communication modules of master control bench control system are connected with each other, and mutually transmit signal, and wifi is logical
Believe that module receives the information from battery management module；Bluetooth module is connected with the bluetooth module of master control bench control system, phase
Mutually transmit signal and instruction.
The transmitting module acquisition life detection sensor, ultrasonic sensor, infrared heat release sensor, Doppler's thunder
It reaches, the signal of gravity sensor, electronic gyroscope, Hall sensor, speed probe, wifi communication moulds is issued after acquisition compiling
Block.
The drive control module is to left stepper motor, right stepper motor, shoveling production motor, shoveling electric rotating machine, increasing
Pressure fan transmits signal.
The battery management module receives the information from charge coil module, and charge coil module, which receives, comes from master station
The wireless charger signal of system prompts robot to charge in time.
The foregoing is merely specific embodiment of the utility model, but the technical characteristics of the utility model is not limited to
This, any those skilled in the art in the field of the utility model, made by changes or modifications all cover it is new in this practicality
Among the scope of the claims of type.
Claims (9)
1. a kind of box-like pig house of smart group and dung collection system, it is characterised in that：Including Intelligent fence, intelligent cleaning up excrement robot
And rinse charging unit；
It is described to be including intelligence structure：Fence, crib and slurry gutte are provided with infrared ray on the column at fence both ends；It should
A virtual wall is formed between infrared ray and infrared ray, which is formed with slurry gutte close to the ground of solid wall side, the row
Dropping pit is equipped with belt conveyor, and the end of belt conveyor is equipped with recovery pond, and grid is stamped on the slurry gutte top；
Fence is outer to be placed with flushing charging unit, including developing room, master station, flushing pipe, nothing perpendicular to the side of slurry gutte
The developing room of micro USB electric appliance, leak grid and air-dry machine, this programme is cuboid, the bottom middle installation one of the developing room
The developing room bottom of wireless charger, the wireless charger surrounding is formed with leak grid；One liter is installed in the antetheca of the developing room
Door drops, and air-dry machine is installed in the upper end of overhead door, the air outlet alignment wireless charger position of the air-dry machine, except being equipped with overhead door
Outside the developing room antetheca of air-dry machine, it is respectively mounted flushing pipe corresponding with leak grating position on other three walls, is being rinsed
Pipe side wall is uniformly spaced the multiple nozzles of installation；It is equipped with a master station at the top of the flushing charging unit, master is installed in master station
Device is controlled, which receives the operation that WiFi communication exports control developing room by switch amount；
The intelligence cleaning up excrement robot, including shell, walking mechanism, shoveling mechanism, booster body, drive control module, communication
Module, transmitting module, sensor group and battery pack, walking mechanism drive robot to be moved to assigned direction, and Tui Chan mechanisms will
Piggery feces in front of robot push, and when excrement is more, starts and increase mechanism, increase the frictional force of robot and ground,
So that robot is continued to move along, excrement is pushed, sensor group can help the kind of the encountered barrier of robot identification
Class is pig or excrement, and assist people identification is walked and avoided, and allows the robot to implement according to set route clear
Excrement.
2. the box-like pig house of smart group according to claim 1 and dung collection system, it is characterised in that：The walking mechanism
Including；Left stepper motor, right stepper motor, two driving wheels and a universal wheel, the two stepper motor mirror symmetries in left and right
The left and right sides at rear portion in shell, each stepper motor are co-axially mounted a driving wheel, and driving wheel half is located at outside shell
Portion, half are located at enclosure interior, and a universal wheel, universal wheel and two driving wheels are installed in the lower part of the housing on front side of two driving wheels
Triangle is formed, support and walking to robot shell are completed.
3. the box-like pig house of smart group according to claim 1 and dung collection system, it is characterised in that：The shoveling mechanism
Including：Two shoveling shovel wall electric rotating machines, shoveling connection wall and shoveling, two shoveling shovel wall electric rotating machines are symmetrically mounted on shell
Middle part in vivo, each shoveling shovel wall electric rotating machine respectively drive a shoveling connection wall, and two shoveling connection wall ends are fixedly mounted with jointly
One shoveling, shoveling connection wall is located in the shoveling connection wall trench of housing outer surface, when shoveling is horizontally arranged, shoveling connection wall
Height is not higher than housing upper surface, described to push away production for arc, convenient for pushing away more excrement.
4. the box-like pig house of smart group according to claim 1 and dung collection system, it is characterised in that：The booster body
Including four booster fans, four booster fans are uniformly mounted on the external surrounding of shell, and the both sides of shoveling each increase wind turbine
There are one protect shell, top to install catch net for tool.
5. the box-like pig house of smart group according to claim 1 and dung collection system, it is characterised in that：The drive control
Module is mounted on middle part in shell, and the various control circuits needed for control robot are installed on drive control module, give vehicle with walking machine
Structure, shoveling mechanism, booster body send out action command.
6. the box-like pig house of smart group according to claim 1 and dung collection system, it is characterised in that：The communication module
Mounted on shell upper back, there is outer cover protection in outside, and communication module is for directly sending out and receiving signal with main controller, simultaneously
Battery pack is connected, information about power is sent to main controller in real time.
7. the box-like pig house of smart group according to claim 1 and dung collection system, it is characterised in that：The transmitting module
In the shell at battery pack rear portion, it is used for the signal of receiving sensor group, communication module is issued, after main controller receives signal
Communication module is transmitted to after actuating signal of reacting again, communication module is transmitted to drive control module instruction again, and drive control mould is again
Action command is sent out to walking mechanism, shoveling mechanism, booster body.
8. the box-like pig house of smart group according to claim 1 and dung collection system, it is characterised in that：The sensor group
Including：Electronic gyroscope sensor：It helps robot to identify direction, ensures to walk in projected route, ensure spatial position, it will not
It tilts or topples over, mounted on the top of driven wheel or integrated installation on drive control module；
Life detection sensor：For perceiving movable pig in pig house, in robot traveling process, when encountering barrier, sense
Know heartbeat, then regard the barrier as pig, implements to retreat and hide action, integrated installation is in shell on drive control module；
Pyroelectric infrared sensor：Whether for judging object excrement and being life entity, pig manure has temperature, but does not have
Heartbeat, it can be determined that be pig manure, shoveling falls shovel, pushes, and pyroelectric infrared sensor is arranged before the left and right of robot shell two
Side；
Doppler radar：Position and the speed of related movement for detecting moving target, judge pig, integrated installation is in drive control module
On；
Hall sensor：For detecting virtual wall and carrying out stroke correction, to judge the working range of robot.
9. the box-like pig house of smart group according to claim 1 and dung collection system, it is characterised in that：In developing room quadrangle
Bottom installation sliding column, the sliding flushing pipe parallel with above-mentioned flushing pipe is installed on the sliding column, is being slided
Flushing pipe side wall is uniformly spaced the multiple nozzles of installation, and the water jet alignment wireless charger position of the nozzle.
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| CN201721231571.1U CN207803091U (en) | 2017-09-25 | 2017-09-25 | The box-like pig house of smart group and dung collection system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107624653A (en) * | 2017-09-25 | 2018-01-26 | 农业部环境保护科研监测所 | The box-like pig house of smart group and dung collection system |
| NL2028703B1 (en) * | 2021-07-12 | 2023-01-18 | Lely Patent Nv | System and method for removing manure from a floor in an animal house, and in combination, a house for keeping animals and the like |
| NL2028702B1 (en) * | 2021-07-12 | 2023-01-18 | Lely Patent Nv | System and method for removing manure from a floor in an animal house, and in combination, a house for keeping animals and the like |
| NL2028701B1 (en) * | 2021-07-12 | 2023-01-18 | Lely Patent Nv | System and method for performing an animal-related action, as well as in combination, a shed for keeping animals and such a system |
| NL2028856B1 (en) * | 2021-07-27 | 2023-02-01 | Lely Patent Nv | System and method for removing manure from a floor in an animal house, and in combination, a house for keeping animals and the like |
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2017
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107624653A (en) * | 2017-09-25 | 2018-01-26 | 农业部环境保护科研监测所 | The box-like pig house of smart group and dung collection system |
| NL2028703B1 (en) * | 2021-07-12 | 2023-01-18 | Lely Patent Nv | System and method for removing manure from a floor in an animal house, and in combination, a house for keeping animals and the like |
| NL2028702B1 (en) * | 2021-07-12 | 2023-01-18 | Lely Patent Nv | System and method for removing manure from a floor in an animal house, and in combination, a house for keeping animals and the like |
| NL2028701B1 (en) * | 2021-07-12 | 2023-01-18 | Lely Patent Nv | System and method for performing an animal-related action, as well as in combination, a shed for keeping animals and such a system |
| WO2023285928A1 (en) * | 2021-07-12 | 2023-01-19 | Lely Patent N.V. | System and method for carrying out an animal-related operation, and in combination, a barn for keeping animals and a system of this kind |
| WO2023285931A1 (en) * | 2021-07-12 | 2023-01-19 | Lely Patent N.V. | System and method for removing manure from a floor in a barn for animals, and, in combination, a barn for keeping animals and a system of this type |
| WO2023285929A1 (en) * | 2021-07-12 | 2023-01-19 | Lely Patent N.V. | System and method for removing manure from a floor in a barn for animals, and, in combination, a barn for keeping animals and a system of this kind |
| NL2028856B1 (en) * | 2021-07-27 | 2023-02-01 | Lely Patent Nv | System and method for removing manure from a floor in an animal house, and in combination, a house for keeping animals and the like |
| WO2023007283A1 (en) * | 2021-07-27 | 2023-02-02 | Lely Patent N.V. | System and method for removing manure from a floor in a barn, and, in combination, a barn for keeping animals and a system of this type |
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